Interlocking control system for three-position manipulator and method thereof

Abstract

An interlocking control system for a three-position manipulator is disclosed. The system comprises: first to third limit switches which determine the opening and closing range of a predetermined manipulator as in a disconnected state (DS), a grounded state (ES), and a neutral state (OPEN); a main gear including first to third contact points interlocked with the first to third limit switches and having at least one hole on one side of the surface thereof; an interlocking member which includes at least one solenoid, an elastic body, and a steel ball, and inserts or withdraws the steel ball into or from a hole provided in the main gear on the basis of the excitation state of the solenoid; a motor unit which is connected to a rotation shaft of the main gear, and provides a rotational force to the main gear; and a control unit which receives a manipulation control signal corresponding to one of the disconnected state (DS), the grounded state (ES), or the neutral state (OPEN), controls rotation of the motor unit on the basis of the manipulation control signal, and controls the excitation state of the solenoid.

Description

Interlocking control system and method of a 3-position manipulator

[0001] The present invention relates to an interlocking control system and method for a 3-position actuator, and more specifically, to an interlocking control system and method for a 3-position actuator that prevents over-rotation of the main gear by forming a groove in the main gear and providing a locking member including a steel ball and a solenoid, and inserting the steel ball into the groove.

[0002] Generally, an insulating gas switchgear (GIS) is composed of various components such as circuit breakers, circuit breakers, and grounding switches, and each component is installed inside a metal enclosure filled with SF6 gas or the like to increase insulation strength.

[0003] At this time, among the installed devices, the disconnector and grounding switch employ gear-type motors to perform the opening and closing operations of their contacts.

[0004] In addition, switching operations were performed using an operating mechanism employing a separate, independent gear-type motor for the disconnect switch and the grounding switch; however, recently, an integrated disconnect switch / grounding switch operating mechanism is being disclosed that enables the disconnect switch and the grounding switch to be operated using a single gear-type motor for reasons such as structural simplification, economic efficiency, and control simplicity.

[0005] Here, the integrated disconnector / grounding switch operating mechanism can operate three conditions for each stage—disconnector closing, neutral (disconnector and grounding switch open), and grounding switch closing—using a single gear-type motor and a single operating mechanism.

[0006] However, although the above disconnect switch / grounding switch operating mechanism can be significantly simplified structurally and electrically, it is difficult to mechanically ensure neutrality (disconnect switch and grounding switch open).

[0007] In other words, there may be errors by the field operator, reverse rotation of the DC gear type motor due to control wiring errors, or field testing with the braking circuit excluded.

[0008] Therefore, if neutrality is not maintained and operation proceeds excessively in the direction of disconnector closing or grounding switch closing, short circuits or ground faults occur, which ultimately leads to the problem that it is difficult or impossible to ensure sufficient electrical stability (insulation) during system power outages or substation maintenance.

[0009] To improve these problems, prior art Korean Registered Patent Publication No. 10-1283648 discloses a contact positioning switch for a gas insulation circuit breaker, comprising a driving gear having a plurality of pins connected to a motor that rotates in forward and reverse directions, a cam member connected to the driving gear having a plurality of positioning grooves into which the pins are inserted and removed according to the rotational movement of the driving gear, and a switching member that recognizes the insertion of the pins and stops the driving of the motor when the pins are inserted into the plurality of positioning grooves. Additionally, Korean Registered Patent Publication No. 10-2306256 discloses a disconnect switch / grounding switch operating device equipped with a locking pin and a locking groove to lock the operation of the disconnect switch / grounding switch during manual driving, and a safety device part provided with a distance maintaining ball to prevent damage or malfunction by preventing the locking pin from being pulled out of the locking groove due to the frictional force generated when the inner surface of the locking groove presses the outer surface of the locking pin.

[0010] Therefore, in order to solve the aforementioned problems, it is necessary to research an interlocking control system and method for a 3-position actuator including an interlocking member so that the neutral state of the actuator can be maintained more effectively.

[0011] The present invention aims to provide an interlocking control system and method for a 3-position actuator that can limit the operating range according to the closing of the disconnector and grounding switch while preventing deviation from the neutral state due to misoperation and wiring errors.

[0012] In addition, the purpose is to provide an interlocking control system and method for a 3-position actuator that can more effectively prevent over-run of the main gear by providing an interlocking member including a solenoid, an elastic body, and a steel ball, and controlling the solenoid so that the steel ball is inserted into a groove provided in the main gear.

