JPH0348120B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a hoist device for handling suspended loads,
In particular, the present invention relates to a microprocessor-controlled hoist device in which a microprocessor is used for motion control.

[Conventional technology]

Load-handling hoists that utilize electric motors or motors to lift and lower loads are widely used in a variety of industrial applications and are therefore often subject to a number of limitations that can severely limit the longevity of the hoist. It is operated under the following environment. For this and other reasons, such hoists are usually equipped with a safety switch, such as a limit switch, which is mechanically actuated when the hoist hook, i.e. the hook engaging the load, reaches substantially the upper limit of its travel. It is equipped with By the operation of this switch,
In the unlikely event that the hoist operator attempts to raise the suspended load beyond the above upper limit, this will be prevented.
This prevents damage to the hoist. However, electromechanical devices such as the safety switch described above are susceptible to misalignment and damage.

Other problems faced by industrial hoist operators are encountered when the operating position of a large member of the hoist relative to a piece of equipment, such as a lath or other metal component, varies.

In such situations, it is desirable to gradually lower the suspended load from the lifted position to the final position. This type of measure is empirically difficult to achieve. In an attempt to solve this positioning problem, for example, US Pat.
Various approaches have been taken, as seen in Japanese Patent Nos. 2752120 and 2801760.

An accurate load positioning system for solving the problem of "jyogging" a load to its final position is disclosed in U.S. Pat. Disclosed in No. 4361312. This patent suggests an improved single-speed or dual-speed hoist device that modifies a standard hoist to allow the hoist to position suspended loads very accurately.
The device of that patent temporarily applies the hoist brake for a preset limited period of time without activating the hoist motor so that the suspended load is lowered by a small increase in travel distance due to the action of its own weight. It works to open it.

In particular, the aforementioned patent discloses a gear tooth detector that generates digital pulses associated with the passage of each gear tooth of a pinion gear of a hoist motor to monitor the gear as the gear tooth passes a transducer and position. The equipment utilized is shown. The pulse signal is then applied to a digital counter that is preset to count pulses from the transducer when the brake release lowering action is applied. When the total number of pulses thus received from the transducer equals the predetermined number of pulses selected by the operator and set in the digital counter/comparator, the counter/comparator terminates the brake release control signal. As a result, it becomes possible to operate the brake again in order to intermittently lower the suspended load. Thus, in particular embodiments of the patent, the control signal from the precise load positioning position depends on the movement of the load rather than on time, and other embodiments of the patent apparatus depend on the scheduled time effectively interrupting the brake release control signal after.

Other patents known to the applicant at the time of filing this application are as follows. Inventors U.S. Patent Numbers Santeini et al. 2403125 Crookston 2656027 Bogle 2752120 Logan 29121224 Buck 3053344 Antieta 3883859 Giorakou et al. 4087078 Australian Patent 283230 (October 1965) British Patent 826133 (1959) (December) (Problem to be solved by the invention) Above As mentioned above, in conventional hoist devices, there are problems such as poor adjustment and damage of the safety switch to ensure the upper limit of the operating stroke, that is, to prevent overruns, and problems of interference with other surrounding members due to hoist operation. Ta.

Therefore, an object of the present invention is to provide a hoist device that uses a microprocessor for control and enables accurate, safe, and delicate control without causing problems of poor adjustment or damage. There is a particular thing.

[Means and actions for solving problems]

The present invention is generally directed to microprocessor control for hoisting equipment. The main features of the present invention are as follows.

(1) Travel limit 1-1 Set from the control station by a series of button operations.

1-2 The design is such that both the upper and lower limits can be set or reset independently of the other limits.

(2) Diverse speed control 2-1 Used for hoists of various speeds.

2-2 The inputs of the control station are interpreted by the microprocessor to output signals that result in a change in the speed of the motor.

(3) Single-phase start control 3-1 Used in hoist equipment that uses a single-phase motor as the main drive device.

3-2 This function opens the circuit and starts the motor winding at the scheduled speed.

3-3 The scheduled speed is determined by comparing the scheduled time value with the dead period of the Hall effect transducer signal.

(4) Reverse motion delay 4-1 This function provides a time delay when changing the direction of hoist motion. This causes the primary drive to be stopped before movement in the opposite direction is performed.

(5) Creep function 5-1 The brake is released according to the scheduled increment of suspended load movement, and then the brake mechanism can be reactivated for the scheduled time.

5-2 The above item 5-1 is repeated as long as the creep input continues.

5-3 Scheduled incremental movement of the suspended load is detected by a Hall effect switch.

(6) Overheating shield 6-1 Used in hoist equipment during operation in the upward direction.

6-2 Disable movement in the upward direction when the planned motor temperature is reached.

(7) Over/Under Speed and Overload Shrink 7-1 Over speed and under speed limits are preset values, expressed as a percentage of the nominal speed.

7-2 The nominal speed is determined during the procedure of setting the travel limits by recording the dwell time of the Hall effect stitch.

(8) Phase shift correction 8-1 Used in multi-phase main drive device.

8-2 Force the main drive to move in the desired direction.

8-3 The input phase sequence is detected and the main drive is driven logically.

(9) Data retention 9-1 The following data are stored in non-volatile memory while power is being supplied.

