JPS60191987A - Detector for abnormality of controller for industrial equipment such as crane - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a device for detecting an abnormality in a control device of an industrial machine such as a crane.

Conventional technology In industrial machinery such as cranes, the drive motor may move differently than the driver's operation due to a malfunction in the equipment.
For example, an accident may occur if the hoist falls down even after the hoisting operation has been performed. In order to prevent such accidents, abnormality detection devices for control devices have conventionally been used. However, conventional abnormality detection devices perform overspeed detection, which detects an abnormality when the motor speed becomes faster than a predetermined value, or reverse detection, which detects when the motor rotates in the opposite direction to the driver's operation. The system only detects a single type of abnormal operation, such as one that performs detection, and cannot detect multiple types of abnormal operations that are different from the driver's operations.

Purpose of the Invention The present invention aims to solve the above-mentioned drawbacks of the prior art, and seeks to provide an abnormality detection device for a crane opening device that can detect various abnormal operations that are different from the operations of the driver. It is something to do.

Mizonari of the Invention This invention inputs a direction command signal from a controller and a speed detection signal from a speed detector, and makes sure that the direction indicated by the direction command signal matches the direction indicated by the speed detection signal, and the speed detection signal is set in advance. An abnormality detection signal is output when the speed is not higher than the set lower limit speed, and the speed command signal from the controller and the speed detection key signal from the speed detector are manually input to detect the absolute deviation between the speed command signal and the speed detection signal. If the deviation exceeds a predetermined one shift, an abnormality detection signal is output, and if any of the abnormality detection signals listed in iiJ are output for a predetermined period of time, an abnormality occurs in the j equipment on the 11ilJ side. It was decided that

Embodiment An embodiment of the present invention is shown in FIG. The abnormality detection device 1 shown in Fig. 1 is an abnormality detection device for one of the multiple operating axes of a crane, etc. In an actual machine, the same device is installed for each axis. It is being

In Fig. 1, the abnormality detection device 1 receives operation signals from the controller, including a signal instructing the driving direction (a forward driving signal and a reverse driving signal), and a signal instructing the driving speed (in the case of a forward speed). It is a signal that has a polarity of 10 and a polarity of - in the case of a reverse speed. For example, it varies from 0 to ±1 (
(varies within the JV range) is input.

The polarity selection circuit 3 inputs a speed detection signal (a signal that has a polarity of 10 when the speed is in the forward direction and a polarity when the speed is in the reverse direction, and varies depending on the speed, for example, in the range of 0 to ±10V). If the polarity is 10, the signal is inputted to the connominator 5, and if the polarity is -, the signal is inputted to the comparator 7. Connominators 5 and 7 are used to determine the preset range of the human signal (for example, 0 for determining the abnormal state of the speed detection signal).
．． 5V (5% hidden) VC is set. If this set value is lower than the variable value (i.e., the set speed has not been reached or is moving in the opposite direction to the corresponding direction), it outputs the signal %IN and when it is placed ( In other words, if the set speed has been reached), 101 is output. The AND circuit 9 inputs the output of the comparator 5 and the positive lul+operation command from the controller, and operates in the positive direction at a speed higher than the set value when both of them are in the step 11, that is, even though the positive operation has been performed. If not,
An abnormality detection signal 111 is output. Also, AND circuit l]
inputs the output of the connominator 7 and the reverse operation command from the controller, and when both of these are slr, '1 - In other words, it operates in the opposite direction at a speed higher than the set value even though the reverse operation has been performed. If not, an abnormality detection signal image ll is output. From the outputs of these AND circuits 9, it is possible to detect, for example, the following abnormal operation.

■ If it operates in the opposite direction to the operation direction ■ If it does not operate at all even if you operate it, that is, if the speed detector is broken or disconnected and does not output 0 If it operates to some extent but does not reach the set speed The characteristic correction circuit 13 corrects the speed command voltage output from the controller to a characteristic similar to the actual movement of the motor, and provides a soft start characteristic to the motor 1WII# circuit.
If inching characteristics or the like are provided, those characteristics are added to the speed command voltage output from the controller and output. An example of the input/output of the characteristic correction circuit 130 is shown in FIG. The speed command signal output from the characteristic correction circuit 1:3 is input to the polarity conversion circuit 14, and regardless of whether the polarity is + or -, it is converted to - as a - polarity (i.e., in the case of ten-fold polarity, it is converted to -). If the polarity is -, leave it as it is] Output 1 -
Ru.

