JP2007276962A - Conveying device - Google Patents

Conveying device Download PDF

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Publication number
JP2007276962A
JP2007276962A JP2006106419A JP2006106419A JP2007276962A JP 2007276962 A JP2007276962 A JP 2007276962A JP 2006106419 A JP2006106419 A JP 2006106419A JP 2006106419 A JP2006106419 A JP 2006106419A JP 2007276962 A JP2007276962 A JP 2007276962A
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Prior art keywords
article
lifting
vibration
lifting platform
control
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Pending
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JP2006106419A
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Japanese (ja)
Inventor
Yoshimasa Kobayashi
由昌 小林
Original Assignee
Murata Mach Ltd
村田機械株式会社
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Priority to JP2006106419A priority Critical patent/JP2007276962A/en
Publication of JP2007276962A publication Critical patent/JP2007276962A/en
Application status is Pending legal-status Critical

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Abstract

<P>PROBLEM TO BE SOLVED: To damp a conveying device in a lifting direction, and to reduce impact to an article in transfer between the conveying device and a transfer counterpart. <P>SOLUTION: Height of a lifting base is detected to determine natural frequency f2 between pulley lifting bases. The natural frequency between drum pulleys and the natural frequency f2 between the pulley lifting bases are controlled to be damped so as to reduce the control amount in these frequency areas. A lifting motor is driven to the vibration of the article after stopping of lifting so as to cancel natural vibration after stopping and deflection by advancement of a slide fork. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a transfer device such as a stacker crane or an overhead traveling vehicle, and more particularly to vibration control of a lifting platform.

  In a transfer device such as a stacker crane, vibration suppression in the traveling direction has been studied, but vibration suppression in the ascending / descending direction (height direction) has hardly been studied. The vibration control in the up-and-down direction is necessary because a large force may be applied to the article due to the shaking during the up-and-down movement, and there is a possibility that the load collapses especially when the article is conveyed in units of pallets. Next, there is a problem between waiting for the vibration to stop and extending the cycle time from the completion of the lifting to the execution of the transfer, or whether the transfer is performed while the lifting platform is vibrating. Here, when the transfer is started before the vibration of the lifting platform is settled and a transfer means such as a slide fork or a SCARA arm is used, the deflection of the transfer means due to the extension and the vibration of the lift are overlapped. As a result, the amplitude increases, the article collides with the shelf or station of the transfer partner, and the article may be impacted.

An object of the present invention is to effectively dampen the conveying device in the up and down direction.
An additional problem in the invention of claim 2 is to reduce the impact on the article when the article is delivered between the transfer device and the transfer partner.
An additional problem in the invention of claim 3 is to further reduce an impact when the article is transferred between the transfer device and the transfer partner.

  The present invention provides a device for supporting an article on a lifting platform and moving it up and down by a lifting control unit, and provides a means for determining the height position of the lifting platform, and is subject to vibration suppression according to the determined height position. The elevating control unit is configured to elevate the elevating platform while performing vibration suppression control while changing the natural frequency.

  Preferably, after raising and lowering the lifting platform to the height level of the other party to which the article is delivered, the lifting control unit lifts and lowers the lifting platform so as to cancel the vibration generated by the lifting and lowering.

  Preferably, the amount of vibration suppression control is increased when there is an article to be supported by the lifting platform than when there is no article supported.

  In this invention, paying attention to the fact that the natural frequency of the lifting platform changes according to its height position, the damping frequency is controlled by changing the natural frequency of the damping target according to the height position. The vibration in the height direction can be effectively suppressed.

  In the invention according to claim 2, since the article is delivered while suppressing the natural vibration generated by the raising and lowering after raising and lowering the lifting platform to the height level of the other party delivering the article, It is possible to suppress the impact from being impacted by the collision.

  The amplitude of the vibration of the elevator platform changes with weighting, and the amplitude increases as the weighting increases. According to the third aspect of the present invention, when there is an article on the lifting platform, the amount of vibration suppression control is increased compared to when there is no article, so vibration can be controlled more efficiently.

  In the following, an optimum embodiment for carrying out the present invention will be shown.