9-1-1 Limits 9-1-2 Number of motor starts 9-1-3 Motor operating time 9-1-4 Overheating operation stop 9-1-5 Number of brake operations 9-1-6 Over/under speed operation Total number of stoppages 9-1-7 Number of power offs 9-1-8 Number of limit resets 9-1-9 Load position 9-2 Retained data is transmitted to the microcontroller via the interrogation port for maintenance diagnosis. It can be read out to a processor, making periodic inspection possible.

〔Example〕

1 to 5 show details of the mechanical configuration of a hoist device to which an embodiment of the present invention is applied.

In the figure, the hoist device includes a frame 1, which is provided with a removable end cover 2. The end cover 2 is secured to the frame 1 by means of suitable fastening members such as those indicated by reference numeral 3.
Fixed. One end of the main frame 1 is provided with a motor designated by reference numeral M. This motor M has a stator S, a winding W wound around the stator S, and a rotor R. One end 4 of the frame 1 is provided with a first bearing indicated by reference numeral 5, the middle part of the frame 1 is provided with a second bearing 6, and the other end of the frame 1, i.e. the end cover 2 part. A third bearing 7 is provided nearby. These bearings are arranged in coaxial relationship and journal to the main drive shaft 8 of the hoist assembly. This shaft 8 is connected to the rotor R via a clutch assembly pre-installed thereon. The clutch assembly includes two clutch linings or plates 9 and 10, their respective clutch pressure plate elements 11 and 12, Belleville spring packs 13 and 14, and a mounting nut 15. The details of this clutch assembly are not per se important to the invention. However, for a correct understanding, the two pressure plate parts 11, 12 are
It should be noted that the drive shaft 8 is prevented from rotating, for example by a suitable key, indicated by the reference numeral 16, or by a spline if desired. The Belleville spring pack 14 is located on the spacer 17, the Belleville spring pack 13 is located on the Naturotsu washer 18, and the nut 15 is placed on the washer 18 inserted to hold the nut 15 in this position. The spring packs 13, 14 are screwed onto the shaft 8 so as to be pressed by one or more tabs. The rotor R is supported on the hub portions of pressing plates 11 and 12 and is supported by spring packs 13 and 14.
Accordingly, the members 11, 12 keyed to the rotor R and the shaft 8 are mounted for synchronous rotation unless the rotational resistance of the shaft 8 indicates an overloaded condition of the hoist. If such an overload condition occurs, a slip will occur between the clutch components and the rotation of the shaft 8 will be slowed down accordingly.

A chain drive sprocket or lift wheel 18' is supported on the frame via roller bearings 19.
A chain C is looped around 8'. A load hook F is attached to one end of the chain C, and the other end of the chain C is fixed to the frame assembly 1. This is a conventional configuration.

The lift wheel 18' is connected to the gear reduction unit 2.
0 and 21, it is driven in rotation at a reduced speed with respect to the rotation of the shaft 8. In the type of hoist shown here, the gear reduction unit 20 meshes inside the internal gear 22 with the internal gear 22, which is fixed to the frame 1 by means of a clamping member 23, and there the inherent advantage of this type of drive system is The external gear 24 is rotatably supported on an eccentric portion 25 of the drive shaft 8 in order to obtain a large gear reduction effect. The coupling unit 21 includes a body 2 having a coupling pin 27 at both ends which loosely fit into recesses in the lift wheel and the external gear 24, respectively, as generally shown in the first and second figures.
It consists of 6.

One end of the drive shaft 8 is provided with a brake plate 27 whose hub 28 is keyed or splined to the shaft 8, the frame 1 having the reference number B.
It is equipped with the brake assembly shown. The brake assembly B includes a brake part 28'
and 29, spring 3 for applying the brakes.
1, and is provided with a brake pressing plate 30 which is operated in response to the action of a solenoid winding 33 against a spring 31 to operate in conjunction with an armature 32 that releases the brake. All of these remain the same. A relay for armature winding 33 is designated by reference numeral 34.

As shown in FIGS. 3-5, a recess 40 is formed in one end of the shaft 8 for receiving a projection 41 of the magnet rotor, indicated by reference numeral 42. As shown in FIGS. The magnetic rotor 45 includes a series of equally spaced magnetic pole members 43 along its circumferential surface.
The Hall effect transducer is designated by the reference numeral 44 in FIG.
It has 7. This male side plug base 47 connects the female side connector 48 to the Hall element 44 and the conductor 4.
9, 50 and 51 are electrically connected.
As shown in FIG. 4, the fastener 46 passes through the elongated hole 52 of the member 45 in order to allow the gap between the Hall element 44 and the magnetic pole 43 to be properly adjusted.

Within the end cover portion 2 of the frame assembly are provided various electrical relays, which will be described below.

Appropriate power connections are made to the hoist assembly shown in Figures 1 and 2, as elsewhere, as they are described in connection with Figures 6a and b. is not shown. However, FIG. 2 shows a pendant assembly formed of a flexible multi-wire conductor 60 of any suitable length for easy movement and manipulation by an operator during operation of the hoist. At the lower end of the conductor 60 is a pendant control station 61 small enough to be grasped and carried by an operator. control station 61
As shown in the figure, there are three switch buttons 62, 6.
3 and 64, and the conductor 60 is shown in FIG.
A housing 65 is provided in which most of the circuitry shown in FIGS.

Before proceeding to the discussion of FIGS. 6a and 6b, some of the physical operations at pendant control station 61 that give rise to some of the hoist functions will now be described. As mentioned above, operator control station 61 includes three push button elements 62, 63 and 64. Push button element 62 is a single position type switch, and push button elements 63 and 64 are two position type switches. That is, when the push button is depressed to a first position, a switch (described below) is actuated, and when the push button is further depressed, a subsequent switch is closed. Push button 62, in its only actuated position, closes a "creep" switch which results in the initiation of intermittent brake release.

