WO2018020829A1 - Hoisting machine and method for controlling hoisting machine - Google Patents
Hoisting machine and method for controlling hoisting machine Download PDFInfo
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- WO2018020829A1 WO2018020829A1 PCT/JP2017/020462 JP2017020462W WO2018020829A1 WO 2018020829 A1 WO2018020829 A1 WO 2018020829A1 JP 2017020462 W JP2017020462 W JP 2017020462W WO 2018020829 A1 WO2018020829 A1 WO 2018020829A1
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- Prior art keywords
- brake
- hoisting machine
- driving
- relays
- relay
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
- B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
- B66D5/24—Operating devices
- B66D5/30—Operating devices electrical
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H47/00—Circuit arrangements not adapted to a particular application of the relay and designed to obtain desired operating characteristics or to provide energising current
Definitions
- the present invention relates to a hoisting machine using inverter control and its control method.
- Patent Document 2 JP-A-10-208575
- a contact operation detection circuit is provided to operate the relay contact ON / OFF timing before the AC zero cross, and the microcomputer calculates the time until the relay coil is de-energized and the contact is turned on / off by excitation.
- the relay control method in which the timing is finalized is described (summary).
- JP 2010-3513 A Japanese Patent Laid-Open No. 10-208575
- the brake relay on the control board is driven by the command from the control board at the start of hoisting and unwinding to release the brake.
- inching an inching operation that finely adjusts the position of the load, and therefore it is affected by the arc discharge that occurs when the contacts are pulled apart.
- the relay contacts wear quickly, and if the brake relay is welded, the brake will remain open.
- Patent Document 1 As a method for improving the contact life of the relay, for example, in Patent Document 1, the switch is opened at a timing when the current effective value of the electric circuit becomes small. In Patent Document 2, the ON / OFF timing of the relay contact is operated before the AC zero cross.
- Patent Document 1 an effective current value is calculated for each electric circuit, and the current effective value is separated at a timing when the effective current value becomes small, which complicates the calculation and control processing. Moreover, in the said patent document 2, in order to operate the ON / OFF timing of a relay contact before AC zero crossing, a contact operation detection circuit must be provided.
- an object of the present invention is to improve the contact life of a brake driving relay of a hoisting machine using inverter control without using complicated control or a special device.
- one brake driving relay is provided for each of the two-phase connection lines for driving the brake, and the mechanical operation of the relays is taken into consideration, and the two relays are connected. Control is performed by shifting the opening and closing timing and alternately applying damage to the relay due to arc discharge.
- an inverter-controlled electric motor As an example of the “winding machine” according to the present invention, an inverter-controlled electric motor, a brake driven by two phases of a three-phase power source and braking the electric motor, and a two-phase connection line driving the brake
- Two types of brake drive signals are generated by shifting the opening and closing timing of the drive relay, and each time the brake is driven, the two brake drive signals are alternately supplied to the two brake drive relays. It is a hoisting machine.
- an inverter-controlled electric motor, a brake driven by two phases of a three-phase power source and braking the electric motor, and the brake A method for controlling a hoisting machine, comprising: two brake driving relays each provided on a two-phase connection line to be driven; and a control device that supplies a control signal to the brake driving relay.
- the device creates two types of brake drive signals in which the opening and closing timings of the two brake drive relays are shifted based on the operation input of the hoisting machine, and each time the brake is driven, these two types of brake drive signals Are alternately supplied to the two brake driving relays.
- a brake driving relay is frequently used in a hoisting machine using an inverter control in which the brake driving relay is frequently opened and closed, and the contact is easily worn, without using complicated control or special devices.
- the contact life of can be improved.
- FIG. 1 is a perspective view showing an overall configuration of an inverter crane apparatus
- FIG. 2 is a block diagram showing a configuration of a control unit of the inverter crane apparatus.
- the inverter type crane device (the hoisting machine) includes a crane hook 1, a wire rope 2, a hoisting induction motor 3, a hoisting device 4, a traverse induction motor 5, a traversing device 6, a traverse girder 7, and a travel induction motor 8.
- the hoisting induction motor 3 includes an induction motor brake 16 and an encoder 17, and the traverse induction motor 5 and the travel induction motor 8 include an induction motor brake 16.
- the hoisting and traversing inverter device 11 includes a hoisting and traversing inverter control unit 12, the hoisting inverter 14, and the traversing inverter 15, and the traveling inverter device 18 includes a traveling inverter control unit 19 and a traveling inverter 20. Is built-in.
- the inverter type crane apparatus winds and unloads the load attached to the crane hook 1 by means of a hoisting device 4 equipped with a hoisting induction motor 3 to wind and unwind the wire rope 2 (arrows in the Y direction and -Y direction). In other words, the package is moved up and down.
- the traverse induction motor 5 rotates the wheels in the traversing device 6 and moves in the X direction along the traverse girder 7.
- the traveling induction motor 8 rotates the wheels in the traveling device 9 and moves in the Z direction along the traveling girder 10.
- the hoisting and traverse induction motors 3 and the traverse induction motor 5 are controlled by the hoisting and traverse inverter control unit 12 of FIG. That is, when the operator inputs a predetermined instruction from the operation input device 13, the hoisting / traverse inverter control unit 12 controls the hoisting inverter 14 and the traverse inverter 15, and the hoisting inverter 14 and the traverse inverter 15, the frequency, voltage, and current necessary for control are applied to the hoisting induction motor 3 and the traverse induction motor 5, and at the same time, the induction motor brake 16 is controlled to be released.
- the attached luggage is moved in the Y direction without falling.
- the hoisting device 4 is moved in the X direction along the traverse girder 7.
- the hoisting / traverse inverter control unit 12 takes in information of the encoder 17 that detects the rotational speed of the motor, and uses the information on the motor rotational speed to control the hoisting inverter 14.