[0013] In addition, the purpose is to provide an interlocking control system and method for a 3-position actuator that controls a motor unit that rotates a main gear and an interlocking member through a single control circuit, and by creating a time difference between the operation signal applied to the interlocking member and the motor unit, induces the rotational movement of the main gear to start at an accurate time and end at an accurate position by restraint by a steel ball.

[0014] The problems that the present invention aims to solve are not limited to those mentioned above, and other problems that the present invention aims to solve that are not mentioned herein will be clearly understood by those skilled in the art to which the present invention belongs from the description below.

[0015] An interlocking control system for a 3-position actuator according to an embodiment of the present invention comprises: a first limit switch that determines the opening / closing range of a predetermined actuator to a disconnect state (DS); a second limit switch that determines the opening / closing range of the actuator to a ground state (ES); a third limit switch that determines the opening / closing range of the actuator to a neutral state (OPEN); a first contact linked to the first limit switch; a second contact linked to the second limit switch; and a third contact linked to the third limit switch, wherein at least one hole is provided on one side of the surface of the main gear; an interlocking member comprising at least one solenoid, an elastic body, and a steel ball, wherein the steel ball is inserted into or withdrawn from the hole provided in the main gear based on the excitation state of the solenoid; a motor unit (160) connected to the rotation axis of the main gear to provide rotational force to the main gear; and receiving an operation control signal corresponding to any one of the disconnect state (DS), the ground state (ES), and the neutral state (OPEN), and controlling the rotation of the motor unit based on the operation control signal. It includes a control unit that controls the female state of the solenoid.

[0016] Additionally, the main gear comprises a first hole formed with a predetermined first diameter on one side of the surface, a second hole formed with the first diameter and spaced apart by a predetermined angle in the positive direction centered on the first hole, and a third hole formed with the first diameter and spaced apart by a predetermined angle in the negative direction centered on the first hole, wherein a step difference of a predetermined depth is formed in the first hole, the second hole, and the third hole.

[0017] Additionally, the control unit includes a first signal generating unit that determines the rotation direction, rotation speed, and rotation time of the motor unit based on an operation control signal to generate a motor driving signal and applies the motor driving signal to the motor unit, and a second signal generating unit that applies power to a solenoid based on an operation control signal, wherein the motor driving signal generated by the first signal generating unit passes through at least one buffer and is applied to the motor unit, and the power applied to the solenoid is cut off while the motor unit rotates by the motor driving signal.

[0018] Additionally, the solenoid includes a solenoid pin arranged to protrude toward the center of the main gear, wherein the solenoid pin is inserted into the hollow of an elastic body arranged in a spring shape, and a steel ball is disposed in contact with one end of the solenoid pin, and the solenoid, elastic body, and steel ball are mounted in a case with one side of the upper surface open and coupled to one side of a surface having a hole of the main gear, wherein when power is not applied to the solenoid, the solenoid pin is fixed in a protruding state toward the center of the main gear, the elastic body maintains an expanded state, and the steel ball is inserted into a hole provided on the surface of the main gear to restrict the rotational force of the main gear, and when power is applied to the solenoid, the solenoid pin moves in a linear motion toward the outside of the center of the main gear, the elastic body is compressed, and the steel ball is withdrawn from the hole provided on the surface of the main gear to release the restricted rotational force of the main gear.

[0019] Additionally, the control unit further includes a fault diagnosis unit that monitors the magnitude of the voltage applied to the solenoid and the magnitude of the solenoid's magnetism, and monitors whether a fault has occurred in the solenoid. The fault diagnosis unit generates a first fault signal by determining that the solenoid's operation reliability is nonexistent due to external magnetic field interference when the magnitude of the solenoid's magnetism exceeds a preset first threshold, and generates a second fault signal by determining that a defect has occurred in the solenoid due to coil damage inside the solenoid when the magnitude of the solenoid's magnetism is less than a preset second threshold, and generates a third fault signal by determining that the voltage applied to the solenoid is unstable when the magnitude of the solenoid's magnetism changes within a preset time unit period within the range of being below the first threshold and above the second threshold, and transmits a field inspection notification signal to a preset administrator terminal in response to the generation of the first fault signal, the second fault signal, and the third fault signal.