In its first position, the second push button 63 operates the hoist in the direction of lifting the hoist at standard speed by closing the appropriate "raise" switch, and in its second position, it operates the hoist in the direction of lifting the hoist. change the speed of Similarly, the pushbutton 64 operates the hoist in the load lowering direction at normal speed when it is depressed to the first position (closing the "lower" switch) and to this second position. When the robot is pushed down to a certain level, the motor-driven lowering speed is changed.

To set the hoist position limits, two simultaneous pushbuttons must be depressed.
Once it is down, the pushbutton 62 must be pressed down to set the upper limit position.
The "up" button must then be pressed down to its second position. For a single speed hoist, the necessary and sufficient conditions are the following operator commands: (creep) + (climb) + (high speed). When this operator command is completed, the upper limit position is set according to the load hook position at that time. In the case of a two-speed hoist, the necessary and sufficient condition is to change from (creep) + (rise) + (high speed) to (creep) + (rise) by slightly opening the high speed switch with the rise button engaged. It is a changing operator command. This results in
Both speeds of the motor for the read over/under speed operation are now stored in the processor. Similarly, the lower limit position is set to buttons 62 and 6.
It is set by both operations in step 4.

It should be noted that not all hoists are available in both "standard" and "high speed" speeds. In such cases (where two speeds cannot be provided), only the "standard" speed is available. However, the above instructions for setting position limits may be used. That is, the circuits described below are similar regardless of the type of hoist. This also applies to single-phase to three-phase hoist motors.

In FIG. 6a, "High speed", "Creep", "Rise" and "Descent" command data generated under the control of the operator control station are transmitted from the microprograms from traffic lights 71, 72, 73 and 74, respectively. It is given as an input to the setter 70. Microprocessor 70 is of the type 8049, and input signal lines 71-74 are connected to pins 31, 30, 29 and 28, respectively. "fast", "creep", "ascend" and "descend"
The corresponding operator control pendant switches are shown at 75, 76, 77 and 78, respectively. These switches 75, 76, 77 and 78 are connected to diodes 80, 79, 8, respectively.
1 and 82 in series to the common conductor 83. The common conductor 83 is electrically connected to one end of the first secondary winding 84 of the transformer T, and the primary winding 85 of the transformer T is connected to the line voltage.
Connected to AC power.

In this way, during the negative half cycle with "creep" switch 76 closed, diode 79, switch 76 and opto-isolator 9
A current flows through the two infrared light emitting diodes 91 and back to the current positive end of the secondary winding 84 via conductors 88 and 89. And the isolator 92
In this case, the terminal voltage of the capacitor 106 through which the current is conducted and stored through the resistor 93 is set to L (low level), the Schmitt trigger circuit 94 is triggered, and the voltage remains high as long as the switch 76 is closed.
(high level) is output to the input signal line 72.

When "fast" switch 75 is closed, diode 80, switch 7
5 and the light emitting diode 8 of the optical isolator 87
6 and through conductors 88 and 89 to the secondary winding 8.
A current flows back to the current negative terminal of 4. Then, due to the conduction of the isolator 87, the resistance 90
A capacitor 10 through which a current is conducted to store electricity.
5 terminal voltage becomes L, and the Schmitt trigger 91
is triggered and as long as switch 75 is closed, an H is output on input signal line 71 during the positive half cycle described above.

Similarly, when the "rise" switch 77 is closed, the voltage is passed through the diode 81 and the light emitting diode 95 of the opto-isolator 96 to the other end of the secondary winding 84 via conductors 88 and 89 during the positive half cycle. A returning current flows. Then, the isolator 96 sets the terminal voltage of the capacitor 107 through which the current is conducted and stores electricity through the resistor 97 to L, triggers the limit trigger circuit 98, and switches the switch 7.
As long as 7 is closed, H is output to the input signal line 73 to the microprocessor 70.

During the negative half cycle, when switch 78 is closed, current flows through diode 82, switch 78, and light emitting diode 99 of opto-isolator 100, and returns to the positive side of secondary winding 84 via conductors 88 and 89. flows. Then, due to the conduction in the isolator, a current is conducted through the resistor 101, and the terminal voltage of the capacitor 108 that stores the electricity becomes L, the Schmitt trigger circuit 102 is triggered, and as long as the switch 78 is closed, during the negative half cycle. , H are output to the input signal line 74.

Resistors 103 and 104 are for current limiting;
Capacitors 105, 106, 107 and 108
are each corresponding resistor 90, 93, 97 and 101
In conjunction with this, it operates as a low-pass filter for removing nozzles (spurious) for each Schmitt trigger circuit.

The switch 76 is the pendant button 62 in FIG.
operated by. Switch 77 is linked to button 63 of FIG. 2, and the switch is closed in the first position of button 63. Switch 78 is associated with button 64 of FIG. 2, and similarly, switch 78 is closed in the first position of button 64. In addition, 2
The buttons 63 and 64 are not shown in FIG. 6a for clarity purposes;
In addition, the switch 75 is closed in the second position 3 and 64.

The required operations will appear from the description that follows.

