JP2000198527A - Control method for conveying position and conveyor - Google Patents
Control method for conveying position and conveyorInfo
- Publication number
- JP2000198527A JP2000198527A JP11002467A JP246799A JP2000198527A JP 2000198527 A JP2000198527 A JP 2000198527A JP 11002467 A JP11002467 A JP 11002467A JP 246799 A JP246799 A JP 246799A JP 2000198527 A JP2000198527 A JP 2000198527A
- Authority
- JP
- Japan
- Prior art keywords
- detector
- coil
- detecting
- transported
- rear end
- 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
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、搬送位置の制御方
法及び搬送装置に係り、特に、コイル搬送設備でコイル
中心の位置決め（調芯と称する）に用いるのに好適な、
被搬送物の基準位置を正確に目標位置に合わせることが
可能な、搬送位置の制御方法及び搬送装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer position control method and a transfer device, and more particularly to a transfer position control method and a transfer device suitable for use in positioning a coil center (referred to as centering) in a coil transfer device.
The present invention relates to a transfer position control method and a transfer device capable of accurately adjusting a reference position of a transferred object to a target position.
【０００２】[0002]
【従来の技術】一般に、コイル搬送設備では、特開昭51
-114356 号公報に記載されているように、１組の光電ス
イッチを利用して、コイルが移動することにより、光電
スイッチが通光→遮光→通光となる間に、遮光している
間の搬送手段（コイル搬送台車やコンベア等）の移動距
離をコイル幅として、コイルの中心を目的の位置に合わ
せるように、コイル搬送手段の移動量を決定する方法が
採用されている。2. Description of the Related Art Generally, coil transfer equipment is disclosed in
As described in JP-A-114356, a set of photoelectric switches is used to move the coil, so that the photoelectric switches are switched from light-to-light-to-light- A method has been adopted in which the moving distance of the coil conveying means is determined so that the center of the coil is adjusted to a target position, with the moving distance of the conveying means (a coil conveying cart, a conveyor or the like) as the coil width.
【０００３】又、当該コイル幅のデータを何等かの形で
コイル搬送設備の制御系に入力しておいて、１組の光電
スイッチが通光→遮光となったタイミングでコイルの中
心位置を演算し、コイル搬送手段の移動量を決定する方
法もある。しかしながら、１組の光電スイッチでコイル
幅を演算する方法では、コイル搬送手段の移動量が、最
大コイル幅の倍以上必要であり、これ以下の移動量であ
ると、幅の大きなコイルでは、コイル幅を演算する前
に、コイル中心が目的の位置を通り過ぎてしまい、コイ
ル中心を目的の位置に停止させることができないという
問題点があった。[0003] In addition, the data of the coil width is input in some form to the control system of the coil conveying equipment, and the center position of the coil is calculated at the timing when one set of photoelectric switches is changed from light transmission to light shielding. However, there is also a method of determining the moving amount of the coil conveying means. However, in the method of calculating the coil width with one set of photoelectric switches, the moving amount of the coil conveying means needs to be at least twice the maximum coil width. Before calculating the width, there is a problem that the coil center passes the target position and the coil center cannot be stopped at the target position.
【０００４】又、コイル幅のデータを何等かの形でコイ
ル搬送設備の制御系に入力しておく方法では、情報の授
受のためのシステムが大掛かりになるという問題があっ
た。これらの問題を解決するため、本発明者は、既に、
特開平10-301629 号公報において、簡素な装置構成で、
搬送手段の移動量が従来よりも小さい場合であっても、
被搬送物の基準位置（例えば中心位置）を目的の位置に
停止させることを可能とする搬送位置の制御方法及び搬
送装置を提供している。Further, the method of inputting the data of the coil width in some form to the control system of the coil transfer equipment has a problem that a system for transmitting and receiving information becomes large. In order to solve these problems, the present inventor has already
In JP-A-10-301629, with a simple device configuration,
Even if the moving amount of the transport means is smaller than before,
Provided are a transfer position control method and a transfer device that enable a reference position (for example, a center position) of a transferred object to be stopped at a target position.