[0020] According to the present invention, an interlocking control system and method for a 3-position actuator can be provided, which can limit the operating range according to the closing of the disconnector and grounding switch while preventing deviation from the neutral state due to misoperation and wiring errors.

[0021] In addition, by providing an interlocking member including a solenoid, an elastic body, and a steel ball, and controlling the solenoid so that the steel ball is inserted into a groove provided in the main gear, the over-run of the main gear can be prevented more effectively.

[0022] In addition, the motor unit that rotates the main gear and the interlocking member are controlled through a single control circuit, and by creating a time difference between the operation signal applied to the interlocking member and the motor unit, the rotational movement of the main gear is induced to start at an accurate time and end at an accurate position by restraint by the steel ball.

[0023] FIGS. 1 and 2 are configuration diagrams of an interlocking control system of a 3-position actuator according to an embodiment of the present invention.

[0024] FIGS. 3 to 5 are drawings for explaining the main gear of an interlocking control system of a 3-position actuator according to an embodiment of the present invention.

[0025] FIGS. 6 to 8 are drawings for explaining the interlocking member of the interlocking control system of a 3-position manipulator according to an embodiment of the present invention.

[0026] FIG. 9 is a drawing for explaining the control unit of an interlocking control system of a 3-position manipulator according to an embodiment of the present invention.

[0027] FIG. 10 is a flowchart illustrating the process of generating a control signal for a control unit of an interlocking control system of a 3-position manipulator according to an embodiment of the present invention.

[0028] Specific details regarding the problem to be solved, the means for solving the problem, and the effects of the invention as described above are included in the embodiments and drawings to be described below. The advantages and features of the present invention, and the methods for achieving them, will become clear by referring to the embodiments described below in detail together with the accompanying drawings.

[0029] The scope of the present invention is not limited to the embodiments described below, and various modifications can be made by those skilled in the art within the scope of the technical essence of the present invention.

[0030]

[0031] Hereinafter, the title of the invention, the present invention, will be explained in detail with reference to the attached FIG. 1.

[0032] FIGS. 1 and 2 are configuration diagrams of an interlocking control system of a 3-position actuator according to an embodiment of the present invention, FIGS. 3 to 5 are drawings for explaining the main gear of an interlocking control system of a 3-position actuator according to an embodiment of the present invention, FIGS. 6 to 8 are drawings for explaining the interlocking member of an interlocking control system of a 3-position actuator according to an embodiment of the present invention, FIG. 9 is a drawing for explaining the control unit of an interlocking control system of a 3-position actuator according to an embodiment of the present invention, and FIG. 10 is a flowchart for explaining the process of generating a control signal of the control unit of an interlocking control system of a 3-position actuator according to an embodiment of the present invention.

[0033]

[0034] <Example 1>

[0035] Referring to FIG. 1 and FIG. 2, an interlocking control system (100) of a 3-position actuator according to an embodiment of the present invention may include a first limit switch (110), a second limit switch (120), a third limit switch (130), a main gear (140), an interlocking member (150), a motor unit (160), and a control unit (170).

[0036] More specifically, the first limit switch (110) can determine the opening / closing range of the designated actuator to a short-circuit state (DS), the second limit switch (120) can determine the opening / closing range of the actuator to a ground state (ES), and the third limit switch (130) can determine the opening / closing range of the actuator to a neutral state (OPEN).

[0037] Additionally, the main gear (140) includes a first contact linked to the first limit switch (110), a second contact linked to the second limit switch (120), and a third contact linked to the third limit switch (130), and at least one hole is provided on one side of the surface, and the interlocking member (150) includes at least one solenoid, an elastic body, and a steel ball, and inserts or withdraws the steel ball into the hole provided in the main gear (140) based on the excitation state of the solenoid, and the motor unit (160) is connected to the rotation axis of the main gear (140) to provide rotational force to the main gear (140), and the control unit receives an operation control signal corresponding to any one of the disconnect state (DS), the ground state (ES), and the neutral state (OPEN), and controls the rotation of the motor unit (160) and controls the excitation state of the solenoid based on the operation control signal.

[0038]

[0039] At this time, as illustrated in FIGS. 3 to 5, the main gear (140) may include a first hole (141) provided with a first diameter set on one side of the surface, a second hole (142) provided with the first diameter spaced apart at an angle set in the positive direction centered on the first hole (141), and a third hole (143) provided with the first diameter spaced apart at an angle set in the negative direction centered on the first hole (141).

[0040] For example, the first hole (141) may be set as a hole into which the steel ball is inserted corresponding to a neutral state (Open), the second hole (142) may be set as a hole into which the steel ball is inserted corresponding to a ground state (ES), and the third hole (143) may be set as a hole into which the steel ball is inserted corresponding to a disconnected state (DS).

[0041] At this time, the diameters of the first hole (141), the second hole (142), and the third hole (143) are determined based on the diameter of the steel ball, but may be made larger within a range of 1 to 3% than the diameter of the steel ball.

[0042] Additionally, the depths of the first hole (141), the second hole (142), and the third hole (143) are provided in a hemispherical shape corresponding to the diameter of the holes (141, 142, 143), and a step (510) of a predetermined depth may be formed in the holes (141, 142, 143).

[0043] At this time, by providing the step (510) in the holes (141, 142, 143), the steel ball provided in the interlocking member (150) can be more easily inserted into and withdrawn from the holes (141, 142, 143).

[0044]

[0045] Meanwhile, as illustrated in FIGS. 6 and 7, the interlocking member (150) comprises the solenoid (151), the elastic body (152), and the steel ball (153). The solenoid (151) comprises a solenoid pin (1511) that is arranged to protrude toward the center of the main gear (140). The solenoid pin (1511) is inserted into the hollow of the elastic body (152), which is arranged in a spring shape, and the steel ball (153) may be positioned in contact with one end of the solenoid pin (1511).

[0046] Additionally, the solenoid (151), the elastic body (152), and the steel ball (153) can be mounted in a case (154) with one side of the upper surface open and coupled to one side of the surface where the holes (141, 142, 143) of the main gear (140) are provided.

[0047]

[0048] At this time, referring to FIG. 8(a), power is applied to the solenoid (151) based on a control signal generated by the control unit (170). When power is applied to the solenoid (151), the solenoid pin (1511) moves in a linear motion outward from the center of the main gear (140), the elastic body (153) is compressed, and the steel ball (153) is withdrawn from any one of the first hole (141), the second hole (142), and the third hole (143) provided on the surface of the main gear (140) to release the state in which the rotational force of the main gear (140) is constrained. Referring to FIG. 8(b), when power is not applied to the solenoid (151), the solenoid pin (1511) is fixed in a state protruding toward the center of the main gear (140), and the elastic body (152) is in an expanded state. While maintaining, the steel ball (153) can be inserted into any one of the first hole (141), the second hole (142), and the third hole (143) provided on the surface of the main gear (140) to restrict the rotational force of the main gear (140).

[0049] The hole into which the steel ball (153) is inserted can be determined to be a position corresponding to the first contact, the second contact, and the third contact based on the opening and closing range of the actuator.

[0050] For example, when an operation control signal is generated through the control unit (170) to make the opening / closing range of the actuator become a neutral state (Open), the motor unit (160) rotates the main gear (140) so that a third contact linked to the third limit switch (130) is activated, and at the time when the rotational movement of the main gear (140) stops, the steel ball (153) can be inserted into the first hole (141) corresponding to the neutral state (Open).

[0051] Additionally, the steel ball (153) inserted into the holes (141, 142, 143) is withdrawn from the holes (141, 142, 143) of the main gear (140) and moved into the case (154) as the solenoid pin (1511) moves.

[0052]

[0053] Meanwhile, referring to FIG. 9, the control unit (170) may include a first signal generating unit (171) that determines the rotation direction, rotation speed, and rotation time of the motor unit based on the operation control signal to generate a motor driving signal and applies the motor driving signal to the motor unit, and a second signal generating unit (172) that applies power to the solenoid (151) based on the operation control signal.

[0054] Additionally, the motor driving signal generated by the first signal generating unit (171) passes through at least one buffer and is applied to the motor unit (160), and while the motor unit (160) is rotating by the motor driving signal, the power applied to the solenoid (151) can be cut off.

[0055] For example, the buffer performs the role of delaying the time when the motor driving signal is transmitted to the motor unit (160).

[0056]

[0057]

[0058] More specifically, as illustrated in FIG. 10, when an operation control signal determining the opening and closing range of the actuator is input (910) from a designated administrator terminal or at least one operation switch provided in the actuator, the first signal generation unit (171) can generate a motor driving signal (920) to control the motor unit (160) in response to the operation control signal and apply power (930) to the solenoid (151).

[0059] At this time, since the motor driving signal passes through the buffer and is then applied (940) to the motor unit (160), the step of applying power to the solenoid (151) and moving the solenoid pin (1511) can be performed first, before the step of the main gear (140) rotating through the motor unit (160).

[0060] While the main gear (140) rotates through the motor unit (160), the power applied to the solenoid (151) is cut off, and the solenoid pin (1511) remains in a state where it is pulled out toward the center of the main gear (140).

[0061] Accordingly, when the solenoid pin (1511) is maintained in an extended state, pressure is applied to the steel ball (153) by the solenoid pin (1511), and at the same time the main gear (140) stops, the steel ball (153) is inserted into a hole provided on the surface of the main gear (140), thereby preventing the main gear (140) from over-rotating outside the correct stopping area.

[0062]

[0063] For example, while the solenoid pin (1511) is maintained in a state where it is pulled out toward the center of the main gear (140), the magnetism of the solenoid pin (1511) can be optimized by heat-treating one end of the solenoid pin (1511) so that the steel ball (153) is not pulled out of the hole of the main gear (140) by gravity, and the steel ball (153) can be maintained in a state where it is inserted into the hole by the magnetism between the steel ball (153) and the solenoid pin (1511).

[0064]

[0065] Meanwhile, the control unit (170) of the interlocking control system (100) of the 3-position actuator may further include a fault diagnosis unit that monitors the magnitude of the voltage applied to the solenoid (151) and the magnitude of the magnetism of the solenoid (151), and monitors whether a fault has occurred in the solenoid (151).

[0066] At this time, the fault diagnosis unit may include at least one Hall sensor to measure the magnitude of the magnetism when power is applied to the solenoid (151).

[0067]

[0068] More specifically, the fault diagnosis unit (not shown) may generate a first fault signal by determining that the operation reliability of the solenoid (151) is non-existent due to external magnetic field interference when the magnitude of the magnetic field of the solenoid (151) exceeds a preset first threshold, and generate a second fault signal by determining that a defect has occurred in the solenoid (151) due to coil damage inside the solenoid (151) when the magnitude of the magnetic field of the solenoid (151) is less than a preset second threshold, and generate a third fault signal by determining that the voltage applied to the solenoid (151) is unstable when the magnitude of the magnetic field of the solenoid (151) changes in a periodic manner within a range of less than or equal to the first threshold and greater than or equal to the second threshold.

[0069] In addition, the fault diagnosis unit may transmit a field inspection notification signal to a designated administrator terminal in response to the generation of the first fault signal, the second fault signal, and the third fault signal.

[0070]

[0071] For example, the fault diagnosis unit may generate the third fault signal by measuring the magnitude of the voltage applied to the solenoid (151) when the magnitude of the magnetic force of the solenoid (151) changes in a period of time units set within the range of being below the first threshold value and above the second threshold value, and determining whether the period of change in the magnitude of the voltage matches the period of change in the magnetic force of the solenoid (151).

[0072] For example, the magnitude of the voltage applied to the solenoid (151) is measured, and if the period in which the magnitude of the voltage changes does not match the period in which the magnitude of the magnetism of the solenoid (151) changes and the magnitude of the voltage input to the solenoid (151) is constant, it is determined that a fault has occurred in the Hall sensor, and a notification signal requesting an inspection of the Hall sensor may be transmitted to the administrator terminal.

[0073]

[0074] Meanwhile, the fault diagnosis unit may include at least one temperature sensor to measure the deviation of the output data of the Hall sensor in response to a change in the ambient temperature of the actuator, evaluate the temperature drift, and evaluate the reliability (R) of the fault diagnosis result of the fault diagnosis unit.

[0075]

[0076] At this time, the above temperature drift D T It can be calculated based on the following [Mathematical Formula 1].

[0077]

[0078] [Mathematical Formula 1]

[0079]

[0080] Here, D T is the temperature drift, ΔV is the difference in output voltage due to temperature change (unit: V), and ΔT is the amount of temperature change (unit: °C).

[0081]

[0082] In addition, the relative drift of the output voltage of the Hall sensor caused by temperature change can be calculated based on the following [Equation 2].

[0083]

[0084] [Mathematical Formula 2]

[0085]

[0086] Here, Ralative Drift is the relative error of the output voltage of the Hall sensor, and the above V measure is the output voltage at the reference temperature, and V reference represents the output voltage at a specific temperature.

[0087]

[0088] In addition, to quantify the temperature sensitivity of the Hall sensor, a temperature correction factor K T It can be calculated based on [Mathematical Formula 3] below.

[0089]

[0090] [Mathematical Formula 3]

[0091]

[0092] Here, K T is the temperature correction factor, ΔV is the difference in output voltage due to temperature change, ΔT is the amount of temperature change, and V reference represents the output voltage at a specific temperature.

[0093]

[0094] Accordingly, the fault diagnosis unit monitors the output voltage of the Hall sensor and the temperature drift D of the Hall sensor T , relative drift of output voltage and temperature correction factor K T It is possible to calculate and analyze the reliability of the output value according to the temperature change of the above Hall sensor.

[0095] For example, the output voltage of the Hall sensor measured in a reference temperature environment of 25℃ is defined as the normal output value, and as the external ambient temperature measured through the temperature sensor changes, the temperature drift D T The amount of change can be monitored.

[0096] At this time, temperature drift D T Temperature drift D in a temperature range outside the reference temperature (e.g., high-temperature environment above 40℃, low-temperature environment below 0℃, etc.) T The normal operating temperature range of the Hall sensor may be predetermined by monitoring whether the amount of change is constant.

[0097] In addition, temperature drift D within the normal operating temperature range of the above Hall sensor T If the amount of change exceeds a preset reference value, it is determined that an abnormality has occurred in the Hall sensor, and thus the reliability of the magnetic measurement data of the solenoid (151) through the Hall sensor can be determined.

[0098] Accordingly, if the fault diagnosis unit determines that an abnormality has occurred in the Hall sensor, it can transmit a notification signal to the administrator terminal warning that fault diagnosis of the solenoid (151) is impossible.

[0099]

[0100] That is, if the reliability of the data measured through the Hall sensor is non-existent, it is impossible to diagnose the fault of the solenoid (151) through the fault diagnosis unit. Therefore, by evaluating the reliability of the Hall sensor, it is possible to induce a more accurate diagnosis of the fault of the solenoid (151).

[0101]

[0102] For example, the interlocking member (150) may be provided in a modular form, so that when a fault in the solenoid is detected through the fault diagnosis unit, the interlocking member (150) can be easily replaced.

[0103]

[0104] Accordingly, according to the present invention as described above, an interlocking control system and method for a 3-position actuator can be provided, which can limit the operating range according to the closing of the disconnector and grounding switch while preventing deviation from the neutral state due to misoperation and wiring errors, etc.

[0105] In addition, an interlocking control system and method for a 3-position actuator can be provided, which can more effectively prevent over-run of the main gear by providing an interlocking member including a solenoid, an elastic body, and a steel ball, and controlling the solenoid so that the steel ball is inserted into a groove provided in the main gear.

[0106] In addition, an interlocking control system and method for a 3-position actuator can be provided, wherein the motor unit that rotates the main gear and the interlocking member are controlled through a single control circuit, and by creating a time difference between the operation signal applied to the interlocking member and the motor unit, the rotational movement of the main gear is induced to start at an accurate time and end at an accurate position by restraint by a steel ball.

[0107]

[0108] In addition, a control method for an interlocking control system of a 3-position manipulator according to an embodiment of the present invention may be recorded on a computer-readable medium containing program instructions for performing operations implemented by various computers. The computer-readable medium may include program instructions, data files, data structures, etc., either alone or in combination. The program instructions on the medium may be those specifically designed and configured for the present invention, or they may be those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0109]

[0110] As described above, although an embodiment of the present invention has been explained by limited embodiments and drawings, the embodiment of the present invention is not limited to the embodiments described above, and various modifications and variations are possible from this description by those skilled in the art to which the present invention pertains. Accordingly, an embodiment of the present invention should be understood only by the claims described below, and all equivalent or analogous variations thereof shall be considered to be within the scope of the inventive concept.