For "raise" operation of the hoist at standard speed, button 63 is in its first state, switch 77.
is pushed down to the position where the circuit is closed, and the Schmitt trigger 98 generates an H output to the input signal line 73 to the microprocessor 70. signal line 7
There is no input to 1, 72 and 74. Now, if the switch 63 were to be pushed down to its second position, an H output would be input from the shoot trigger 94 onto the signal line 71, indicating that the operator desires a "raise" and "high speed" operation. . Similarly, if button 64 is depressed to its first position, it causes signal line 74 to
An output is generated on the other signal lines 71, 72 and 73.
does not change. When button 64 is pushed down to its second position, an H output is applied to signal line 71.
For the "creep" function, button 62 is depressed, switch 76 is closed, and the negative half cycle provides a high output on signal line 72 from shot trigger 94. And the signal line 72
The signal enables the "brake release" command, but
The brake mechanism of the hoist for free descent is not activated in response to every input pulse on signal line 72, but microprocessor 70 responds to this signal input by The required brake release commands are programmed to be generated. One more feature should now be explained, and that is the setting of the position limits of the system. In this regard, microprocessor 70 is programmed to inhibit normal hoisting operations unless a load limit is set. As supplied by the manufacturer,
The microprocessor 70 has already entered the position limit, but if the operator wishes to change the limit, he can press not only the pushbutton 62 but also the other two pushbuttons 63 and 64 for "upper limit" and "lower limit". Depending on whether you want to set one or the other, you have to operate one at the same time. This is achieved by the action described below. The microprocessor 70 has two signal lines 71.
and 72 and on one or the other of signal lines 73 and 74 simultaneously.
The operator then sets the "upper limit" by pressing down on button 62, which closes switch 76, and pressing button 63.
may be pressed down to the maximum position such that switches 75 and 77 are closed. This causes the hoist to move upward until the operator releases button 63 to terminate the operation, which microprocessor 70 recognizes as the "upper limit" position. A similar operation of buttons 62 and 64 sets the "lower limit" position. After these limit positions are set, the hoist can be operated in standard specifications. It should be noted that even hoists that do not have "high speed" operation still require pushing button 63 or 64 down to its second position to set the limit position. It is also noted that microprocessor 70 is programmed to measure hoist speed during position limit cycling operations as a calibration speed for overspeed and underspeed evaluation as described below. It should be kept in mind.

The microprocessor 70 is supplied with input data relating to the connection of the three-phase motor. In FIG. 6a, the three-phase power supply is indicated by reference numerals 109, 110 and 111, and the three-phase connections to these windings can be made in any combination depending on the input data of the microprocessor to be described here. It is valid. The three-phase windings 109, 110 and 111 are
Current limiting resistors 112, 113 and 11 respectively
4 to the gates of each element 115, 116 and 117. Each element 115, 116
and 117 trigger Schmitt trigger circuits 118, 119 and 120, respectively. Therefore, the input pulse train on signal lines 121, 122 and 123 is transmitted to each connected winding 10, respectively.
9, 110 and 111. This phase recognition on signal lines 121, 122 and 123 is used by the microprocessor 7 to cause the "up" and "down" commands from the pendant to cause the motor to rotate in the appropriate direction.
0 control is possible. If a single phase hoist motor is used, the connection system is not used and the normal "lift"
and "down" motor control relays are commanded directly from the pendant.

6 Schmitt triggers 118-120,9
1, 94 and 98 are part of a 16-Schmitt Trigger IC (integrated circuit) known as type 40106, which includes circuit 102 and five other circuits not yet described. . Input signal lines 121, 122 and 123 are applied to the 34th, 33rd and 32nd pins of microprocessor 70, respectively.

Transistors 115, 116 and 117 are
It is known as VN10KM, and the crystal resonator 124 is a 5 mHz crystal resonator.

Three further input signal lines are provided to the microprocessor 70, each of 12
5, 126 and 127. Two signal lines 125 and 126 are signal lines from Schmitt circuits 128 and 129 shown in FIG. 6a, and the input of signal line 127 is provided from Schmitt circuit 130 shown in FIG. 6b.

In connection with the input on signal line 125, the Hall effect transducer 44 is of the bipolar type, with each pole insert 43 passing under the transducer 44 (FIG. 3).
At a frequency four times the rotational speed of the motor shaft 8, the Schmitt trigger 128 is triggered each time it passes. As previously mentioned, during position limit cycling, the microprocessor 70 uses the duration of these pulses as a measured speed relative to the hoist's normal operating speed which is later compared to determine overspeed or underspeed conditions. Elements X, Y and Z form a low pass filter for the Hall effect sensor output.

Schmitt trigger 129 generates an output pulse on signal line 126 only during "power off". Needless to say, the two diodes 131 and 1
32 allows capacitor 133 to be charged on both the positive and negative half cycles of the line power supply whenever the power supply is connected to transformer T. The capacitor 133 is connected to the signal line 12
The high state is maintained and circuit 129 is triggered to generate a "power off" pulse at 6. Capacitor 133 connects resistors 139 and 140 only when the voltage across capacitor 133 is at that value.
Trigger circuit 129 via.

The transformer T also provides a power source that provides a regulated voltage. For this purpose, two diodes 141 and 142 are connected to a voltage regulator 143 which provides a 5V output at terminal 144. Element 143 is known as the 7805 type.

