WO2016047966A2 - Apparatus for detecting breakdown of drive chain of horizontal walker and a system for controlling auxiliary brake of horizontal walker - Google Patents

Apparatus for detecting breakdown of drive chain of horizontal walker and a system for controlling auxiliary brake of horizontal walker Download PDF

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Publication number
WO2016047966A2
WO2016047966A2 PCT/KR2015/009782 KR2015009782W WO2016047966A2 WO 2016047966 A2 WO2016047966 A2 WO 2016047966A2 KR 2015009782 W KR2015009782 W KR 2015009782W WO 2016047966 A2 WO2016047966 A2 WO 2016047966A2
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WIPO (PCT)
Prior art keywords
auxiliary brake
drive chain
walker
actuator
motor load
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PCT/KR2015/009782
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French (fr)
Korean (ko)
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WO2016047966A3 (en
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송종태
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송종태
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Publication of WO2016047966A2 publication Critical patent/WO2016047966A2/en
Publication of WO2016047966A3 publication Critical patent/WO2016047966A3/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B21/00—Kinds or types of escalators or moving walkways
    • B66B21/10—Moving walkways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B25/00—Control of escalators or moving walkways

Definitions

  • the present invention relates to an auxiliary brake control system of a pedestrian walker. More specifically, since the breaking detection of the drive chain is based on the motor current detection method, the detection time can be minimized to minimize the time from the breakage point of the drive chain to the auxiliary brake operation.
  • the auxiliary brake control system of a pedestrian which can prevent passenger accidents, prevent secondary accidents, and minimize injuries by appropriately changing the braking force and braking distance of the auxiliary brake in response to the motor load.
  • the conventional walker system 1 is composed of a driving control unit 2 and a motor control unit 12 to manage and control overall driving.
  • the driving control unit 2 includes a driving signal input unit 3 that receives various driving signals, a photosensor 11 for checking whether a passenger boards during automatic driving, a timer 4 for controlling a driving time, and a driving control unit. (2) It receives a signal input and decides whether to drive up or down, and stops by input of up / down driving command (5) which gives driving direction command and signals such as safety system abnormality or driving stop signal.
  • Stop command unit 6 for giving a command, operation direction selector switch 7 for selecting the driving direction, emergency stop switch 8 for emergency stop of the walker, and automatic operation of the operation mode by the photosensor 11 It consists of an automatic / manual selection switch 9 which selects an operation mode, whether the manual operation of continuous operation and continuous operation, and a safety-related switch 10 which receives input of a drive chain break and various safety system switches.
  • the motor control unit 12 drives the motor according to the driving command received from the motor driving signal input unit 13 and the motor driving signal input unit which receive the driving direction command and the driving stop command by the rising / lowering driving command unit of the driving control unit 2. It consists of a motor 18 that is a power source for driving the step 120 and the handrail through the motor drive unit 15 and the drive chain 80 for.
  • the reducer 50 connected to the motor 18 increases the torque and decreases the speed, thereby driving the sprocket 70. Rotate).
  • Power of the drive sprocket 70 is transmitted to the terminal gear 90 through the drive chain 80, and the step chain sprocket 100 is connected on the same axis, so that the terminal gear 90 and the step chain sprocket 100 are also Rotate together.
  • the step chain 110 is connected to the step chain sprocket 100, and the step 120 is connected to the step chain 110, the step 120 is also rotated together to move the passengers in the step. give.
  • step driving and stopping is possible only by the drive chain 80 connected between the drive sprocket 70 and the terminal gear 90. Therefore, in order to detect whether the drive chain 80 is broken, the drive chain break detection limit switch 60 is provided on the drive chain 80, and the drive chain break detection limit switch 60 is operated by the usual chain tension. If the drive chain 80 is disconnected, the operating tension of the drive chain disappears, so that the break detection limit switch 60 of the drive chain is turned off to detect the break of the drive chain.
  • the drive chain break detection limit switch 60 if the drive chain breakage is detected by the drive chain break detection limit switch 60, the drive sprocket 70 connected by the drive chain 80 is broken because the drive chain is broken even if the main brake operates. A problem arises in that the terminal gear 90 and the step 120 connected thereto cannot be stopped. In this case, when the drive chain is broken, the horizontal walker does not stop but moves toward the center of gravity, which causes a serious safety accident.
  • the conventional walker installs the auxiliary brake 130 together with the terminal gear 90 and the step chain sprocket 100, and when the drive chain breaks 80, the auxiliary brake 130 is connected to the auxiliary brake 130.
  • the auxiliary brake latch 140 is operated to forcibly stop the step 120.
  • the auxiliary brake is connected to the terminal gear 90 and the step chain sprocket 100, so that the auxiliary brake is usually connected with the terminal gear 90 and the step chain sprocket ( 100 and the auxiliary brake 130 rotates together.
  • the auxiliary brake 130 of the conventional walker is composed of a disc brake 1 (160), a disc brake 2 (170), a disc brake 3 (180) for stopping the step chain sprocket (100) and the step chain sprocket (100). have.
  • a brake lining 200 is attached to stop the step chain sprocket 100, and the brake pressure is constantly adjusted by the spring 210 during the auxiliary brake operation.
  • the drive chain break detection limit switch 60 detects the break and transmits the break detection signal to the operation controller 2 (step 300). Step 301, step 302, step 303, and step 304).
  • the driving controller 2 stops the disc brake 3 180 by operating the solenoid of the auxiliary brake latch 140.
  • the disc brakes 1 and 2 (160, 170) continue to rotate by rotational inertia but suddenly decelerate while suddenly decelerating by the disc brake 3 (180) and lining friction. (Step 305).
  • the deceleration distance due to the operation of the auxiliary brake 130 varies depending on the installation angle of the walker 1, the passenger load on the step, and the driving direction, and in the case of a large number of passengers, the load of the step is applied to the auxiliary brake 130. Sliding toward the lower center of gravity exceeds the braking force range of).
  • step 120 after stopping due to a sudden deceleration during driving in the ascending direction, when the leveling machine 1 installation angle is slow and the passenger load in step 120 is small, the leveling machine stops, but when the passenger load is large A phenomenon in which the step 120 slides downward may occur (steps 306, 307, 308, 309, 310, and 320).
  • the step 120 will be much slippery than the deceleration distance by the basic auxiliary brake 130 ( Steps 330, 331 and 332).
  • the auxiliary brake 130 of the single braking force is operated in the above-described order. Slip distance deviation occurs depending on the installation angle, driving direction, and load of passengers of the walker 1, and there is a risk of secondary safety accident by stopping shock or increasing the slip distance.
  • the conventional auxiliary brake 130 inputs the driving chain breaking signal to the driving control unit 2 by the driving chain breaking detection limit switch 60 and again performs the auxiliary brake solenoid under the control of the driving control unit 2. Since the auxiliary brake 130 is operated in the order in which the disc brake 3 180 is latched, the slip distance is further generated by a time delay from the breakage of the drive chain to the auxiliary brake operation, thereby increasing the risk of a safety accident.
  • Such a conventional system has a risk of a safety accident due to severe deviation of slip distance because the auxiliary brake frictional force coefficient is the same regardless of the passenger load on the level walker 1, the direction of travel, and the step. .
  • such a conventional system has a complexity and a cost increase factor of the structure due to the break detection limit switch 60 and the auxiliary brake latch structure of the drive chain, and operates only when the break detection of the auxiliary brake 130 is the drive chain. Because of this, there is a disadvantage that the operation linkage with other safety devices is poor.
  • An object of the present invention is to reduce the reaction time from the detection of the breakage of the drive chain to the operation of the auxiliary brake during the operation of the pedestrian walk, and to prevent the safety accident by appropriately controlling the braking distance through the control of the auxiliary brake lining friction force when the breakage of the drive chain is detected. It is to implement the auxiliary brake control system of the walker to minimize the degree of injury.
  • the brake system is controlled according to the type and application of the safety system switch to implement the auxiliary brake control system of the pedestrian which minimizes the degree of injury in the event of a safety accident. It aims to do it.
  • the purpose of this study is to implement an auxiliary brake control system of a pedestrian to minimize safety and prevent accidents through distance control.
  • the breaker detecting device for the drive chain of the walker for achieving the above object is a horizontal walker for detecting the breakage of the drive chain in the walker to transfer the driving force of the walker motor through the drive chain to drive the step and the handrail
  • An apparatus for detecting break in a drive chain comprising: load current detecting means for detecting a change in the motor load current; Monitoring the variation of the motor load current detected by the load current detecting means, and the motor load current continuously detects a load current corresponding to the step and the handrail driving load and detects a no-load current value that is a motor exciting current.
  • break detection means for detecting break in the drive chain.
  • the auxiliary brake control system of a walker for achieving the above object comprises: a drive chain break detection device for monitoring a walker motor load and detecting breakage of the drive chain from a change in the motor load; An auxiliary brake that brakes the disc by applying an actuator lining pressure when the drive chain break is detected by the drive chain break detection device; By detecting the motor load of the horizontal walk immediately before the drive chain break detected by the drive chain break detection device, the operating pressure of the auxiliary brake actuator corresponding to the braking distance is calculated and the actuator lining pressure of the auxiliary brake is calculated according to the result of the calculation. It characterized in that it comprises a secondary brake control means for controlling.
  • the auxiliary brake control system of a walker for achieving the above object comprises: a motor load detecting means for monitoring a walker motor load and detecting a system abnormality from a change in the motor load; An auxiliary brake that brakes the disc by applying actuator lining pressure when an abnormality occurs in the motor load detected by the motor load detecting means;
  • the auxiliary load control means for detecting the motor load before and after the motor load detecting means calculates the actuator operating pressure of the auxiliary brake corresponding to the braking distance and controls the actuator lining pressure of the auxiliary brake according to the calculation result. Characterized in that it comprises a.
  • the auxiliary brake control system of a walker for achieving the above object comprises: a motor load sensing means for monitoring a walker motor load change and detecting a system abnormality from the change of the motor load; An auxiliary brake that brakes the disc by applying actuator lining pressure when an abnormality occurs in the motor load detected by the motor load detecting means; Passenger counting means for counting the number of passengers aboard said level walk; When the motor load detecting means detects an abnormality, the braking force and the braking distance according to the number of passengers detected by the passenger counting means are detected, and the operating pressure of the actuator of the auxiliary brake corresponding thereto is calculated, and the auxiliary brake is based on the calculation result. It characterized in that it comprises a secondary brake control means for controlling the actuator lining pressure of the.
  • the motor load detecting means detects an abnormality when detecting at least one of a load change at break of the drive chain, a load change at break of the handrail, and a load change at break of the step chain by detecting the motor load. It is characterized by.
  • the auxiliary brake control system of a walker for achieving the above object comprises: a motor load sensing means for monitoring a walker motor load; Safety state detection means for monitoring an operation state of the walker to detect an abnormal occurrence of a safety system switch; An auxiliary brake that brakes the disc by applying actuator lining pressure when an abnormal occurrence is detected by the safe state detecting means; The actuator of the auxiliary brake corresponding to the braking distance according to the motor load detected by the motor load sensing means before and after the abnormality is detected by the safety state detecting means detects the abnormality occurrence of the safety system switch And an auxiliary brake control means for calculating an operating pressure and controlling the actuator lining pressure of the auxiliary brake according to the calculation result.
  • the auxiliary brake control system of a walker for achieving the above object comprises: a safety state detection means for detecting a safety system switch abnormality by monitoring the operating state of the walker; An auxiliary brake that brakes the disc by applying actuator lining pressure when an abnormal occurrence is detected by the safe state detecting means; Passenger counting means for counting the number of passengers aboard said level walk; When the safety state detecting means detects an abnormality, the braking distance according to the number of passengers detected by the passenger counting means is detected, and the operating pressure of the actuator of the auxiliary brake corresponding thereto is calculated, and the actuator of the auxiliary brake according to the calculation result. It characterized in that it comprises a secondary brake control means for controlling the lining pressure of the.
  • the safety system switch speed detection means, drive chain break detection device, auxiliary brake, hand rail break detection means, hand rail safety switch, step break detection means, skirt guard safety switch, step bump safety switch, step deflection detection switch, It is characterized in that the emergency stop button, any one of the comb safety switch.
  • the auxiliary brake control means may calculate different braking distances and lining pressures of the auxiliary brake actuators depending on whether the horizontal walker is moving in the up or down direction.
  • the auxiliary brake control means characterized in that for calculating the braking distance and the lining pressure of the auxiliary brake actuator in accordance with the running speed of the rising or falling of the walker.
  • the auxiliary brake control means characterized in that for calculating the braking distance and the lining pressure of the auxiliary brake actuator in accordance with the inclination of the walker.
  • the auxiliary brake control system of the pedestrian controls the braking distance by simultaneously controlling the main brake and the auxiliary brake when the other safety system switches are operated, except when the breakage of the drive chain and the gear reducer are detected among the safety system switches installed in the walker. It is characterized by.
  • the auxiliary brake control system of the pedestrian may further include a braking distance measuring unit for measuring an actual braking distance, and the actuator control unit may control the braking to be controlled when the auxiliary braking operation detected through the braking distance measuring unit is controlled. And controlling the auxiliary brake braking while checking the distance and the actual braking distance.
  • the present invention enables the minimization of detection time because the drive chain break detection is based on the motor current detection method by the above configuration, and minimizes the time from the drive chain break detection to the auxiliary brake operation. It is possible to prevent car accidents and minimize the degree of injury.
  • the present invention by the configuration as described above, by controlling the braking force and braking distance according to the driving environment and condition of the pedestrian, such as the driving direction and the angle of installation of the pedestrian and the load of passengers at the time of detecting the breakage of the drive chain and the secondary accident prevention Prevention of accidents and injuries can be minimized.
  • auxiliary brake braking force by adjusting the auxiliary brake braking force according to the type of safety system switch installed in the pedestrian walker excluding breakage of the drive chain to increase the usability of the auxiliary brake by flexibly controlling the pedestrian braking distance Prevent accidents and minimize injuries.
  • FIG. 1 is a schematic diagram illustrating a control system of a conventional walker.
  • Figure 2 is a perspective view illustrating the configuration of the main part of the conventional walker.
  • FIG. 3 is a perspective view illustrating a configuration of a main part of a conventional walker.
  • FIG. 4 is a perspective view illustrating a configuration of an auxiliary brake of a conventional walker.
  • FIG. 5 is a flowchart illustrating an operation process of the auxiliary brake when the driving chain is broken in the conventional walker.
  • Figure 6 is a schematic diagram illustrating a walker control system of an embodiment of the present invention.
  • Figure 7 is a schematic diagram illustrating a walker auxiliary brake control system of a first embodiment of the present invention.
  • FIG 8 is a graph illustrating the change of the motor load current before and after breaking the drive chain of the embodiment of the present invention.
  • Figure 9 is a perspective view illustrating the configuration of the auxiliary brake of the embodiment of the present invention.
  • FIG. 10 is a flowchart illustrating a braking process by the auxiliary brake control system of the horizontal walker according to the first embodiment of the present invention.