- the traveling induction motor 8 attached to the traveling device 9 causes the traveling inverter control unit 19 of FIG. 2 stored in the traveling inverter device 18 to travel. Winding along the traveling girder 10 by controlling the inverter 20, applying the frequency, voltage, and current necessary for the control from the traveling inverter 20 to the traveling induction motor 8 and simultaneously controlling the opening of the induction motor brake 16.
- the upper device 4 is moved in the Z direction.
- FIG. 3 is a configuration diagram of a brake drive circuit according to the present embodiment.
- a motor 30 such as a hoist induction motor is provided with a brake 30 that brakes the motor, and the brake 30 is driven by a brake drive coil 29.
- the brake drive coil 29 is driven by two phases of a three-phase power source, for example, S phase and T phase, and contacts 27 and 28 of brake drive relays 24 and 25 are fed into connection lines of the respective phases. Since the relay contacts 27 and 28 and the brake drive coil 29 are connected in series, the brake drive coil operates when both the contact 27 and the contact 28 are turned on, and either the contact 27 or the contact 28 is connected.
- the brake drive coil When turned off, the brake drive coil is deactivated.
- the brake 30 When turned off, the brake drive coil is deactivated.
- the brake 30 is in a braking state when the brake drive coil 29 is not in operation, and the brake 30 is released when the brake drive coil 29 is operated.
- Transistors 22 and 23 are connected in series to relays 24 and 25, respectively, and are connected to DC power supply 26.
- a control signal is applied from the microcomputer 21 to the transistors 22 and 23, the relays 24 and 25 operate. Based on an operation input from the input device 13, a control signal created by the microcomputer 21 is applied to the transistors 22 and 23.
- the two brake driving relays 24 and 25 may be provided on one control board.
- FIG. 4 is a chart of timing control of the brake drive relay.
- the control signal is output from the microcomputer 21 in the hoisting and traverse inverter control unit 12, a base current is supplied to the transistors 22 and 23, and the relay 1 (which drives the brake 30). 24) and relay 2 (25) are energized. Then, when the contact point 27 of the relay 1 and the contact point 28 of the relay 2 are closed, a current flows through the brake drive coil 29 and the brake 30 is released. At this time, the timing at which the microcomputer 21 issues a drive instruction is shifted so that the relay 2 (25) operates with a delay of Td1 time, for example, 20 ms, from the relay 1 (24).
- the difference between the drive timings of the two relays is 20 ms, but this value varies depending on the specifications such as variations in the mechanical operation of the relays used, and is larger than the variation in the mechanical operation time of the relays. do it.
- FIG. 5 shows a modification of the timing chart of the brake drive relay timing control. Arcing occurs at the relay contacts when the relay contacts are pulled apart, that is, when the relay is open.
- the relay 1 and the relay 2 are simultaneously closed to operate the brake, and when there is no operation input, the relay 1 and the relay 2 are opened at different timings.
- the brake 16 of the hoisting motor 3 has been described.
- the present invention can be similarly applied to the traveling induction motor 8 and the brake 16 of the traverse induction motor 5.
- the contact life of the brake driving relay can be improved.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Relay Circuits (AREA)
Abstract
In order to improve, without the use of complicated control and special devices, the service life of contacts of a relay for driving a brake of a hoisting machine in which an inverter control is used, this hoisting machine is characterized by being provided with: an inverter-controlled motor; a brake that is driven by using two phases of a three-phase power supply and brakes the motor; two brake-driving relays respectively provided to two-phase connection wires for driving the brake; and a control device that supplies a control signal to the brake-driving relays, wherein the control device generates, on the basis of an operation input of the hoisting machine, two types of brake-driving signals in which opening/closing timings for the two brake-driving relays are mutually shifted, and alternately supplies the two types of brake-driving signals to the two brake-driving relays for every operation of the brake.
Description
本発明は、インバータ制御を用いた巻上機およびその制御方法に関する
The present invention relates to a hoisting machine using inverter control and its control method.
本技術分野の背景技術として、特開２０１０－３５１３号公報（特許文献１）がある。この特許には、「複数の電路に設けられ、各電路に流れる電流を検出する電流検出手段と、この電流検出手段の検出信号にもとづいて各電路ごとの電流実効値を演算する演算手段と、この演算手段が演算した電流実効値にもとづいて各電路の通電電流における変動周期を検出する変動周期検出手段と、各電路を開離する開閉器と、この開閉器が開離したときの演算手段の電流実効値にもとづいて各電路ごとに求めた開閉履歴情報を記憶する開閉履歴情報記憶手段と、演算手段の電流実効値が所定値以上の時、開閉履歴情報記憶手段の開閉履歴情報が最大である電路の電流実効値が小さくなるタイミングを変動周期検出手段の変動周期から求めて開閉器を開離させる引き外し手段とを備えた構成。」（要約）と記載されている。
As background art in this technical field, there is JP 2010-3513 (Patent Document 1). In this patent, “current detection means that is provided in a plurality of electric circuits and detects the current flowing in each electric circuit, and calculation means that calculates an effective current value for each electric circuit based on a detection signal of the current detection means; A fluctuation period detecting means for detecting a fluctuation period in the energization current of each electric circuit based on an effective current value calculated by the calculating means, a switch for opening each electric circuit, and a calculating means for opening the switch The switching history information storage means for storing the switching history information obtained for each electric circuit based on the current effective value of the switching circuit, and the switching history information of the switching history information storage means is maximum when the current effective value of the calculation means is equal to or greater than a predetermined value. And a tripping means that opens the switch by obtaining the timing at which the current effective value of the electric circuit becomes smaller from the fluctuation period of the fluctuation period detection means. ”(Summary).