According to FIG. 6b, a "lower" relay connected to the hoist motor for operation in the lowering direction is designated by the reference numeral 150, and a brake release relay is designated by the reference numeral 151 and is connected to the hoist motor for operation in the "high speed" direction.
The relay for operation in mode is referenced 15
2 and the relay for operating the motor in the "up" direction is designated by reference numeral 153. In addition, the second secondary winding 154 of the transformer T of FIG. 6a and the bimetallic switch 155 for sensing motor temperature are shown. As mentioned above, relay 150 operates the motor in the "down" direction, whereas relay 153 operates the motor in the "up" direction. This is always true for single-phase motors, but if a three-phase motor is used, the function of these two relays is under the control of the microprocessor 70.
The microprocessor 70 connects signal lines 121 and 12.
2 and 123.

Light-driven triax (triax is the product name)
The banks 150 to 161 contain the elements 15 as described later.
It is linked to 0 to 155. Elements 156-160
is known as the H11J1 type, and the element 161 is known as the 4N26 type.
As shown in the figure, one end of the secondary winding 154 connects all the triaxes 157 to 157 through the triax 156.
160 in parallel. Thus, as long as triax 156 is not conducting, element 150
The control functions in any of the steps 153 to 153 are disabled. The purpose of doing this is to prevent any of the elements 150 to 153 from performing undesirable operations when the microprocessor 70 malfunctions. Output signal line 1 from microprocessor 70
70 (36th pin) is the microprocessor 7 when output to relays 150 to 153 is desired.
Operates in pulse mode unless 0 is malfunctioning or malfunctioning. In the absence of such a pulse, transistor 171
The infrared light emitting diode 172 of element 15 ceases conducting such that it is no longer energized, and the triac 156 returns to its steady open state and the element 15
0 to 153 are all inoperable. 2 Schmitt triggers 173 and 174, capacitor 17
5, diode 176, diode 177, capacitor 178 and resistor 179 are utilized in conjunction with current limiting resistor 180 to produce this function. Its operation is as follows. signal line 170
The pulse input at allows current to flow through capacitor 175 thereby charging capacitor 175 .
is charged to the fretshold voltage of the schmitt trigger 174, the schmitt trigger 17
The output of transistor 17 becomes L, and the output of transistor 17
1 is conductive. Thus, the capacitor is charged as long as the pulse is present on output signal line 170, thereby maintaining transistor 171 conductive, and thereby causing secondary winding 154 to connect to elements 150-153. Either one can be energized.

Output signal line 18 from microprocessor 70
1, 182, 183 and 184 (corresponding to the 24th, 23rd, 22nd and 21st pins of the microprocessor 70) are transistors 185, 18, respectively.
6, 187 and 188. If the optical triac 156 is conducting, the voltage divider circuit composed of resistors 189 and 190 will supply an appropriate voltage to the control electrode 191 of the triac 192, making the triac 192 conductive as well, and the other Triacs 194, 195, 196 and 197 all form a circuit to a common signal line 193. The transistors 185 to 188 are
Optical triaxes 157-160 are controlled so that triaxes 195-197 are conductive, respectively, or are made independent of the states of output signal lines 181-184. Triack 192,1
Each of 94 to 197 is equipped with a snubber circuit (transient snubbing) to prevent erroneous triggering.
circuit), which circuit takes the form of a capacitor 198 and a resistor 199 as shown in combination for triac 192.

The remaining input to microprocessor 70, ie, the input on signal line 127 (pin 27), is provided via bimetallic switch 155. Normally, this switch is closed, so
The light emitting diode 201 of the optical coupler 161 maintains the L state of the input of the Schmitt trigger 130, thereby producing an H input on the signal line 127. However, if Switch 15
5 opens due to motor overheating, signal line 127
The output at changes to the L state. As previously mentioned, hoist status data is stored in non-volatile RAM. This element is designated by the reference numeral 202 and is of the Xior type X2210. Microprocessor 70 controls the "recall" and "store" functions on output signal lines 203 and 204 (pins 37 and 38) connected to pins 10 and 9 of device 202, respectively. The "read" and "write" functions are controlled on output signal lines 205 and 206 (8th and 10th pins), respectively. These two output signal lines serve as inputs to a two-input NAND gate 207. Therefore, when the outputs 205 and 206 both become L,
The output 208 of the gate 207 becomes H, thereby causing the output of the NAND gate 210, which is in the H state during steady state, to become the L state. Signal lines 209 and 206
are connected to the 7th and 11th pins of element 202, respectively.

Output signal line 211 of microprocessor 70 ~
216 is a RAM address line which activates an address latch circuit 217, which is a 16-D flip-flop known as a 40174 type. Output signal lines 211-216 are derived from pins 17-12 of microprocessor 70, respectively, and are connected to pins 11, 14, 13, 3, 4, and 6 of latch element 217, respectively. The signal lines 211-216 are kept at H (pulled up) by resistors 218-223 during normal operation. During normal operation, the 18th and 19th pins of the microprocessor 70 are also input with positive voltage (H) through resistors 224 and 225, respectively, and one input of the NAND gate 226 is similarly held at H through a resistor 227. has been done.
The remaining output signal line 11 of the microprocessor 70
are signal lines 228, and the signal lines 228 are connected to the 16th, 2nd, 3rd, 4th, 5th, and 6th lines of the element 202, respectively.
Address output signal line 211' connected to pin
The other input of NAND gate 226 is provided to control 216'. The capacitor 230 is
It is connected to the 8th and 18th pins of the element 202, and the 1st and 17th pins of the element 202 are not used. Signal lines 231, 232 and 233 are connected to pins 40, 26 and 20 of microprocessor 70, respectively, and pins 5, 9 and 25 of microprocessor 70 are not used. Through the above steps, connection to the microprocessor 70 is completed.