  • Figure 11 is a schematic diagram illustrating a walker auxiliary brake control system according to a second embodiment of the present invention.
  • FIG. 12 is a perspective view illustrating an installation state of a safety system switch of a walker according to an embodiment of the present invention.
  • FIG. 13 is a flowchart illustrating a braking process by the auxiliary brake control system of the horizontal walker according to the second embodiment of the present invention.
  • the auxiliary brake control system for the horizontal walker includes a breakage detection device 810 which is a drive chain for detecting occurrence of breakage that is a walker drive body, and the drive chain breakage detection device ( The auxiliary brake 820 operating when the drive chain break is detected by the 810 and the breaker detecting device 810 detects the break in the drive chain immediately after detecting the breaker motor load.
  • the breaking detection device 810 of the drive chain includes load current detection means 811 for detecting a change in the load current of the motor 507, and the motor 507 detected by the load current detection means 811.
  • load current detection means 811 for detecting a change in the load current of the motor 507
  • the motor 507 detected by the load current detection means 811 When the load current of the motor 507 is continuously detected as the load current corresponding to the step and the handrail driving load, and the no-load current value that is the motor excitation current is detected, the drive chain is broken. And breaking detection means 815.
  • the horizontal walker 500 of the present embodiment transmits the driving force of the motor 507 through the drive chain to drive the step and the hand rail, and as shown in FIG. 8, when the drive chain is broken, the load current by the step and the hand rail. Is disappeared and a quiescent current, which is an excitation current, flows to the motor 507.
  • the breaking detection means 815 of this embodiment monitors the motor load current value detected by the load current detecting means 811 and detects this time point to detect breakage of the drive chain.
  • the walker 500 accelerates to reach a normal speed, and a starting current flows to the motor 507 in the process.
  • the motor load current flows to drive the steps and handrails before the passengers board, and when the passengers ride, the loads increase by the number of steps and handrail driving loads and the number of passengers. .
  • These two parts are the motor load current flowing when the drive chain is normal.
  • the drive chain breakage detection device 810 can detect step chain breaks, handrail breaks, etc. in addition to detecting the drive chain breaks. That is, when a decrease in the motor load current corresponding to the load of a step (including passengers) is detected without the increase or decrease of passengers during normal operation of the walker, the step chain failure can be detected and the motor load current corresponding to the load of the handrail can be detected. When a decrease is detected, it is possible to detect a handrail break (or when the handrail extends and the handrail drive part is idle).
  • the auxiliary brake 820 according to the embodiment of the present invention shown in FIG. 9 is mounted coaxially to the step driving sprocket 100 and integrally rotates, and is mounted on one side of the disk 821 and is driven.
  • the chain break detection device 810 includes an auxiliary brake actuator 830 for braking the disc when the drive break is detected.
  • the auxiliary brake actuator 830 of the present embodiment is a caliper 131 mounted on an outer circumferential point of the disk 821, and a brake lining 832 installed inside the caliper 131 to brake the disk 121 by friction. And a piston 840 for applying a pressure for braking the disk 821 to the brake lining 832 and a hydraulic supply means 835 for supplying hydraulic pressure for the operation of the piston 840.
  • auxiliary brake 820 since the auxiliary brake 820 employs a disk auxiliary brake by hydraulic supply type braking, it is possible to adjust the size and braking speed or braking distance of the auxiliary brake braking force according to the situation by changing the lining pressure. .
  • the auxiliary brake control means 850 of the embodiment of the present invention may be provided in the driving control unit 501 of the pedestrian as shown in FIG. 6, and the driving control unit 801 of the embodiment of the present invention may provide various driving signals.
  • a driving signal input unit 530 that receives an input, a photosensor 535 for checking whether a passenger boards during automatic driving, a timer 540 for controlling a driving time, and an up / down driving command unit 550 for driving direction command ),
  • the auxiliary brake control means 850 includes a means 851 for detecting the driving state (eg, the motor load) of the horizontal walk before the breaking of the driving chain detected by the breaking chain detecting device.
  • a braking force calculation means 853 for calculating braking force or actuator lining pressure of the auxiliary brake corresponding to the braking distance set and stored in the database 852, and the calculation result.
  • Actuator control means 855 for controlling the auxiliary brake actuator.
  • the actuator lining pressure of the auxiliary brake of the present embodiment is varied according to the running state of the horizontal walker 500, and the lining pressure when the motor load is large to perform the braking process by a predetermined braking distance at the time of breaking the drive chain. Will be large, and if the motor load is small, the lining pressure can be small.
  • the auxiliary brake control system 800 of the walker of the present embodiment stores in a database an appropriate braking distance (ie, an optimum braking distance for maximally protecting the safety of the passenger) in the ascending or descending direction.
  • the horizontal walker auxiliary brake control system 500 of the present embodiment can set the braking distance differently according to the driving direction of the horizontal walker, the speed of the up or down driving, the installation angle of the horizontal walker, whether the passenger boarding, etc.
  • the operating speed of the brake 820 or the lining pressure itself of the auxiliary brake actuator 830 may be calculated differently.
  • the lining pressure of the auxiliary brake actuator 830 is gradually changed in correspondence to the braking distance, and the final pressure at the stop may be determined according to the installation angle of the walker and the motor load.
  • the auxiliary brake 820 does not operate, the step continues to descend, and shifting occurs when the drive chain is broken. Passengers may fall, but if the step continues without descending, the passengers fall down and the passengers in the back fall down in series, causing large accidents, so the auxiliary brake 820 operates to maintain a constant braking distance. It is required to prevent accidents caused by The actuator lining pressure of the auxiliary brake is gradually changed to secure the preset braking distance according to the speed of the descent operation and the installation angle of the walker, and the final pressure at the time of stopping depends on the installation angle of the walker 500 and the motor load. Can be determined.
  • the detection of the motor load is performed by monitoring the load current detected by the load current detecting means 811 and detecting the motor load current immediately before the drive chain breaks, but is not limited thereto. .
  • the actuator lining pressure of the auxiliary brake by calculating the motor load based on the angle of installation of the walker, the number of passengers, the driving direction and the driving speed.
  • the auxiliary brake control process of the horizontal walker according to the first embodiment of the present invention is as follows.
  • a motor load current corresponding to the load of the step, the handrail, and the passenger flows (steps 600 and 601).
  • the drive chain break detection device 810 detects that a break has occurred in the drive chain when the motor load current flows and the no load current is detected, and inputs the signal to the auxiliary brake control means 850 (steps 603 and 605). ).
  • the auxiliary brake control means 850 calculates the braking force for securing a safe braking distance, that is, the lining pressure of the auxiliary brake actuator, by combining the driving direction of the horizontal walker 500 and the motor load current and the horizontal walker installation angle before the breakage of the drive chain. Input to the actuator control means 855 (steps 607 and 608).
  • the actuator control means 855 controls the auxiliary brake actuator pressure so that the walker step and the handrail can be stopped by the safe braking distance (steps 609 and 610).
  • the auxiliary brake control system 900 of the walker according to the second embodiment of the present invention, the motor load detection means 910 for monitoring the walker motor load, and monitoring the operation state of the walker to detect the occurrence of safety system switch abnormality
  • the auxiliary brake 920 which operates when an abnormal occurrence is detected by the safety state detecting means 960, and the safety system switches 961 to 972 in which the abnormal occurrence is detected.
  • auxiliary brake control means 950 for calculating an operating pressure of the auxiliary brake 920 according to a corresponding braking distance value and an abnormal motor load immediately and controlling the auxiliary brake 920 according to the calculation result.
  • the motor load detecting means 910 of the present embodiment monitors the motor load current and detects the motor load current before the safety system switch abnormality occurs, but is not limited thereto.
  • the actuator lining pressure of the auxiliary brake by calculating the motor load based on the angle of installation of the walker, the number of passengers, the driving direction, and the driving speed.
  • the safe state detecting means 960 of the present embodiment includes a speed detecting device 961, a drive chain breaking detection device 962, an auxiliary brake device 963, a handrail breaking detection device 964, and a handrail safety switch 965. ), Step chain break detection device 966, skirt guard safety switch 912, step bump safety switch 971, step deflection detection switch 969, emergency stop button 968, comb safty switch Monitoring the safety state detection means, including (967), and detects any abnormality in any one of the safety system switches being monitored and inputs it to the operation control unit 501 or the auxiliary brake control means (950).
  • the drive chain breakage detection device 962 of the safe state detection means of this embodiment may be based on the drive chain breakage detection device of the first embodiment, but it is also possible to use the drive chain breakage detection limit switch as in the prior art. The detection method can be changed accordingly.
  • the step break detection device 966 and the handrail break detection device 964 may also be detected by monitoring the motor load current by the drive chain break detection device in the case of the first embodiment. As in the case of the embodiment, it is also possible to provide a separate safety system switch to detect.
  • the auxiliary brake control means 950 of the embodiment of the present invention may be provided in the operation control unit 501, the configuration of the operation control unit of the embodiment of the present invention in the same process as the first embodiment By controlling the operation of the auxiliary brake.
  • the auxiliary brake control means 950 of the embodiment of the present invention detects a braking distance value corresponding to the safety system switch in which the safety state detecting means 960 detects an abnormal occurrence in the database 952, and loads the motor.
  • the detection means 951 detects the driving state (eg, the motor load) of the horizontal walk immediately before an abnormality occurs, calculates the braking force or the actuator lining pressure of the auxiliary brake corresponding to the braking distance, and calculates the auxiliary brake according to the calculation result.
  • Safety state detection means 960 in the horizontal walk of the embodiment of the present invention speed detection means 961, drive chain break detection device 962, auxiliary brake device 963, handrail break detection device 964, hand Rail safety switch 965, step break detection device 966, skirt guard safety switch 912, step bump safety switch 971, step deflection detection switch 969, emergency stop button 968, comb safety switch ( A safety system switch including a comb safty switch 967 is provided.
  • each safety system switch has a different use purpose according to its type, and the specific safety system switch has a very short braking distance, and the other safety system switch may have no problem even if the braking distance is long.
  • the braking distance can be set differently according to the switch type and usage.
  • the comb safety switch 967 is located at a portion where the front step of the walker is folded, and when the finger is sucked with the step, the passenger may be seriously injured. Therefore, the walker 500 should be stopped immediately.
  • the main brake and the auxiliary brake operate immediately, the main brake operates to stop the horizontal walk, and the lining pressure of the auxiliary brake actuator also immediately applies the maximum pressure to stop the driving of the step immediately without slipping.
  • a response to the comb safety switch 967 is made in preference to another passenger's safety problem (ordinary danger).
  • the handrail break detection means 964, the handrail safety switch 965, the step break detection means 966, the skirt guard safety switch 972, the step bump safety switch 971, the step deflection detection When the switch 969 and the emergency stop button 968 are operated, it is advantageous to maintain a constant braking distance for the safety of the passenger, so that the driving direction of the walker, the rising or falling movement speed, the inclination of the walker, the passenger
  • the braking distance at which the horizontal walkers can be stopped safely is set in advance according to the boarding status, the degree of danger of the safety system switch, and the auxiliary brake actuator lining pressure is determined by calculating or detecting the required braking force according to the passenger load.
  • the braking force and braking distance can be adjusted only by the auxiliary brake 920 because the main brake operation is meaningless, but in other cases, the main brake and the auxiliary brake ( 920 to allow the walker to stop safely.
  • the main brake is operated so that the walker can be safely stopped without slipping down. can do.
  • the process of braking the walker by controlling the lining pressure of the auxiliary brake actuator to correspond to the passenger load of the step and the braking distance set in the database is as follows (700).
  • any one of the safety system switches operates (steps 701, 702, and 703).
  • the breakage detection itself of the drive chain can be detected by the method of the first embodiment which detects the variation of the motor load current or by the break detection limit switch of the drive chain, and the drive chain breakage.
  • the auxiliary brake 920 can be controlled by calculating the braking force of the auxiliary brake or the actuator lining pressure of the auxiliary brake by the same procedure as in the first embodiment (S605). Step 610).
  • the auxiliary brake operation is performed by the following process.
  • the braking distance value when the safety system switch is operated for each type of safety switch is stored in the database in advance, and when the safety system switch operates during the operation of the walker, the auxiliary brake control means 950 operates any safety system switch. Then, check the braking distance data corresponding to the safety system switch (step 703).
  • the auxiliary brake control means 950 is a braking force for the auxiliary brake actuator for controlling the braking distance by combining the driving direction and the load current immediately before the safety system switch operates, and the load that is directed toward the lower side according to the installation angle of the horizontal walker installed at the site. After the calculation is started to apply the lining pressure of the auxiliary brake actuator, the horizontal walk slowly begins to decelerate (steps 705, 707 and 708).
  • the main brake and the auxiliary brake 920 operate together to adjust the desired braking distance stored in the database in the braking process of the walker. It is possible to carry out.
  • the main brake operates to prevent the safety accident risk of sliding down due to the passenger load of the step.
  • the braking distance measuring means 980 for calculating the moving distance according to the rotation of the motor is provided with a pulse count sensor, the braking is set by the pulse count sensor in the process of braking by the auxiliary brake 920 It is possible to confirm that control has been made to the distance.
  • Break detection means 820,920 Auxiliary brake
  • the present invention relates to a breakage detecting device for a horizontal walker and an auxiliary brake control system for a walker, and the breakage detection of the drive chain is based on a motor current detection method, thereby minimizing the detection time.
  • a motor current detection method By minimizing the time up to the motor load and by appropriately changing the braking force and braking distance of the auxiliary brake, it is possible to prevent passenger accidents, prevent secondary accidents, and minimize the degree of injury. It is for the industrial brake control system of walker.

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Abstract

The present invention relates to a system for controlling an auxiliary brake of a horizontal walker. The system for controlling an auxiliary brake of a horizontal walker, according to the present invention, comprises: a drive chain breakdown detection device that monitors a motor load of the horizontal walker and detects the breakdown of a drive chain from a change in the motor load; an auxiliary brake that makes a disc slow down or stop by applying an actuator lining pressure when the breakdown of the drive chain is detected by the drive chain breakdown detection device; and an auxiliary-brake control means that calculates an actuator operating pressure of the auxiliary brake corresponding to a braking distance by detecting the motor load of the horizontal walker shortly before the breakdown of the drive chain that is detected by the drive chain breakdown detection device, and controls the actuator lining pressure of the auxiliary brake based on the calculation result.

Description

수평보행기의 구동체인 파단 검출장치 및 수평보행기의 보조브레이크 제어시스템Drive chain breakage detection device for horizontal walkers and auxiliary brake control system for walkers
본 발명은 수평보행기의 보조브레이크 제어시스템에 대한 것으로, 더욱 상세하게는 구동체인 파단 검출을 모터 전류검출 방식에 의하므로 검출 시간 최소화를 가능하게 하여 구동체인 파단 시점으로부터 보조 브레이크 동작까지 시간을 최소화 하며, 모터부하에 대응하여 보조브레이크의 제동력 및 제동거리를 적절히 변화시키는 것에 의해 탑승객의 안전사고 예방 및 2차 사고예방, 부상 정도 최소화가 가능한 수평보행기의 보조브레이크 제어시스템에 대한 것이다.The present invention relates to an auxiliary brake control system of a pedestrian walker. More specifically, since the breaking detection of the drive chain is based on the motor current detection method, the detection time can be minimized to minimize the time from the breakage point of the drive chain to the auxiliary brake operation. The auxiliary brake control system of a pedestrian which can prevent passenger accidents, prevent secondary accidents, and minimize injuries by appropriately changing the braking force and braking distance of the auxiliary brake in response to the motor load.
