JPH0326431B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a remote control device for remotely controlling an operated machine such as a crane using a control device connected to the machine by a control line.

[Prior art]

Conventionally, as a remote control device for an operated machine such as a crane, the crane is provided with relays for hoisting, rewinding, leftward, and rightward as loads, and four relays are provided in one-to-one correspondence with each other. A pendant-type operating device is linked via a cable having a dedicated control line and one common control line, and a winding, rewinding, left-handed or right-handed By operating the switch and operating the winding, rewinding, leftward or rightward relay, the motor etc. are controlled, and each operation of winding, rewinding, leftward or rightward movement is performed. It is common to have a configuration that allows However, in the conventional configuration described above, it is necessary to use a five-core cable having a total of five control lines, four dedicated control lines corresponding to each relay serving as a load, and one common control line. The probability of disconnection failure is high,
If even one control line breaks, the entire five-core cable must be replaced, which is uneconomical.

[Purpose of the invention]

The present invention was made in view of the above circumstances, and its purpose is to be able to transmit operation signals to multiple loads of an operated machine using only two control lines, with a low probability of wire breakage, and an extremely low probability of disconnection. To provide an economical remote control device.

[Summary of the invention]

The present invention is directed to an operated machine and an operating device that form a plurality of synchronization signals having time differences from a control power supply supplied to the control line to the operated machine and an operating device linked to the operated machine by a control line. A synchronization signal generation circuit is provided, an oscillation circuit is provided in the operation device, and the oscillation output of the oscillation circuit is applied to the control line in synchronization with a synchronous signal selected from a plurality of synchronization signals of the operation device synchronization signal generation circuit. is provided with a transmission circuit that transmits the operation signal as an operation signal, and when a plurality of synchronization signals from the synchronization signal generation circuit for the operated machine are respectively assigned to the operated machine and a synchronization signal belonging to itself is given, the control It is characterized by a configuration in which a plurality of receiving circuits are provided, which operate the receiving circuit when an operation signal is transmitted to the line, and operate the corresponding load among the plurality of loads. It is designed so that you only need to use it.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

Reference numeral 1 denotes a crane as an operated machine, which is supported by a guide (none of which is shown) arranged on the ceiling of a building such as a factory so that it can move leftward and rightward. 2 is a pendant-shaped operating device,
This is connected to and suspended from the crane 1 by a two-core cable 5 having two control lines 3 and 4.

First, the crane 1 side will be described. 6 and 7
is an AC power supply terminal to which a 50Hz or 60Hz AC power supply voltage is applied, and these are connected to the primary coil 9 of a low frequency transformer 9 via a noise prevention filter 8.
a is connected, and both terminals of the secondary coil 9b of the transformer 9 are connected to relay terminals 10 and 11. The relay terminal 10 is connected to one of the connection terminals 15 and 16 via a malfunction prevention relay 12, a diode 13 with the polarity shown, and a reactor 14, and the relay terminal 11 is connected to the other connection terminal 16. The emergency stop relay 17 and a series circuit of a diode 18 having the polarity shown are connected in parallel to the series circuit of the relay 12 and diode 13. Further, the relay terminal 10 is connected to a DC power supply terminal 20 via a rectifying and smoothing circuit 19. 21 and 22 are a diode and an inverter circuit forming a synchronization signal generation circuit 23 for a crane, which is a synchronization signal generation circuit for an operated machine; the anode of the diode 21 is connected to the relay terminal 1;
0, and the cathode is connected to AND circuits 24 and 2 of AND circuits 24 to 27, which are four receiving circuits.
In the inverter circuit 22, the input terminal is connected to each first input terminal of the diode 21.
The output terminal is connected to the cathode of AND circuit 2.
5 and 27, respectively. 28 is a high frequency transformer, one terminal of which is grounded in the primary coil 28a, and the other terminal is connected to the connection terminal 15 via a coupling capacitor 29; , one terminal is grounded, and the other terminal is grounded via a first filter 30 that passes a signal of a first frequency (for example, 100 KHz), an amplifier 31, a diode 32 with the polarity shown, and a capacitor 33. Furthermore, in the second secondary coil 28c, one terminal is grounded, and the other terminal is connected to a second filter 35 that passes a signal of a second frequency (for example, 150 KHz), and an amplifier. 36, a diode 37, and a capacitor 38 to ground, thereby forming a second detection circuit 39. The common connection point between the diode 32 and the capacitor 33 in the first detection circuit 34, that is, the detection terminal 40 is connected to each second input terminal of the AND circuits 24 and 25, and the diode 3 in the second detection circuit 39 is connected to the second input terminal of the AND circuits 24 and 25.
A common connection point between the capacitor 7 and the capacitor 38, ie, a detection terminal 41, is connected to each second input terminal of the AND circuits 26 and 27. Moreover, the AND circuit 2
Each of the output terminals 4 to 27 is connected to a positive potential line 9 through integral circuits 42 to 45, inverter circuits 46 to 49, and relays 50 to 53 as loads, respectively, in series.
0, and this positive potential line 90 is connected to the DC power supply terminal 20 via the normally open contact 12a of the malfunction prevention relay 12. in this case,
The normally open contact 50a of the winding relay 50 and the normally open contact 51a of the rewinding relay 51 are interposed in the driving circuit of a wire motor (not shown), and when the normally open contact 50a is turned on, the wire motor is turned on. For example, when the wire motor is operated in the normal direction to cause the wire (not shown) to wind up, and when the normally open contact 51a is turned on, the wire motor is operated in the reverse direction to cause the wire to be rewound. , the normally open contact 52a of the left-hand relay 52 and the normally-open contact 53a of the right-hand relay 53 are interposed in the driving circuit of a travel motor (not shown), and the normally open contact 52
When a is turned on, the traveling motor is operated in the forward direction, causing the crane 1 to perform a left-hand operation, and when the normally open contact 53a is turned on, the traveling motor is operated in the reverse direction, causing the crane 1 to perform a right-hand operation. It's becoming like that. In addition, the emergency stop relay 17
The normally open contact 17a is the power supply circuit for the crane 1 (power supply circuit for the wire motor, traveling motor, etc.)
When the power supply is turned off, the power supply circuit is opened.