また、特開平１０－２０８５７５号公報（特許文献２）がある。この公報には、「リレー接点のＯＮ，ＯＦＦタイミングをＡＣゼロクロス手前で動作させるために、接点動作検出回路を設け、マイクロコンピュータでリレーコイルの無励磁，励磁による接点ＯＮ，ＯＦＦまでの時間を計算してタイミングを確定させるようにしたリレー制御方法。」（要約）と記載されている。
There is also JP-A-10-208575 (Patent Document 2). This publication states that “a contact operation detection circuit is provided to operate the relay contact ON / OFF timing before the AC zero cross, and the microcomputer calculates the time until the relay coil is de-energized and the contact is turned on / off by excitation. The relay control method in which the timing is finalized is described (summary).
インバータ制御を用いた巻上機のブレーキ制御では、巻上および巻下開始時に制御基板からの指令により制御基板上のブレーキリレーを駆動させ、ブレーキを開放させている。巻上機では一般的に、荷の位置を微調整する寸動操作(以下、インチングという。)により、接点の開閉が頻繁に行われる為、接点が引き離される際に発生するアーク放電の影響により、リレーの接点が摩耗するのが早く、万一ブレーキのリレーが溶着した場合は、ブレーキが開放されたままになってしまう。
In hoisting machine brake control using inverter control, the brake relay on the control board is driven by the command from the control board at the start of hoisting and unwinding to release the brake. Generally, in hoisting machines, contacts are frequently opened and closed by an inching operation (hereinafter referred to as inching) that finely adjusts the position of the load, and therefore it is affected by the arc discharge that occurs when the contacts are pulled apart. The relay contacts wear quickly, and if the brake relay is welded, the brake will remain open.
この問題を解決するために従来から、リレーの接点寿命を向上させる方法として、例えば特許文献１では、電路の電流実効値が小さくなるタイミングで開閉器を開離させている。また、特許文献２では、リレー接点のＯＮ，ＯＦＦタイミングをＡＣゼロクロス手前で動作させている。
Conventionally, in order to solve this problem, as a method for improving the contact life of the relay, for example, in Patent Document 1, the switch is opened at a timing when the current effective value of the electric circuit becomes small. In Patent Document 2, the ON / OFF timing of the relay contact is operated before the AC zero cross.
前記特許文献１では、各電路ごとに電流実効値を演算し、電流実効値が小さくなるタイミングで開離させるため、演算や制御処理が複雑化する。また、前記特許文献２では、リレー接点のＯＮ，ＯＦＦタイミングをＡＣゼロクロス手前で動作させるために、接点動作検出回路を設けなければならない。
In Patent Document 1, an effective current value is calculated for each electric circuit, and the current effective value is separated at a timing when the effective current value becomes small, which complicates the calculation and control processing. Moreover, in the said patent document 2, in order to operate the ON / OFF timing of a relay contact before AC zero crossing, a contact operation detection circuit must be provided.
そこで、本発明は、複雑な制御や特別な装置を用いることなく、インバータ制御を用いた巻上機のブレーキ駆動用リレーの接点寿命を向上させることを目的とする。
Therefore, an object of the present invention is to improve the contact life of a brake driving relay of a hoisting machine using inverter control without using complicated control or a special device.
上記課題を解決するために、本発明では、ブレーキを駆動する２相の接続線に各１つずつブレーキ駆動用のリレーを設け、リレーの機械的な動作のバラつきを考慮し、２つのリレーの開閉タイミングをずらし、アーク放電によるリレーへのダメージを交互に加えて分散させる制御を行う。
In order to solve the above-described problems, in the present invention, one brake driving relay is provided for each of the two-phase connection lines for driving the brake, and the mechanical operation of the relays is taken into consideration, and the two relays are connected. Control is performed by shifting the opening and closing timing and alternately applying damage to the relay due to arc discharge.
本発明の「巻上機」の一例を挙げるならば、インバータ制御される電動機と、３相電源の２相で駆動され、前記電動機を制動するブレーキと、前記ブレーキを駆動する２相の接続線に各１つずつ設けた２つのブレーキ駆動用リレーと、前記ブレーキ駆動用リレーに制御信号を供給する制御装置とを備え、前記制御装置は、巻上機の操作入力に基づき、前記２つのブレーキ駆動用リレーの開閉タイミングをずらした２通りのブレーキ駆動信号を作成し、前記ブレーキを駆動する毎に、それら２通りのブレーキ駆動信号を交互に前記２つのブレーキ駆動用リレーに供給することを特徴とする巻上機である。
As an example of the “winding machine” according to the present invention, an inverter-controlled electric motor, a brake driven by two phases of a three-phase power source and braking the electric motor, and a two-phase connection line driving the brake Each of the two brake driving relays and a control device for supplying a control signal to the brake driving relay, the control device based on the operation input of the hoisting machine. Two types of brake drive signals are generated by shifting the opening and closing timing of the drive relay, and each time the brake is driven, the two brake drive signals are alternately supplied to the two brake drive relays. It is a hoisting machine.
また、本発明の「巻上機の制御方法」の一例を挙げるならば、インバータ制御される電動機と、３相電源の内の２相で駆動され、前記電動機を制動するブレーキと、前記ブレーキを駆動する２相の接続線に各１つずつ設けた２つのブレーキ駆動用リレーと、前記ブレーキ駆動用リレーに制御信号を供給する制御装置とを備える巻上機の制御方法であって、前記制御装置が、巻上機の操作入力に基づき、前記２つのブレーキ駆動用リレーの開閉タイミングをずらした２通りのブレーキ駆動信号を作成し、前記ブレーキを駆動する毎に、それら２通りのブレーキ駆動信号を交互に前記２つのブレーキ駆動用リレーに供給することを特徴とするものである。
In addition, as an example of the “winding machine control method” of the present invention, an inverter-controlled electric motor, a brake driven by two phases of a three-phase power source and braking the electric motor, and the brake A method for controlling a hoisting machine, comprising: two brake driving relays each provided on a two-phase connection line to be driven; and a control device that supplies a control signal to the brake driving relay. The device creates two types of brake drive signals in which the opening and closing timings of the two brake drive relays are shifted based on the operation input of the hoisting machine, and each time the brake is driven, these two types of brake drive signals Are alternately supplied to the two brake driving relays.