The microprocessor 70 is programmed to read into the memory 202 for the most recent major conditions, so that whenever power is interrupted, either intentionally or accidentally, the current state of the hoist is loaded into the memory 202. securely held within. The microprocessor 70 further includes:
It is programmed to read the latest state from memory 202 as soon as power is restored. The remaining two signal lines 23 of the microprocessor 70
4 and 235 are connected to three connection ports 236, thereby allowing information in memory 202 to be continuously retrieved. As mentioned above, position limits, number of motor starts, motor operating hours, number of overheat stops, number of brake applications, total number of overspeed and underspeed stops, number of power offs, number of times limits are reset, and power interruptions. All operating positions of the hoisted load in are stored in the memory 202. Retrieval of this information allows for scheduled and effective inspections of the hoisting equipment.

The microprocessor 70 operates so that when only the switch 76 is closed, the relay 151 is activated until a predetermined number of pulses appear on the signal line 125, and then the relay 151 is deactivated for a predetermined short time before the predetermined cycle is repeated. is programmed to be The program also "measures" the pulse interval on signal line 125 during the position limit set stroke, which pulse interval is later determined to be "overspeed".
and is used as a calibration speed for making "underspeed" determinations. Excessive speed indicates inadequate power supply and/or overload in the direction of descent. Similarly, underspeed indicates inadequate power supply and/or overload to the extent of causing clutch slip in the upward direction. The speed calibration capability is also used to de-energize the motor starting winding when the motor speed reaches a certain predetermined percentage of the calibrated speed.

It will be understood that other different variations may be used as can be readily conceived by those of ordinary skill in the art. Although the present invention described above is a preferred embodiment, it should be strictly construed that the gist thereof is not limited to the preferred and specific embodiments described above, and that various embodiments thereof may be covered.

〔Effect of the invention〕

According to the present invention, a microprocessor is used for control, and it is possible to provide a hoist device that is accurate, safe, and capable of delicate control without causing problems of poor adjustment or damage.

[Brief explanation of drawings]

Fig. 1 shows the configuration of an embodiment of the present invention, and Fig. 2 is a horizontal sectional view of the hoist mechanism, Fig. 2 is a vertical sectional view taken along line 2-2 in Fig. 1, and Fig. 3 shows the Hall effect in the same embodiment. FIG. 4 is a sectional view taken along line 4-4 in FIG. 3 showing details of the Hall effect switch device; FIG. 5 is a sectional view taken along line 3-3 in FIG. 5-5 in Figure 4 showing details of the Hall effect switch device.
6A and 6B, which are cross-sectional views taken along the line, are circuit configuration diagrams showing the configuration of the electric circuit in the same embodiment. 1... Main frame, 2... End cover,
8... Main drive shaft, 9, 10... Clutch plate, 1
DESCRIPTION OF SYMBOLS 1, 12...Clutch pressure plate, 44...Hall element, 43...Magnetic pole member, 70...Microprocessor, 202...Memory, 236...Connection port, M...Motor, W...Winding wire, S...Stator, R...Rotor, B...Brake assembly,
C...Chain, H...Futsuk.

Claims (1)