Now, let's talk about the pendant 2 side. 54 and 55 are connection terminals, which are connected to the control line 3.
and 4 connect terminal 1 in said crane 1.
5 and 16, respectively, and in particular, the connection terminal 55 is grounded. In addition, the connection terminal 54 is connected to a normally closed emergency stop switch 56 and a reactor 5.
7, connected to the DC power supply terminal 60 via the diode 58 and the rectifying and smoothing circuit 59;
, the anode is grounded via a normally open contact 61a of an auxiliary relay 61 to be described later and a diode 62 with the illustrated polarity, and the cathode is grounded via a resistor 63. Reference numeral 64 denotes an inverter circuit which together with the diode 58 constitutes the actuator synchronization signal generation circuit 65, whose input terminal is connected to the cathode of the diode 58 and the AND circuits 66 to 6.
The output terminal is connected to the first input terminals of AND circuits 67 and 69, respectively. The output terminals of these AND circuits 66-69 are connected to control terminals of analog switches 70-73, respectively. Reference numeral 74 denotes a first oscillation circuit, which oscillates at a first frequency (for example, 100 KHz), and its output terminal is connected to each input terminal of the analog switches 70 and 71. 75 is a second oscillation circuit;
The output terminal is connected to each input terminal of the analog switches 72 and 73. Thus, the AND circuits 66, 67, 68 and 69
Each of the second input terminals is connected to a positive potential line 80 connected to the DC power supply terminal 60 via winding, rewinding, left-row, and right-row operation switches 76, 77, 78, and 79, respectively. Furthermore, the second input terminals of the AND circuits 66, 67, 68 and 69 are commonly connected via diodes 81, 82, 83 and 84, respectively, and the common connection point is connected via the auxiliary relay 61. The output terminals of the analog switches 70 to 73 are connected in common, and the common connection point is connected to the ground through a resistor 85.
connected to the base of an NPN type transistor 86;
In this transistor 86, the collector is connected to the positive potential line 80, and the emitter is grounded via the primary coil 87a of the high frequency transformer 87.
One terminal of the secondary coil 87b is grounded, and the other terminal is connected to the emergency stop switch 56 and the reactor 5 via a coupling capacitor 88.
7 and a transmission circuit 89 is configured.

Next, the operation of this embodiment will be explained with reference to FIG. 2.