【０００５】従来は、１組の光電スィッチでコイルの両
端部を検知し、前端を検知してから後端を検知するまで
のコイル搬送台車又はコンベアの移動量を計測して、コ
イル幅としていたものを、この特開平10-301629 号公報
は、前端検出用と後端検出用の２組の検知器（例えば光
電スイッチ）を、（例えばコイル）搬送設備の（コイ
ル）進行方向に、被搬送物の最小長さ（搬送対象最小コ
イル幅）よりも短い間隔で個別に設け、被搬送物進行方
向後方側の第１の検知器で被搬送物の後端の通過を検知
し、進行方向前方側の第２の検知器で被搬送物の前端の
通過を検知し、前端の通過から後端の通過までの間の被
搬送物の移動量（コイル搬送台車又はコンベアの移動量
より検出）と、第１及び第２の検知器の間隔で補正する
ことにより、被搬送物の長さ（例えばコイル幅）を測定
するようにし、被搬送物の最大長さよりも短い搬送距離
内で被搬送物の長さを計測でき、所定の停止位置等に、
正確に被搬送物を停止させることができるようにしたも
のである。Conventionally, both ends of a coil are detected by a set of photoelectric switches, and the amount of movement of a coil carrier or a conveyor from the detection of a front end to the detection of a rear end is measured to determine a coil width. Japanese Unexamined Patent Publication No. 10-301629 discloses that two sets of detectors (for example, a photoelectric switch) for detecting the front end and for detecting the rear end are transported in the (coil) traveling direction of the transport equipment (for example, coil). Individually provided at intervals shorter than the minimum length of the object (the minimum coil width of the object to be conveyed), the first detector on the rear side in the direction of conveyance of the object detects passage of the rear end of the object, and The second detector on the side detects the passage of the front end of the conveyed object, the movement amount of the conveyed object from the passage of the front end to the rear end (detected from the movement amount of the coil carrier or the conveyor) and , By correcting the distance between the first and second detectors, The length (for example, coil width) is measured, and the length of the transferred object can be measured within a transfer distance shorter than the maximum length of the transferred object.
The transported object can be stopped accurately.
【０００６】すなわち、図３に示すコイル搬送設備にお
いて、コイル10は、コイル搬送台車12によって、台車走
行レール14上をコイル載荷スキッド16へ向かって搬送さ
れる。この場合、コイル載荷スキッド16の中心とコイル
10の中心が合うようにコイル搬送台車12を制御する必要
がある。コイル10の走行方向には、例えば投光器20A 及
び受光器20B からなるコイル後端検出用光電スイッチ20
と、同じく投光器22A 及び受光器22B からなる前端検出
用光電スイッチ22が、この順に配置されている。又、コ
イル搬送台車12には、台車走行距離検出器24が設置され
ており、これらの信号は台車制御用コントローラ26に入
力されている。[0008] That is, in the coil transfer equipment shown in FIG. 3, the coil 10 is transferred by the coil transfer carriage 12 on the carriage running rail 14 toward the coil loading skid 16. In this case, the center of the coil loading skid 16 and the coil
It is necessary to control the coil carrier 12 so that the center of 10 is aligned. In the traveling direction of the coil 10, for example, a photoelectric switch 20 for detecting the rear end of the coil, which includes a projector 20A and a light receiver 20B,
Similarly, a front end detection photoelectric switch 22 composed of a light projector 22A and a light receiver 22B is arranged in this order. Also, a bogie traveling distance detector 24 is provided on the coil carrier bogie 12, and these signals are input to a bogie control controller 26.