本発明によれば、ブレーキ駆動用リレーの開閉が頻繁に行われ、接点が摩耗しやすいインバータ制御を用いた巻上機においても、複雑な制御や特別な装置を用いることなく、ブレーキ駆動用リレーの接点寿命を向上させることができる。
According to the present invention, a brake driving relay is frequently used in a hoisting machine using an inverter control in which the brake driving relay is frequently opened and closed, and the contact is easily worn, without using complicated control or special devices. The contact life of can be improved.
上記した以外の課題、構成および効果は、以下の実施形態の説明により明らかにされる。
Issues, configurations, and effects other than those described above will be clarified by the following description of embodiments.
以下、本発明の実施例を図面を用いて説明する。
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
図１はインバータ式クレーン装置の全体構成を示す斜視図、図２はインバータ式クレーン装置の制御部の構成を示すブロック図である。
FIG. 1 is a perspective view showing an overall configuration of an inverter crane apparatus, and FIG. 2 is a block diagram showing a configuration of a control unit of the inverter crane apparatus.
インバータ式クレーン装置（巻上機）は、クレーンフック１、ワイヤーロープ２、巻上誘導電動機３、巻上用装置４、横行誘導電動機５、横行用装置６、横行用ガーダー７、走行誘導電動機８、走行用装置９、走行用ガーダー１０、巻上・横行インバータ装置（主制御部と称す。）１１、操作入力装置１３、走行用インバータ装置１８から構成されている。また、巻上誘導電動機３には、誘導電動機用ブレーキ１６、エンコーダ１７が内蔵され、横行誘導電動機５及び走行誘導電動機８には誘導電動機用ブレーキ１６が各々に内蔵される。また、巻上・横行インバータ装置１１には、巻上・横行インバータ制御部１２、巻上用インバータ１４、横行用インバータ１５が、走行用インバータ装置１８には走行インバータ制御部１９及び走行用インバータ２０が内蔵される。
The inverter type crane device (the hoisting machine) includes a crane hook 1, a wire rope 2, a hoisting induction motor 3, a hoisting device 4, a traverse induction motor 5, a traversing device 6, a traverse girder 7, and a travel induction motor 8. , A traveling device 9, a traveling girder 10, a hoisting / traverse inverter device (referred to as a main control unit) 11, an operation input device 13, and a traveling inverter device 18. The hoisting induction motor 3 includes an induction motor brake 16 and an encoder 17, and the traverse induction motor 5 and the travel induction motor 8 include an induction motor brake 16. Further, the hoisting and traversing inverter device 11 includes a hoisting and traversing inverter control unit 12, the hoisting inverter 14, and the traversing inverter 15, and the traveling inverter device 18 includes a traveling inverter control unit 19 and a traveling inverter 20. Is built-in.
インバータ式クレーン装置は、クレーンフック１に取り付けた荷物を、巻上誘導電動機３を備えた巻上用装置４によりワイヤーロープ２を巻上巻下することでＹ方向（Ｙ方向、－Ｙ方向の矢印で示す。）、即ち、上下方向に荷物を移動する。また、Ｘ方向（Ｘ方向、－Ｘ方向の矢印で示す。）には、横行用装置６にある車輪を、横行誘導電動機５が回転させ、横行用ガーダー７に沿ってＸ方向に移動する。また、Ｚ方向（Ｚ方向、－Ｚ方向の矢印で示す。）には、走行用装置９にある車輪を、走行誘導電動機８が回転させ、走行用ガーダー１０に沿ってＺ方向に移動する。
The inverter type crane apparatus winds and unloads the load attached to the crane hook 1 by means of a hoisting device 4 equipped with a hoisting induction motor 3 to wind and unwind the wire rope 2 (arrows in the Y direction and -Y direction). In other words, the package is moved up and down. In the X direction (indicated by arrows in the X direction and the −X direction), the traverse induction motor 5 rotates the wheels in the traversing device 6 and moves in the X direction along the traverse girder 7. In the Z direction (indicated by arrows in the Z direction and the −Z direction), the traveling induction motor 8 rotates the wheels in the traveling device 9 and moves in the Z direction along the traveling girder 10.
巻上誘導電動機３と横行誘導電動機５は、巻上・横行用インバータ装置１１に格納された図２の巻上・横行インバータ制御部１２により制御される。即ち、オペレータが操作入力装置１３からの所定の指示を入力すると、巻上・横行インバータ制御部１２は、巻上用インバータ１４と横行用インバータ１５を制御し、巻上用インバータ１４と横行用インバータ１５から制御に必要な周波数、電圧、電流を巻上誘導電動機３と横行誘導電動機５に加え、同時に誘導電動機用ブレーキ１６を開放制御することで、巻上用装置４の場合、クレーンフック１に取り付けられた荷物が、落下することなくＹ方向に移動させる。また、横行用装置６の場合、横行用ガーダー７に沿って巻上用装置４をＸ方向に移動させる。
The hoisting and traverse induction motors 3 and the traverse induction motor 5 are controlled by the hoisting and traverse inverter control unit 12 of FIG. That is, when the operator inputs a predetermined instruction from the operation input device 13, the hoisting / traverse inverter control unit 12 controls the hoisting inverter 14 and the traverse inverter 15, and the hoisting inverter 14 and the traverse inverter 15, the frequency, voltage, and current necessary for control are applied to the hoisting induction motor 3 and the traverse induction motor 5, and at the same time, the induction motor brake 16 is controlled to be released. The attached luggage is moved in the Y direction without falling. In the case of the traversing device 6, the hoisting device 4 is moved in the X direction along the traverse girder 7.