First, when an AC power supply voltage is applied to the AC power supply terminals 6 and 7, this voltage is stepped down by the low frequency transformer 9, and a control power supply voltage _V9 is generated between the connection terminals 10 and 11 as shown in FIG. 2a. Emergency stop relay 17, diode 18, reactor 14, control line 3, emergency stop switch 56, reactor 57,
Diode 58, resistor 63, ground and control line 4
A positive (+) half-wave current begins to flow through the emergency stop relay 17 through the path, and the emergency stop relay 1
7 operates to turn on the normally open contact 17a, thereby closing the power supply circuit of the crane 1.
Further, the positive half-wave voltage of the control power supply voltage V ₉ is rectified and smoothed by the rectification and smoothing circuit 19 on the crane 1 side, and is applied as a DC power supply voltage between the DC power supply terminal 20 and the earth, and this DC power supply voltage is crane 1
is given to each circuit. Furthermore, the control power supply voltage
The positive half-wave voltage of V ₉ is also rectified and smoothed by the rectification and smoothing circuit 59 on the actuator 2 side and sent to the DC power supply terminal 60.
is applied as a DC power supply voltage between
This DC power supply voltage is applied to each circuit of the controller 2. Thereafter, for example, when the winding operation switch 76 is manually turned on, the auxiliary relay 61 is energized and operates via the winding operation switch 76 and the diode 81, and its normally open contact 61a is turned on. do. As a result, the malfunction prevention relay 12, the diode 13, the reactor 14, the control line 3, the emergency stop switch 56, the reactor 57, the normally open contact 61a, the diode 62, the ground and the control line 4 are connected to the malfunction prevention relay 1.
A negative (-) half-wave current begins to flow through the terminal 2, the malfunction prevention relay 12 operates, and the normally open contact 12
Turn on a. On the other hand, the positive half-wave voltage of the control power supply voltage V ₉ is rectified by the diodes 21 and 58, and outputs high-level synchronization signals S ₂₁ and S ₅₈ to the AND circuits 24 and 2 as shown in FIG. 2b and d.
6 and the AND circuits 66, 6.
At the same time, when the control power supply voltage _V9 is a negative half-wave voltage, the inverter circuits 22 and 64 receive a high-level synchronization signal S as shown in FIG. 2c and e. ₂₂ and
S ₆₄ is generated and applied to each first input terminal of AND circuits 25 and 27 and to each first input terminal of AND circuits 67 and 69. Therefore, when the winding operation switch 76 is turned on, the AND circuit ₆₆ receives a high-level signal at its second input terminal.
A high-level output signal is output for only the positive half-wave voltage period of _V9 , and the analog switch 70 to which this signal is applied is turned on, and the first oscillation circuit 7
The oscillation output of the first frequency from 4 is applied to the base of the transistor 86. This results in
An operating signal Sa of a frequency corresponding to the oscillation output of the first frequency is induced in the secondary coil 87b of the high-frequency transformer 87 and transmitted to the control lines 3 and 4, and this operating signal Sa is transmitted to the second As shown in Figure f, it is superimposed on the positive half-wave voltage of the control power supply voltage _V9 .
The operation signal Sa transmitted from the operator 2 side to the control lines 3 and 4 in this way is extracted to the secondary coils 28b and 28c of the high frequency transformer 28 on the crane 1 side, but in this case, the first frequency 1st signal passing
The signal passes only through the filter 30 and is applied to the capacitor 33 via the amplifier 31 and diode 32, and a high-level detection signal _S40 is generated at the detection terminal 40. This detection signal S ₄₀ is applied to each second input terminal of the AND circuits 24 and 25, but at this time, a synchronization signal corresponding to the positive half-wave voltage of the control power supply voltage V ₉ is applied to the first input terminal of the AND circuit 24. S ₂₁ is given, so the AND circuit 24 outputs a high level output signal, which is integrated by the integrating circuit 42 and then given to the inverter circuit 46, so the output signal of the inverter circuit 46 becomes low level. , therefore, the positive potential line 9
DC current flows from 0 to the hoisting relay 50, which operates to turn on the normally open contact 50a, which causes the wire motor to operate in normal rotation and performs the hoisting operation on the wire. You will be able to do it. Of course, when the winding operation switch 76 is turned off, the transmission of the operation signal Sa is stopped, so the wire winding operation is also stopped, and when the operation switch 76 is turned off, the auxiliary relay 6 is turned off.
1 is also cut off and then restored.