  The stacker crane 2 of an Example is shown in FIGS. The stacker crane 2 travels along a travel rail 4, and 6 is a lower carriage, which supports a mast 8 and includes a travel motor 10 and a lifting motor 12. The elevating motor 12 rotates the drum 14, winds or feeds a suspension material 18 such as a belt, a wire, and a rope, and elevates the elevating platform 20 along the mast 8. Reference numeral 16 denotes a pulley, for example, at the top of the mast 8, and the vibration in the height direction (lifting direction) of the lifting platform 20 is caused by the vibration caused by the suspension material between the drum 14 and the pulley 16 and between the pulley 16 and the lifting platform 20. It can be roughly divided into two types: vibration by suspension material. These vibrations are due to the elasticity of the suspension member 18 and the weight of the lift 20 and the article 24 on the lift 20. The elevator 20 is preferably provided with transfer means such as a slide fork 22, and a weight sensor such as a strain gauge is provided on the slide fork 22 to detect a change in weight due to the article 24 during transfer. Further, instead of the slide fork 22, a scalar arm or the like may be used.

  FIG. 2 shows the control system of the stacker crane 2 with the elevation control as the center. The height sensor 30 obtains the height position of the elevation table 20, which is provided on the encoder 16 provided on the pulley 16 or the like. Such as a laser height sensor. Instead of obtaining the height of the lifting platform 20 with the height sensor 30, the height position may be estimated from the driving amount of the lifting motor 12. Further, an acceleration sensor 31 may be provided on the lifting platform 20 to detect acceleration in the lifting direction.

  The vibration suppression control data storage unit 32 converts the height position of the lifting platform 20 into a natural frequency f2 due to a suspension material between the pulley and the lifting platform. In addition to this, the natural vibration of the lifting platform 20 includes vibration due to the elasticity of the suspension material between the drum 14 and the pulley 16, and the natural frequency thereof is substantially constant. Furthermore, the amplitude of the natural vibration of the lifting platform 20 varies depending on the acceleration / deceleration speed of the lifting platform 20. Therefore, the vibration suppression control data storage unit 32 stores data for correcting the magnitude of the control amount by the acceleration / deceleration. Furthermore, the phase of vibration of the lifting platform 20 is inverted by 180 ° due to the positive / negative acceleration / deceleration of the lifting platform 20. Further, the vibration suppression control data storage unit 32 stores data for correcting the control amount depending on the presence / absence of the article 24 on the lifting platform 20. Here, the control amount is changed depending on the presence / absence of the article 24, but the control amount may be corrected in more stages by the load applied to the lifting platform 20.

  The lifting / lowering speed pattern generation unit 33 generates a lifting / lowering speed pattern between the position of the lifting platform 20 at the start of lifting and lowering and the height level at which the article 24 is delivered. This raising / lowering is a book raising / lowering with a large stroke. As other lifts of the lifting platform 20, when delivering the article, the lifting platform 20 is slightly lowered to load and unload the article 24 from the slide fork 22 onto the station or shelf holder, or conversely the slide fork 22. In a state in which the article 24 is extended, the elevator 20 may be slightly raised to receive the article 24 from the station or shelf holder. These are short lifts with short strokes and low speeds. And the speed pattern of the slight elevation is constant.

  The pre-shaping unit 34 shapes the actual lifting speed pattern generated by the lifting speed pattern generation unit 33, and reduces the control amount in the frequency region around the natural frequencies f1 and f2. The pre-shaping unit 34 is a filter for suppressing vibrations in the natural frequency region during the main lifting, and prevents the collapse of the load during the main lifting and the vibration during the vertical lifting from being carried over during the slight lifting. The dynamic vibration control unit 35 dynamically controls the vibration by adding vibrations in the opposite phase to cancel the vibration in the height direction of the lifting platform. The dynamic vibration control unit 35 operates for vibration control during both the main lift and the slight lift. However, the dynamic vibration control unit 35 operates at least at the stage of the fine lift, and the slide fork is extended and the slide fork and the slide fork are Damping of other items. The dynamic vibration control unit 35 and the pre-shaping unit 34 have common operations, and the pre-shaping unit 34 may not be provided.