【０００７】コイル10の進行と共に、光電スイッチ20、
22の出力が変化し、光電スイッチ22によるコイル前端検
知タイミングから光電スイッチ20によるコイル後端検知
タイミングの間のコイル10の移動距離Ａは、台車走行距
離検出器24で検出できるので、光電スイッチ20と22間の
既知の距離Ｂを用いて、コイル幅を（Ａ＋Ｂ）で演算で
きる。As the coil 10 advances, the photoelectric switch 20
The output of the coil 22 changes, and the travel distance A of the coil 10 between the coil front end detection timing by the photoelectric switch 22 and the coil rear end detection timing by the photoelectric switch 20 can be detected by the bogie travel distance detector 24. The coil width can be calculated as (A + B) using the known distance B between
【０００８】従って、光電スイッチ20からコイル載荷用
スキッド16の中心までの距離を、図３に示す如くＣとす
ると、コイル後端検知タイミングでコイル搬送台車12の
移動距離を（Ｃ−（Ａ＋Ｂ）／２）と設定して、台車制
御用コントローラ26でコイル搬送台車12の停止位置を制
御することにより、正確にコイル幅を調芯して、コイル
10の中心をコイル載荷用スキッド16の中心に合わせて停
止させることができ、簡素な装置構成で、被搬送物の幅
よりも小さい移動距離であっても、正確に被搬送物の長
さを演算できるようになり、短い搬送距離でも、正確に
所定の位置に被搬送物を停止させることができるように
なったのである。Accordingly, assuming that the distance from the photoelectric switch 20 to the center of the coil loading skid 16 is C as shown in FIG. 3, the moving distance of the coil carrier 12 at the coil rear end detection timing is (C− (A + B)). / 2), and the bogie control controller 26 controls the stop position of the coil transport bogie 12 so that the coil width can be accurately aligned and the coil
The center of 10 can be stopped in accordance with the center of the skid 16 for coil loading, and with a simple device configuration, even if the moving distance is smaller than the width of the load, the length of the load can be accurately adjusted. The calculation can be performed, and the transported object can be accurately stopped at a predetermined position even with a short transport distance.
【０００９】[0009]
【発明が解決しようとする課題】しかしながら、特開平
10-301629 号公報の方式において短い搬送距離で停止さ
せることができるようになったものの、本方式でもコイ
ル長の測長のためにはコイル搬送手段の移動量を、最低
でも（（コイル幅）−（検知器間隔））以上とする必要
があり、それ以下の移動量では測長ができず、コイルを
所定の位置に停止できないという問題があった。すなわ
ち、コイル長の測長位置からコイル搬送手段の停止位置
までの距離に制約があるため、停止位置寸前のわずかな
搬送で正確なコイル長を測長しコイル搬送手段の停止位
置決め制御を行うことはできなかった。SUMMARY OF THE INVENTION
In the method of JP-A-10-301629, it is possible to stop at a short transfer distance, but in this method, the distance of movement of the coil transfer means must be at least ((coil width)) in order to measure the coil length. -(Detector interval)) or more, and there is a problem that the length cannot be measured with a movement amount less than that, and the coil cannot be stopped at a predetermined position. In other words, since there is a restriction on the distance from the coil length measurement position to the stop position of the coil transfer means, it is necessary to measure the exact coil length with slight transfer just before the stop position and perform stop positioning control of the coil transfer means. Could not.
【００１０】特に、搬送するコイルのコイル幅は大きく
変化するため、検知器間隔を最低幅のコイル用に調整し
て配置した場合、幅の広いコイルでは、測長完了のため
に相当の距離を移動させる必要が生じることになる。本
発明は、上記の問題を解消するためになされたもので、
簡素な装置構成で、搬送手段の移動量をごくわずかとし
て測長を完了させ、、被搬送物の基準位置を正確に目的
の位置に停止させる技術を提供することを目的とする。[0010] In particular, since the coil width of the coil to be conveyed changes greatly, when the detector interval is adjusted and arranged for the coil having the minimum width, a considerable distance is required for the wide coil to complete the length measurement. It will need to be moved. The present invention has been made to solve the above problems,
It is an object of the present invention to provide a technique for completing a length measurement with a very small moving amount of a transporting means by a simple apparatus configuration and accurately stopping a reference position of a transported object at a target position.
【００１１】[0011]
【課題を解決するための手段】本発明は、搬送設備に、
被搬送物の後端の通過を検知するために搬送方向に沿っ
て連設されたｎ（ｎ≧２）組の検知器からなる後端検出
用検知器群と、被搬送物の前端の通過を検知する前端検
出用検知器を、この順に、後端検出用検知器群の少なく
とも１つの検知器と前端検出用検知器との間隔が被搬送
物の最小長さよりも短い間隔で配し、被搬送物前端が前
端検出用検知器を通過した時点で、後端検出用検知器群
のそれぞれの検知器の検知状態から、搬送設備の上流側
に向けて被搬送物を検知している最後の検知器を特定
し、被搬送物前端が前端検出用検知器を通過してから被
搬送物後端がその特定した最後の検知器を通過するまで
の間の被搬送物の移動量と、それらの検知器の間隔か
ら、被搬送物の長さを算出し、得られた長さから、被搬
送物の基準位置を算出し、該基準位置をもって被搬送物
の搬送位置を制御することを特徴とする搬送位置の制御
方法によって上記課題を解決したのである。SUMMARY OF THE INVENTION The present invention relates to a transfer equipment,
A rear end detection detector group consisting of n (n ≧ 2) sets of detectors connected in the conveying direction to detect the passage of the rear end of the transferred object and the passage of the front end of the transferred object The front-end detection detector for detecting the in this order, the interval between at least one detector of the rear-end detection detector group and the front-end detection detector is arranged at an interval shorter than the minimum length of the transferred object, When the front end of the transferred object passes the detector for detecting the front end, the last detection of the transferred object toward the upstream side of the transport equipment from the detection state of each detector of the detector group for detecting the rear end The detector of, the moving amount of the transferred object between the time when the front end of the transferred object passes through the front end detection detector and the time when the rear end of the transferred object passes the specified last detector, Calculate the length of the transferred object from the distance between those detectors, and calculate the reference position of the transferred object from the obtained length It was to solve the above problems by controlling the method of conveying position, characterized by controlling the transport position of the conveyed object with the reference position.
【００１２】また、本発明は、被搬送物を搬送する手段
と、被搬送物の移動量を検出する手段を有する搬送装置
において、被搬送物の後端の通過を検知するために搬送
方向に沿って連設されたｎ組（ｎ≧２）の検知器からな
る後端検出用検知器群と、被搬送物の前端の通過を検知
するための前端検出用検知器を、この順に、後端検出用
検知器群の少なくとも１つの検知器と前端検出用検知器
との間隔を被搬送物の最小長さよりも短い間隔で配設
し、更に、被搬送物前端が前端検出用検知器を通過した
時点で、後端検出用検知器群のそれぞれの検知器の検知
状態から、搬送設備の上流側に向けて被搬送物を検知し
ている最後の検知器を特定するための検知器選択手段
と、被搬送物前端が前端検出用検知器を通過してから被
搬送物後端がその特定した最後の検知器を通過するまで
の間の被搬送物の移動量を算出し、該移動量とそれらの
検知器の間隔から被搬送物の長さを算出する測長演算手
段と、該長さを基に被搬送物の基準位置を算出し、得ら
れた被搬送物の基準位置の情報を基に被搬送物の搬送位
置を制御する手段と、を備えたことを特徴とする搬送装
置によって上記課題を解決したのである。Further, according to the present invention, there is provided a transporting apparatus having a means for transporting an article to be transported and a means for detecting a moving amount of the article to be transported, in a transport direction for detecting the passage of a rear end of the article to be transported. A rear-end detector group consisting of n sets (n ≧ 2) of detectors connected in series and a front-end detector for detecting the passage of the front end of the transferred object are arranged in this order. The interval between at least one detector of the end detection detector group and the front end detection detector is arranged at an interval shorter than the minimum length of the transferred object, and further, the front end of the transferred object is the front end detection detector. At the time of passing, from the detection status of each detector of the detector group for rear end detection, detector selection for specifying the last detector that is detecting the transported object toward the upstream side of the transport equipment Means and the rear end of the transferred object is identified after the front end of the transferred object has passed the detector for detecting the front end. Length measuring means for calculating the amount of movement of the transferred object until passing through the last detector, and calculating the length of the transferred object from the amount of movement and the interval between the detectors; Means for calculating the reference position of the object to be transferred based on the information and controlling the transfer position of the object to be transferred based on the obtained information on the reference position of the object to be transferred. Thus, the above problem was solved.
【００１３】[0013]
【発明の実施の形態】図１を用いて、本発明を説明す
る。なお、図１において、被搬送物をコイルとし、搬送
設備としてはコイルを載荷した台車をレール上で搬送す
る設備として説明しているが、これに限定されるもので
はなく、被搬送物は板状材、管状材等であっても良く、
また、搬送設備はラインコンベア等を含む搬送設備全般
に適用できるものである。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to FIG. In FIG. 1, the object to be conveyed is a coil, and the conveyance equipment is described as an equipment for conveying a carriage loaded with the coil on a rail. However, the present invention is not limited to this. Shaped material, tubular material, etc.
The transfer equipment can be applied to all transfer equipment including a line conveyor and the like.
【００１４】本発明では、後端通過検知用の複数の検知
器（例えば光電スイッチ、以下、同じ）を連設した後端
検出用検知器群と被搬送物の前端通過を検知するための
前端検出用検知器を、例えばコイル搬送設備のコイル進
行方向に、この順に、後端検出用検知器群の少なくとも
１つの検知器と前端検出用検知器との間隔が被搬送物の
最小長さ（搬送対象最小コイル幅）よりも短い間隔で配
し、被搬送物前端が前端検出用検知器を通過した時点
で、後端検出用検知器群のそれぞれの検知器の検知状態
から、搬送設備の上流側に向けて被搬送物を検知してい
る最後の検知器を特定し、被搬送物前端が前端検出用検
知器を通過してから被搬送物後端がその特定した最後の
検知器を通過するまでの間の被搬送物の移動量と、それ
らの検知器の間隔から、被搬送物の長さを算出するよう
にしたので、後端検出用検知器群の検知器間隔を下限と
する短い搬送距離内で被搬送物の長さを計測できるよう
になり、所定の停止位置等に、正確に被搬送物を停止さ
せることができるようになったのである。In the present invention, a plurality of detectors (for example, photoelectric switches, the same applies hereinafter) for detecting the passage of the rear end are connected in series, and the front end for detecting the passage of the front end of the conveyed object. For example, the distance between at least one detector of the group of detectors for detecting the rear end and the detector for detecting the front end is determined by setting the distance between the detection detector and the front end detection detector in the coil traveling direction of the coil conveying equipment in this order. (Minimum coil width to be conveyed), and when the front end of the transferred object passes the front end detection detector, the detection state of each detector of the rear end detection detector group Identify the last detector that is detecting the transferred object toward the upstream side, and after the front end of the transferred object passes the detector for detecting the front end, the rear end of the transferred object detects the specified last detector. The amount of movement of the transferred object before passing and the distance between the detectors Since the length of the conveyed object is calculated, the length of the conveyed object can be measured within a short conveying distance having a lower limit of the detector interval of the detector group for detecting the rear end, and a predetermined length. This makes it possible to accurately stop the transferred object at the stop position or the like.
【００１５】すなわち、図１に示すコイル搬送設備にお
いて、コイル10は、コイル搬送台車12によって、台車走
行レール14上をコイル載荷スキッド16へ向かって搬送さ
れる。この場合、コイル載荷スキッド16の中心とコイル
10の中心が合うようにコイル搬送台車12を位置制御し、
台車を正確に停止させる必要がある。コイル10の走行方
向には、例えば投光器群40A 及び受光器群40B で構成さ
れる後端検出用光電スイッチ群40（ここでは、搬送方向
に沿って43、42、41の３台で構成されている。）と、同
じく投光器30A 及び受光器30B からなる前端検出用光電
スイッチ30が、この順に配置されている。又、コイル搬
送台車12には、台車走行距離検出器24が設置されてお
り、これらの信号は台車制御用コントローラ50に入力さ
れている。特に、後端検出用光電スイッチ群40（41〜4
3）の光電スイッチの信号は、光電スイッチ選択手段51
に入力されており、前端検出用光電スイッチ30がオフと
なった時点（コイルの前端検出時点）で後端検出用光電
スイッチ群40が搬送方向上流側に向けてサーチされ、オ
フとなっている最終の光電スイッチ（最上流の光電スイ
ッチ）が選択される。That is, in the coil transfer equipment shown in FIG. 1, the coil 10 is transferred by the coil transfer carriage 12 on the carriage running rail 14 toward the coil loading skid 16. In this case, the center of the coil loading skid 16 and the coil
Position control of the coil carrier 12 so that the center of 10 is aligned,
It is necessary to stop the bogie accurately. In the traveling direction of the coil 10, for example, a rear-end detection photoelectric switch group 40 composed of a projector group 40A and a photodetector group 40B (here, three switches 43, 42, and 41 are arranged along the transport direction). ), And a front end detection photoelectric switch 30, which also includes a light emitter 30A and a light receiver 30B, is arranged in this order. Further, a bogie traveling distance detector 24 is provided on the coil carrier bogie 12, and these signals are input to a bogie control controller 50. In particular, the rear end detection photoelectric switch group 40 (41 to 4
3) The signal of the photoelectric switch of the photoelectric switch selection means 51
When the front end detection photoelectric switch 30 is turned off (the front end detection time of the coil), the rear end detection photoelectric switch group 40 is searched toward the upstream side in the transport direction and is turned off. The last photoelectric switch (the most upstream photoelectric switch) is selected.
【００１６】コイル10の進行と共に、光電スイッチ30、
41、42、43の出力が変化するが、光電スイッチ30による
コイル前端検知タイミングにおいて、上記で説明したよ
うに光電スイッチ41〜43のうち、オフとなっている最上
流の光電スイッチ（図２で例示するタイムチャートの場
合は、光電スイッチ42）が選択される。そして、その光
電スイッチによるコイル後端検知タイミングまで（ｔ1
〜ｔ2 ）のコイル10の移動距離Ａは、台車走行距離検出
器24で検出できるので、光電スイッチ30と42間の既知の
距離Ｂを用いて、コイル幅を（Ａ＋Ｂ）で演算できるこ
とになる。As the coil 10 advances, the photoelectric switch 30,
Although the outputs of 41, 42, and 43 change, at the coil front end detection timing by the photoelectric switch 30, among the photoelectric switches 41 to 43, as described above, the most upstream photoelectric switch (OFF in FIG. In the case of the illustrated time chart, the photoelectric switch 42) is selected. Then, until the coil rear end detection timing by the photoelectric switch (t 1
Moving distance A of the coil 10 of ~t 2) is can be detected by the carriage travel distance detector 24, using the known distance B between the photoelectric switch 30 42, becomes possible to calculating a coil width (A + B) .
【００１７】従って、光電スイッチ42からコイル載荷用
スキッド16の中心までの距離を、図１に示す如くＣとす
ると、光電スイッチ42でのコイル後端検知タイミングで
コイル搬送台車12の移動距離を（Ｃ−（Ａ＋Ｂ）／２）
と設定して、台車制御用コントローラ50でコイル搬送台
車12の停止位置を制御することにより、正確にコイル幅
を調芯して、コイル10の中心をコイル載荷用スキッド16
の中心に合わせて停止させることができ、簡素な装置構
成で、正確に被搬送物の長さを演算できるようになり、
短い搬送距離でも、正確に所定の位置に被搬送物を停止
させることができるようになった。Accordingly, assuming that the distance from the photoelectric switch 42 to the center of the coil loading skid 16 is C as shown in FIG. 1, the moving distance of the coil carrier 12 at the coil rear end detection timing by the photoelectric switch 42 is ( C- (A + B) / 2)
By controlling the stop position of the coil transfer carriage 12 by the carriage control controller 50, the coil width is accurately aligned, and the center of the coil 10 is positioned at the coil loading skid 16
Can be stopped in line with the center of the object, the length of the transferred object can be accurately calculated with a simple device configuration,
Even with a short transport distance, the transported object can be accurately stopped at a predetermined position.
【００１８】ここで、本発明において、被搬送物の測長
のための最小搬送距離は、後端検出用光電スイッチ群の
光電スイッチ間隔以上とすればよく、例えば、光電スイ
ッチをコイル幅の最小から最大の範囲において100mm 間
隔で配置したとすれば、被搬送物を最大でも100mm 移動
させるだけで測長が完了することになる。Here, in the present invention, the minimum transport distance for measuring the length of the object to be transported may be at least the interval between the photoelectric switches of the photoelectric switch group for detecting the rear end. If it is arranged at intervals of 100 mm in the maximum range, the length measurement will be completed only by moving the transported object by 100 mm at the maximum.
【００１９】[0019]
【発明の効果】本発明によって、簡素な装置構成で、ご
く小さい移動距離であっても、正確に被搬送物の長さを
演算できるようになり、ごく短い搬送距離でも、正確に
所定の位置に被搬送物を停止させることができることか
ら、被搬送物停止位置の直近に測長のための検知器を配
置でき、搬送設備の省スペース化に大きく貢献できるよ
うになった。According to the present invention, it is possible to accurately calculate the length of a conveyed object even with a very small moving distance with a simple apparatus configuration, and to accurately calculate a predetermined position even with a very short conveying distance. Since the transported object can be stopped immediately, a detector for length measurement can be arranged immediately near the transported object stop position, which can greatly contribute to space saving of the transport equipment.
【図１】本発明の実施形態の全体構成を示す（ａ）側面
図と、（ｂ）平面図である。FIGS. 1A and 1B are a side view and a plan view showing an entire configuration of an embodiment of the present invention.
【図２】光電スイッチの動作状態の変化を示すタイムチ
ャートである。FIG. 2 is a time chart showing changes in the operation state of the photoelectric switch.
【図３】従来の搬送位置の制御装置の全体構成を示す
（ａ）側面図と、（ｂ）平面図である。FIGS. 3A and 3B are a side view and a plan view showing an entire configuration of a conventional transport position control device. FIGS.
10 コイル 12 コイル搬送台車 14 台車走行レール 16 コイル載荷スキッド 20、22 検知器（光電スイッチ） 24 台車走行距離検出器 26 台車制御用コントローラ 30 前端検出用検知器（光電スイッチ） 40 後端検出用検知器（光電スイッチ）群 41、42、43 後端検出用検知器（光電スイッチ） 50 （本発明の）台車制御用コントローラ 51 検知器（光電スイッチ）選択手段 52 測長演算手段 10 Coil 12 Coil carrier trolley 14 Car trolley rail 16 Coil loading skid 20, 22 Detector (photoelectric switch) 24 trolley travel distance detector 26 trolley control controller 30 Front end detection detector (photoelectric switch) 40 Rear end detection (Photoelectric switch) group 41, 42, 43 Detector for detecting the rear end (photoelectric switch) 50 Controller for trolley (of the present invention) 51 Detector (photoelectric switch) selecting means 52 Length measuring means
フロントページの続き Ｆターム(参考） 3F027 AA01 AA10 CA02 CA03 CA04 DA02 EA01 FA04 FA12 FA17 4E026 DA05 DA16 DA20 5H303 AA02 AA14 BB01 BB06 BB11 CC01 DD01 EE04 FF01 GG02 GG20 HH01 HH09 QQ01 Continued on the front page F term (reference) 3F027 AA01 AA10 CA02 CA03 CA04 DA02 EA01 FA04 FA12 FA17 4E026 DA05 DA16 DA20 5H303 AA02 AA14 BB01 BB06 BB11 CC01 DD01 EE04 FF01 GG02 GG20 HH01 HH09 QQ01
Claims (2)
知するために搬送方向に沿って連設されたｎ（ｎ≧２）
組の検知器からなる後端検出用検知器群と、被搬送物の
前端の通過を検知する前端検出用検知器を、この順に、
後端検出用検知器群の少なくとも１つの検知器と前端検
出用検知器との間隔が被搬送物の最小長さよりも短い間
隔で配し、 被搬送物前端が前端検出用検知器を通過した時点で、後
端検出用検知器群のそれぞれの検知器の検知状態から、
搬送設備の上流側に向けて被搬送物を検知している最後
の検知器を特定し、 被搬送物前端が前端検出用検知器を通過してから被搬送
物後端がその特定した最後の検知器を通過するまでの間
の被搬送物の移動量と、それらの検知器の間隔から、被
搬送物の長さを算出し、 得られた長さから、被搬送物の基準位置を算出し、 該基準位置をもって被搬送物の搬送位置を制御すること
を特徴とする搬送位置の制御方法。An n (n ≧ 2) serially connected to a transfer facility along a transfer direction to detect passage of a rear end of a transferred object.
A rear-end detection detector group consisting of a set of detectors, and a front-end detection detector that detects the passage of the front end of the transported object, in this order,
The interval between at least one detector of the detector group for detecting the rear end and the detector for detecting the front end is arranged at an interval shorter than the minimum length of the transferred object, and the front end of the transferred object has passed the detector for detecting the front end. At the time, from the detection state of each detector of the detector group for rear end detection,
Identify the last detector that is detecting the transported object toward the upstream side of the transport equipment.After the front end of the transported object passes the detector for detecting the front end, the rear end of the transported object is the last detector specified. The length of the transferred object is calculated from the amount of movement of the transferred object before passing through the detectors and the interval between those detectors, and the reference position of the transferred object is calculated from the obtained length. And controlling the transport position of the transported object based on the reference position.
移動量を検出する手段を有する搬送装置において、 被搬送物の後端の通過を検知するために搬送方向に沿っ
て連設されたｎ組（ｎ≧２）の検知器からなる後端検出
用検知器群と、被搬送物の前端の通過を検知するための
前端検出用検知器を、この順に、後端検出用検知器群の
少なくとも１つの検知器と前端検出用検知器との間隔を
被搬送物の最小長さよりも短い間隔で配設し、 更に、被搬送物前端が前端検出用検知器を通過した時点
で、後端検出用検知器群のそれぞれの検知器の検知状態
から、搬送設備の上流側に向けて被搬送物を検知してい
る最後の検知器を特定するための検知器選択手段と、 被搬送物前端が前端検出用検知器を通過してから被搬送
物後端がその特定した最後の検知器を通過するまでの間
の被搬送物の移動量を算出し、該移動量とそれらの検知
器の間隔から被搬送物の長さを算出する測長演算手段
と、 該長さを基に被搬送物の基準位置を算出し、得られた被
搬送物の基準位置の情報を基に被搬送物の搬送位置を制
御する手段と、 を備えたことを特徴とする搬送装置。2. A transfer apparatus having means for transferring an object to be transported and means for detecting the amount of movement of the object to be transported, the apparatus being provided along the transport direction to detect the passage of the rear end of the object to be transported. A rear-end detection detector group consisting of n sets of detectors (n ≧ 2) and a front-end detection detector for detecting the passage of the front end of the transported object in this order The interval between at least one of the detectors and the detector for detecting the front end is arranged at a distance shorter than the minimum length of the transferred object, and further, when the front end of the transferred object passes through the detector for detecting the front end. A detector selecting means for specifying the last detector that is detecting an object to be transported toward the upstream side of the transport equipment from the detection state of each detector of the detector group for detecting the rear end; After the front end of the conveyed object has passed the front end detection detector, the rear end of the conveyed object is the last detection specified Length measuring means for calculating the amount of movement of the transferred object until passing through the detector, calculating the length of the transferred object from the amount of movement and the interval between the detectors, based on the length Means for calculating a reference position of the transferred object and controlling the transfer position of the transferred object based on the obtained information on the reference position of the transferred object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11002467A JP2000198527A (en) | 1999-01-08 | 1999-01-08 | Control method for conveying position and conveyor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11002467A JP2000198527A (en) | 1999-01-08 | 1999-01-08 | Control method for conveying position and conveyor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2000198527A true JP2000198527A (en) | 2000-07-18 |
Family
ID=11530129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11002467A Pending JP2000198527A (en) | 1999-01-08 | 1999-01-08 | Control method for conveying position and conveyor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2000198527A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102974614A (en) * | 2012-10-26 | 2013-03-20 | 武汉钢铁(集团)公司 | Upward rolling controlling device and automatic upward rolling controlling method for hot rolling temper mill |
| CN109733832A (en) * | 2018-12-20 | 2019-05-10 | 珠海格力智能装备有限公司 | A kind of mobile docking fail-safe system and method |
-
1999
- 1999-01-08 JP JP11002467A patent/JP2000198527A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102974614A (en) * | 2012-10-26 | 2013-03-20 | 武汉钢铁(集团)公司 | Upward rolling controlling device and automatic upward rolling controlling method for hot rolling temper mill |
| CN109733832A (en) * | 2018-12-20 | 2019-05-10 | 珠海格力智能装备有限公司 | A kind of mobile docking fail-safe system and method |
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