[Claims] 1. In a hoist device for handling suspended loads,
A suspended load operating means for lifting and lowering the suspended load, and a microprocessor that generates a command signal for controlling the lifting and lowering of the suspended load by the suspended load operating means in accordance with a program for controlling the operation of the suspended load operating means. inputting command data to said microprocessor means for generating said command signals in accordance with said program so that said microprocessor means controls said hoisting apparatus to properly lift and lower a suspended load; and sensor means for generating a periodic output signal indicative of the increment of the lifting and lowering movement of the suspended load operating means, and the microprocessor means is configured to control the operator operating means. program to identify vertical load movement limits according to command data from and to output command data to terminate lift movement by the limits when those limits are reached during continued operation; and said operator operating means inputs a creep command to said microprocessor means under control of an operator, said microprocessor means intermittently transmitting a creep command in response to said creep command data and an output signal from said sensor means. A hoisting device that is programmed to generate a load lowering command signal. 2. The microprocessor means is connected to the microprocessor body and includes storage means for storing data relating to command signals generated by the microprocessor body and for storing intentionally scheduled inspections for the hoisting device. 2. A hoisting device as claimed in claim 1, further comprising read terminal means for accessing data stored in said storage means. 3 In a hoist device for handling suspended loads,
a forward/reversible electric motor and an actuating means electrically connected to the motor for operation in a relatively opposite direction of rotation; and an actuating means driven by the motor to lift or lower a suspended load according to the direction of rotation of the motor. a braking means for automatically applying a brake to the hoisting means when the motor is not operating; and a motor control means for operating the hoist through control of the operating means. ,
and an operator control station including brake release control means for effectively releasing said braking means, thereby permitting automatic lowering of the suspended load when said motor is not energized; sensor means interlocked with the motor for generating an output signal in response to each increment of rotation angle; and having the sensor means output signal as input;
said control station and its control means and said actuating means and said braking means being automatically actuated thereby when said actuating means is not actuated; said braking means being actuated thereby when said actuating means is actuated; interfacing with a brake to be released for gradual opening of said brake means under control of said sensor means, responsive to commands from said brake control means under control of said sensor means; and microprocessor means responsive to commands from the brake release means. 3. The microprocessor means is connected to the microprocessor body and has a memory means for identifying the operating stroke of the hoisting device controlled by the microprocessor means, and a memory means for identifying the operating stroke of the hoisting device which is connected to the microprocessor body and is controlled by the microprocessor means, and a storage means for intentionally scheduled inspections for the hoisting device. 4. A hoisting apparatus as claimed in claim 3, further comprising readout terminal means for making said data accessible in advance. 5. A hoisting apparatus according to claim 3, wherein the operator control station includes limit control means connected to the microprocessor means for defining the position limits within which the hoisted load may be operated. 6. The hoist device according to claim 5, wherein the limit control means sets the position limits to the maximum height and minimum height of the suspended load. 7. The motor includes a rotor, an output shaft, and a maximum torque limiting clutch coupling the rotor to the output shaft, and sensor means detects that the output period of the motor exceeds slip and non-slip of the clutch while the motor is energized. In conjunction with the output shaft as shown, microprocessor means constitute control means for preventing energization of the motor while the clutch is slipping and thereby preventing an overload condition of the hoist. A hoisting device according to claim 3, wherein the hoisting device is programmed as follows. 8. Storage means is connected to the microprocessor means for storing data identifying operating cycles of the hoisting device controlled by the microprocessor means, and the read terminal means is connected to the microprocessor means for storing data identifying operating cycles of the hoisting device controlled by the microprocessor means; 8. A hoisting device according to claim 7, wherein said data can be accessed during inspections performed. 9 In a hoist device for handling suspended loads,
microprocessor means for controlling lifting, lowering, and stopping and holding of a suspended load; means provided with operator control means for generating operation instruction command data; and inputting said operation instruction command data into said microprocessor. means for generating suspended load position data; means for inputting said suspended load position data into said microprocessor means; sensor means for generating an output signal, and said microprocessor means is configured to identify vertical load travel limits in accordance with command data from said operator operating means and to adjust them during continued operation. When a limit is reached, the operator operating means is programmed to output command data to terminate the suspended load movement according to the limit, and the operator operating means inputs a creep command to the microprocessor means under operator control. and wherein said microprocessor means is programmed to generate an intermittent load lowering command signal in response to said creep command data and an output signal from said sensor means. 10 Means for generating hanging load position data:
10. A hoisting device according to claim 9, further comprising multi-position switch means. No. 11, a hoist apparatus comprising a motor having a motor starting winding and a motor speed winding, and microprocessor means comprising means for generating instructions for controlling said motor starting winding in raising and lowering operations of the hoist. A hoist device according to claim 9. 12. The microprocessor means comprises means for generating instructions for controlling the motor speed winding in hoist raising and lowering operations.
Hoist device as described in section. 13 A hoist device for handling suspended loads, including a hoist equipped with a main drive means for raising and lowering the suspended load and a brake means for holding the suspended load stationary, and a hoist that generates command data for hoist operation. an operator station having control means for interfacing said operator station with said hoist, and for establishing vertical position limits of the hoist and for moving the hoist in small incremental steps toward and to a final position; hoisting apparatus comprising microprocessor means responsive to said command data for controlling the raising and lowering of said hoist for intermittent release of said braking means to enable automatic lowering. 14. The hoisting apparatus of claim 13, wherein the microprocessor means includes means for inhibiting normal hoisting until the position limits are set. 15 The operator station is equipped with a control button for the "raise" operation of the hoist, a control button for the "lower" operation of the hoist and a control button for the automatic lowering of the suspended load, and the microprocessor means is configured to 15. A hoisting apparatus according to claim 14, further comprising means for responding to simultaneous operation of a lowering control button and one of the "raise" and "lower" buttons as control information for setting position limits. 16. A hoisting apparatus according to claim 13, wherein the microprocessor means comprises non-volatile memory means for storing hoist operation data. 17. A hoisting apparatus according to claim 14, wherein the microprocessor means comprises non-volatile memory means for storing hoist operation data. 18. A hoisting apparatus according to claim 15, wherein the microprocessor means comprises non-volatile memory means for storing hoist operation data. 19 In a hoist device for handling suspended loads, there is a main drive device, a flexible load lifting member provided to be taken in and fed out by this drive device, and the above-mentioned when the main drive device is not energized. braking means for holding and stationary the flexible member, a first button connected to the hoist device and depressable to a first position; a second button depressable to first and second positions; a third button depressable to a second position; a "creep" switch actuated in the first position of the first button; and a "rise" switch actuated in both positions of the second button. and a "high speed" switch operated in said second position of said second button, and a "down" switch operated in both positions of said third button and said second position of said third button. an operator pendant having an actuated "fast"switch; a counting switch for providing an output signal in response to each scheduled increment of movement of the flexible member; the primary drive for the flexible member; a hoist body comprising a "raise" relay for producing a take-in action, a "lower" relay for producing an unwinding action of said primary drive on said flexible member, and a "creep" relay for releasing said braking means; is connected between the switch and the relay, and the first button is pressed to the first position while the second button is pressed to the second position, and the third button is pressed to the first position.