For example, when the rewind operation switch 77 is manually turned on, the auxiliary relay 61 is energized and operates via the rewind operation switch 77 and the diode 82, and its normally open contact 61a turns on. As a result, the malfunction prevention relay 12, diode 13, reactor 14,
Control line 3, emergency stop switch 56, reactor 5
7. Negative (-) half-wave current will now flow through the malfunction prevention relay 12 through the normally open contact 61a, diode 62, ground, and control line 4, and the malfunction prevention relay 12 will operate to normally operate. Turn on the open contact 12a. Therefore, when the rewind operation switch 77 is turned on, the AND circuit 67, whose second input terminal is given a high-level signal, is activated during the period when the synchronizing signal _S64 is given (the negative half of the control power supply voltage _V9 ). The analog switch 71 to which this signal is applied is turned on, and the first output signal from the first oscillation circuit 74 is output.
An oscillation output having a frequency of 1 is applied to the base of the transistor 86. As a result, an operation signal Sa of a frequency corresponding to the oscillation output of the first frequency is induced in the secondary coil 87b of the high-frequency transformer 87 and transmitted to the control lines 3 and 4, and this operation signal Sa is applied to the negative half-wave voltage of the control power supply voltage _V9 , as shown in FIG. 2g. The operation signal Sa transmitted from the operator 2 side to the control lines 3 and 4 is extracted to the secondary coils 28b and 28c of the high frequency transformer 28 on the crane 1 side, but in this case, the first frequency The signal passes only through the first filter 30, and also passes through the amplifier 31 and the diode 3.
2 to the capacitor 33, and a high-level detection signal _S40 is generated at the detection terminal 40. This detection signal _S40 is sent to the AND circuit 24,
At this time, the synchronizing signal S ₂₂ corresponding to the negative half-wave voltage of the control power supply voltage V ₉ is applied to the first input terminal of the AND circuit 25. 25 starts outputting a high level output signal, which is integrated by the integrating circuit 43 and then given to the inverter circuit 47, so that the output signal of the inverter circuit 47 becomes low level, and therefore the winding is removed from the positive potential line 90. Direct current flows through the rewinding relay 51, which operates to turn on the normally open contact 51a, thereby causing the wire motor to operate in reverse and causing the wire to perform a rewinding operation. become. Of course, if the rewinding operation switch 77 is turned off, the transmission of the operation signal Sa is stopped, so the rewinding operation of the wire is also stopped, and the auxiliary relay 61 is also de-energized by turning off the operation switch 77. Return.

Further, the operation when the left-hand operation switch 78 or the right-hand operation switch 79 is turned on is also based on the same principle as described above. That is, when the operation switch 78 or 79 is turned on, the AND circuit 68 to which the synchronizing signal _S58 is applied or the AND circuit 69 to which the synchronizing signal _S64 is applied turns on the analog switch 72 or 73 for that period. Therefore, the high frequency transformer 8
An operation signal Sb of a frequency corresponding to the second frequency oscillation output of the second oscillation circuit 75 is induced in the secondary coil 87b of 7, and this is the positive half-wave voltage or negative half-wave voltage of the control power supply voltage _V9 . superimposed on This operation signal Sb is extracted by the high-frequency transformer 28 on the crane 1 side, passes through the second filter 35 of the second frequency, and is outputted to the detection terminal 41 as a high-level detection signal S ₄₁ to the AND circuit 26.
Therefore, the output signal of the AND circuit 26 to which the synchronizing signal S ₂₁ is applied or the AND circuit 27 to which the synchronizing signal S ₂₂ is applied becomes high level, and in response, the left row relay 52 Alternatively, the rightward movement relay 53 is activated, the traveling motor is operated in the forward direction or in the reverse direction, and the crane 1 is operated in the leftward or rightward direction.

In addition, when the emergency stop switch 56 is turned off or when the control line 3 or 4 is disconnected, the emergency stop relay 17 is de-energized and returns to turn off the normally open contact 17a. By turning off the normally open contact 17a, the power supply circuit of the crane 1 is opened, and all operations of the crane 1 are stopped.