In addition, the polarity conversion circuit 15 inputs the speed detection signal output from the speed detector and treats it as the polarity of 10, regardless of whether the polarity is positive or negative. If the polarity is 1 or -, it is converted to 10 and outputted. The deviation signal output from the booster 16 is input to the polarity conversion circuit 17, and the polarity is either + or -. Even if the polarity is 10, the output will be 1.The deviation signal output from the polarity conversion circuit 17 is input to the connominator 18, and the deviation is set to a preset value (less than the deviation that occurs even during normal operation). (large value), the controller 1
8 outputs an abnormality detection signal 111.

Based on the output of the comparator 18, it is possible to detect, for example, the following abnormal operation.

○ If the controller does not work even if you operate the controller. If the controller works even though you are not operating it.■ Even though you used the controller to move another part,
If this part works ■ Does it work even though I returned the controller operation to O-notch (stop)? If the notch does not stop ■ If the notch operates at a speed different from that operated by the controller, or if the speed is overspeed, etc. (For example, if the control device is malfunctioning and the brake is open and the voltage is output to the motor and it is OK) 0 Abnormal・If 1-inching occurs (for example, when the controller output is 1V, the crane shakes, the speed detection signal changes between 0 to 5V, and a large voltage difference occurs) ■ Acceleration/deceleration AND circuit 9. If the time is too fast or too slow for the set soft start characteristic. The abnormality detection signal output from IJ and comparator 18 is
The signal is input to the timer circuit section via the OR circuit 21. Each timer (B) determines abnormal operation only when the abnormality detection signal is input after a certain period of time, and turns on the Ig signal.
This outputs the following. This is because the caro speed when the notch is inserted fluctuates depending on the weight and weight of the head, and at this time the abnormality is detected incorrectly.
Since a signal may be output, the abnormality is determined to be abnormal after a certain period of time has elapsed since the abnormality detection signal was input.

The abnormality detection signal 5lll output from the timer drives the output relay 25, and the output of the contact 25a is used as a motor 2 and brake cutoff signal to stop the operation.

DETAILED DESCRIPTION OF THE INVENTION According to the present invention, the direction command No. 43 from the controller and the speed detection signal from the speed detector are input, and the direction indicated by the direction command signal and the direction indicated by the speed detection signal match and the speed is It outputs an abnormality detection signal when the detection signal is not higher than a preset lower limit speed, and also inputs the speed command signal from the controller and the speed detection signal from the speed detector, and calculates the absolute value of the speed command signal and speed detection signal. A deviation is taken, and when the deviation exceeds a predetermined value, an abnormality detection signal is output, and if any of the above abnormality detection signals (Ig) is continuously output for a predetermined period of time, it is determined that an abnormality has occurred in the control device. By doing so, various types of abnormal conditions can be detected.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is an input/output waveform diagram of the characteristic correction circuit 130. l... Abnormality detection device, 6... Output relay.

Claims (1)

[Claims] A direction command signal and a speed command signal are input from the controller, a speed detection signal is input from the speed detector, and the direction indicated by the direction command signal and the direction indicated by the speed detection signal match, and the speed detection signal is set in advance. A circuit that outputs an abnormality detection signal except when the speed is above the F limit, and a circuit that calculates the deviation between the absolute value of the speed command signal and the speed detection number, and outputs an abnormality detection signal when the deviation exceeds a predetermined value. and a timer circuit that outputs an abnormality detection signal when any of the abnormality detection signals is output for a predetermined period of time, and is controlled by the abnormality detection signal output from the timer circuit. An abnormality detection signal of a control device of an industrial machine such as a crane, which is used to determine an abnormality in the equipment.