JPH07118924B2 - Crane deceleration abnormality detection device - Google Patents
Crane deceleration abnormality detection deviceInfo
- Publication number
- JPH07118924B2 JPH07118924B2 JP63235850A JP23585088A JPH07118924B2 JP H07118924 B2 JPH07118924 B2 JP H07118924B2 JP 63235850 A JP63235850 A JP 63235850A JP 23585088 A JP23585088 A JP 23585088A JP H07118924 B2 JPH07118924 B2 JP H07118924B2
- Authority
- JP
- Japan
- Prior art keywords
- crane
- regenerative braking
- inverter control
- predetermined
- braking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000005856 abnormality Effects 0.000 title claims description 9
- 238000001514 detection method Methods 0.000 title description 4
- 230000001172 regenerating effect Effects 0.000 claims description 28
- 230000000694 effects Effects 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 2
- 208000032368 Device malfunction Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Control And Safety Of Cranes (AREA)
- Stopping Of Electric Motors (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、インバータ制御を行うクレーンの減速異常検
出装置に関するものであり、さらに詳しくは、クレーン
の減速、停止指令に対してインバータ制御装置による所
定の回生制動が得られているか否かを判断し、これに対
処するためのクレーンの減速異常検出装置に関するもの
である。Description: TECHNICAL FIELD The present invention relates to a deceleration abnormality detection device for a crane that performs inverter control, and more specifically, it relates to a deceleration / stop command for the crane, which is provided by an inverter control device. The present invention relates to a deceleration abnormality detection device for a crane, which determines whether or not a predetermined regenerative braking has been obtained and copes with this.
インバータ制御を行うクレーンに回生エネルギ吸収装置
としての放電抵抗を接続して回生制動を行うクレーンの
インバータ制御装置が公知である。An inverter control device for a crane that performs regenerative braking by connecting a discharge resistor as a regenerative energy absorbing device to a crane that performs inverter control is known.
このクレーンのインバータ制御装置においては、負荷が
定格値を超えた場合や、インバータ制御装置の減速度特
性の設定誤り、あるいはインバータ制御装置の故障等に
より、所定の回生制動が得られない問題点があった。In this inverter control device for a crane, there is a problem that a predetermined regenerative braking cannot be obtained when the load exceeds the rated value, the deceleration characteristic of the inverter control device is set incorrectly, or the inverter control device malfunctions. there were.
本発明は、従来技術の上記問題点を解決すべく、クレー
ンの減速の異常を検出し、異常が発生した場合に生ずる
クレーンの巻き上げ、横行あるいは走行の停止距離の増
加による事故の発生を未然に防止することを目的とする
ものであり、駆動用モータを制御するインバータ制御装
置と、駆動用モータの回生制動時の回生エネルギを吸収
する回生エネルギ吸収装置と、機械式制動装置とを備え
たクレーンの減速異常検出装置を前記インバータ制御装
置の回生制御時の減速度特性に基づく所定の許容限界速
度を予め記憶する手段と、実際の検出速度と前記許容限
界速度とを比較し、所定の回生制動が得られているか否
かを判断する手段と、所定の回生制動が得られていない
と判断したときに前記機械式制動装置に動作信号を出力
する手段とから構成したことを要旨とする。The present invention, in order to solve the above problems of the prior art, to detect the deceleration abnormality of the crane, hoisting of the crane that occurs when the abnormality occurs, the occurrence of an accident due to an increase in the traverse or travel stop distance A crane provided with an inverter control device for controlling a drive motor, a regenerative energy absorption device for absorbing regenerative energy during regenerative braking of the drive motor, and a mechanical braking device. The deceleration anomaly detection device of (1) stores in advance a predetermined allowable limit speed based on the deceleration characteristic during the regenerative control of the inverter control device, and compares the actual detected speed with the allowable limit speed to perform a predetermined regenerative braking. And a means for outputting an operation signal to the mechanical braking device when it is determined that the predetermined regenerative braking is not obtained. And summary that was.