また、巻上・横行インバータ制御部１２は、モータの回転数を検出するエンコーダ１７の情報を取り込み、モータ回転数の情報を巻上用インバータ１４の制御に使用する。
Further, the hoisting / traverse inverter control unit 12 takes in information of the encoder 17 that detects the rotational speed of the motor, and uses the information on the motor rotational speed to control the hoisting inverter 14.
同様に走行用装置９に取り付けてある走行誘導電動機８は、オペレータが操作入力装置１３からの所定の指示を入力すると、走行用インバータ装置１８に格納された図２の走行インバータ制御部１９が走行用インバータ２０を制御し、走行用インバータ２０から制御に必要な周波数、電圧、電流を走行誘導電動機８に加え、同時に誘導電動機用ブレーキ１６を開放制御することで、走行用ガーダー１０に沿って巻上用装置４をＺ方向に移動させる。
Similarly, when the operator inputs a predetermined instruction from the operation input device 13, the traveling induction motor 8 attached to the traveling device 9 causes the traveling inverter control unit 19 of FIG. 2 stored in the traveling inverter device 18 to travel. Winding along the traveling girder 10 by controlling the inverter 20, applying the frequency, voltage, and current necessary for the control from the traveling inverter 20 to the traveling induction motor 8 and simultaneously controlling the opening of the induction motor brake 16. The upper device 4 is moved in the Z direction.
ブレーキ駆動用リレーの接点寿命を向上させる具体的な方法を図３および図４を用いて説明する。図３は、本実施例によるブレーキ駆動回路の構成図である。
巻上誘導電動機等の電動機（モータ）には、電動機を制動するブレーキ３０が設けられ、ブレーキ３０はブレーキ駆動コイル２９により駆動される。ブレーキ駆動コイル２９は、３相電源の２相、例えばＳ相とＴ相で駆動され、各相の接続線にはブレーキ駆動用リレー２４，２５の接点２７，２８が送入されている。リレーの接点２７，２８とブレーキ駆動コイル２９は直列に接続されているので、接点２７および接点２８の両方がＯＮとなった時にブレーキ駆動コイルが動作し、接点２７および接点２８の何れか一方がＯＦＦとなった時にブレーキ駆動コイルが非動作となる。図の例では、ブレーキ駆動コイル２９が非動作時にはブレーキ３０が制動状態となっており、ブレーキ駆動コイル２９が動作するとブレーキ３０が開放される。リレー２４，２５には、それぞれトランジスタ２２，２３が直列に接続され、直流電源２６に接続されている。マイコン２１からトランジスタ２２，２３に制御信号が加えられることにより、リレー２４，２５が動作する。入力装置１３からの操作入力に基づいて、マイコン２１で作成された制御信号がトランジスタ２２，２３に加えられる。なお、２つのブレーキ駆動用リレー２４，２５は、１つの制御基板上に設ければ良い。 A specific method for improving the contact life of the brake drive relay will be described with reference to FIGS. FIG. 3 is a configuration diagram of a brake drive circuit according to the present embodiment.
Amotor 30 such as a hoist induction motor is provided with a brake 30 that brakes the motor, and the brake 30 is driven by a brake drive coil 29. The brake drive coil 29 is driven by two phases of a three-phase power source, for example, S phase and T phase, and contacts 27 and 28 of brake drive relays 24 and 25 are fed into connection lines of the respective phases. Since the relay contacts 27 and 28 and the brake drive coil 29 are connected in series, the brake drive coil operates when both the contact 27 and the contact 28 are turned on, and either the contact 27 or the contact 28 is connected. When turned off, the brake drive coil is deactivated. In the illustrated example, the brake 30 is in a braking state when the brake drive coil 29 is not in operation, and the brake 30 is released when the brake drive coil 29 is operated. Transistors 22 and 23 are connected in series to relays 24 and 25, respectively, and are connected to DC power supply 26. When a control signal is applied from the microcomputer 21 to the transistors 22 and 23, the relays 24 and 25 operate. Based on an operation input from the input device 13, a control signal created by the microcomputer 21 is applied to the transistors 22 and 23. The two brake driving relays 24 and 25 may be provided on one control board.
巻上誘導電動機等の電動機（モータ）には、電動機を制動するブレーキ３０が設けられ、ブレーキ３０はブレーキ駆動コイル２９により駆動される。ブレーキ駆動コイル２９は、３相電源の２相、例えばＳ相とＴ相で駆動され、各相の接続線にはブレーキ駆動用リレー２４，２５の接点２７，２８が送入されている。リレーの接点２７，２８とブレーキ駆動コイル２９は直列に接続されているので、接点２７および接点２８の両方がＯＮとなった時にブレーキ駆動コイルが動作し、接点２７および接点２８の何れか一方がＯＦＦとなった時にブレーキ駆動コイルが非動作となる。図の例では、ブレーキ駆動コイル２９が非動作時にはブレーキ３０が制動状態となっており、ブレーキ駆動コイル２９が動作するとブレーキ３０が開放される。リレー２４，２５には、それぞれトランジスタ２２，２３が直列に接続され、直流電源２６に接続されている。マイコン２１からトランジスタ２２，２３に制御信号が加えられることにより、リレー２４，２５が動作する。入力装置１３からの操作入力に基づいて、マイコン２１で作成された制御信号がトランジスタ２２，２３に加えられる。なお、２つのブレーキ駆動用リレー２４，２５は、１つの制御基板上に設ければ良い。 A specific method for improving the contact life of the brake drive relay will be described with reference to FIGS. FIG. 3 is a configuration diagram of a brake drive circuit according to the present embodiment.