According to this embodiment, the following effects can be obtained. That is, the positive half-wave voltage and the negative half-wave voltage of the control power supply voltage _{V9 applied between the control lines 3 and 4 to the crane 1, which is the operated machine, and the operating device 2 linked thereto by the control lines 3 and 4} . Synchronous signal generating circuits 23 and 65 for the crane and operating device are provided to form synchronizing signals S ₂₁ , S ₂₂ and S ₅₈ , S ₆₄ according to the half-wave voltage, and the operating device 2 is provided with oscillation circuits 74 , 75 .
are provided, and the oscillation outputs of the oscillation circuits 74 and 75 are used as the synchronization signals S ₅₈ ,
A transmission circuit 89 is provided to transmit operation signals Sa and Sb to the control lines 3 and 4 in synchronization with the synchronization signal S ₅₈ or S ₆₄ selected from S ₆₄ .
The crane synchronization signal generation circuit 23 synchronization signal
When S ₂₁ or S ₂₂ is assigned and the synchronization signal S ₂₁ or S ₂₂ belonging to it is given, when the operation signals Sa and Sb are transmitted to the control lines 3 and 4, the four AND circuits 24-27
are provided, and when these AND circuits 24, 25, 26, or 27 perform a receiving operation, the corresponding relays 50, 51, 52, or 53 are operated to perform winding operation, rewinding operation, left-hand movement operation, or right-hand movement operation. The two control lines 3,
4 can transmit four types of signals, and therefore, unlike the conventional method, only a two-core cable 5 can be used instead of a five-core cable.
The probability of disconnection failure is reduced accordingly, and even if a temporary disconnection occurs, it is only necessary to replace the two-core cable 5, which is economical. Also, as mentioned above, the synchronization signal
Since S ₂₁ , S _{22 ,} S ₅₈ , and S ₆₄ are obtained from the positive half-wave voltage and negative half-wave voltage of the control power supply voltage V ₉ ,
Diodes 21 and 58 serve as the crane synchronization signal generation circuit 23 and the operation synchronization signal generation circuit 65.
The configuration can be made simple by just using the inverter circuits 22 and 64, and the synchronization relationship between these can be ensured.

By the way, conventionally, when an emergency stop switch is provided on the operating device to transmit an emergency stop signal to the crane, it is necessary to additionally provide a control line for transmitting the emergency stop signal. A six-core cable would have to be used.
On the other hand, according to this embodiment, since the emergency stop relay 17 is interposed between the relay terminal 10 on the crane 1 side and the control line 3, the operating device 2
When the emergency stop switch 56 is turned off at the side, the power to the emergency stop relay 17 is immediately cut off and the emergency stop relay 17 is restored, thereby opening the power supply circuit of the crane 1. Therefore, there is no need to provide a dedicated control line for transmitting the emergency stop signal, and only two control lines 3 and 4 are required.

In the above embodiment, the operating device 2 is provided with two oscillation circuits 74 and 75, but it goes without saying that the number of signals that can be transmitted can be increased or decreased by increasing or decreasing the number of oscillation circuits.

In addition, the present invention is not limited only to the embodiments described above and shown in the drawings, but can be modified as appropriate without departing from the scope, such as being applicable not only to cranes but to all types of operated machines in general. Can be implemented.

〔Effect of the invention〕

As explained above, the present invention provides an oscillation output from an oscillation circuit of an actuator to the control line in synchronization with a synchronous signal selected from among a plurality of synchronous signals obtained from a control power supply provided to the control line. The control signal is transmitted to the operated machine as an operating signal, and the operated machine selectively receives the operating signal based on the same synchronization signal as described above. It can transmit operation signals, has a low probability of disconnection, and is extremely economical.

[Brief explanation of drawings]

FIG. 1 is an electric circuit diagram showing an embodiment of the present invention;
FIG. 2 is a waveform diagram of each part of the same embodiment. In the drawing, 1 is a crane (operated machine), 2 is an operating device, 3 and 4 are control lines, 5 is a two-core cable, 17
is an emergency stop relay, 23 is a synchronization signal generation circuit for the crane (synchronization signal generation circuit for the operated machine), and 24
~27 is an AND circuit (reception circuit), 30 and 35
are first and second filters, 50 to 53 are relays (loads), 56 is an emergency stop relay, 65 is an operating device synchronization signal generation circuit, 74 and 75 are first and second oscillation circuits, 76 to 79 is the operation switch, 89
indicates a transmission circuit.

Claims (1)

[Claims] 1. An operating device linked to an operated machine having multiple loads by two control lines, and a time difference between the control power supplies provided to the operating device and the operated machine and supplied to the control lines, respectively. an oscillation circuit provided in the operating device, which generates a plurality of synchronization signals having a synchronization signal generation circuit for the operating device; a transmission circuit that transmits an operation signal to the control line in synchronization with a synchronization signal selected from among the synchronization signals; and a plurality of synchronization signals from a synchronization signal generation circuit for the operated machine provided in the operated machine. a plurality of receiving circuits that perform a receiving operation when an operation signal is transmitted to the control line when a synchronization signal that is assigned to each one and belongs to the self is given, and operates a load corresponding to the self among the plurality of loads; A remote control device comprising: