JPH09210106A - Abnormal condition diagnosing device for brake - Google Patents
Abnormal condition diagnosing device for brakeInfo
- Publication number
- JPH09210106A JPH09210106A JP1435296A JP1435296A JPH09210106A JP H09210106 A JPH09210106 A JP H09210106A JP 1435296 A JP1435296 A JP 1435296A JP 1435296 A JP1435296 A JP 1435296A JP H09210106 A JPH09210106 A JP H09210106A
- Authority
- JP
- Japan
- Prior art keywords
- value
- current
- coil
- brake
- lining
- 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.)
- Pending
Links
Landscapes
- Braking Arrangements (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は全波整流するブレー
キ電源回路により動作するディスク形マグネットブレー
キの異常診断装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an abnormality diagnosing device for a disk type magnetic brake which operates by a brake power supply circuit for full-wave rectification.
【０００２】[0002]
【従来の技術】従来は技術者がアマチュアの駆動音、又
はアマチュアとコイルの距離を測定することにより異常
診断を行なっていた。2. Description of the Related Art Conventionally, an engineer performs an abnormality diagnosis by measuring the driving sound of an amateur or the distance between the amateur and the coil.
【０００３】[0003]
【発明が解決しようとする課題】従来は技術者がアマチ
ュアの駆動音、又はアマチュアとコイルの距離を測定し
異常診断を行なっていたため、技術者の経験の差により
診断にばらつきがあった。また従来の技術では異常が発
生する直前の状態は検出するのが難しく、異常を未然に
防止することが困難であった。Conventionally, an engineer has made an abnormality diagnosis by measuring the driving sound of the amateur or the distance between the armature and the coil, so that the diagnosis varies depending on the experience of the engineer. Further, in the conventional technique, it is difficult to detect the state immediately before the abnormality occurs, and it is difficult to prevent the abnormality in advance.
【０００４】本発明の目的は、従来技術で問題になって
いたブレーキの異常診断の診断結果にばらつきが発生し
ないようにし診断精度を向上させ、さらに従来技術では
検出するのが困難であった異常が発生する直前の状態を
検出することのできるブレーキの異常診断装置を提供す
ることにある。The object of the present invention is to improve the diagnostic accuracy by preventing the occurrence of variations in the diagnostic result of the brake abnormality diagnosis, which has been a problem in the prior art, and to detect the abnormality which is difficult to detect in the prior art. An object of the present invention is to provide a brake abnormality diagnosing device capable of detecting the state immediately before the occurrence of.
【０００５】[0005]
【課題を解決するための手段】本発明の目的を達成する
ために、全波整流するブレーキ電源回路により動作する
ディスク形マグネットブレーキの異常診断装置におい
て、電流値を検出する電流値検出手段と、検出した電流
値の信号を増幅する増幅手段、増幅した信号から診断す
る信号を抽出する抽出手段、異常診断の判定値を記憶す
る判定値記憶手段、抽出した値と記憶した判定値を比較
する比較手段、比較した値より正常か異常か異常の兆候
があるか判定する判定手段を備えた。In order to achieve the object of the present invention, in a disk magnet brake abnormality diagnosing device which operates by a brake power supply circuit for full-wave rectification, current value detecting means for detecting a current value, Amplifying means for amplifying the detected current value signal, extracting means for extracting a signal to be diagnosed from the amplified signal, judgment value storage means for storing a judgment value for abnormality diagnosis, comparison for comparing the extracted value with the stored judgment value Means, a judging means for judging whether there is a sign of normal or abnormal or abnormal from the compared value is provided.
【０００６】ブレーキを駆動する電流値を電流値検出手
段により検出する。検出した電流値の信号を診断手段内
部のノイズに影響されないよう増幅手段で増幅する。増
幅した信号から診断に必要な信号を抽出手段で抽出す
る。ブレーキが正常な時に抽出した正常値にある幅を持
たせ異常診断を行なう判定値を判定値記憶手段で記憶す
る。抽出した値と記憶した判定値を比較手段で比較す
る。比較した結果より正常か異常か異常の兆候があるか
判定手段で判定する。The current value for driving the brake is detected by the current value detecting means. The signal of the detected current value is amplified by the amplifier so as not to be affected by noise inside the diagnostic means. A signal necessary for diagnosis is extracted from the amplified signal by the extracting means. A judgment value storage means stores a judgment value for making an abnormality diagnosis by giving a certain range to the normal value extracted when the brake is normal. The comparison means compares the extracted value with the stored judgment value. Based on the result of the comparison, the determining means determines whether there is normal or abnormal or whether there is a sign of abnormality.
【０００７】[0007]
【発明の実施の形態】以下本発明を図面を用いて詳細に
説明する。図１は本発明の本実施形態を示し、ブレーキ
電源回路１により動作するディスク形マグネットブレー
キ装置２、電流値を検出する電流値検出手段３、検出し
た電流値の信号をノイズの影響を受けないように増幅す
る増幅手段４、増幅手段４は電流値検出手段３で検出し
た電流値の信号がノイズの影響を受けない程度の大きさ
の出力なら設ける必要はない。増幅した信号から時間４
１、電流の乱れ４２、電流の脈動４３、電流の乱れ４４
などのディスク形マグネットブレーキの動作状態が分か
る信号を抽出する抽出手段６、ブレーキが正常な時に抽
出した正常値にある幅を持たせ異常診断を行なう判定値
を記憶する判定値記憶手段７、抽出した値と記憶した判
定値を比較する比較手段８、比較した値より正常か異常
か異常の兆候があるか判定する判定手段９、これら一連
の動作を行なう診断手段１０である。図２はブレーキ電
源回路１よりコイル２１に供給される電流波形４０とア
マチュア２０の変位５０を示し、コイル２１に流れる電
流はコイルのインダクタンスとインピーダンスから求ま
る回路の時定数から電流波形４０の如く緩やかに増加
し、電流値が増加するとコイルの吸引力は増加する。こ
の時アマチュアはコイルよりばね２３で押えられている
ためアマチュアがコイルに吸引される力がばねの押付力
以上になるまで駆動できず、アマチュアがコイルに吸引
される力がばねの押付力以上になる電流値、すなわち電
流を供給開始してから時間４１の電流値でアマチュアは
駆動する。図３はライニング２２の摩耗量と時間４１の
関係を示す。ライニング２２が摩耗するとアマチュア２
０とコイル２１の距離が増加する。アマチュア２０がコ
イル２１に吸引される力はアマチュア２０とコイル２１
の距離が増加すると減少する。したがってライニング２
２が摩耗するとコイル２１の吸引力は正常値よりも大き
くなくてはライニング２２は駆動できない。そのためラ
イニング２２が摩耗した時のアマチュア２０が駆動を開
始する電流値は正常値と比較すると大きくなる。すなわ
ち時間４１を正常値より大きくした所の電流値になる。
すなわちライニングが摩耗すると時間４１は大きくな
る。以上のことより時間４１を抽出手段６で抽出するこ
とによりライニング２２の摩耗量を診断することができ
る。図４はアマチュア２０の動作不良の度合いと電流の
乱れ４２、電流の乱れ４４の関係を示す。アマチュア２
０が駆動することによりコイル２１の磁束が変化し、磁
束の変化に伴い回路の時定数が変化し、電流の乱れ４
２、電流の乱れ４４が発生する。アマチュア２０が正常
に駆動できなかった場合などは、アマチュア２０の動作
が少なくなりコイル２１の磁束の変化が減少し時定数の
変化も減少する。時定数の減少に伴い電流の乱れ４２、
電流の乱れ４４も減少する。すなわちアマチュア２０が
正常に駆動しないと電流の乱れ４２と電流の乱れ４４は
減少する。これにより電流の乱れ４２と電流の乱れ４４
を抽出手段６で抽出することによりアマチュアの動作不
良を診断することができる。図５は電源電圧と電流の脈
動４３の関係を示す。コイル２１に供給される電流は交
流電流を全波整流したものなので脈動４３が発生する。
脈動の幅４３は電源電圧の大きさに対応している。すな
わちブレーキ電源回路１の電源電圧が減少すると脈動４
３の幅は減少し、ブレーキ電源回路１の電源電圧が増加
すると脈動４３の幅は増加する。これにより電源回路の
電圧の異常は脈動４３の幅を抽出手段６で抽出すること
により診断することができる。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the drawings. FIG. 1 shows the present embodiment of the present invention, in which a disc-shaped magnet brake device 2 operated by a brake power supply circuit 1, a current value detection means 3 for detecting a current value, and a signal of the detected current value are not affected by noise. The amplifying means 4 and the amplifying means 4 need not be provided as long as the signal of the current value detected by the current value detecting means 3 has an output of a magnitude not affected by noise. Time 4 from the amplified signal
1, current turbulence 42, current pulsation 43, current turbulence 44
Extraction means 6 for extracting a signal indicating the operating state of the disk-shaped magnet brake, etc., judgment value storage means 7 for storing a judgment value for making an abnormality diagnosis by giving a certain width to the normal value extracted when the brake is normal, and extraction The comparison means 8 compares the stored value with the stored determination value, the determination means 9 determines whether the compared value is normal, abnormal, or any sign of abnormality, and the diagnostic means 10 performs a series of these operations. FIG. 2 shows a current waveform 40 supplied to the coil 21 from the brake power supply circuit 1 and a displacement 50 of the armature 20. The current flowing through the coil 21 is gentle as shown by the current waveform 40 from the time constant of the circuit obtained from the inductance and impedance of the coil. As the current value increases, the attractive force of the coil increases. At this time, since the amateur is pressed by the spring 23 from the coil, the armature cannot be driven until the force attracted by the coil exceeds the pressing force of the spring, and the force attracted by the armature exceeds the pressing force of the spring. The amateur is driven at a current value of, i.e., the current value at time 41 after starting the supply of the current. FIG. 3 shows the relationship between the wear amount of the lining 22 and the time 41. When the lining 22 wears, the amateur 2