A
図４は、ブレーキ駆動用リレーのタイミング制御のチャート図である。
入力装置１３により操作信号が入力されると、巻上・横行インバータ制御部１２内にあるマイコン２１から制御信号を出力し、トランジスタ２２，２３にベース電流を流し、ブレーキ３０を駆動させるリレー１(２４)とリレー２(２５)に通電する。そして、リレー１の接点２７とリレー２の接点２８が閉じることでブレーキ駆動コイル２９に電流が流れ、ブレーキ３０が開放される。このとき、リレー２(２５)がリレー１(２４)よりもＴｄ１時間、例えば２０ｍｓ遅れて動作するよう、マイコン２１から駆動指示を出すタイミングをずらす。そうした場合、リレー２の接点２８が閉じたときにブレーキ３０が開放され、操作信号がなくなったときはリレー１の接点２７が先に引き離されることにより、リレー１の接点２７でアーク放電が発生する。
この次の操作信号が入力された場合は、先ほどとは逆にリレー１(２４)がリレー２(２５)よりもＴｄ１時間、例えば２０ｍｓ遅れて動作するよう、マイコン２１から駆動指示を出すタイミングをずらす。そうすると、リレー１の接点２７が閉じたときにブレーキ３０が開放され、操作信号がなくなったときはリレー２の接点２８が先に引き離されることにより、リレー２の接点２８でアーク放電が発生する。この２通りの制御パターンを交互に繰り返すことで、各接点へのアーク放電によるダメージが分散され、インバータ制御を用いた巻上機のブレーキ駆動用リレーの接点寿命を向上させることができる。ここで、２つのリレーの駆動タイミングの差を２０ｍｓとしたが、この値は採用するリレーの機械的な動作のばらつき等の仕様によって異なり、リレーの機械的な動作時間のばらつきの時間よりも大きくすればよい。 FIG. 4 is a chart of timing control of the brake drive relay.
When an operation signal is input from theinput device 13, the control signal is output from the microcomputer 21 in the hoisting and traverse inverter control unit 12, a base current is supplied to the transistors 22 and 23, and the relay 1 (which drives the brake 30). 24) and relay 2 (25) are energized. Then, when the contact point 27 of the relay 1 and the contact point 28 of the relay 2 are closed, a current flows through the brake drive coil 29 and the brake 30 is released. At this time, the timing at which the microcomputer 21 issues a drive instruction is shifted so that the relay 2 (25) operates with a delay of Td1 time, for example, 20 ms, from the relay 1 (24). In such a case, when the contact 28 of the relay 2 is closed, the brake 30 is released, and when the operation signal is lost, the contact 27 of the relay 1 is first separated, so that arc discharge occurs at the contact 27 of the relay 1. .
When this next operation signal is input, the timing of issuing a drive instruction from themicrocomputer 21 so that the relay 1 (24) operates with a delay of Td1 time, for example, 20 ms, from the relay 2 (25) contrary to the previous operation. Shift. Then, the brake 30 is released when the contact point 27 of the relay 1 is closed, and when the operation signal is lost, the contact point 28 of the relay 2 is first separated, thereby generating an arc discharge at the contact point 28 of the relay 2. By alternately repeating these two control patterns, damage caused by arc discharge to each contact is dispersed, and the contact life of the brake driving relay of the hoisting machine using inverter control can be improved. Here, the difference between the drive timings of the two relays is 20 ms, but this value varies depending on the specifications such as variations in the mechanical operation of the relays used, and is larger than the variation in the mechanical operation time of the relays. do it.
入力装置１３により操作信号が入力されると、巻上・横行インバータ制御部１２内にあるマイコン２１から制御信号を出力し、トランジスタ２２，２３にベース電流を流し、ブレーキ３０を駆動させるリレー１(２４)とリレー２(２５)に通電する。そして、リレー１の接点２７とリレー２の接点２８が閉じることでブレーキ駆動コイル２９に電流が流れ、ブレーキ３０が開放される。このとき、リレー２(２５)がリレー１(２４)よりもＴｄ１時間、例えば２０ｍｓ遅れて動作するよう、マイコン２１から駆動指示を出すタイミングをずらす。そうした場合、リレー２の接点２８が閉じたときにブレーキ３０が開放され、操作信号がなくなったときはリレー１の接点２７が先に引き離されることにより、リレー１の接点２７でアーク放電が発生する。
この次の操作信号が入力された場合は、先ほどとは逆にリレー１(２４)がリレー２(２５)よりもＴｄ１時間、例えば２０ｍｓ遅れて動作するよう、マイコン２１から駆動指示を出すタイミングをずらす。そうすると、リレー１の接点２７が閉じたときにブレーキ３０が開放され、操作信号がなくなったときはリレー２の接点２８が先に引き離されることにより、リレー２の接点２８でアーク放電が発生する。この２通りの制御パターンを交互に繰り返すことで、各接点へのアーク放電によるダメージが分散され、インバータ制御を用いた巻上機のブレーキ駆動用リレーの接点寿命を向上させることができる。ここで、２つのリレーの駆動タイミングの差を２０ｍｓとしたが、この値は採用するリレーの機械的な動作のばらつき等の仕様によって異なり、リレーの機械的な動作時間のばらつきの時間よりも大きくすればよい。 FIG. 4 is a chart of timing control of the brake drive relay.
When an operation signal is input from the
When this next operation signal is input, the timing of issuing a drive instruction from the
図５に、ブレーキ駆動用リレーのタイミング制御のチャート図の変形例を示す。リレーの接点でアーク放電が発生するのは、リレーの接点が引き離される時、すなわち、リレーが開の時である。この変形例では、操作入力が入るとリレー１とリレー２を同時に閉としてブレーキを動作させ、操作入力が無くなるとリレー１とリレー２をタイミングをずらして開とする。ブレーキを駆動する毎に、タイミングをずらした２通りのブレーキ駆動信号を交互に２つのブレーキ駆動用リレーに供給することにより、各リレー接点へのアーク放電によるダメージが分散され、接点寿命を向上させることができる。
FIG. 5 shows a modification of the timing chart of the brake drive relay timing control. Arcing occurs at the relay contacts when the relay contacts are pulled apart, that is, when the relay is open. In this modification, when an operation input is input, the relay 1 and the relay 2 are simultaneously closed to operate the brake, and when there is no operation input, the relay 1 and the relay 2 are opened at different timings. By supplying two brake drive signals with different timings to the two brake drive relays each time the brake is driven, damage caused by arc discharge to each relay contact is dispersed and the contact life is improved. be able to.