  The lift motor control unit 36 controls the lift motor to move the lift table up and down. In this vertical movement, the vertical movement speed pattern generated by the vertical movement speed pattern generation section 33 is corrected by the pre-shaping section 34, and a control amount by the dynamic vibration control section 35 is added thereto to drive the vertical movement motor. In order to cancel the natural vibration generated at the time of the main raising / lowering by the data of the dynamic vibration control unit 35 after the completion of the main raising / lowering, to control the opposite phase to the raising / lowering motor and to deliver the article to the rack or the station. The elevating motor is controlled so as to slightly elevate. In the fine lifting, the load on the lifting platform changes due to the delivery of the article, and thereby the amplitude of the natural vibration changes, so the control amount is changed depending on the presence or absence of the article. That is, stronger vibration control is performed when there is an article than when there is no article.

  The traveling motor control unit 40 controls the traveling motor 10 and performs vibration suppression control in order to perform vibration suppression in the traveling direction. The transfer control unit 41 controls the slide fork 22, and the lifting motor control unit 36 performs fine lifting in synchronization with the operation of the slide fork 22.

  FIG. 3 shows the lifting speed pattern of the lifting platform. The acceleration / deceleration speed of the lifting platform changes at four locations A to D in FIG. 3, and the change in the lifting velocity is made as smooth as possible at these locations, and control in the natural frequency region is avoided by the pre-shaping unit, Control is performed so as to cancel the natural vibration by the dynamic vibration control unit. In the region D, the slide fork is extended after the lifting / lowering of the lifting platform, the article is delivered and the slide fork is returned. Therefore, in the region D, the dynamic vibration control unit 35 performs control before the lifting platform is stopped, and the dynamic fork is also extended while the slide fork is extended, fine lifting for delivery of the article, and subsequent return. The vibration control by the vibration control unit 35 is continued.

  FIG. 4 shows the natural vibration of the lifting platform. The lifting / lowering base 20 has two natural vibration modes at a frequency f 1 due to the suspension material between the drum 14 and the pulley 16 and at a frequency f 2 due to the suspension material between the pulley 16 and the lifting / lowering base 20. The natural frequency f2 is determined by the height of the lifting platform 20, and the amplitudes of the two natural vibration modes vary depending on the presence or absence of the article 24, and the amplitude increases as the load applied to the lifting platform 20 increases. Therefore, in the pre-shaping unit 34, the acceleration / deceleration of the ascending / descending speed pattern is subjected to, for example, Fourier transform in the areas A to D in FIG. 3, and multiplied by the control gain in FIG. 4 so as to remove the components of the frequencies f1 and f2, and inverse Fourier transform is performed. To do. Since the natural vibration caused by the suspension material between the pulley 16 and the lifting platform 20 has a larger amplitude than the natural vibration caused by the suspension material between the drum 14 and the pulley 16, the pre-shaping for the natural frequency f1 may be omitted.

  FIG. 5 shows a vibration suppression model of the embodiment. When the elevator is moved up and down, vibration is generated. In an extreme case, load collapse occurs during the elevator, and it is necessary to suppress the vibration of the elevator. Even if the lifting platform stops to deliver articles to and from the rack or station, it takes time for the natural vibration of the lifting platform to settle. It is sufficient to be able to wait sufficiently during this time, but this will increase the cycle time. Therefore, if the slide fork is extended before the vibration is stopped, the article on the slide fork vibrates in the height direction. When the slide fork is extended, the slide fork is deflected by the gravity from the article, and the center position of the vibration changes. In addition, the bending of the slide fork means that the slide fork shifts from an unstable state (before bending) to a stable state (bending state). Vibration occurs. This natural frequency is large when there is no article, and is small when there is an article. In general, the weight of the article is almost constant. Therefore, if the lifting platform is stopped at a position where deflection is not taken into account, and delivery is performed before the natural vibration of the lifting platform is settled, the article will be placed on the shelf holder due to the natural vibration of the lifting platform and the deflection and natural vibration of the slide fork. Colliding with the station and damaging the article. The amplitude due to the natural vibration of the lifting platform changes due to gravity applied to the slide fork, and the larger the load, the larger the amplitude. For this reason, when an article is delivered to a shelf holder or a station, the amplitude changes due to a load change.