The distance between 0 and the coil 21 increases. The force with which the armature 20 is attracted to the coil 21 is determined by the amateur 20 and the coil 21.
It decreases as the distance increases. Therefore lining 2
When 2 wears, the lining 22 cannot be driven unless the suction force of the coil 21 is larger than the normal value. Therefore, the current value at which the amateur 20 starts driving when the lining 22 is worn becomes large as compared with the normal value. That is, the current value is obtained when the time 41 is made larger than the normal value.
That is, when the lining wears, the time 41 increases. From the above, the wear amount of the lining 22 can be diagnosed by extracting the time 41 by the extracting means 6. FIG. 4 shows the relationship between the degree of malfunction of the amateur 20 and the current disturbance 42 and the current disturbance 44. Amateur 2
When 0 is driven, the magnetic flux of the coil 21 changes, the time constant of the circuit changes with the change of the magnetic flux, and the current disturbance 4
2. Current disturbance 44 occurs. When the armature 20 cannot be driven normally, the operation of the armature 20 is reduced, the change of the magnetic flux of the coil 21 is reduced, and the change of the time constant is also reduced. Disturbance of current 42 due to decrease of time constant 42,
The current disturbance 44 is also reduced. That is, if the amateur 20 is not driven normally, the current disturbance 42 and the current disturbance 44 are reduced. This causes current disturbance 42 and current disturbance 44.
It is possible to diagnose the malfunction of the amateur by extracting with the extracting means 6. FIG. 5 shows the relationship between the power supply voltage and the current ripple 43. Since the current supplied to the coil 21 is a full-wave rectified AC current, pulsation 43 occurs.
The pulsation width 43 corresponds to the magnitude of the power supply voltage. That is, when the power supply voltage of the brake power supply circuit 1 decreases, the pulsation 4
The width of 3 decreases and the width of the pulsation 43 increases as the power supply voltage of the brake power supply circuit 1 increases. Accordingly, the abnormality of the voltage of the power supply circuit can be diagnosed by extracting the width of the pulsation 43 by the extracting means 6.
【０００８】以上説明したように本発明によれば電流値
の微小な変化を抽出してディスク形マグネットブレーキ
の異常診断を行なうので、高精度に異常診断を行なうこ
とができ、さらに従来では検出するのが困難だった異常
が発生する直前の状態を検出することが可能になる。As described above, according to the present invention, the minute change in the current value is extracted to perform the abnormality diagnosis of the disk-shaped magnet brake, so that the abnormality diagnosis can be performed with high accuracy and can be detected by the conventional method. It is possible to detect the state immediately before the occurrence of the abnormality that was difficult to perform.