[0111]

[0112] 110 : 1st limit switch

[0113] 120 : Second limit switch

[0114] 130 : 3rd limit switch

[0115] 140: Main Gear 141: 1st Hole

[0116] 142: 2nd Hall

[0117] 143: Third Hall

[0118] 150 : Interlocking member 151 : Solenoid

[0119] 1511: Solenoid pin

[0120] 152 : Elastomer

[0121] 153 : Steel Ball

[0122] 160 : Motor section

[0123] 170: Control unit 171: First signal generation unit

[0124] 172 : Second signal generation unit

Claims

1. A first limit switch that determines the opening / closing range of a pre-designated actuator to a short-circuit state (DS); A second limit switch that determines the opening / closing range of the above actuator to a ground state (ES); A third limit switch that determines the opening / closing range of the above actuator to a neutral state (OPEN); A main gear comprising a first contact linked to the first limit switch, a second contact linked to the second limit switch, and a third contact linked to the third limit switch, and having at least one hole provided on one side of the surface; An interlocking member comprising at least one solenoid, an elastic body, and a steel ball, and inserting or withdrawing the steel ball into or from the hole provided in the main gear based on the excitation state of the solenoid; A motor unit connected to the rotation shaft of the main gear and providing rotational force to the main gear; and An interlocking control system for a 3-position actuator comprising: a control unit that receives an operation control signal corresponding to any one of the above-mentioned disconnect state (DS), the above-mentioned ground state (ES), and the above-mentioned neutral state (OPEN), controls the rotation of the motor unit based on the operation control signal, and controls the excitation state of the solenoid.

2. In Paragraph 1, The above main gear is, A first hole provided on one side of the surface with a predetermined first diameter; A second hole provided with the first diameter, spaced apart at a predetermined angle in a positive direction from the center of the first hole; and It includes a third hole provided with the first diameter, spaced apart at an angle in the negative direction centered on the first hole. An interlocking control system for a 3-position manipulator characterized by the formation of a step difference of a preset depth in the first hole, the second hole, and the third hole.

3. In Paragraph 1, The above control unit is, A first signal generation unit that determines the rotation direction, rotation speed, and rotation time of the motor unit based on the above operation control signal to generate a motor driving signal and applies the motor driving signal to the motor unit; and A second signal generating unit that applies power to the solenoid based on the above operation control signal; comprising, The motor driving signal generated by the first signal generating unit passes through at least one buffer and is applied to the motor unit, and An interlocking control system for a 3-position actuator, characterized in that the power applied to the solenoid is cut off while the motor part rotates by the motor driving signal.

4. In Paragraph 1, The above solenoid is, It includes a solenoid pin arranged to protrude toward the center of the main gear, The solenoid pin is inserted into the hollow of the elastic body provided in a spring shape, and the steel ball is disposed in contact with one end of the solenoid pin. The above solenoid, the above elastic body, and the above steel ball are, Mounted in a case with one side of the upper surface open and coupled to one side of a surface where a hole of the main gear is provided, When power is not applied to the solenoid, the solenoid pin is fixed in a state protruding toward the center of the main gear, the elastic body remains in an expanded state, and the steel ball is inserted into the hole provided on the surface of the main gear to restrain the rotational force of the main gear. An interlocking control system for a 3-position actuator, characterized in that when power is applied to the solenoid, the solenoid pin moves in a linear motion outward from the center of the main gear, the elastic body is compressed, and the steel ball is withdrawn from the hole provided on the surface of the main gear to release the state in which the rotational force of the main gear is constrained.

5. In Paragraph 1, The above control unit is, It further includes a fault diagnosis unit that monitors the magnitude of the voltage applied to the solenoid and the magnitude of the magnetism of the solenoid, and monitors whether a fault has occurred in the solenoid; The above fault diagnosis unit is, If the magnitude of the magnetism of the above solenoid exceeds a preset first threshold, it is determined that the operation reliability of the above solenoid is non-reliable due to external magnetic field interference, and a first fault signal is generated. If the magnitude of the magnetism of the solenoid is less than a preset second threshold value, it is determined that a defect has occurred in the solenoid due to damage to the coil inside the solenoid, and a second fault signal is generated. If the magnitude of the magnetism of the solenoid changes with a preset time unit period within a range below the first threshold and above the second threshold, it is determined that the voltage applied to the solenoid is unstable and a third fault signal is generated, and An interlocking control system for a 3-position actuator characterized by transmitting a field inspection notification signal to a designated administrator terminal in response to the generation of the first fault signal, the second fault signal, and the third fault signal.

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