なお、本実施例では、巻上電動機３のブレーキ１６について説明したが、走行誘導電動機８や横行誘導電動機５のブレーキ１６についても、同様に適用することができる。
In the present embodiment, the brake 16 of the hoisting motor 3 has been described. However, the present invention can be similarly applied to the traveling induction motor 8 and the brake 16 of the traverse induction motor 5.
本実施例によれば、リレーの接点でのアーク放電が半分となるので、ブレーキ駆動用リレーの接点寿命を向上させることができる。
According to the present embodiment, since the arc discharge at the relay contact is halved, the contact life of the brake driving relay can be improved.
１：クレーンフック
２：ワイヤーロープ
３：巻上誘導電動機
４：巻上用装置
５：横行誘導電動機
６：横行用装置
７：横行用ガーダー
８：走行誘導電動機
９：走行用装置
１０：走行用ガーダー
１１：巻上・横行インバータ装置
１２：巻上・横行インバータ制御部
１３：操作入力装置
１４：巻上用インバータ
１５：横行用インバータ
１６：誘導電動機用ブレーキ
１７：エンコーダ
１８：走行用インバータ装置
１９：走行インバータ制御部
２０：走行用インバータ
２１：マイコン
２２，２３：トランジスタ
２４，２５：リレー
２６：直流電源
２７，２８：リレー接点
２９：ブレーキ駆動コイル
３０：ブレーキ 1: Crane hook 2: Wire rope 3: Hoisting induction motor 4: Hoisting device 5: Traverse induction motor 6: Traverse device 7: Traverse girder 8: Traveling induction motor 9: Traveling device 10: Traveling girder 11: Hoisting and traverse inverter device 12: Hoisting and traverse inverter control unit 13: Operation input device 14: Hoisting inverter 15: Traverse inverter 16: Induction motor brake 17: Encoder 18: Traveling inverter device 19: Traveling inverter control unit 20: Traveling inverter 21:Microcomputer 22, 23: Transistors 24, 25: Relay 26: DC power supply 27, 28: Relay contact 29: Brake drive coil 30: Brake
２：ワイヤーロープ
３：巻上誘導電動機
４：巻上用装置
５：横行誘導電動機
６：横行用装置
７：横行用ガーダー
８：走行誘導電動機
９：走行用装置
１０：走行用ガーダー
１１：巻上・横行インバータ装置
１２：巻上・横行インバータ制御部
１３：操作入力装置
１４：巻上用インバータ
１５：横行用インバータ
１６：誘導電動機用ブレーキ
１７：エンコーダ
１８：走行用インバータ装置
１９：走行インバータ制御部
２０：走行用インバータ
２１：マイコン
２２，２３：トランジスタ
２４，２５：リレー
２６：直流電源
２７，２８：リレー接点
２９：ブレーキ駆動コイル
３０：ブレーキ 1: Crane hook 2: Wire rope 3: Hoisting induction motor 4: Hoisting device 5: Traverse induction motor 6: Traverse device 7: Traverse girder 8: Traveling induction motor 9: Traveling device 10: Traveling girder 11: Hoisting and traverse inverter device 12: Hoisting and traverse inverter control unit 13: Operation input device 14: Hoisting inverter 15: Traverse inverter 16: Induction motor brake 17: Encoder 18: Traveling inverter device 19: Traveling inverter control unit 20: Traveling inverter 21:
Claims (9)
- インバータ制御される電動機と、３相電源の２相で駆動され、前記電動機を制動するブレーキと、前記ブレーキを駆動する２相の接続線に各１つずつ設けた２つのブレーキ駆動用リレーと、前記ブレーキ駆動用リレーに制御信号を供給する制御装置とを備え、
前記制御装置は、巻上機の操作入力に基づき、前記２つのブレーキ駆動用リレーの開閉タイミングをずらした２通りのブレーキ駆動信号を作成し、前記ブレーキを駆動する毎に、それら２通りのブレーキ駆動信号を交互に前記２つのブレーキ駆動用リレーに供給することを特徴とする巻上機。 An electric motor controlled by an inverter, a brake that is driven by two phases of a three-phase power supply, brakes the electric motor, and two brake driving relays that are respectively provided on a two-phase connection line that drives the brake; A control device for supplying a control signal to the brake driving relay;
The control device creates two types of brake drive signals in which the opening and closing timings of the two brake drive relays are shifted based on the operation input of the hoisting machine, and each time the brake is driven, the two types of brake drive signals are generated. A hoisting machine characterized in that a driving signal is alternately supplied to the two brake driving relays. - インバータ制御される電動機と、３相電源の２相で駆動され、前記電動機を制動するブレーキと、前記ブレーキを駆動する２相の接続線に各１つずつ設けた２つのブレーキ駆動用リレーと、前記ブレーキ駆動用リレーに制御信号を供給する制御装置とを備え、
前記制御装置は、前記２つのブレーキ駆動用リレーの開閉タイミングをずらした２通りのブレーキ駆動パターンを有し、前記ブレーキを駆動する毎に、それら２通りのブレーキ駆動パターンを交互に前記２つのブレーキ駆動用リレーに供給することを特徴とする巻上機。 An electric motor controlled by an inverter, a brake that is driven by two phases of a three-phase power supply, brakes the electric motor, and two brake driving relays that are respectively provided on a two-phase connection line that drives the brake; A control device for supplying a control signal to the brake driving relay;
The control device has two brake drive patterns in which the opening and closing timings of the two brake drive relays are shifted, and each time the brake is driven, the two brake drive patterns are alternately switched to the two brakes. A hoisting machine characterized by being supplied to a driving relay. - 請求項１または請求項２に記載の巻上機において、
前記２通りのブレーキ駆動信号或いは前記２通りのブレーキ駆動パターンは、前記ブレーキ駆動用リレーの開時のタイミングをずらしたものであることを特徴とする巻上機。 In the hoist according to claim 1 or 2,
The hoisting machine characterized in that the two brake driving signals or the two brake driving patterns are obtained by shifting the timing when the brake driving relay is opened. - 請求項１または請求項２に記載の巻上機において、