【０００９】[0009]
【発明の効果】ディスク形マグネットブレーキの異常診
断を高精度に行なうことができ、さらに従来では検出す
るのが困難だった異常が発生する直前の状態を検出する
ことが可能になる。As described above, the abnormality diagnosis of the disk type magnet brake can be carried out with high accuracy, and the state immediately before the abnormality which was difficult to detect can be detected.
【図１】本発明の実施形態を示す説明図である。FIG. 1 is an explanatory diagram showing an embodiment of the present invention.
【図２】電流波形と時間の関係及びアマチュアの変位と
時間の関係を示す説明図である。FIG. 2 is an explanatory diagram showing a relationship between a current waveform and time and a relationship between an amateur displacement and time.
【図３】ライニングの摩耗量と時間の関係を示す説明図
である。FIG. 3 is an explanatory diagram showing a relationship between a wear amount of a lining and time.
【図４】アマチュアの動作不良の度合と電流の乱れ量の
関係を示す説明図である。FIG. 4 is an explanatory diagram showing the relationship between the degree of operation failure of an amateur and the amount of current disturbance.
【図５】電源電圧と電流の脈動の関係を示す説明図であ
る。FIG. 5 is an explanatory diagram showing a relationship between power supply voltage and current pulsation.
１ ブレーキ電源回路 ２ ディスク形マグネットブレーキ装置 ３ 電流値検出手段 ４ 増幅手段 ６ 抽出手段 ７ 判定値記憶手段 ８ 比較手段 ９ 判定手段 ２０ アマチュア ２１ コイル ２２ ライニング ２３ ばね ４１ 時間 ４２ 電流の乱れ ４３ 脈動 ４４ 電流の乱れ 1 Brake Power Supply Circuit 2 Disk Type Magnet Brake Device 3 Current Value Detection Means 4 Amplification Means 6 Extraction Means 7 Judgment Value Storage Means 8 Comparison Means 9 Judgment Means 20 Amateur 21 Coil 22 Lining 23 Spring 41 Hours 42 Current Disturbance 43 Pulsation 44 Current Disorder
───────────────────────────────────────────────────── フロントページの続き (72)発明者 富士本 貴 茨城県ひたちなか市高場2477番地 株式会 社日立カーエンジニアリング内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takashi Fujimoto 2477 Takaba, Hitachinaka City, Ibaraki Prefecture Hitachi Car Engineering Co., Ltd.
Claims (1)
作するディスク形マグネットブレーキの異常診断装置に
おいて、電流値を検出する電流値検出手段と、検出した
電流値の信号を増幅する増幅手段、増幅した信号から診
断する信号を抽出する抽出手段、異常診断の判定値を記
憶する判定値記憶手段、抽出した値と記憶した判定値を
比較する比較手段、比較した値より正常か異常か異常の
兆候があるか判定する判定手段を備えることを特徴とす
るブレーキの異常診断装置。1. A disk-type magnet brake abnormality diagnosing device which operates by a brake power supply circuit for full-wave rectification; current value detecting means for detecting a current value; amplifying means for amplifying a signal of the detected current value; Extraction means for extracting the signal to be diagnosed from the signal, judgment value storage means for storing the judgment value for abnormality diagnosis, comparison means for comparing the extracted value with the stored judgment value, and there is a sign of normal, abnormal or abnormal from the compared value. An abnormality diagnosis device for a brake, comprising: a determination means for determining whether or not there is any.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1435296A JPH09210106A (en) | 1996-01-30 | 1996-01-30 | Abnormal condition diagnosing device for brake |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1435296A JPH09210106A (en) | 1996-01-30 | 1996-01-30 | Abnormal condition diagnosing device for brake |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH09210106A true JPH09210106A (en) | 1997-08-12 |
Family
ID=11858684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1435296A Pending JPH09210106A (en) | 1996-01-30 | 1996-01-30 | Abnormal condition diagnosing device for brake |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH09210106A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006002807A (en) * | 2004-06-15 | 2006-01-05 | Ogura Clutch Co Ltd | Armature attraction detection method and device |
| EP2546090A2 (en) | 2011-07-12 | 2013-01-16 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Working vehicle with electromagnetic brake |
| JP2017185595A (en) * | 2016-04-06 | 2017-10-12 | 川崎重工業株式会社 | Robot control device and robot with the same control device |
| CN110207728A (en) * | 2018-02-28 | 2019-09-06 | 北京金风科创风电设备有限公司 | Brake pad wear detection method and device and wind generating set yaw system |
| EP3626408A1 (en) * | 2018-09-21 | 2020-03-25 | Toyota Jidosha Kabushiki Kaisha | Abnormality diagnosis method, abnormality diagnosis apparatus, and non-transitory computer recording medium |
| KR20210068401A (en) * | 2018-10-05 | 2021-06-09 | 크리스티안 마이어 게엠베하 운트 콤파니 코만티드게젤샤프트 | Preventive function control of spring-loaded electromagnetic brakes |
| CN113931955A (en) * | 2021-10-09 | 2022-01-14 | 杭州杰牌传动科技有限公司 | Brake motor protector with multiple safety protection functions and implementation method |
| CN114810880A (en) * | 2022-06-27 | 2022-07-29 | 烟台大学 | Vehicle brake pad abrasion detection device and detection system |
-
1996
- 1996-01-30 JP JP1435296A patent/JPH09210106A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006002807A (en) * | 2004-06-15 | 2006-01-05 | Ogura Clutch Co Ltd | Armature attraction detection method and device |
| EP2546090A2 (en) | 2011-07-12 | 2013-01-16 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Working vehicle with electromagnetic brake |
| US8662600B2 (en) | 2011-07-12 | 2014-03-04 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Working vehicle with electromagnetic brake |
| JP2017185595A (en) * | 2016-04-06 | 2017-10-12 | 川崎重工業株式会社 | Robot control device and robot with the same control device |
| WO2017175845A1 (en) * | 2016-04-06 | 2017-10-12 | 川崎重工業株式会社 | Robot control device, and robot provided with control device |
| KR20190050739A (en) * | 2016-04-06 | 2019-05-13 | 가와사끼 쥬고교 가부시끼 가이샤 | Robot control device and robot equipped with this control device |
| US10994412B2 (en) | 2016-04-06 | 2021-05-04 | Kawasaki Jukogyo Kabushiki Kaisha | Robot control device and robot provided with the same |
| CN110207728A (en) * | 2018-02-28 | 2019-09-06 | 北京金风科创风电设备有限公司 | Brake pad wear detection method and device and wind generating set yaw system |
| CN110936405A (en) * | 2018-09-21 | 2020-03-31 | 丰田自动车株式会社 | Abnormality diagnosis method, abnormality diagnosis device, and non-transitory computer recording medium |
| KR20200034612A (en) * | 2018-09-21 | 2020-03-31 | 도요타지도샤가부시키가이샤 | Abnormality diagnosis method, abnormality diagnosis apparatus, and non-transitory computer recording medium |
| EP3626408A1 (en) * | 2018-09-21 | 2020-03-25 | Toyota Jidosha Kabushiki Kaisha | Abnormality diagnosis method, abnormality diagnosis apparatus, and non-transitory computer recording medium |
| US11261929B2 (en) | 2018-09-21 | 2022-03-01 | Toyota Jidosha Kabushiki Kaisha | Abnormality diagnosis method, abnormality diagnosis apparatus, and non-transitory computer recording medium |
| KR20210068401A (en) * | 2018-10-05 | 2021-06-09 | 크리스티안 마이어 게엠베하 운트 콤파니 코만티드게젤샤프트 | Preventive function control of spring-loaded electromagnetic brakes |
| JP2022512631A (en) * | 2018-10-05 | 2022-02-07 | シーエイチアール． マイヤー ゲーエムベーハー プラス コンパニー．カーゲー | Preventive function control in electromagnetic spring type brake |
| CN113931955A (en) * | 2021-10-09 | 2022-01-14 | 杭州杰牌传动科技有限公司 | Brake motor protector with multiple safety protection functions and implementation method |
| CN113931955B (en) * | 2021-10-09 | 2024-01-05 | 杭州杰牌传动科技有限公司 | Brake motor protector with multiple safety protection functions and implementation method |
| CN114810880A (en) * | 2022-06-27 | 2022-07-29 | 烟台大学 | Vehicle brake pad abrasion detection device and detection system |
| CN114810880B (en) * | 2022-06-27 | 2022-09-02 | 烟台大学 | Vehicle brake pad abrasion detection device and detection system |
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