以下、図面に示す実施例に基づいて説明する。 Hereinafter, description will be given based on an embodiment shown in the drawings.
第１図に示すように、クレーン設備は、クレーンの巻き
上げ、横行あるいは走行用の駆動用モータ１、駆動用モ
ータ１を制御するインバータ制御装置２、駆動用モータ
１の回生制動時の回生エネルギを吸収する放電抵抗から
なる回生エネルギ吸収装置３及び機械式制動装置６から
構成する。As shown in FIG. 1, the crane equipment includes a drive motor 1 for hoisting, traversing or traveling the crane, an inverter control device 2 for controlling the drive motor 1, and a regenerative energy of the drive motor 1 during regenerative braking. It comprises a regenerative energy absorbing device 3 and a mechanical braking device 6 which are composed of absorbing discharge resistance.
本発明の実施に当たり、所定の回生制動が得られている
か否かを判断する制動効果判別手段4aとしてのマイコン
４をインバータ制御装置２に付設する。In implementing the present invention, the inverter control device 2 is additionally provided with a microcomputer 4 as a braking effect determining means 4a for determining whether or not a predetermined regenerative braking is obtained.
マイコン４には、制動効果判別手段4a、すなわち、イン
バータ制御装置２から入力される実際の検出速度Ｑとし
ての出力周波数信号とインバータ制御装置２の回生制動
時の減速度特性Ｐに基づく所定の許容限界速度Ｒとを比
較し、所定の回生制動が得られているか否かを判断する
手段のほか、上記のインバータ制御装置２の回生制動時
の減速度特性Ｐに基づく所定の許容限界速度Ｒを予め記
憶する手段と、所定の回生制動が得られていないと判断
したときには、機械式制動装置６に作動信号を出力する
手段と、警報装置５に警報信号を出力する手段を備え
る。The microcomputer 4 has a predetermined permission based on the braking effect determination means 4a, that is, the output frequency signal as the actual detected speed Q input from the inverter control device 2 and the deceleration characteristic P of the inverter control device 2 during regenerative braking. In addition to the means for comparing with the limit speed R to determine whether or not a predetermined regenerative braking is obtained, a predetermined allowable limit speed R based on the deceleration characteristic P of the inverter control device 2 during the regenerative braking is set. Means for storing in advance, means for outputting an operation signal to the mechanical braking device 6 when it is determined that the predetermined regenerative braking is not obtained, and means for outputting an alarm signal to the alarm device 5 are provided.
ここで、過大な負荷、インバータ制御装置の減速度特性
の設定誤り、インバータ装置の故障により減速に要する
時間が所定の時間よりも長くなると、実際の検出速度Ｑ
は、第２図に示すようになり、制御効果判別手段4aが所
定の回生制動が得られていないと判断する。Here, if the time required for deceleration becomes longer than a predetermined time due to an excessive load, an incorrect setting of the deceleration characteristic of the inverter control device, or a failure of the inverter device, the actual detected speed Q
2 becomes as shown in FIG. 2, and the control effect determination means 4a determines that the predetermined regenerative braking is not obtained.
この場合、マイコン４は、警報装置５に警報信号を出力
するとともに、機械式制動装置６に動作信号を出力して
直ちにクレーンを停止させる。In this case, the microcomputer 4 outputs an alarm signal to the alarm device 5 and an operation signal to the mechanical braking device 6 to immediately stop the crane.
なお、減速度特性Ｐ及びこれに基づく所定の許容限界速
度Ｒは、マイコン４のプログラムの変更により適宜変更
することができる。The deceleration characteristic P and the predetermined allowable limit speed R based on the deceleration characteristic P can be appropriately changed by changing the program of the microcomputer 4.