도 1 내지 3에 도시된 종래의 수평보행기 시스템에서 수평보행기 모터(18)의 구동부터 스텝(120)이 구동하기까지 동작 순서를 설명하면 다음과 같다.In the conventional walker system illustrated in FIGS. 1 to 3, the operation sequence from driving of the walker motor 18 to driving of the step 120 will be described below.
종래의 수평보행기 시스템(1)은 크게 운행 전반을 관리 제어하는 운전제어부(2)와 모터 제어부(12)로 구성된다. The conventional walker system 1 is composed of a driving control unit 2 and a motor control unit 12 to manage and control overall driving.
먼저 운전제어부(2)는 각종 운전 신호를 입력을 받는 운전신호입력부(3)와 자동운전시 승객 탑승여부를 확인하기 위한 포토센서(11)와 운행 시간을 제어하기 위한 타이머(4), 운전제어부(2)로부터 신호입력을 받아 상승 운전을 할 것인지 하강운전을 할 것인지를 판단하여 운전 방향 지령을 하는 상승/하강 운전지령부(5), 안전계통 이상이나 운행정지 신호 등의 신호입력에 의해 정지지령을 주는 정지지령부(6), 운행방향을 선택하는 운전방향선택 스위치(7), 수평보행기 비상정지를 시키기 위한 비상정지스위치(8), 운전모드를 포토센서(11)에 의해 운행하는 자동운전과 연속운전을 하는 수동운전을 할 것인지를 운전모드선택을 하는 자동/수동 선택스위치(9), 구동체인 파단 및 각종 안전계통스위치를 입력을 받는 안전관련 스위치(10)로 구성된다.First, the driving control unit 2 includes a driving signal input unit 3 that receives various driving signals, a photosensor 11 for checking whether a passenger boards during automatic driving, a timer 4 for controlling a driving time, and a driving control unit. (2) It receives a signal input and decides whether to drive up or down, and stops by input of up / down driving command (5) which gives driving direction command and signals such as safety system abnormality or driving stop signal. Stop command unit 6 for giving a command, operation direction selector switch 7 for selecting the driving direction, emergency stop switch 8 for emergency stop of the walker, and automatic operation of the operation mode by the photosensor 11 It consists of an automatic / manual selection switch 9 which selects an operation mode, whether the manual operation of continuous operation and continuous operation, and a safety-related switch 10 which receives input of a drive chain break and various safety system switches.
모터 제어부(12)는 운전제어부(2)의 상승/하강 운전지령부에 의해 운전방향 지령 및 운행 정지 지령을 수신하는 모터 구동 신호입력부(13)와 모터 구동 신호입력부에서 수신한 운전지령 대로 모터 구동을 하기 위한 모터 구동부(15)와 구동체인(80)을 통해 스텝(120)과 핸드레일을 구동시키기 위한 동력원인 모터(18)로 구성되어 있다.The motor control unit 12 drives the motor according to the driving command received from the motor driving signal input unit 13 and the motor driving signal input unit which receive the driving direction command and the driving stop command by the rising / lowering driving command unit of the driving control unit 2. It consists of a motor 18 that is a power source for driving the step 120 and the handrail through the motor drive unit 15 and the drive chain 80 for.
먼저 운행지령이 떨어지면 브레이크 개방과 동시에 모터(18)에 전원이 투입되어 모터(18)가 회전하기 시작하면 모터(18)에 연결된 감속기(50)는 토오크는 증가시키고 속도는 감소시켜 구동 스프라켓(70)을 회전시킨다. 구동 스프라켓(70)의 동력은 구동체인(80)을 통해 터미널 기어(90)에 전달되며, 동일 축상에 스텝체인 스프라켓(100)이 연결되어 있어서 터미널 기어(90)와 스텝체인 스프라켓(100)도 같이 회전한다. 스텝체인 스프라켓(100)에 스텝체인(110)이 연결되어 있으며, 또한 이 스텝체인(110)에 스텝(120)이 연결되어 있기 때문에 스텝(120)도 함께 회전하여 스텝에 탑승한 승객을 이동시켜 준다. First, when the driving command falls, power is supplied to the motor 18 at the same time as the brake is released, and when the motor 18 starts to rotate, the reducer 50 connected to the motor 18 increases the torque and decreases the speed, thereby driving the sprocket 70. Rotate). Power of the drive sprocket 70 is transmitted to the terminal gear 90 through the drive chain 80, and the step chain sprocket 100 is connected on the same axis, so that the terminal gear 90 and the step chain sprocket 100 are also Rotate together. Since the step chain 110 is connected to the step chain sprocket 100, and the step 120 is connected to the step chain 110, the step 120 is also rotated together to move the passengers in the step. give.
반대로 운행 정지를 시키려면 모터(18) 전원과 브레이크 코일(40) 전원을 거의 동시에 차단하면 브레이크 드럼(20)과 브레이크 레버(30)에 붙어 있는 라이닝 마찰에 의해 수평보행기는 정지한다. 여기서 스텝 구동 및 정지는 구동 스프라켓(70)과 터미널 기어(90) 간에 연결되어 있는 구동체인(80)에 의해서만 가능하다. 따라서, 구동체인(80)이 파단여부를 검출하기 위해서, 구동체인(80) 위에 구동체인 파단 검출 리미트 스위치(60)를 설치하여, 평상시 체인 장력에 의해 구동체인 파단 검출 리미트 스위치(60)가 동작하고 있다가 구동체인(80)이 끊어지면 구동체인의 동작 장력이 사라지기 때문에 구동체인 파단 검출 리미트 스위치(60)가 동작 오프되는 것에 의해 구동체인 파단을 검출하는 방식을 채택하고 있다. On the contrary, when the motor 18 and the brake coil 40 are cut off at the same time to stop the driving, the horizontal walk stops due to the lining friction attached to the brake drum 20 and the brake lever 30. Here, step driving and stopping is possible only by the drive chain 80 connected between the drive sprocket 70 and the terminal gear 90. Therefore, in order to detect whether the drive chain 80 is broken, the drive chain break detection limit switch 60 is provided on the drive chain 80, and the drive chain break detection limit switch 60 is operated by the usual chain tension. If the drive chain 80 is disconnected, the operating tension of the drive chain disappears, so that the break detection limit switch 60 of the drive chain is turned off to detect the break of the drive chain.
한편, 구동체인 파단 검출 리미트 스위치에(60) 의해 구동체인(80) 파단이 검출되는 경우는, 주 브레이크가 동작하더라도 구동체인이 파단되었기 때문에 구동체인(80)에 의해 연결된 구동 스프라켓(70)과 터미널 기어(90) 및 이에 연결된 스텝(120)을 정지시킬 수 없는 문제가 발생한다. 이 경우, 구동체인 파단시 수평보행기는 정지하기 못하고 무게 중심방향으로 움직이기 때문에 심각한 안전사고의 위험이 있다. On the other hand, if the drive chain breakage is detected by the drive chain break detection limit switch 60, the drive sprocket 70 connected by the drive chain 80 is broken because the drive chain is broken even if the main brake operates. A problem arises in that the terminal gear 90 and the step 120 connected thereto cannot be stopped. In this case, when the drive chain is broken, the horizontal walker does not stop but moves toward the center of gravity, which causes a serious safety accident.
따라서, 도 3에 도시된 바와 같이 종래 수평보행기는 터미널 기어(90) 및 스텝 체인 스프라켓(100)과 함께 보조 브레이크(130)를 설치하며, 구동체인 파단(80)이 되면 보조 브레이크(130)에 보조브레이크 래치(140)를 동작시켜 스텝(120)을 강제로 정지시킨다. Therefore, as shown in FIG. 3, the conventional walker installs the auxiliary brake 130 together with the terminal gear 90 and the step chain sprocket 100, and when the drive chain breaks 80, the auxiliary brake 130 is connected to the auxiliary brake 130. The auxiliary brake latch 140 is operated to forcibly stop the step 120.
도 4에 도시된 종래의 수평보행기 보조브레이크 구성도를 살펴보면, 보조브레이크는 터미널 기어(90), 스텝체인 스프라켓(100)과 상호 연결되어 있기 때문에 평상시에는 터미널 기어와(90) 함께 스텝체인 스프라켓(100)과 보조 브레이크(130)가 함께 회전을 한다.4, the auxiliary brake is connected to the terminal gear 90 and the step chain sprocket 100, so that the auxiliary brake is usually connected with the terminal gear 90 and the step chain sprocket ( 100 and the auxiliary brake 130 rotates together.
종래 수평보행기의 보조브레이크(130)는 스텝 체인 스프라켓(100)과 스텝 체인 스프라켓(100)을 정지시키기 위한 디스크 브레이크 1(160)과 디스크 브레이크 2(170), 디스크 브레이크 3(180)으로 구성되어 있다. 구동체인(80) 파단이 검출되면 스텝체인 스프라켓(100)을 정지시키기 위해 브레이크 라이닝(200)이 부착되어 있으며 보조브레이크 동작 시 브레이크 압력은 스프링(210)에 의해 일정하게 조정되어 있다.The auxiliary brake 130 of the conventional walker is composed of a disc brake 1 (160), a disc brake 2 (170), a disc brake 3 (180) for stopping the step chain sprocket (100) and the step chain sprocket (100). have. When the breakage of the drive chain 80 is detected, a brake lining 200 is attached to stop the step chain sprocket 100, and the brake pressure is constantly adjusted by the spring 210 during the auxiliary brake operation.
도 5에서 종래 수평보행기에서 보조브레이크의 동작과정을 살펴보면 다음과 같다. 즉, 수평보행기의 정상운행중 어떤 원인에 의해 구동체인이(80) 파단이 발생하면 구동체인 파단 검출 리미트 스위치(60)가 파단 검출하여 운전제어부(2)로 파단 검출 신호를 전송한다(제300단계,제301단계,제302단계,제303단계,제304단계). Looking at the operation of the auxiliary brake in the conventional walker in Figure 5 as follows. That is, when the drive chain 80 is broken due to some cause during the normal operation of the horizontal walker, the drive chain break detection limit switch 60 detects the break and transmits the break detection signal to the operation controller 2 (step 300). Step 301, step 302, step 303, and step 304).
운전제어부(2)는 보조 브레이크 래치(140)의 솔레노이드를 동작시켜 디스크 브레이크 3(180)을 정지 시킨다. 터미널 기어(90)와 스텝 체인 스프라켓(100), 스텝과 함께 디스크 브레이크 1과 2(160,170)는 회전 관성에 의해 계속 회전 하지만 디스크 브레이크 3(180)과 라이닝 마찰력에 의해 급격히 감속하면서 순간 정지하는 구조이다(제305단계). The driving controller 2 stops the disc brake 3 180 by operating the solenoid of the auxiliary brake latch 140. With the terminal gear 90, the step chain sprocket 100, and the step, the disc brakes 1 and 2 (160, 170) continue to rotate by rotational inertia but suddenly decelerate while suddenly decelerating by the disc brake 3 (180) and lining friction. (Step 305).
하지만, 수평보행기(1)의 설치 각도와 스텝에 탑승하고 있는 승객 부하, 운행 방향에 따라 보조 브레이크(130) 동작에 의한 감속 거리가 달라지며, 탑승객이 많은 경우에는 스텝의 부하가 보조브레이크(130)의 제동력 범위를 초과하여 하부 무게 중심방향으로 미끄러지는 경우가 발생한다. However, the deceleration distance due to the operation of the auxiliary brake 130 varies depending on the installation angle of the walker 1, the passenger load on the step, and the driving direction, and in the case of a large number of passengers, the load of the step is applied to the auxiliary brake 130. Sliding toward the lower center of gravity exceeds the braking force range of).
좀 더 자세히 설명하면, 상승방향 운전 중 급격한 감속으로 정지한 후에, 수평보행기(1) 설치 각도가 완만하고 스텝(120)에 있는 승객 부하가 작은 경우 수평보행기가 정지하지만, 승객부하가 큰 경우는 스텝(120)이 하부로 미끄러지는 현상이 발생할 수 있다(제306단계,제307단계,제308단계,제309단계,310단계,320단게).In more detail, after stopping due to a sudden deceleration during driving in the ascending direction, when the leveling machine 1 installation angle is slow and the passenger load in step 120 is small, the leveling machine stops, but when the passenger load is large A phenomenon in which the step 120 slides downward may occur ( steps 306, 307, 308, 309, 310, and 320).
한편, 하강 방향인 경우, 수평보행기(1)의 설치 각도와 스텝에 탑승하고 있는 승객부하에 따라 기본적인 보조브레이크(130)에 의한 감속거리보다 스텝(120)이 훨씬 더 미끄러지는 현상이 발생할 것이다(제330단계,제331단계,제332단계). On the other hand, in the downward direction, depending on the installation angle of the walker 1 and the passenger load in the step, the step 120 will be much slippery than the deceleration distance by the basic auxiliary brake 130 ( Steps 330, 331 and 332).
이와 같이 종래에는 수평보행기(1)의 설치 각도·운행 방향·탑승객 부하에 상관없이 구동체인(80)이 파단이 발생하면 상기에 언급된 순서에 의해 단일 제동력의 보조브레이크(130)를 동작시키기 때문에 수평보행기(1)의 설치 각도·운행방향·탑승객의 부하에 따라 슬립거리 편차가 발생하며, 이에 의해 정지 쇼크 또는 슬립 거리 늘어남에 의한 2차 안전사고의 위험이 있다.As described above, when the drive chain 80 breaks regardless of the installation angle, the driving direction, and the passenger load of the horizontal walker 1, the auxiliary brake 130 of the single braking force is operated in the above-described order. Slip distance deviation occurs depending on the installation angle, driving direction, and load of passengers of the walker 1, and there is a risk of secondary safety accident by stopping shock or increasing the slip distance.
한편, 종래의 보조브레이크(130)는, 구동체인 파단 검출 리미트 스위치(60) 동작에 의해 구동체인 파단 신호를 운전제어부(2)로 입력하며, 운전제어부(2)의 제어에 따라 다시 보조브레이크 솔레노이드에 의해 디스크 브레이크 3(180)이 래치되는 순서에 의해 보조 브레이크(130)가 동작하기 때문에 구동체인 파단부터 보조 브레이크 동작까지의 시간 지연만큼 더 슬립거리가 더 발생하여 안전사고 발생위험이 커진다.Meanwhile, the conventional auxiliary brake 130 inputs the driving chain breaking signal to the driving control unit 2 by the driving chain breaking detection limit switch 60 and again performs the auxiliary brake solenoid under the control of the driving control unit 2. Since the auxiliary brake 130 is operated in the order in which the disc brake 3 180 is latched, the slip distance is further generated by a time delay from the breakage of the drive chain to the auxiliary brake operation, thereby increasing the risk of a safety accident.
이와 같은 종래 시스템은, 수평보행기(1)의 설치 각도·운행방향·스텝에 탑승한 승객 부하에 상관없이 보조브레이크 마찰력계수가 동일하기 때문에 슬립거리의 편차가 심하게 발생하여 안전사고의 위험을 가지고 있다.Such a conventional system has a risk of a safety accident due to severe deviation of slip distance because the auxiliary brake frictional force coefficient is the same regardless of the passenger load on the level walker 1, the direction of travel, and the step. .
또한, 이와 같은 종래 시스템은, 구동체인 파단 검출 리미트 스위치(60)와 보조 브레이크 래치 구조를 가짐으로 인한 구조의 복잡성과 원가 상승요인을 가지고 있으며, 보조브레이크(130)가 구동체인 파단 검출 시만 동작하기 때문에 다른 안전장치와 동작 연계성이 떨어지는 단점을 가지고 있다. In addition, such a conventional system has a complexity and a cost increase factor of the structure due to the break detection limit switch 60 and the auxiliary brake latch structure of the drive chain, and operates only when the break detection of the auxiliary brake 130 is the drive chain. Because of this, there is a disadvantage that the operation linkage with other safety devices is poor.
본 발명의 목적은, 수평보행기 동작중 구동체인 파단검출에서 보조브레이크의 동작까지의 반응 시간을 단축하고, 구동체인 파단 검출 시에 보조브레이크 라이닝 마찰력 제어를 통해 제동거리를 적절히 제어하여 안전사고 예방 및 부상 정도를 최소화하는 수평보행기의 보조브레이크 제어시스템을 구현하는 것이다.An object of the present invention is to reduce the reaction time from the detection of the breakage of the drive chain to the operation of the auxiliary brake during the operation of the pedestrian walk, and to prevent the safety accident by appropriately controlling the braking distance through the control of the auxiliary brake lining friction force when the breakage of the drive chain is detected. It is to implement the auxiliary brake control system of the walker to minimize the degree of injury.
본 발명의 다른 목적은. 수평보행기의 각종 안전계통 스위치 중 어느 하나가 동작하는 경우 그 안전계통 스위치의 종류와 용도에 맞게 제동거리를 제어하여 탑승객의 안전사고 발생 시에 부상 정도를 최소화하는 수평보행기의 보조브레이크 제어시스템을 구현하는 것을 목적으로 한다. Another object of the present invention. When any one of the various safety system switches of the pedestrian operates, the brake system is controlled according to the type and application of the safety system switch to implement the auxiliary brake control system of the pedestrian which minimizes the degree of injury in the event of a safety accident. It aims to do it.
본 발명의 또 다른 목적은, 구동체인 파단 또는 다른 안전계통 스위치가 동작하는 경우 그 즉전의 수평보행기의 상태 즉 상승방향 운행인가 하강방향 운행인지 여부, 탑승객 수나 수평보행기의 설치각도 등에 따른 제동력 및 제동거리 제어를 통한 안전사고 예방과 부상정도를 최소화하는 수평보행기의 보조브레이크 제어시스템을 구현하는 것을 목적으로 한다.It is still another object of the present invention to provide a braking force and a braking force depending on the state of the previous walker, that is, whether the driving direction is up or down, when the drive chain is broken or another safety system switch is operated. The purpose of this study is to implement an auxiliary brake control system of a pedestrian to minimize safety and prevent accidents through distance control.
상기 목적을 달성하기 위한 본 발명에 의한 수평보행기의 구동체인 파단 검출장치는, 수평보행기 모터의 구동력이 구동체인을 통하여 전달되어 스텝과 핸드레일을 구동하는 수평보행기에서 구동체인 파단을 검출하는 수평보행기의 구동체인 파단 검출장치로, 상기 모터부하 전류의 변동을 검출하는 부하전류검출수단과; 상기 부하전류검출수단에서 검출된 상기 모터부하 전류의 변동을 모니터링하며, 상기 모터부하 전류가 계속하여 스텝과 핸드레일 구동 부하에 대응하는 부하전류가 검출되다가 모터 여자전류인 무부하전류 값을 검출하는 경우 구동체인 파단을 검출하는 파단 검출수단을 포함하여 구성하는 것을 특징으로 한다.The breaker detecting device for the drive chain of the walker according to the present invention for achieving the above object is a horizontal walker for detecting the breakage of the drive chain in the walker to transfer the driving force of the walker motor through the drive chain to drive the step and the handrail An apparatus for detecting break in a drive chain, comprising: load current detecting means for detecting a change in the motor load current; Monitoring the variation of the motor load current detected by the load current detecting means, and the motor load current continuously detects a load current corresponding to the step and the handrail driving load and detects a no-load current value that is a motor exciting current. And break detection means for detecting break in the drive chain.
상기 목적을 달성하기 위한 본 발명에 의한 수평보행기의 보조브레이크 제어시스템은, 수평보행기 모터부하를 모니터링하며 상기 모터부하의 변화로부터 구동체인 파단 발생을 검출하는 구동체인 파단 검출장치와; 상기 구동체인 파단 검출장치에 의해 구동체인 파단이 검출된 경우에 액츄에이터 라이닝 압력인가에 의해 디스크 제동을 하는 보조브레이크와; 상기 구동체인 파단 검출장치가 검출한 구동체인 파단 즉전의 상기 수평보행기의 모터부하를 검출하여 제동거리에 대응하는 상기 보조브레이크 액츄에이터 동작압력을 계산하고 그 계산 결과에 따라 상기 보조브레이크의 액츄에이터 라이닝압력을 제어하는 보조브레이크 제어수단을 포함하여 구성되는 것을 특징으로 한다.The auxiliary brake control system of a walker according to the present invention for achieving the above object comprises: a drive chain break detection device for monitoring a walker motor load and detecting breakage of the drive chain from a change in the motor load; An auxiliary brake that brakes the disc by applying an actuator lining pressure when the drive chain break is detected by the drive chain break detection device; By detecting the motor load of the horizontal walk immediately before the drive chain break detected by the drive chain break detection device, the operating pressure of the auxiliary brake actuator corresponding to the braking distance is calculated and the actuator lining pressure of the auxiliary brake is calculated according to the result of the calculation. It characterized in that it comprises a secondary brake control means for controlling.
상기 목적을 달성하기 위한 본 발명에 의한 수평보행기의 보조브레이크 제어시스템은, 수평보행기 모터부하를 모니터링하며 상기 모터부하의 변화로부터 시스템 이상발생을 검출하는 모터부하 감지수단과; 상기 모터부하 감지수단에 의해 검출된 모터부하에 이상이 발생한 경우에 액츄에이터 라이닝 압력인가에 의해 디스크 제동을 하는 보조브레이크와; 상기 모터부하 감지수단이 이상발생 전후의 모터부하를 검출하여 제동거리에 대응하는 상기 보조브레이크의 액츄에이터 동작압력을 계산하고 그 계산 결과에 따라 상기 보조브레이크의 액츄에이터 라이닝압력을 제어하는 보조브레이크 제어수단을 포함하여 구성되는 것을 특징으로 한다.The auxiliary brake control system of a walker according to the present invention for achieving the above object comprises: a motor load detecting means for monitoring a walker motor load and detecting a system abnormality from a change in the motor load; An auxiliary brake that brakes the disc by applying actuator lining pressure when an abnormality occurs in the motor load detected by the motor load detecting means; The auxiliary load control means for detecting the motor load before and after the motor load detecting means calculates the actuator operating pressure of the auxiliary brake corresponding to the braking distance and controls the actuator lining pressure of the auxiliary brake according to the calculation result. Characterized in that it comprises a.
상기 목적을 달성하기 위한 본 발명에 의한 수평보행기의 보조브레이크 제어시스템은, 수평보행기 모터부하 변화를 모니터링하며 상기 모터부하의 변화로부터 시스템 이상발생을 검출하는 모터부하 감지수단과; 상기 모터부하 감지수단에 의해 검출된 모터부하에 이상이 발생한 경우에 액츄에이터 라이닝 압력인가에 의해 디스크 제동을 하는 보조브레이크와; 상기 수평보행기에 탑승한 승객수를 카운트 하는 승객 카운트 수단과; 상기 모터부하 감지수단이 이상발생 검출시 상기 승객 카운트 수단이 검출한 승객수에 따른 제동력 및 제동거리를 검출하고 그에 대응하는 상기 보조브레이크의 액츄에이터의 동작압력을 계산하며 그 계산 결과에 따라 상기 보조브레이크의 액츄에이터 라이닝압력을 제어하는 보조브레이크 제어수단을 포함하여 구성되는 것을 특징으로 한다.The auxiliary brake control system of a walker according to the present invention for achieving the above object comprises: a motor load sensing means for monitoring a walker motor load change and detecting a system abnormality from the change of the motor load; An auxiliary brake that brakes the disc by applying actuator lining pressure when an abnormality occurs in the motor load detected by the motor load detecting means; Passenger counting means for counting the number of passengers aboard said level walk; When the motor load detecting means detects an abnormality, the braking force and the braking distance according to the number of passengers detected by the passenger counting means are detected, and the operating pressure of the actuator of the auxiliary brake corresponding thereto is calculated, and the auxiliary brake is based on the calculation result. It characterized in that it comprises a secondary brake control means for controlling the actuator lining pressure of the.
상기 모터부하 감지수단은, 상기 모터부하를 검출하는 것에 의하여 구동체인의 파단시 부하변동, 핸드레일 파단시 부하변동, 스텝체인 파단시 부하변동 중 적어도 어느 하나를 검출하는 경우에 이상발생을 검출하는 것을 특징으로 한다.The motor load detecting means detects an abnormality when detecting at least one of a load change at break of the drive chain, a load change at break of the handrail, and a load change at break of the step chain by detecting the motor load. It is characterized by.
상기 목적을 달성하기 위한 본 발명에 의한 수평보행기의 보조브레이크 제어시스템은, 수평보행기 모터부하를 모니터링하는 모터부하 감지수단과; 수평보행기의 동작상태를 모니터링하여 안전계통 스위치 이상발생을 검출하는 안전상태 감지수단과; 상기 안전상태 감지수단에 의해 이상발생이 검출된 경우에 액츄에이터 라이닝 압력인가에 의해 디스크 제동을 하는 보조브레이크와; 상기 안전상태 감지수단이 이상발생을 검출한 안전계통스위치에 대응하는 제동거리 값을 검출하고 이상발생 전후의 상기 모터부하 감지수단이 검출한 모터부하에 따라 상기 제동거리에 대응하는 상기 보조브레이크의 액츄에이터 동작압력을 계산하고 그 계산 결과에 따라 상기 보조브레이크의 액츄에이터 라이닝압력을 제어하는 보조브레이크 제어수단을 포함하여 구성되는 것을 특징으로 한다.The auxiliary brake control system of a walker according to the present invention for achieving the above object comprises: a motor load sensing means for monitoring a walker motor load; Safety state detection means for monitoring an operation state of the walker to detect an abnormal occurrence of a safety system switch; An auxiliary brake that brakes the disc by applying actuator lining pressure when an abnormal occurrence is detected by the safe state detecting means; The actuator of the auxiliary brake corresponding to the braking distance according to the motor load detected by the motor load sensing means before and after the abnormality is detected by the safety state detecting means detects the abnormality occurrence of the safety system switch And an auxiliary brake control means for calculating an operating pressure and controlling the actuator lining pressure of the auxiliary brake according to the calculation result.
상기 목적을 달성하기 위한 본 발명에 의한 수평보행기의 보조브레이크 제어시스템은, 수평보행기의 동작상태를 모니터링하여 안전계통 스위치 이상발생을 검출하는 안전상태 감지수단과; 상기 안전상태 감지수단에 의해 이상발생이 검출된 경우에 액츄에이터 라이닝 압력인가에 의해 디스크 제동을 하는 보조브레이크와; 상기 수평보행기에 탑승한 승객수를 카운트 하는 승객 카운트 수단과; 상기 안전상태 감지수단이 이상발생 검출시 상기 승객 카운트 수단이 검출한 승객수에 따른 제동거리를 검출하고 그에 대응하는 상기 보조브레이크의 액츄에이터의 동작압력을 계산하고 그 계산 결과에 따라 상기 보조브레이크의 액츄에이터의 라이닝압력을 제어하는 보조브레이크 제어수단을 포함하여 구성되는 것을 특징으로 한다.The auxiliary brake control system of a walker according to the present invention for achieving the above object comprises: a safety state detection means for detecting a safety system switch abnormality by monitoring the operating state of the walker; An auxiliary brake that brakes the disc by applying actuator lining pressure when an abnormal occurrence is detected by the safe state detecting means; Passenger counting means for counting the number of passengers aboard said level walk; When the safety state detecting means detects an abnormality, the braking distance according to the number of passengers detected by the passenger counting means is detected, and the operating pressure of the actuator of the auxiliary brake corresponding thereto is calculated, and the actuator of the auxiliary brake according to the calculation result. It characterized in that it comprises a secondary brake control means for controlling the lining pressure of the.
상기 안전계통스위치는, 속도검출수단, 구동체인 파단검출장치, 보조브레이크, 핸드레일 파단검출수단, 핸드레일 안전스위치, 스텝 파단검출수단, 스커트가드 안전스위치, 스텝융기 안전스위치, 스텝처짐검출스위치, 비상정지버튼, 콤 안전스위치 중 어느 하나인 것을 특징으로 한다.The safety system switch, speed detection means, drive chain break detection device, auxiliary brake, hand rail break detection means, hand rail safety switch, step break detection means, skirt guard safety switch, step bump safety switch, step deflection detection switch, It is characterized in that the emergency stop button, any one of the comb safety switch.
상기 보조브레이크 제어수단은, 상기 수평보행기가 상승방향 또는 하강방향 이동중이었느냐에 따라 제동거리 및 상기 보조브레이크 액츄에이터의 라이닝압력을 달리 계산하는 것을 특징으로 한다.The auxiliary brake control means may calculate different braking distances and lining pressures of the auxiliary brake actuators depending on whether the horizontal walker is moving in the up or down direction.
상기 보조브레이크 제어수단은, 상기 수평보행기의 상승 또는 하강 운행의 운행속도에 따라 제동거리 및 상기 보조브레이크 액츄에이터의 라이닝압력을 달리 계산하는 것을 특징으로 한다.The auxiliary brake control means, characterized in that for calculating the braking distance and the lining pressure of the auxiliary brake actuator in accordance with the running speed of the rising or falling of the walker.
상기 보조브레이크 제어수단은, 상기 수평보행기의 경사도에 따라 제동거리 및 상기 보조브레이크 액츄에이터의 라이닝압력을 달리 계산하는 것을 특징으로 한다.The auxiliary brake control means, characterized in that for calculating the braking distance and the lining pressure of the auxiliary brake actuator in accordance with the inclination of the walker.
상기 수평보행기의 보조브레이크 제어시스템은, 상기 수평보행기에 설치된 안전계통스위치 중에서 구동체인 파단 및 감속기 이상 검출시를 제외한 다른 안전계통 스위치 동작하였을 때는 주 브레이크와 보조브레이크를 동시에 제어하여 제동거리를 조절하는 것을 특징으로 한다.The auxiliary brake control system of the pedestrian controls the braking distance by simultaneously controlling the main brake and the auxiliary brake when the other safety system switches are operated, except when the breakage of the drive chain and the gear reducer are detected among the safety system switches installed in the walker. It is characterized by.
상기 수평보행기의 보조브레이크 제어시스템은, 실제 제동거리를 측정하는 제동거리 측정수단을 더 포함하며, 상기 액츄에이터 제어수단은 상기 제동거리 측정수단을 통하여 검출된 보조 브레이크 동작을 제어하였을 때 제어하고자 하는 제동거리와 실제 제동거리를 확인하면서 보조 브레이크 제동을 제어하는 것을 포함하여 구성하는 것을 특징으로 한다.The auxiliary brake control system of the pedestrian may further include a braking distance measuring unit for measuring an actual braking distance, and the actuator control unit may control the braking to be controlled when the auxiliary braking operation detected through the braking distance measuring unit is controlled. And controlling the auxiliary brake braking while checking the distance and the actual braking distance.
본 발명은 상기와 같은 구성에 의해, 구동체인 파단 검출을 모터 전류검출 방식에 의하므로 검출 시간 최소화를 가능케 하며, 구동체인 파단 검출에서 보조 브레이크 동작까지 시간을 최소함으로 인해 탑승객의 안전사고 예방 및 2차 사고예방, 부상 정도 최소화가 가능하다.The present invention enables the minimization of detection time because the drive chain break detection is based on the motor current detection method by the above configuration, and minimizes the time from the drive chain break detection to the auxiliary brake operation. It is possible to prevent car accidents and minimize the degree of injury.
본 발명은 상기와 같은 구성에 의해, 구동체인 파단 검출 시에 운행방향과 수평보행기 설치각도 및 승객부하 등 수평보행기 운전환경 및 상태에 따라 제동력과 제동거리를 조절함으로써 탑승객의 안전사고 예방 및 2차 사고예방, 부상정도를 최소화할 수 있다.The present invention, by the configuration as described above, by controlling the braking force and braking distance according to the driving environment and condition of the pedestrian, such as the driving direction and the angle of installation of the pedestrian and the load of passengers at the time of detecting the breakage of the drive chain and the secondary accident prevention Prevention of accidents and injuries can be minimized.
한편, 본 발명은 상기와 같은 구성에 의해, 구동체인 파단을 제외한 수평보행기에 설치된 안전계통 스위치 종류에 따라 보조브레이크 제동력을 조절하여 수평보행기 제동거리를 유연하게 제어함에 따라 보조브레이크의 활용성을 높이고 안전사고 예방 및 부상정도 최소화를 도모할 수 있다. On the other hand, according to the present invention, by adjusting the auxiliary brake braking force according to the type of safety system switch installed in the pedestrian walker excluding breakage of the drive chain to increase the usability of the auxiliary brake by flexibly controlling the pedestrian braking distance Prevent accidents and minimize injuries.
또한, 본 발명의 상기와 같은 구성에 의해, 구동체인 파단을 제외한 수평보행기에 설치된 안전계통 스위치가 동작하였을 때 주 브레이크와 보조브레이크를 동시에 제어함에 따라 급제동의 필요시를 포함하여 제동거리의 제어 유연성을 높일 수 있다. In addition, according to the above configuration of the present invention, when the safety system switch installed in the horizontal walk except for the drive chain breaks when the main brake and auxiliary brakes are controlled at the same time control flexibility of the braking distance including the need for rapid braking Can increase.
도 1은 종래의 수평보행기의 제어시스템을 예시한 개요도.1 is a schematic diagram illustrating a control system of a conventional walker.
도 2는 종래의 수평보행기의 주요부의 구성을 예시한 사시도.Figure 2 is a perspective view illustrating the configuration of the main part of the conventional walker.
도 3은 종래의 수평보행기의 주요부의 구성을 예시한 사시도.3 is a perspective view illustrating a configuration of a main part of a conventional walker.
도 4는 종래의 수평보행기의 보조브레이크의 구성을 예시한 사시도.4 is a perspective view illustrating a configuration of an auxiliary brake of a conventional walker.
도 5는 종래의 수평보행기에서 구동체인 파단시 보조브레이크 동작과정을 예시한 흐름도.5 is a flowchart illustrating an operation process of the auxiliary brake when the driving chain is broken in the conventional walker.
도 6은 본 발명의 실시예의 수평보행기 제어시스템을 예시한 개요도.Figure 6 is a schematic diagram illustrating a walker control system of an embodiment of the present invention.
도 7은 본 발명의 제 1 실시예의 수평보행기 보조브레이크 제어시스템을 예시한 개요도.Figure 7 is a schematic diagram illustrating a walker auxiliary brake control system of a first embodiment of the present invention.
도 8은 본 발명의 실시예의 구동체인 파단 전후의 모터부하전류 변화를 예시한 그래프.8 is a graph illustrating the change of the motor load current before and after breaking the drive chain of the embodiment of the present invention.
도 9는 본 발명의 실시예의 보조브레이크의 구성을 예시한 사시도.Figure 9 is a perspective view illustrating the configuration of the auxiliary brake of the embodiment of the present invention.
도 10는 본 발명의 제 1 실시예의 수평보행기의 보조브레이크 제어시스템에 의한 제동과정을 예시한 흐름도.10 is a flowchart illustrating a braking process by the auxiliary brake control system of the horizontal walker according to the first embodiment of the present invention.
도 11은 본 발명의 제 2 실시예의 수평보행기 보조브레이크 제어시스템을 예시한 개요도.Figure 11 is a schematic diagram illustrating a walker auxiliary brake control system according to a second embodiment of the present invention.
도 12는 본 발명의 실시예의 수평보행기의 안전계통스위치의 설치상태를 예시한 사시도.12 is a perspective view illustrating an installation state of a safety system switch of a walker according to an embodiment of the present invention.
도 13은 본 발명의 제 2 실시예의 수평보행기의 보조브레이크 제어시스템에 의한 제동과정을 예시한 흐름도.13 is a flowchart illustrating a braking process by the auxiliary brake control system of the horizontal walker according to the second embodiment of the present invention.
다음은 상기와 같은 구성을 갖는 본 발명에 의한 수평보행기의 보조브레이크 제어시스템의 바람직한 실시예의 구성을 첨부된 도면을 참조하여 상세하게 설명한다.Next will be described in detail with reference to the accompanying drawings the configuration of a preferred embodiment of the auxiliary brake control system of a pedestrian walker according to the present invention having the configuration as described above.
<제 1 실시예><First Embodiment>
도 6과 도 7에 도시된 본 발명의 제 1 실시예의 수평보행기의 보조브레이크 제어시스템은, 수평보행기 구동체인 파단 발생을 검출하는 구동체인 파단 검출장치(810)와, 상기 구동체인 파단 검출장치(810)에 의해 구동체인 파단이 검출된 경우에 동작하는 보조브레이크(820)와, 상기 구동체인 파단 검출장치(810)가 구동체인 파단을 검출하기 즉전 상기 수평보행기 모터부하를 검출하여 기설정된 제동거리에 대응하는 보조브레이크의 동작압력을 계산하고 그 계산 결과에 따라 상기 보조브레이크를 제어하는 보조브레이크 제어수단(850)을 포함한다.6 and 7, the auxiliary brake control system for the horizontal walker according to the first embodiment of the present invention includes a breakage detection device 810 which is a drive chain for detecting occurrence of breakage that is a walker drive body, and the drive chain breakage detection device ( The auxiliary brake 820 operating when the drive chain break is detected by the 810 and the breaker detecting device 810 detects the break in the drive chain immediately after detecting the breaker motor load. The auxiliary brake control means 850 for calculating the operating pressure of the auxiliary brake corresponding to the control of the auxiliary brake according to the calculation result.
본 실시예의 구동체인 파단검출장치(810)은, 상기 모터(507) 부하 전류의 변동을 검출하는 부하전류검출수단(811)과, 상기 부하전류검출수단(811)에서 검출된 상기 모터(507) 부하전류의 변동을 모니터링하며 상기 모터(507)의 부하 전류가 계속하여 스텝과 핸드레일 구동 부하에 대응하는 부하전류로 검출되다가 모터 여자전류인 무부하전류 값이 검출되는 경우 구동체인 파단이 발생한 것으로 검출하는 파단 검출수단(815)을 포함한다.The breaking detection device 810 of the drive chain according to the present embodiment includes load current detection means 811 for detecting a change in the load current of the motor 507, and the motor 507 detected by the load current detection means 811. When the load current of the motor 507 is continuously detected as the load current corresponding to the step and the handrail driving load, and the no-load current value that is the motor excitation current is detected, the drive chain is broken. And breaking detection means 815.
본 실시예의 수평보행기(500)는 모터(507)의 구동력이 구동체인을 통하여 전달되어 스텝과 핸드레일을 구동하며, 도 8에 도시된 바와 같이 구동체인이 파단되면 스텝과 핸드레일에 의한 부하전류가 사라지고 모터(507)에는 여자전류인 무부하전류가 흐르게 된다. 본 실시예의 파단검출수단(815)은 상기 부하전류검출수단(811)이 검출한 모터 부하전류 값을 모니터링하다가 이 시점을 검출하는 것에 의해 구동체인 파단을 검출할 수 있다.The horizontal walker 500 of the present embodiment transmits the driving force of the motor 507 through the drive chain to drive the step and the hand rail, and as shown in FIG. 8, when the drive chain is broken, the load current by the step and the hand rail. Is disappeared and a quiescent current, which is an excitation current, flows to the motor 507. The breaking detection means 815 of this embodiment monitors the motor load current value detected by the load current detecting means 811 and detects this time point to detect breakage of the drive chain.
예컨대, 수평보행기 운전지령이 떨어지면 수평보행기(500)는 가속을 하여 정상속도까지 도달하게 되는데 그 과정 중 모터(507)에는 기동전류가 흐르게 된다. 수평보행기가 정상속도에 도달하면 승객이 탑승하기 전에는 스텝과 핸드레일을 구동하기 위한 모터 부하전류가 흐르고 승객이 탑승하면 스텝과 핸드레일 구동 부하와 탑승객수 만큼의 부하가 증가하여 모터 부하전류가 흐른다. 이 두 가지 부분이 구동체인이 정상적일 때 흐르는 모터 부하전류이다. For example, when the walker driving command falls, the walker 500 accelerates to reach a normal speed, and a starting current flows to the motor 507 in the process. When the walkers reach the normal speed, the motor load current flows to drive the steps and handrails before the passengers board, and when the passengers ride, the loads increase by the number of steps and handrail driving loads and the number of passengers. . These two parts are the motor load current flowing when the drive chain is normal.
하지만, 어떤 원인에 의해 구동체인 파단이 발생하는 순간 스텝과 핸드레일 및 탑승객의 부하가 사라지기 때문에 모터(507)에는 여자전류인 무부하전류가 흐르게 되는데 이때가 구동체인 파단 시점이며, 이와 같이 모터 부하전류 변화를 이용하여 구동체인 파단 검출이 가능하다.However, at the moment when the drive chain break occurs due to some cause, the load of the step, the handrail and the passenger disappears, so that no load current which is an excitation current flows to the motor 507. This is the break point of the drive chain. The breaking of the drive chain can be detected using the current change.
한편, 본 발명의 다른 실시예에서는 구동체인 파단 검출장치(810)는 구동체인 파단을 검출하는 외에, 스텝체인 파단이나 핸드레일 파단 등을 추가 검출하는 것이 가능하다. 즉, 수평보행기 정상운행중 탑승객의 증감 없이 스텝(탑승객 포함)의 부하에 대응하는 모터부하전류의 감소가 검출되는 경우에는 스텝체인 파단을 검출할 수 있으며, 핸드레일의 부하에 대응하는 모터부하전류의 감소가 검출되는 경우에는 핸드레일 파단(또는, 핸드레일이 늘어나서 핸드레일 구동부가 헛도는 경우)을 검출하는 것이 가능하다.On the other hand, in another embodiment of the present invention, the drive chain breakage detection device 810 can detect step chain breaks, handrail breaks, etc. in addition to detecting the drive chain breaks. That is, when a decrease in the motor load current corresponding to the load of a step (including passengers) is detected without the increase or decrease of passengers during normal operation of the walker, the step chain failure can be detected and the motor load current corresponding to the load of the handrail can be detected. When a decrease is detected, it is possible to detect a handrail break (or when the handrail extends and the handrail drive part is idle).
도 9에 도시된 본 발명의 실시예의 보조브레이크(820)는, 스텝 구동 스프라켓(100)에 동축상에 설치되어 일체로 회전하는 디스크(821)와, 상기 디스크(821) 일측에 거치되며 상기 구동체인 파단검출장치(810)이 구동체인 파단을 검출하는 경우 상기 디스크를 제동하는 보조브레이크 액츄에이터(830)를 포함한다. The auxiliary brake 820 according to the embodiment of the present invention shown in FIG. 9 is mounted coaxially to the step driving sprocket 100 and integrally rotates, and is mounted on one side of the disk 821 and is driven. The chain break detection device 810 includes an auxiliary brake actuator 830 for braking the disc when the drive break is detected.
본 실시예의 보조브레이크 액츄에이터(830)는 디스크(821)의 외주 일 지점에 거치되는 캘리퍼(131)와, 캘리퍼(131) 내측에 설치되어 마찰력에 의해 디스크(121)를 제동하는 브레이크 라이닝(832)과, 브레이크 라이닝(832)에 디스크(821) 제동을 위한 압력을 인가하는 피스톤(840)과, 상기 피스톤(840)의 동작을 위한 유압을 공급하는 유압공급수단(835)을 포함한다.The auxiliary brake actuator 830 of the present embodiment is a caliper 131 mounted on an outer circumferential point of the disk 821, and a brake lining 832 installed inside the caliper 131 to brake the disk 121 by friction. And a piston 840 for applying a pressure for braking the disk 821 to the brake lining 832 and a hydraulic supply means 835 for supplying hydraulic pressure for the operation of the piston 840.
본 실시예에서 보조브레이크(820)는 유압공급방식 제동에 의하는 디스크 보조브레이크를 채택하고 있으므로 라이닝 압력의 변화에 의해 보조브레이크 제동력의 크기와 제동속도 또는 제동거리를 상황에 따라 조정하는 것이 가능해진다.In this embodiment, since the auxiliary brake 820 employs a disk auxiliary brake by hydraulic supply type braking, it is possible to adjust the size and braking speed or braking distance of the auxiliary brake braking force according to the situation by changing the lining pressure. .
본 발명의 실시예의 보조브레이크 제어수단(850)은, 도 6에 도시된 바와 같이 수평보행기의 운전제어부(501)에 구비될 수 있으며, 본 발명의 실시예의 운전제어부(801)는 각종 운전 신호를 입력을 받는 운전신호입력부(530), 자동운전시 승객 탑승여부를 확인하기 위한 포토센서(535), 운행 시간을 제어하기 위한 타이머(540), 운전 방향 지령을 하는 상승/하강운전 지령부(550), 안전계통 이상이나 운행정지 신호 등의 신호입력에 의해 정지지령을 발생하는 정지지령부(560), 보조브레이크의 동작을 제어하는 보조브레이크 제어수단(820), 운전방향선택 스위치(531), 비상정지스위치(532), 자동/수동 선택스위치(533), 안전관련 스위치(534)를 포함할 수 있다.The auxiliary brake control means 850 of the embodiment of the present invention may be provided in the driving control unit 501 of the pedestrian as shown in FIG. 6, and the driving control unit 801 of the embodiment of the present invention may provide various driving signals. A driving signal input unit 530 that receives an input, a photosensor 535 for checking whether a passenger boards during automatic driving, a timer 540 for controlling a driving time, and an up / down driving command unit 550 for driving direction command ), A stop command unit 560 for generating a stop command by signal input such as a safety system abnormality or a driving stop signal, an auxiliary brake control means 820 for controlling the operation of the auxiliary brake, a driving direction selection switch 531, It may include an emergency stop switch 532, automatic / manual selection switch 533, safety-related switch (534).
본 발명의 실시예의 보조브레이크 제어수단(850)은, 상기 구동체인 파단 검출장치가 검출한 구동체인 파단 즉전의 상기 수평보행기의 운행상태(예컨대 모터부하)를 검출하는 수단(851)과, 운행상태에 대응하는 제동거리가 설정 저장되는 데이터베이스(852)와, 데이터베이스(852)에 설정 저장된 제동거리에 대응하는 상기 보조브레이크의 제동력 또는 액츄에이터 라이닝압력을 계산하는 제동력 산출수단(853), 계산 결과에 따라 상기 보조브레이크 액츄에이터를 제어하는 액츄에이터 제어수단(855)을 포함한다. The auxiliary brake control means 850 according to the embodiment of the present invention includes a means 851 for detecting the driving state (eg, the motor load) of the horizontal walk before the breaking of the driving chain detected by the breaking chain detecting device. A braking force calculation means 853 for calculating braking force or actuator lining pressure of the auxiliary brake corresponding to the braking distance set and stored in the database 852, and the calculation result. Actuator control means 855 for controlling the auxiliary brake actuator.
즉 본 실시예의 보조브레이크의 액츄에이터 라이닝압력은 수평보행기(500)의 운행상태에 따라 변동되는 것이며, 구동체인 파단시에 기설정된 제동거리에 의해 제동과정을 수행하기 위해 모터부하가 큰 경우에는 라이닝압력은 커질 것이며, 모터부하가 작은 경우에는 라이닝압력은 작아질 수 있는 것이다.That is, the actuator lining pressure of the auxiliary brake of the present embodiment is varied according to the running state of the horizontal walker 500, and the lining pressure when the motor load is large to perform the braking process by a predetermined braking distance at the time of breaking the drive chain. Will be large, and if the motor load is small, the lining pressure can be small.
예컨대, 본 실시예의 수평보행기의 보조브레이크 제어시스템(800)은 상승방향 또는 하강방향에 대한 적절한 제동거리(즉, 승객의 안전을 최대한 보호할 수 있는 최적의 제동거리)를 데이터베이스에 저장한다. 한편, 본 실시예의 수평보행기 보조브레이크 제어시스템(500)은 상기 수평보행기의 운전방향, 상승 또는 하강 운전의 속도, 수평보행기의 설치각도, 승객탑승 여부 등에 따라서 제동거리를 달리 설정하는 것이 가능하며 보조브레이크(820)의 동작속도나 보조브레이크 액츄에이터(830)의 라이닝압력 자체도 달리 산정할 수 있다.For example, the auxiliary brake control system 800 of the walker of the present embodiment stores in a database an appropriate braking distance (ie, an optimum braking distance for maximally protecting the safety of the passenger) in the ascending or descending direction. On the other hand, the horizontal walker auxiliary brake control system 500 of the present embodiment can set the braking distance differently according to the driving direction of the horizontal walker, the speed of the up or down driving, the installation angle of the horizontal walker, whether the passenger boarding, etc. The operating speed of the brake 820 or the lining pressure itself of the auxiliary brake actuator 830 may be calculated differently.
예컨대, 상승운전의 경우는 상승방향 관성력이 있어 구동체인 파단 후에도 잠시 상승할 수 있는데, 스텝의 하강압력이 크기 때문에 보조브레이크(820)가 동작하지 않는 경우에도 짧은 제동거리로 멈출 수 있고 구동체인 파단의 경우는 제동거리를 인위적으로 증가시킬 수 없다. 하지만, 상승을 멈춘 이후에도 하강압력이 계속 작용하므로 스텝이 하방으로 미끄러질 수 있기 때문에, 보조브레이크(820)를 동작시켜 하강이동에 의한 사고발생을 미연에 방지하는 것이 요청된다. 이 경우 보조브레이크 액츄에이터(830)의 라이닝압력은 제동거리에 대응하여 서서히 변동되며 정지시 최종 압력은 수평보행기의 설치각도 및 모터부하에 따라 결정될 수 있다.For example, in the case of ascending operation, there is an inertia force in the upward direction, so that it can rise for a while even after breaking the drive body.Because the descending pressure of the step is large, even when the auxiliary brake 820 is not operated, the braking distance can be stopped and the drive chain is broken In this case, the braking distance cannot be artificially increased. However, since the lowering pressure continues to operate even after stopping the ascension, the step may slide downward, and thus, it is required to prevent the occurrence of an accident due to the downward movement by operating the auxiliary brake 820. In this case, the lining pressure of the auxiliary brake actuator 830 is gradually changed in correspondence to the braking distance, and the final pressure at the stop may be determined according to the installation angle of the walker and the motor load.
한편, 하강운전의 경우에는 스텝에 하강압력이 있고 하방이동에 의한 관성력이 작용하기 때문에 보조브레이크(820)가 동작하지 않는 경우에는 계속하여 스텝이 하강하게 되며, 구동체인 파단시는 변속이 발생하므로 승객이 넘어질 수 있는데 스텝이 정지하지 않고 계속 하강하게 되면 넘어진 승객에 걸려 뒤의 승객이 연쇄적으로 넘어져서 대형 사고가 발생할 수도 있기 때문에 일정 제동거리를 유지하도록 보조브레이크(820)를 동작시켜 하강이동에 의한 사고발생을 미연에 방지하는 것이 요청된다. 하강운전의 속도 및 수평보행기의 설치각도에 따라 기설정된 제동거리를 확보할 수 있도록 보조브레이크의 액츄에이터 라이닝압력은 서서히 변동되며, 정지시 최종 압력은 수평보행기(500)의 설치각도 및 모터부하에 따라 결정될 수 있다.On the other hand, in the case of the descent operation, since the downward pressure is applied to the step and the inertial force due to the downward movement is applied, if the auxiliary brake 820 does not operate, the step continues to descend, and shifting occurs when the drive chain is broken. Passengers may fall, but if the step continues without descending, the passengers fall down and the passengers in the back fall down in series, causing large accidents, so the auxiliary brake 820 operates to maintain a constant braking distance. It is required to prevent accidents caused by The actuator lining pressure of the auxiliary brake is gradually changed to secure the preset braking distance according to the speed of the descent operation and the installation angle of the walker, and the final pressure at the time of stopping depends on the installation angle of the walker 500 and the motor load. Can be determined.
본 발명의 실시예에서 모터부하의 검출은 상기 부하전류검출수단(811)에 의해 검출된 부하전류를 모니터링하여, 구동체인 파단이 있기 즉전의 모터부하전류를 검출하는 것에 의하고 있으나 이에 한하는 것은 아니다.In the embodiment of the present invention, the detection of the motor load is performed by monitoring the load current detected by the load current detecting means 811 and detecting the motor load current immediately before the drive chain breaks, but is not limited thereto. .
예컨대, 본 발명의 다른 실시예에서는, 수평보행기 설치각도, 탑승객수, 운행방향 및 운행속도 등에 의해 모터부하를 산출하여 보조브레이크의 액츄에이터 라이닝압력을 산출하는 것이 가능하다.For example, in another embodiment of the present invention, it is possible to calculate the actuator lining pressure of the auxiliary brake by calculating the motor load based on the angle of installation of the walker, the number of passengers, the driving direction and the driving speed.
도 10에 도시된 바와 같이, 본 발명의 제 1 실시예에 의한 수평보행기의 보조브레이크 제어과정을 살펴보면 다음과 같다.As shown in FIG. 10, the auxiliary brake control process of the horizontal walker according to the first embodiment of the present invention is as follows.
수평보행기(500)가 운전을 시작하여 정상운전 상태에 이르면 스텝과 핸드레일 및 탑승객의 부하에 대응하는 모터부하전류가 흐르게 된다(제600단계,제601단계).When the walker 500 starts driving and reaches a normal driving state, a motor load current corresponding to the load of the step, the handrail, and the passenger flows (steps 600 and 601).
구동체인 파단검출장치(810)는 모터부하전류가 흐르다가 무부하전류가 검출되면 구동체인에 파단이 발생한 것으로 검출하여 그 신호를 보조브레이크 제어수단(850)으로 입력한다(제603단계,제605단계).The drive chain break detection device 810 detects that a break has occurred in the drive chain when the motor load current flows and the no load current is detected, and inputs the signal to the auxiliary brake control means 850 (steps 603 and 605). ).
보조브레이크 제어수단(850)은 수평보행기(500)의 운행방향과 구동체인 파단 즉전의 모터부하전류 및 수평보행기 설치각도를 조합하여 안전한 제동거리 확보를 위한 제동력 즉 보조브레이크 액츄에이터의 라이닝 압력을 산출하여 액츄에이터 제어수단(855)으로 입력한다(제607단계,제608단계).The auxiliary brake control means 850 calculates the braking force for securing a safe braking distance, that is, the lining pressure of the auxiliary brake actuator, by combining the driving direction of the horizontal walker 500 and the motor load current and the horizontal walker installation angle before the breakage of the drive chain. Input to the actuator control means 855 (steps 607 and 608).
액츄에이터 제어수단(855)은 보조브레이크 액츄에이터 압력제어를 하여 안전한 제동거리에 의해 수평보행기 스텝 및 핸드레일이 정지될 수 있도록 한다(제609단계,제610단계). The actuator control means 855 controls the auxiliary brake actuator pressure so that the walker step and the handrail can be stopped by the safe braking distance (steps 609 and 610).
<제 2 실시예>Second Embodiment
본 발명의 제 2 실시예의 수평보행기의 보조브레이크 제어시스템(900)은, 수평보행기 모터부하를 모니터링하는 모터부하 감지수단(910)과, 수평보행기의 동작상태를 모니터링하여 안전계통 스위치 이상발생을 검출하는 안전상태 감지수단(960)과, 상기 안전상태 감지수단(960)에 의해 이상발생이 검출된 경우에 동작하는 보조브레이크(920)와, 이상발생이 검출된 안전계통스위치(961~972)에 대응하는 제동거리 값과 이상발생 즉전의 모터부하에 따라 보조브레이크(920)의 동작압력을 계산하고 그 계산 결과에 따라 상기 보조브레이크(920)를 제어하는 보조브레이크 제어수단(950)을 포함한다.The auxiliary brake control system 900 of the walker according to the second embodiment of the present invention, the motor load detection means 910 for monitoring the walker motor load, and monitoring the operation state of the walker to detect the occurrence of safety system switch abnormality To the safety state detecting means 960, the auxiliary brake 920 which operates when an abnormal occurrence is detected by the safety state detecting means 960, and the safety system switches 961 to 972 in which the abnormal occurrence is detected. And auxiliary brake control means 950 for calculating an operating pressure of the auxiliary brake 920 according to a corresponding braking distance value and an abnormal motor load immediately and controlling the auxiliary brake 920 according to the calculation result.
본 실시예의 모터부하 감지수단(910)은 모터 부하전류를 모니터링하여, 안전계통스위치 이상발생 있기 즉전의 모터부하전류를 검출하는 것에 의하고 있으나 이에 한하는 것은 아니다.The motor load detecting means 910 of the present embodiment monitors the motor load current and detects the motor load current before the safety system switch abnormality occurs, but is not limited thereto.
예컨대, 본 발명의 다른 실시예에서는, 수평보행기 설치각도, 탑승객수, 운행방향 및 운행속도에 의해 모터부하를 산출하여 보조브레이크의 액츄에이터 라이닝압력을 산출하는 것이 가능하다.For example, in another embodiment of the present invention, it is possible to calculate the actuator lining pressure of the auxiliary brake by calculating the motor load based on the angle of installation of the walker, the number of passengers, the driving direction, and the driving speed.
본 실시예의 안전상태 감지수단(960)은, 속도검출장치(961), 구동체인 파단검출장치(962), 보조브레이크 장치(963), 핸드레일 파단검출장치(964), 핸드레일 안전스위치(965), 스텝체인 파단검출장치(966), 스커트가드 안전스위치(912), 스텝융기 안전스위치(971), 스텝처짐검출스위치(969), 비상정지버튼(968), 콤 안전스위치(comb safty switch)(967)를 포함한 안전상태 감지수단에 대한 모니터링을 하며, 모니터링 중인 안전계통스위치 중 어느 하나에 이상발생을 검출하여 운전제어부(501) 또는 보조브레이크 제어수단(950)으로 입력한다.The safe state detecting means 960 of the present embodiment includes a speed detecting device 961, a drive chain breaking detection device 962, an auxiliary brake device 963, a handrail breaking detection device 964, and a handrail safety switch 965. ), Step chain break detection device 966, skirt guard safety switch 912, step bump safety switch 971, step deflection detection switch 969, emergency stop button 968, comb safty switch Monitoring the safety state detection means, including (967), and detects any abnormality in any one of the safety system switches being monitored and inputs it to the operation control unit 501 or the auxiliary brake control means (950).
본 실시예의 안전상태 감지수단 중 구동체인 파단검출장치(962)는 상기 제 1 실시예의 구동체인 파단 검출장치에 의할 수 있지만, 종래와 같이 구동체인 파단검출 리미트 스위치에 의하는 것도 가능하며 실시예에 따라 검출방법은 변경될 수 있는 것이다. 또한, 스텝 파단검출장치(966) 및 핸드레일 파단검출장치(964)도 상기 제 1 실시예의 경우에서 구동체인 파단검출장치에 의해 모터부하전류의 모니터링에 의해 검출하는 것에 의할 수 있는 것이며, 본 실시예의 경우처럼 각각 별도의 안전계통스위치를 구비하여 검출을 하는 것도 가능한 것이다.The drive chain breakage detection device 962 of the safe state detection means of this embodiment may be based on the drive chain breakage detection device of the first embodiment, but it is also possible to use the drive chain breakage detection limit switch as in the prior art. The detection method can be changed accordingly. The step break detection device 966 and the handrail break detection device 964 may also be detected by monitoring the motor load current by the drive chain break detection device in the case of the first embodiment. As in the case of the embodiment, it is also possible to provide a separate safety system switch to detect.
도 6에 도시된 바와 같이 본 발명의 실시예의 보조브레이크 제어수단(950)은 운전제어부(501)에 구비될 수 있으며, 본 발명의 실시예의 운전제어부의 구성은 상기 제 1 실시예와 동등한 과정에 의해 보조브레이크의 동작을 제어하다. As shown in Figure 6, the auxiliary brake control means 950 of the embodiment of the present invention may be provided in the operation control unit 501, the configuration of the operation control unit of the embodiment of the present invention in the same process as the first embodiment By controlling the operation of the auxiliary brake.
예컨대, 본 발명의 실시예의 보조브레이크 제어수단(950)은, 상기 안전상태 감지수단(960)이 이상발생을 검출한 안전계통스위치에 대응하는 제동거리 값을 데이터베이스(952)에서 검출하며, 모터부하 검출수단(951)은 이상발생 즉전의 상기 수평보행기의 운행상태(예컨대 모터부하)를 검출하며, 그 제동거리에 대응하는 보조브레이크의 제동력 또는 액츄에이터 라이닝압력을 계산하고 그 계산 결과에 따라 상기 보조브레이크 액츄에이터(930)를 제어한다For example, the auxiliary brake control means 950 of the embodiment of the present invention detects a braking distance value corresponding to the safety system switch in which the safety state detecting means 960 detects an abnormal occurrence in the database 952, and loads the motor. The detection means 951 detects the driving state (eg, the motor load) of the horizontal walk immediately before an abnormality occurs, calculates the braking force or the actuator lining pressure of the auxiliary brake corresponding to the braking distance, and calculates the auxiliary brake according to the calculation result. Control Actuator 930
본 발명의 실시예의 수평보행기에는 안전상태 감지수단(960)은, 속도검출수단(961), 구동체인 파단검출장치(962), 보조브레이크 장치(963), 핸드레일 파단검출장치(964), 핸드레일 안전스위치(965), 스텝 파단검출장치(966), 스커트가드 안전스위치(912), 스텝융기 안전스위치(971), 스텝처짐검출스위치(969), 비상정지버튼(968), 콤 안전스위치(comb safty switch)(967)를 포함한 안전계통스위치가 구비된다. 또한, 각각의 안전계통스위치는 그 종류에 따라 사용 용도가 다르고 이중 특정 안전계통 스위치는 굉장히 짧은 제동거리를 가져야 하며 다른 안전계통스위치는 제동거리가 길어도 문제가 없는 것일 수 있으므로 본 실시예에서는 안전계통 스위치 종류 및 사용용도에 따라 제동거리를 달리 설정할 수 있다.Safety state detection means 960 in the horizontal walk of the embodiment of the present invention, speed detection means 961, drive chain break detection device 962, auxiliary brake device 963, handrail break detection device 964, hand Rail safety switch 965, step break detection device 966, skirt guard safety switch 912, step bump safety switch 971, step deflection detection switch 969, emergency stop button 968, comb safety switch ( A safety system switch including a comb safty switch 967 is provided. In addition, each safety system switch has a different use purpose according to its type, and the specific safety system switch has a very short braking distance, and the other safety system switch may have no problem even if the braking distance is long. The braking distance can be set differently according to the switch type and usage.
예컨대, 콤 안전스위치(967)는 수평보행기의 전단 스텝이 접혀지는 부분에 위치하며 스텝과 함께 손가락 등이 빨려들어가는 경우에는 승객이 중상을 입을 수 있으므로 즉시 수평보행기(500)를 정지시켜야 하며, 이 경우에는 주 브레이크와 보조브레이크가 즉시 동작하며, 주 브레이크가 동작하여 정지하여 수평보행기를 멈추게 하며, 보조브레이크 액츄에이터의 라이닝압력도 즉시 최대압력을 인가하여 스텝의 구동을 슬립 없이 즉시로 멈추게 한다. 이 경우 다른 탑승객의 안전문제(경상위험)에 우선하여 콤 안전스위치(967)에 대한 대응이 이루어진다.For example, the comb safety switch 967 is located at a portion where the front step of the walker is folded, and when the finger is sucked with the step, the passenger may be seriously injured. Therefore, the walker 500 should be stopped immediately. In this case, the main brake and the auxiliary brake operate immediately, the main brake operates to stop the horizontal walk, and the lining pressure of the auxiliary brake actuator also immediately applies the maximum pressure to stop the driving of the step immediately without slipping. In this case, a response to the comb safety switch 967 is made in preference to another passenger's safety problem (ordinary danger).
한편, 본 실시예에서는 핸드레일 파단검출수단(964), 핸드레일 안전스위치(965), 스텝 파단검출수단(966), 스커트가드 안전스위치(972), 스텝융기 안전스위치(971), 스텝처짐검출스위치(969), 비상정지버튼(968) 등이 동작하는 경우에는 일정한 제동거리를 유지하는 것이 승객의 안전을 위하여 유리하기 때문에 수평보행기의 운행방향, 상승 또는 하강 이동속도, 수평보행기의 경사도, 승객탑승 여부, 안전계통 스위치의 위험성 정도 등에 따라 안전하게 수평보행기가 정지될 수 있는 제동거리를 미리 설정하여 두며, 탑승객 부하에 따라 요구되는 제동력을 산출 또는 검출하여 보조브레이크 액츄에이터 라이닝 압력을 결정한다.On the other hand, in the present embodiment, the handrail break detection means 964, the handrail safety switch 965, the step break detection means 966, the skirt guard safety switch 972, the step bump safety switch 971, the step deflection detection When the switch 969 and the emergency stop button 968 are operated, it is advantageous to maintain a constant braking distance for the safety of the passenger, so that the driving direction of the walker, the rising or falling movement speed, the inclination of the walker, the passenger The braking distance at which the horizontal walkers can be stopped safely is set in advance according to the boarding status, the degree of danger of the safety system switch, and the auxiliary brake actuator lining pressure is determined by calculating or detecting the required braking force according to the passenger load.
한편, 구동체인이 파단된 경우에는 주 브레이크 동작이 무의미하므로 보조브레이크(920)에 의해서만 제동력 및 제동거리가 조정될 수 있지만, 이외의 경우에는 주 브레이크가 동작할 수 있는 경우이므로 주브레이크와 보조브레이크(920)를 동작하여 수평보행기가 안전하게 정지할 수 있도록 한다.On the other hand, when the drive chain is broken, the braking force and braking distance can be adjusted only by the auxiliary brake 920 because the main brake operation is meaningless, but in other cases, the main brake and the auxiliary brake ( 920 to allow the walker to stop safely.
예컨대, 일정한 제동거리 확보를 위해 보조브레이크(920)의 동작에 의해 제동을 하고 수평보행기(500)가 정지한 후에는 주 브레이크가 동작하여 수평보행기 스텝이 미끌어져 내리지 않고 안전한 정지상태를 유지할 수 있도록 할 수 있다. For example, after the braking is performed by the operation of the auxiliary brake 920 to secure a constant braking distance, and after the walker 500 stops, the main brake is operated so that the walker can be safely stopped without slipping down. can do.
본 실시예에서 스텝의 승객 부하 및 데이터베이스에 설정된 제동거리에 대응하도록 보조브레이크 액츄에이터의 라이닝 압력을 제어하여 수평보행기를 제동하는 과정은 다음에 의한다(700)In the present embodiment, the process of braking the walker by controlling the lining pressure of the auxiliary brake actuator to correspond to the passenger load of the step and the braking distance set in the database is as follows (700).
수평보행기의 정상동작 중 안전계통스위치 중 어느 하나가 동작하는 것을 검출한다(제701단계,제702단계,제703단계).During the normal operation of the walker, it is detected that any one of the safety system switches operates ( steps 701, 702, and 703).
본 실시예에서 구동체인 파단의 경우에는 구동체인 파단 검출 자체는 모터부하전류의 변동을 검출하는 상기 제 1 실시예의 방법에 의하거나 구동체인 파단검출 리미트스위치에 의해 검출하는 것이 가능하며, 구동체인 파단이 검출된 이후는 본 제 2 실시예의 경우도 상기 제 1 실시예와 동일한 과정에 의해 보조브레이크의 제동력 또는 보조브레이크의 액츄에이터 라이닝압력을 산정하여 보조브레이크(920)를 제어하는 것이 가능하다(제605단계~제610단계). In the case of breakage of the drive chain in this embodiment, the breakage detection itself of the drive chain can be detected by the method of the first embodiment which detects the variation of the motor load current or by the break detection limit switch of the drive chain, and the drive chain breakage. After the detection, the auxiliary brake 920 can be controlled by calculating the braking force of the auxiliary brake or the actuator lining pressure of the auxiliary brake by the same procedure as in the first embodiment (S605). Step 610).
본 실시예에서, 구동체인 파단을 제외한 안전계통 스위치 이상이 발생한 경우, 다음과 같은 과정에 의해 보조브레이크 동작이 이루어진다. In the present embodiment, when the safety system switch failure except for the drive chain break occurs, the auxiliary brake operation is performed by the following process.
즉, 각종 안전스위치 종류마다 안전계통 스위치가 동작했을 시의 제동거리 값은 사전에 데이터베이스에 저장해 두며, 수평보행기 운행 중 안전계통 스위치가 동작하면 보조브레이크 제어수단(950)은 어떤 안전계통 스위치가 동작을 하였는지 확인하고 그 안전계통스위치에 해당되는 제동거리 데이터를 읽어 들인다(제703단계). That is, the braking distance value when the safety system switch is operated for each type of safety switch is stored in the database in advance, and when the safety system switch operates during the operation of the walker, the auxiliary brake control means 950 operates any safety system switch. Then, check the braking distance data corresponding to the safety system switch (step 703).
보조브레이크 제어수단(950)은 운행방향과 안전계통스위치가 동작하기 바로 전의 부하전류, 현장에 설치되어 있는 수평보행기의 설치각도에 따른 하부 쪽으로 쏠리는 하중을 조합하여 제동거리 제어를 위한 보조브레이크 액츄에이터 제동력을 계산하여 보조 브레이크 액츄에이터의 라이닝압력을 인가하기 시작하면 수평보행기는 서서히 감속하기 시작한다(제705단계,제707단계,제708단계). The auxiliary brake control means 950 is a braking force for the auxiliary brake actuator for controlling the braking distance by combining the driving direction and the load current immediately before the safety system switch operates, and the load that is directed toward the lower side according to the installation angle of the horizontal walker installed at the site. After the calculation is started to apply the lining pressure of the auxiliary brake actuator, the horizontal walk slowly begins to decelerate ( steps 705, 707 and 708).
또한, 구동체인 파단 이외의 경우에는 주브레이크의 제동력이 정상인 상태이므로 수평보행기의 제동과정 자체에서 데이터베이스에 설정 저장된 바람직한 제동거리를 맞추기 위하여 주브레이크와 보조브레이크(920)가 함께 동작하여 수평보행기 제동을 수행하는 것이 가능하다.In addition, when the driving chain is not broken, the braking force of the main brake is normal, so that the main brake and the auxiliary brake 920 operate together to adjust the desired braking distance stored in the database in the braking process of the walker. It is possible to carry out.
즉, 보조브레이크의 동작에 의해 제동거리를 확보하면서 감속을 하고 제동이 이루어지면 주브레이크가 동작하여 스텝의 승객 하중 등으로 인해 아래로 미끄러지는 것에 의한 안전사고 위험을 미연에 방지하는 것이 가능해진다.That is, when the braking distance is reduced while the braking distance is secured by the operation of the auxiliary brake, the main brake operates to prevent the safety accident risk of sliding down due to the passenger load of the step.
한편, 콤 안전스위치(967)가 동작한 경우처럼 급박한 경우에는 주브레이크와 보조브레이크(920)가 즉시 작동하여 수평보행기(500)를 정지시킨다. On the other hand, in the case of an emergency such as when the comb safety switch 967 operates, the main brake and the auxiliary brake 920 immediately operate to stop the walker 500.
본 발명의 실시예에서는 모터 회전에 따른 이동거리를 연산하는 제동거리 측정수단(980)으로 펄스카운트 센서를 구비하고 있어서, 보조브레이크(920)에 의한 제동이 이루어지는 과정에서 펄스카운트 센서를 통해 설정된 제동거리까지 제어가 되었는지를 확인하는 것이 가능하다. In the embodiment of the present invention, the braking distance measuring means 980 for calculating the moving distance according to the rotation of the motor is provided with a pulse count sensor, the braking is set by the pulse count sensor in the process of braking by the auxiliary brake 920 It is possible to confirm that control has been made to the distance.
또한, 일반적인 안전계통스위치의 경우에, 설정 제동거리에 이르러서 제동이 되면 수평보행기는 정지하며, 보조브레이크(920)는 더 이상 흘러내리지 못하도록 강력한 제동력을 인가하며, 보조브레이크(920)에 의한 제동과정이 완료되면, 주브레이크가 동작하여 수평보행기는 완전히 정지한 상태가 유지된다(제709단계,제710단계). In addition, in the case of a general safety system switch, when the braking is reached to reach the set braking distance, the horizontal walk stops, and the auxiliary brake 920 applies a strong braking force to prevent further flow, and the braking process by the auxiliary brake 920 When the main brake is completed, the horizontal walk is completely stopped (steps 709 and 710).
본 발명의 권리범위는 상기 실시예에 한정되는 것이 아니라 특허청구범위에 기재된 사항에 의해 정해지며, 특허청구범위 기재 사항과 균등범위에서 당업자가 행한 다양한 변형과 개작을 포함함은 자명하다.The scope of the present invention is not limited to the above embodiments, but is determined by the matters described in the claims, and it is obvious that the present invention includes various modifications and adaptations made by those skilled in the art in the claims and equivalents.
[부호의 설명][Description of the code]
500.......수평보행기 501.......운전제어부500 ....... Horizontal walkers 501 ....... Drive control
502.......모터제어부 507.......모터502 ....... Motor control unit 507 ....... Motor
800,900...수평보행기 보조브레이크 제어시스템 800,900 horizontal brake assist brake control system
810.......구동체인 파단검출장치 811.......부하전류검출수단810 ............ Driving chain break detection device 811 ............ Load current detection means
815.......파단 검출수단 820,920...보조브레이크Break detection means 820,920 Auxiliary brake
830,930...보조브레이크 액츄에이터 832.......라이닝830,930 ... Secondary brake actuator 832 .......