前記電動機は、クレーンフックを上下する巻上用電動機であることを特徴とする巻上機。 In the hoist according to claim 1 or 2,
The hoisting machine is characterized in that the motor is a hoisting motor that moves up and down a crane hook. - 請求項１または請求項２に記載の巻上機において、
前記電動機は、クレーン装置を前後に、或いは左右に走行させる走行用電動機或いは横行用電動機であることを特徴とする巻上機。 In the hoist according to claim 1 or 2,
The hoisting machine is characterized in that the electric motor is a traveling electric motor or a traversing electric motor that causes the crane device to travel forward and backward or left and right. - 請求項１または請求項２に記載の巻上機において、
前記２つのブレーキ駆動用リレーの開閉タイミングをずらす時間は、リレーの機械的な動作時間のばらつきの時間より大きくすることを特徴とする巻上機。 In the hoist according to claim 1 or 2,
The hoisting machine characterized in that the time for shifting the opening and closing timings of the two brake drive relays is longer than the time of variation in the mechanical operation time of the relays. - 請求項１または請求項２に記載の巻上機において、
前記２つのブレーキ駆動用リレーは、制御基板上に設けられていることを特徴とする巻上機。 In the hoist according to claim 1 or 2,
The hoisting machine characterized in that the two brake driving relays are provided on a control board. - インバータ制御される電動機と、３相電源の内の２相で駆動され、前記電動機を制動するブレーキと、前記ブレーキを駆動する２相の接続線に各１つずつ設けた２つのブレーキ駆動用リレーと、前記ブレーキ駆動用リレーに制御信号を供給する制御装置とを備える巻上機の制御方法であって、
前記制御装置が、巻上機の操作入力に基づき、前記２つのブレーキ駆動用リレーの開閉タイミングをずらした２通りのブレーキ駆動信号を作成し、前記ブレーキを駆動する毎に、それら２通りのブレーキ駆動信号を交互に前記２つのブレーキ駆動用リレーに供給することを特徴とする巻上機の制御方法。 An electric motor controlled by an inverter, a brake that is driven by two phases of a three-phase power source, brakes the electric motor, and two brake driving relays provided one each on a two-phase connection line that drives the brake And a control method for a hoisting machine comprising a control device for supplying a control signal to the brake driving relay,
The control device creates two types of brake drive signals by shifting the opening and closing timings of the two brake drive relays based on the operation input of the hoisting machine, and each time the brake is driven, the two types of brake drive signals are generated. A method for controlling a hoisting machine, wherein a driving signal is supplied alternately to the two brake driving relays. - 請求項８に記載の巻上機の制御方法において、
前記２通りのブレーキ駆動パターンは、前記ブレーキ駆動用リレーの開時のタイミングをずらしたものであることを特徴とする巻上機の制御方法。 In the control method of the hoisting machine according to claim 8,
2. The hoisting machine control method according to claim 2, wherein the two brake driving patterns are obtained by shifting the opening timing of the brake driving relay.
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Citations (6)
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| JPS62160679A (en) * | 1986-01-08 | 1987-07-16 | 松下電器産業株式会社 | Power controller |
| JPH04121987U (en) * | 1991-04-12 | 1992-10-30 | 株式会社明電舎 | Electric hoist control circuit |
| JP2000299046A (en) * | 1999-04-15 | 2000-10-24 | Fujitsu Takamisawa Component Ltd | Electromagnetic relay |
| JP2004026326A (en) * | 2002-06-21 | 2004-01-29 | Hitachi Home & Life Solutions Inc | Brake releasing device at power failure in electric hoisting machine |
| JP2006199479A (en) * | 2005-01-24 | 2006-08-03 | Tir Corporation | Winch |
| JP2015173531A (en) * | 2014-03-11 | 2015-10-01 | 株式会社日立産機システム | Inverter type crane device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10208575A (en) * | 1997-01-29 | 1998-08-07 | Hitachi Home Tec Ltd | Relay controlling method |
| JP2010003513A (en) * | 2008-06-19 | 2010-01-07 | Mitsubishi Electric Corp | Circuit breaker |
-
2017
- 2017-06-01 JP JP2018529397A patent/JP6620242B2/en active Active
- 2017-06-01 WO PCT/JP2017/020462 patent/WO2018020829A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62160679A (en) * | 1986-01-08 | 1987-07-16 | 松下電器産業株式会社 | Power controller |
| JPH04121987U (en) * | 1991-04-12 | 1992-10-30 | 株式会社明電舎 | Electric hoist control circuit |
| JP2000299046A (en) * | 1999-04-15 | 2000-10-24 | Fujitsu Takamisawa Component Ltd | Electromagnetic relay |
| JP2004026326A (en) * | 2002-06-21 | 2004-01-29 | Hitachi Home & Life Solutions Inc | Brake releasing device at power failure in electric hoisting machine |
| JP2006199479A (en) * | 2005-01-24 | 2006-08-03 | Tir Corporation | Winch |
| JP2015173531A (en) * | 2014-03-11 | 2015-10-01 | 株式会社日立産機システム | Inverter type crane device |
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| JP6620242B2 (en) | 2019-12-11 |
| JPWO2018020829A1 (en) | 2019-02-14 |
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