  In the embodiment, the vibration of the lifting platform during the main lifting is suppressed, and the vibration when delivering the article is also suppressed. Suppression of vibration when delivering the article is performed by anti-phase control by the dynamic damping unit 35, and the phase of the natural vibration after stopping the lifting platform is measured and stored, or by a height sensor or an acceleration sensor, The phase of natural vibration is measured each time. The natural vibration of the article on the slide fork is obtained by superimposing the natural vibration of the slide fork on the natural vibration of the lifting platform, and the control of the reverse phase is applied to the lifting motor so as to cancel each natural vibration. Further, the lift motor is driven so as to cancel the deflection caused by the extension of the slide fork as the transfer means, or the lift platform is stopped at a position higher than the original delivery position by the deflection of the transfer means. When the article is delivered, the amplitude of the natural vibration of the lifting platform and the natural frequency of the slide fork change, and the control amount of the antiphase control is changed accordingly. Further, the lifting motor is driven so as to absorb the deformation of the slide fork immediately after delivery of the article. For example, when unloading an article, if the unloading is performed, the deflection is reduced. Therefore, the lifting platform is lowered so as to cancel this. When an article is loaded, the deflection of the slide fork increases, and the elevator platform is raised to compensate for this. Note that the deflection correction control during loading may be omitted. Further, the anti-phase control for damping the natural frequency of the slide fork may be omitted.

  FIG. 6 and FIG. 7 show the vibration damping control algorithm of the lifting platform in the height direction. The vibration suppression control is executed in the four vibration suppression areas A to D in FIG. 3, and the height of the lifting platform is converted into the natural frequency f2 in each area, and the control amount is determined from the acceleration / deceleration and the load. Note that the phase of the natural vibration differs by 180 ° between when the acceleration / deceleration is positive and when it is negative. Next, the acceleration / deceleration pattern is processed by the pre-shaping filter shown in FIG. 4, and the components near the natural frequencies f1, f2 are cut to correct the ascending / descending speed pattern. A control amount of anti-phase control for canceling the natural vibration is added to this, and the lifting motor is driven. When the transfer position is reached, the vertical movement is stopped, and for example, the transfer means is extended without waiting for the natural vibration after the vertical movement to stop. Then, the elevator platform is moved up and down so as to cancel the vertical vibration of the elevator platform after the stop and the deflection and natural vibration caused by the extension of the transfer means (slide fork). Next, if the lifting platform is slightly moved up and down for transfer or at the same time as the slide fork is extended and the transfer is performed, the deflection changes according to the change in load, and the amplitude of the natural vibration of the lift changes. Then, the lift motor is driven to correct this. Here, in order to accurately detect the moment of transfer, it is preferable to provide a strain gauge or the like (not shown) on the slide fork 22. Next, the transfer means is returned, and when the return is completed, the vibration suppression control is also ended.

In the embodiment, the following effects can be obtained.
1) Vibration control in the up-and-down direction of the lifting platform can be performed to prevent load collapse during the actual lifting.
2) The natural vibration during the vertical movement can be quickly eliminated by anti-phase control, and the waiting time until the delivery of goods can be reduced.
3) Since the natural vibration is canceled by the anti-phase control when delivering the article, it is possible to prevent the article from colliding with the shelf holder or the station.
4) Collisions between articles and shelf holders and stations due to deflection of slide forks can be prevented.
5) The strength of the anti-phase control can be changed according to the change in the amplitude of the natural vibration caused by the load change on the platform and slide fork. In particular, it is possible to perform vibration suppression control corresponding to the amplitude change when the article is delivered.

Although the vibration damping control of the stacker crane 2 has been described in the embodiment, the same vibration damping control can be performed on an overhead traveling vehicle that lifts and lowers the lifting platform with a suspension material. The phase of the natural vibration of the lifting platform and slide fork necessary for the reverse phase control can be obtained by, for example, test lifting / lowering or test transfer.

Side view of an example stacker crane The block diagram which shows the raising / lowering control system of the stacker crane of an Example Schematic diagram showing the lifting pattern in the stacker crane of the embodiment The schematic diagram which shows the pre-shaping control with respect to the raising / lowering in an Example The figure which shows the model of the vibration suppression control of the raising / lowering direction in an Example The flowchart which shows the vibration suppression control algorithm of the raising / lowering direction in an Example The flowchart which shows the damping control algorithm after the connector A of FIG.