本発明によれば、負荷が定格値を超えた場合や、インバ
ータ制御装置の減速特性の設定誤り、あるいはインバー
タ制御装置の故障によるクレーンの減速異常をクレーン
の減速、停止指令の発せられた時点を基準とする任意の
時点、位置で検出することができ、異常が発生した場合
に生ずるクレーンの巻き上げ、横行あるいは走行の停止
距離の増大による事故を未然に防止することができる。According to the present invention, when the load exceeds the rated value, the setting error of the deceleration characteristics of the inverter control device, or the deceleration abnormality of the crane due to the failure of the inverter control device decelerates the crane, the time when the stop command is issued. It is possible to detect at any time and position as a reference, and it is possible to prevent accidents due to crane hoisting, traversing, or an increase in the stop distance of traveling, which occurs when an abnormality occurs.
第１図は本発明のクレーン回生制動装置の大略を示すブ
ロック図。第２図は減速特性を示すグラフである。 １……モータ ２……インバータ制御装置 ３……回生エネルギ吸収装置 ４……マイコン 4a……制動効果判別手段 ５……警報装置 ６……機械式制動装置FIG. 1 is a block diagram showing an outline of a crane regenerative braking device of the present invention. FIG. 2 is a graph showing deceleration characteristics. 1 ... Motor 2 ... Inverter control device 3 ... Regenerative energy absorption device 4 ... Microcomputer 4a ... Braking effect discrimination means 5 ... Alarm device 6 ... Mechanical braking device
Claims (1)
置と、駆動用モータの回生制動時の回生エネルギを吸収
する回生エネルギ吸収装置と、機械式制動装置とを備え
たクレーンの減速異常検出装置において、前記インバー
タ制御装置の回生制動時の減速度特性に基づく所定の許
容限界を予め記憶する手段と、実際の検出速度と前記許
容限界速度とを比較し、所定の回生制動が得られている
か否かを判断する手段と、所定の回生制動が得られてい
ないと判断したときに前記機械式制動装置に動作信号を
出力する手段とからなることを特徴とするクレーンの減
速異常検出装置。1. A deceleration abnormality detecting device for a crane, comprising an inverter control device for controlling a drive motor, a regenerative energy absorbing device for absorbing regenerative energy during regenerative braking of the drive motor, and a mechanical braking device. A means for pre-storing a predetermined allowable limit based on the deceleration characteristic during regenerative braking of the inverter control device is compared with an actual detected speed and the allowable limit speed to determine whether or not a predetermined regenerative braking is obtained. A deceleration abnormality detecting device for a crane, comprising: a means for determining whether or not a predetermined regenerative braking is obtained, and a means for outputting an operation signal to the mechanical braking device when it is determined that a predetermined regenerative braking is not obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63235850A JPH07118924B2 (en) | 1988-09-20 | 1988-09-20 | Crane deceleration abnormality detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63235850A JPH07118924B2 (en) | 1988-09-20 | 1988-09-20 | Crane deceleration abnormality detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0284090A JPH0284090A (en) | 1990-03-26 |
| JPH07118924B2 true JPH07118924B2 (en) | 1995-12-18 |
Family
ID=16992184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63235850A Expired - Lifetime JPH07118924B2 (en) | 1988-09-20 | 1988-09-20 | Crane deceleration abnormality detection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07118924B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4565312B2 (en) * | 2003-12-11 | 2010-10-20 | 株式会社安川電機 | Servo controller and emergency stop method |
| CN102689836B (en) * | 2012-06-08 | 2013-03-06 | 中联重科股份有限公司 | Crane brake failure protection control device, method, system and construction machinery |
| JP6271364B2 (en) * | 2014-07-25 | 2018-01-31 | 株式会社神戸製鋼所 | Electric winch device |
| CN118386253B (en) * | 2024-06-26 | 2024-10-11 | 广东美的电气有限公司 | Torque turn-off module, torque turn-off method, safety control module and robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6177643U (en) * | 1984-10-26 | 1986-05-24 |
-
1988
- 1988-09-20 JP JP63235850A patent/JPH07118924B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0284090A (en) | 1990-03-26 |
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