means for establishing upper and lower limit positions, respectively, in response to pressing of the first button to the first position with the button operated to the second position; means for activating a "up" relay in response to a depression of said third switch into any of said operating positions;
and microprocessor means programmed to constitute means for delay driving said primary drive whenever either said second or third button is released. 20 The microprocessor means has the above-mentioned "upper limit"
20. The hoisting apparatus of claim 19, wherein means are programmed to prevent operation of the hoist until the "lower limit" position is set. 21 The hoist body is provided with means for detecting excessive temperature of the main drive device according to claim 1.
The hoist device according to item 9. 22. The microprocessor means establishes a calibrated speed for the hoist during the position limit set and prevents operation of the hoist in response to a scheduled overspeed or underspeed of the hoist during subsequent normal operation. 20. A hoisting device according to claim 19, wherein the hoisting device is programmed to configure. 23. The microprocessor means comprises non-volatile memory means connected to the microprocessor body for storing updated and defined hoist status information and enabling periodic inspection of the hoist by reading it out. Hoist device according to item 19. 24. A hoist device for handling suspended loads, comprising a microprocessor for controlling the hoist device and an operator pendant for supplying commands to the microprocessor,
and the microprocessor has four input ports accessed by the operator pendant, and inputs input signals to the first two of the four ports during the positive half-wave of the AC line. 4 above during the negative half-wave of the AC line.
means controlled by the operator pendant for providing input signals to the other two ports of the four ports; means for setting position limits of the hoist in response to a signal at one of the ports;
Means for lowering the suspended load in stages in response to input to only one of the two ports, and means for raising and lowering the suspended load in response to input to only one and the other of the other two ports, respectively. hoisting device programmed to constitute a means for causing 25 In hoisting devices for handling suspended loads, the lifting means for raising and lowering the suspended load and having an electric motor and a normally actuated brake and any selected relatively opposite direction of rotation. energizing the motor to one side and operating the brake to release the load so that the load is raised and lowered over an indeterminate distance in an operating mode and lowered in incremental steps in a creep mode; electrically actuated control means for controlling the electrically actuated control means for raising and lowering the suspended load in the operating mode and lowering the suspended load in the creep mode; , and microprocessor means having a plurality of inputs, from which different command signals are generated, for operating the electrically actuated control means to place the operating mode and the creep mode; operator operating means including a plurality of manually operated control means having inputs connected to said microprocessor means for selecting which of said hoisting and lowering movements of said hoist operating means are shown; sensor means for generating periodic output signals, and said microprocessor means for identifying vertical load travel limits and determining continued operation in accordance with command data from said operator operating means. The operator operating means is programmed to output command data to terminate the suspended load movement when the limits are reached during the process, and the operator operating means causes the microprocessor means to creep under the control of the operator. A hoisting apparatus wherein a command is input and said microprocessor means is programmed to generate an intermittent load lowering command signal in response to said creep command data and an output signal from said sensor means. 26. In a hoisting apparatus for handling suspended loads, a hoist having a reversible electric motor and a normally activated brake and three controls each generating a hoist up signal, a hoist down signal and an incremental hoist lowering signal. an operator station including switch means for interfacing between said control switch means and said hoist for converting said hoist up signal into a command for operating said motor in one direction of rotation and for releasing said brake; ,
converting the hoist down signal into a command to operate the motor in the opposite direction of rotation and releasing the brake; converting the incremental drop signal into an intermittent command to release the brake; Hoisting apparatus comprising microprocessor means for converting a hoist up signal in combination with a lowering signal and one of a hoist up and down signal into an internal instruction for setting a load limit position. 27. The hoisting apparatus of claim 24, wherein the microprocessor means is programmed to prevent normal operation of the hoist until the load limit position is set. 28 The microprocessor means determines the calibrated speed of the hoist during load limit positioning and adjusts the hoist in response to either a predetermined overspeed or a predetermined underspeed during continued operation of the hoist. 27. The hoisting device of claim 26, wherein the hoisting device is programmed to inhibit the operation of the hoisting device. 29 A hoist device for handling a suspended load, including a hoist having a reversible electric motor and a braking means for normally holding the suspended load stationary when the motor is not energized, and a hoist having a reversible electric motor and a brake means for normally holding the suspended load stationary when the motor is not energized; To command the motor to raise the suspended load, to command the motor to lower the suspended load.
and an operator station with a bendant having a separate control means for initiating a sequence of brake means release operations to lower the suspended load in incremental steps; microprocessor means for energizing the suspended load to raise the suspended load, energizing the motor to lower the suspended load, and intermittently opening the braking means to lower the suspended load in incremental steps; Hoist device equipped. 30 microprocessor means for setting the upper load position in response to simultaneous operation of said control means for respectively commanding said motor to raise the load and for initiating a sequence of brake release operations; 29. The lower load position is programmed to be set in response to simultaneous operation of said control means commanding the load to be lowered and initiating a sequence of brake release operations. Hoist device. 31. The hoisting apparatus of claim 30, wherein the microprocessor means is programmed to prevent lifting or lowering of the load until the upper and lower load limit positions are set. 32 The microprocessor means determines the calibrated speed of the hoist during load limit positioning and adjusts the hoist in response to either a predetermined overspeed or a predetermined underspeed during continued operation of the hoist. 32. The hoisting device of claim 31, wherein the hoisting device is programmed to inhibit operation of the hoisting device. 33 The microprocessor means determines the calibrated speed of the hoist during load limit positioning and adjusts the hoist in response to either a predetermined overspeed or a predetermined underspeed during continued operation of the hoist. 31. The hoisting device of claim 30, wherein the hoisting device is programmed to inhibit the operation of the hoisting device.