835,935...유압공급수단 850,950...보조브레이크 제어수단835,935 Hydraulic supply means 850,950 Secondary brake control means
910.......모터부하 감지수단 960.......안전상태 감지수단910 ............ Motor load sensing means 960 ....... Safety sensing means
본 발명은 수평보행기의 구동체인 파단 검출장치 및 수평보행기의 보조브레이크 제어시스템에 대한 것으로, 구동체인 파단 검출을 모터 전류검출 방식에 의하므로 검출 시간 최소화를 가능하게 하여 구동체인 파단 시점으로부터 보조 브레이크 동작까지 시간을 최소화 하며, 모터부하에 대응하여 보조브레이크의 제동력 및 제동거리를 적절히 변화시키는 것에 의해 탑승객의 안전사고 예방 및 2차 사고예방, 부상정도 최소화가 가능한 수평보행기의 구동체인 파단 검출장치 및 수평보행기의 보조브레이크 제어시스템에 대한 것으로 산업상 이용가능성이 있다.The present invention relates to a breakage detecting device for a horizontal walker and an auxiliary brake control system for a walker, and the breakage detection of the drive chain is based on a motor current detection method, thereby minimizing the detection time. By minimizing the time up to the motor load and by appropriately changing the braking force and braking distance of the auxiliary brake, it is possible to prevent passenger accidents, prevent secondary accidents, and minimize the degree of injury. It is for the industrial brake control system of walker.

Claims (13)

  1. 수평보행기 모터의 구동력이 구동체인을 통하여 전달되어 스텝과 핸드레일을 구동하는 수평보행기에서 구동체인 파단을 검출하는 수평보행기의 구동체인 파단 검출장치로,The breaker detecting device which is the drive chain of the walker which detects the breakage of the drive chain in the walker which transmits the driving force of the walker motor through the drive chain and drives the step and the handrail
    상기 모터의 부하전류 변동을 검출하는 부하전류검출수단과;Load current detection means for detecting a change in load current of the motor;
    상기 부하전류검출수단에서 검출된 상기 모터의 부하전류 변동을 모니터링하며, 상기 모터의 부하전류가 계속하여 스텝과 핸드레일 구동 부하에 대응하는 부하전류가 검출되다가, 모터 여자전류인 무부하전류 값을 검출하는 경우 구동체인 파단을 검출하는 파단 검출수단을 포함하여 구성하는 것을 특징으로 하는 수평보행기의 구동체인 파단 검출장치.The load current variation of the motor detected by the load current detecting means is monitored, and the load current of the motor continues to detect the load current corresponding to the step and handrail driving load, and detects the quiescent current value which is the motor exciting current. In the case of the drive chain breakage detection device characterized in that it comprises a break detection means for detecting the break of the drive chain.
  2. 수평보행기 모터부하를 모니터링하며 상기 모터부하의 변화로부터 구동체인 파단 발생을 검출하는 구동체인 파단 검출장치와;A drive chain breakage detection device for monitoring a pedestrian motor load and detecting breakage of the drive chain from a change in the motor load;
    상기 구동체인 파단 검출장치에 의해 구동체인 파단이 검출된 경우에 액츄에이터 라이닝 압력인가에 의해 디스크 제동을 하는 보조브레이크와;An auxiliary brake that brakes the disc by applying an actuator lining pressure when the drive chain break is detected by the drive chain break detection device;
    상기 구동체인 파단 검출장치가 검출한 구동체인 파단 즉전의 상기 수평보행기의 모터부하를 검출하여 제동거리에 대응하는 상기 보조브레이크 액츄에이터 동작압력을 계산하고 그 계산 결과에 따라 상기 보조브레이크의 액츄에이터 라이닝압력을 제어하는 보조브레이크 제어수단을 포함하여 구성되는 것을 특징으로 하는 수평보행기의 보조브레이크 제어시스템.By detecting the motor load of the horizontal walk immediately before the drive chain break detected by the drive chain break detection device, the operating pressure of the auxiliary brake actuator corresponding to the braking distance is calculated and the actuator lining pressure of the auxiliary brake is calculated according to the result of the calculation. Auxiliary brake control system of a pedestrian characterized in that it comprises a secondary brake control means for controlling.
  3. 수평보행기 모터부하를 모니터링하며 상기 모터부하의 변화로부터 시스템 이상발생을 검출하는 모터부하 감지수단과;Motor load sensing means for monitoring a walker motor load and detecting occurrence of system abnormality from the change of the motor load;
    상기 모터부하 감지수단에 의해 검출된 모터부하에 이상이 발생한 경우에 액츄에이터 라이닝 압력인가에 의해 디스크 제동을 하는 보조브레이크와;An auxiliary brake that brakes the disc by applying actuator lining pressure when an abnormality occurs in the motor load detected by the motor load detecting means;
    상기 모터부하 감지수단이 이상발생 전후의 모터부하를 검출하여 제동거리에 대응하는 상기 보조브레이크의 액츄에이터 동작압력을 계산하고 그 계산 결과에 따라 상기 보조브레이크의 액츄에이터 라이닝압력을 제어하는 보조브레이크 제어수단을 포함하여 구성되는 것을 특징으로 하는 수평보행기의 보조브레이크 제어시스템.The auxiliary load control means for detecting the motor load before and after the motor load detecting means calculates the actuator operating pressure of the auxiliary brake corresponding to the braking distance and controls the actuator lining pressure of the auxiliary brake according to the calculation result. Auxiliary brake control system of a pedestrian characterized in that it comprises a.
  4. 수평보행기 모터부하 변화를 모니터링하며 상기 모터부하의 변화로부터 시스템 이상발생을 검출하는 모터부하 감지수단과;Motor load detecting means for monitoring a pedestrian motor load change and detecting occurrence of a system abnormality from the motor load change;
    상기 모터부하 감지수단에 의해 검출된 모터부하에 이상이 발생한 경우에 액츄에이터 라이닝 압력인가에 의해 디스크 제동을 하는 보조브레이크와;An auxiliary brake that brakes the disc by applying actuator lining pressure when an abnormality occurs in the motor load detected by the motor load detecting means;
    상기 수평보행기에 탑승한 승객수를 카운트 하는 승객 카운트 수단과;Passenger counting means for counting the number of passengers aboard said level walk;
    상기 모터부하 감지수단이 이상발생 검출시 상기 승객 카운트 수단이 검출한 승객수에 따른 제동력 및 제동거리를 검출하고 그에 대응하는 상기 보조브레이크의 액츄에이터의 동작압력을 계산하며 그 계산 결과에 따라 상기 보조브레이크의 액츄에이터 라이닝압력을 제어하는 보조브레이크 제어수단을 포함하여 구성되는 것을 특징으로 하는 수평보행기의 보조브레이크 제어시스템.When the motor load detecting means detects an abnormality, the braking force and the braking distance according to the number of passengers detected by the passenger counting means are detected, and the operating pressure of the actuator of the auxiliary brake corresponding thereto is calculated, and the auxiliary brake is based on the calculation result. The auxiliary brake control system of a pedestrian characterized in that it comprises a secondary brake control means for controlling the actuator lining pressure of the.
  5. 청구항 3에 있어서, 상기 모터부하 감지수단은, The method of claim 3, wherein the motor load detection means,
    상기 모터부하를 검출하는 것에 의하여 구동체인의 파단시 부하변동, 핸드레일 파단시 부하변동, 스텝체인 파단시 부하변동 중 적어도 어느 하나를 검출하는 경우에 이상발생을 검출하는 것을 특징으로 하는 수평보행기의 보조브레이크 제어시스템.By detecting the motor load, the occurrence of abnormality is detected when detecting at least one of a load change when the drive chain is broken, a load change when the hand rail is broken, and a load change when the step chain is broken. Auxiliary brake control system.
  6. 수평보행기 모터부하를 모니터링하는 모터부하 감지수단과;Motor load sensing means for monitoring a walker motor load;
    수평보행기의 동작상태를 모니터링하여 안전계통 스위치 이상발생을 검출하는 안전상태 감지수단과;Safety state detection means for monitoring an operation state of the walker to detect an abnormal occurrence of a safety system switch;
    상기 안전상태 감지수단에 의해 이상발생이 검출된 경우에 액츄에이터 라이닝 압력인가에 의해 디스크 제동을 하는 보조브레이크와;An auxiliary brake that brakes the disc by applying actuator lining pressure when an abnormal occurrence is detected by the safe state detecting means;
    상기 안전상태 감지수단이 이상발생을 검출한 안전계통스위치에 대응하는 제동거리 값을 검출하고 이상발생 전후의 상기 모터부하 감지수단이 검출한 모터부하에 따라 상기 제동거리에 대응하는 상기 보조브레이크의 액츄에이터 동작압력을 계산하고 그 계산 결과에 따라 상기 보조브레이크의 액츄에이터 라이닝압력을 제어하는 보조브레이크 제어수단을 포함하여 구성되는 것을 특징으로 하는 수평보행기의 보조브레이크 제어시스템.The actuator of the auxiliary brake corresponding to the braking distance according to the motor load detected by the motor load sensing means before and after the abnormality is detected by the safety state detecting means detects the abnormality occurrence of the safety system switch And an auxiliary brake control means for calculating an operating pressure and controlling an actuator lining pressure of the auxiliary brake according to the calculated result.
  7. 수평보행기의 동작상태를 모니터링하여 안전계통 스위치 이상발생을 검출하는 안전상태 감지수단과;Safety state detection means for monitoring an operation state of the walker to detect an abnormal occurrence of a safety system switch;
    상기 안전상태 감지수단에 의해 이상발생이 검출된 경우에 액츄에이터 라이닝 압력인가에 의해 디스크 제동을 하는 보조브레이크와;An auxiliary brake that brakes the disc by applying actuator lining pressure when an abnormal occurrence is detected by the safe state detecting means;
    상기 수평보행기에 탑승한 승객수를 카운트 하는 승객 카운트 수단과;Passenger counting means for counting the number of passengers aboard said level walk;
    상기 안전상태 감지수단이 이상발생 검출시 상기 승객 카운트 수단이 검출한 승객수에 따른 제동거리를 검출하고 그에 대응하는 상기 보조브레이크의 액츄에이터의 동작압력을 계산하고 그 계산 결과에 따라 상기 보조브레이크의 액츄에이터의 라이닝압력을 제어하는 보조브레이크 제어수단을 포함하여 구성되는 것을 특징으로 하는 수평보행기의 보조브레이크 제어시스템.When the safety state detecting means detects an abnormality, the braking distance according to the number of passengers detected by the passenger counting means is detected, and the operating pressure of the actuator of the auxiliary brake corresponding thereto is calculated, and the actuator of the auxiliary brake according to the calculation result. The auxiliary brake control system of a pedestrian characterized in that it comprises a secondary brake control means for controlling the lining pressure of the.
  8. 청구항 6 또는 7에 있어서, 상기 안전계통스위치는,The method according to claim 6 or 7, wherein the safety system switch,
    속도검출수단, 구동체인 파단검출수단, 보조브레이크, 핸드레일 파단검출수단, 핸드레일 안전스위치, 스텝 파단검출수단, 스커트가드 안전스위치, 스텝융기 안전스위치, 스텝처짐검출스위치, 비상정지버튼, 콤 안전스위치 중 어느 하나인 것을 특징으로 하는 수평보행기의 보조브레이크 제어시스템.Speed detection means, drive chain break detection means, auxiliary brake, handrail break detection means, handrail safety switch, step break detection means, skirt guard safety switch, step bump safety switch, step deflection detection switch, emergency stop button, comb safety The auxiliary brake control system of a pedestrian, characterized in that any one of the switches.
  9. 청구항 2 내지 7 중 어느 하나의 청구항에 있어서, 상기 보조브레이크 제어수단은, The method according to any one of claims 2 to 7, wherein the auxiliary brake control means,
    상기 수평보행기가 상승방향 또는 하강방향 이동중이었느냐에 따라 제동거리 및 상기 보조브레이크 액츄에이터의 라이닝압력을 달리 계산하는 것을 특징으로 하는 수평보행기의 보조브레이크 제어시스템.And the braking distance and the lining pressure of the auxiliary brake actuator are calculated differently according to whether the walker is moving up or down.
  10. 청구항 2 내지 7 중 어느 하나의 청구항에 있어서, 상기 보조브레이크 제어수단은, The method according to any one of claims 2 to 7, wherein the auxiliary brake control means,
    상기 수평보행기의 상승 또는 하강 운행의 운행속도에 따라 제동거리 및 상기 보조브레이크 액츄에이터의 라이닝압력을 달리 계산하는 것을 특징으로 하는 수평보행기의 보조브레이크 제어시스템.And a braking distance and a lining pressure of the auxiliary brake actuator according to the traveling speed of the rising or lowering of the walking machine.
  11. 청구항 2 내지 7 중 어느 하나의 청구항에 있어서, 상기 보조브레이크 제어수단은, The method according to any one of claims 2 to 7, wherein the auxiliary brake control means,
    상기 수평보행기의 경사도에 따라 제동거리 및 상기 보조브레이크 액츄에이터의 라이닝압력을 달리 계산하는 것을 특징으로 하는 수평보행기의 보조브레이크 제어시스템.The auxiliary brake control system of the walker, characterized in that for calculating the braking distance and the lining pressure of the auxiliary brake actuator according to the inclination of the walker.
  12. 청구항 2 내지 7 중 어느 하나의 청구항에 있어서, 상기 수평보행기의 보조브레이크 제어시스템은,According to any one of claims 2 to 7, The auxiliary brake control system of the walker,
    상기 수평보행기에 설치된 안전계통스위치 중에서 구동체인 파단 및 감속기 이상 검출시를 제외한 다른 안전계통 스위치 동작하였을 때는 주 브레이크와 보조브레이크를 동시에 제어하여 제동거리를 조절하는 것을 특징으로 하는 수평보행기의 보조브레이크 제어시스템.Auxiliary brake control of a pedestrian, characterized in that the braking distance is controlled by controlling the main brake and the auxiliary brake simultaneously when the safety system switch is operated except for the breakage of the drive chain and the reduction of the reducer. system.
  13. 청구항 2 내지 7 중 어느 하나의 청구항에 있어서, 상기 수평보행기의 보조브레이크 제어시스템은,According to any one of claims 2 to 7, The auxiliary brake control system of the walker,
    실제 제동거리를 측정하는 제동거리 측정수단을 더 포함하며,Further comprising a braking distance measuring means for measuring the actual braking distance,
    상기 액츄에이터 제어수단은 상기 제동거리 측정수단을 통하여 검출된 보조 브레이크 동작을 제어하였을 때 제어하고자 하는 제동거리와 실제 제동거리를 확인하면서 보조 브레이크 제동을 제어하는 것을 포함하여 구성하는 것을 특징으로 하는 수평보행기의 보조브레이크 제어시스템.The actuator control means comprises a control unit comprising controlling the auxiliary brake braking while checking the braking distance and the actual braking distance to be controlled when controlling the braking distance detected by the braking distance measuring means. Auxiliary brake control system.
PCT/KR2015/009782 2014-09-23 2015-09-21 Apparatus for detecting breakdown of drive chain of horizontal walker and a system for controlling auxiliary brake of horizontal walker WO2016047966A2 (en)

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