Explanation of symbols

2 Stacker crane 4 Traveling rail 6 Lower carriage 8 Mast 10 Traveling motor 12 Lifting motor 14 Drum 16 Pulley 18 Lifting material 20 Lifting base 22 Slide fork 24 Article 30 Height sensor 31 Acceleration sensor 32 Damping control data storage unit 33 Lifting speed Pattern generator 34 Pre-shaping unit 35 Dynamic damping unit 36 Lift motor control unit 40 Travel motor control unit 41 Transfer control unit

Claims (3)

  1. In the transport device that supports the article on the lifting platform and moves up and down by the lifting control unit,
    A means for obtaining the height position of the lifting platform is provided, and the lifting platform is raised and lowered while performing damping control while changing the natural frequency of the damping target according to the obtained height position. A conveying apparatus comprising an elevation control unit.
  2. After raising and lowering the elevator to the height level of the other party that delivers the article, the elevator controller raises and lowers the elevator so as to cancel vibration generated by the raising and lowering, and performs damping control The transfer device according to claim 1.
  3. 3. The transport device according to claim 1, wherein when there is an article to be supported by the lifting platform, the amount of vibration suppression control is increased as compared with the case where there is no article.
JP2006106419A 2006-04-07 2006-04-07 Conveying device Pending JP2007276962A (en)

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JP2006106419A JP2007276962A (en) 2006-04-07 2006-04-07 Conveying device

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JP2006106419A JP2007276962A (en) 2006-04-07 2006-04-07 Conveying device

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013503802A (en) * 2009-09-15 2013-02-04 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh Cargo truck with height-adjustable lift device
JP2013139308A (en) * 2011-12-28 2013-07-18 Mitsubishi Heavy Ind Ltd Industrial vehicle
JP5967741B1 (en) * 2015-11-27 2016-08-10 有限会社Tatsumiハイテク Conveying device and vibration suppression control method thereof
US9624061B2 (en) 2015-02-02 2017-04-18 Ricoh Company, Limited Sheet processing device, image forming system, and computer-readable storage medium
CN108100552A (en) * 2017-12-20 2018-06-01 安徽蜂献蜂业有限公司 A kind of honey pot dedicated storage means

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6194905A (en) * 1984-10-12 1986-05-13 Hitachi Ltd Adaptive travel control system for stacker crane
JPH0873008A (en) * 1994-09-06 1996-03-19 Hitachi Ltd Position control method for braked machine
JP2000351414A (en) * 1999-06-10 2000-12-19 Murata Mach Ltd Position detecting device
JP2002012399A (en) * 2000-03-31 2002-01-15 Iveco Magirus Ag Control of turntable ladder
JP2002134583A (en) * 2000-10-24 2002-05-10 Tokyo Electron Ltd Substrate conveying apparatus
JP2005278224A (en) * 2004-03-22 2005-10-06 Toshiba Elevator Co Ltd Elevator controller

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6194905A (en) * 1984-10-12 1986-05-13 Hitachi Ltd Adaptive travel control system for stacker crane
JPH0873008A (en) * 1994-09-06 1996-03-19 Hitachi Ltd Position control method for braked machine
JP2000351414A (en) * 1999-06-10 2000-12-19 Murata Mach Ltd Position detecting device
JP2002012399A (en) * 2000-03-31 2002-01-15 Iveco Magirus Ag Control of turntable ladder
JP2002134583A (en) * 2000-10-24 2002-05-10 Tokyo Electron Ltd Substrate conveying apparatus
JP2005278224A (en) * 2004-03-22 2005-10-06 Toshiba Elevator Co Ltd Elevator controller

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013503802A (en) * 2009-09-15 2013-02-04 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングRobert Bosch Gmbh Cargo truck with height-adjustable lift device
JP2013139308A (en) * 2011-12-28 2013-07-18 Mitsubishi Heavy Ind Ltd Industrial vehicle
US9624061B2 (en) 2015-02-02 2017-04-18 Ricoh Company, Limited Sheet processing device, image forming system, and computer-readable storage medium
JP5967741B1 (en) * 2015-11-27 2016-08-10 有限会社Tatsumiハイテク Conveying device and vibration suppression control method thereof
CN108100552A (en) * 2017-12-20 2018-06-01 安徽蜂献蜂业有限公司 A kind of honey pot dedicated storage means

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