JP2522647Y2 - Cart position detection device - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a position detecting device of a transporting trolley, particularly when a trolley moves by using a plurality of driving devices, such as a drawer of a mill stand. The present invention relates to a bogie position detecting device.

[Prior Art] Conventionally, in a transport device such as a rolling mill, a plurality of bogie drive devices are provided on the ground side at a distance, and the drive devices are sequentially connected by a meshing mechanism of a pinion gear and a rack. The bogie is moving. In such a transport device, it is necessary to accurately detect the position of the bogie in order to appropriately control the start, acceleration, deceleration, and stop of the movement of the bogie, and a position detecting means for that is provided. . Conventionally, as such a position detecting means, limit switches as position sensors are respectively arranged at necessary places in a range where the bogie moves, for example, at a place where the moving speed of the bogie is to be changed, and at the position of the arranged limit switches. When the truck arrives, the limit switch is operated, and the on / off state of the limit switch is detected to identify the position of the truck.

[Problem to be Solved by the Invention] The conventional position detecting device of the transporting trolley is configured as described above, and in particular, uses a limit switch, so that the following problems occur.

(1) It is necessary to properly position and install a large number of limit switches within the moving range of the bogie, which takes much time and effort.

(2) The bogie becomes quite heavy, and the bogie is inevitably rattled by the movement, which often damages the lever of the limit switch, and requires much labor for maintenance such as replacing the lever. It costs.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve the problems of the above-described conventional example and to provide a bogie position detecting device in which installation and maintenance of a bogie moving position detecting means are easy.

[Means for Solving the Problems] In order to achieve the above object, the position detecting device of the present invention electrically detects the position of the bogie instead of arranging a plurality of mechanical limit switches on a plurality of tracks. Detecting means, the position detecting means comprises a bogie movement detecting means arranged in each of the driving devices and a bogie absolute position signal calculating means for outputting a signal representing an absolute position of the bogie from a predetermined reference point, Every time the truck arrived at the position where the driving device was installed and changed over, the output from the movement detecting means arranged in the driving device operating at that time, and the vehicle was moved by the driving device up to the preceding stage. It is characterized in that the absolute position of the bogie at any time can be detected by a signal indicating the absolute position which is the moving amount of the bogie.

Embodiment An embodiment of the present invention will be described with reference to FIGS.

FIG. 1 shows a principle explanatory view for explaining the position detecting device of the present invention, wherein 1 is a bogie, 21 and 22 are bogie driving devices, 3 is an adjustment sensor, and 4 is a rail as a track of the bogie. Are respectively shown. The cart 1 has a rack 11 and an appropriate number of wheels 12, and is configured to be able to move on the rails 4 by the wheels.

The bogie drive is provided in two places in this example,
Each of the carriage driving devices 21 and 22 is provided with pinion gears 211 and 221 that mesh with the rack 11 attached to the carriage,
Together with the speed reducers 212 and 222 and the drive motors 213 and 223, a truck driving means is configured. Movement detectors 214 and 224 that output signals in accordance with the movement of the carriage moved by the drive units are added to the respective carriage drive units. The detector is configured to rotate the pinion gears 211, 221 or drive motors 213, 223.
Is detected, and a pulse signal having a cycle corresponding to the rotation is output, and a signal proportional to the moving distance of the bogie is obtained by integrating this pulse signal in a bogie absolute position signal calculation circuit described later. Can be obtained.

Also, in the figure, L ₀ and L ₃ indicate installation locations of the bogie driving device,
L ₁ and L ₅ indicate the movable range of one end 11 of the carriage 1, L ₂
The installation position of the adjustment sensor, L ₄ represents a carriage of the tip portion 11 when the carriage 1 is located on both the carriage drive devices 21 and 22, respectively. Note the reference point L ₀ in this example, L ₁ ~L ₅ is assumed to represent a distance value as the respective position from the reference point.

When the carriage 1 is in the range of L _{0 to} L ₄ , the drive is controlled by the driving device 21. In the case of the range of L _{4 to} L ₅ , the driving device is
Is controlled by the 22, trolley are those Noritsugu from the drive unit 21 when the tip 11 has reached the position of L ₄ to the drive unit 22.

FIG. 2 shows a bogie absolute position calculation circuit for receiving outputs from the movement detectors 214 and 224 and the adjustment sensor 3 and outputting a bogie absolute position signal.

In the figure, reference numerals 511 and 521 denote distance counters as synchro / digital converters, 512 and 522 denote digital comparators, and 53 denotes a selector. Comparator 512, 522 value L
₄ is set as a reference value, the output of the counter 511 and 521 output becomes the L ₄ timing signals to each other counter. Each counter, L ₄ receives the timing signal is loaded. Note counter 511 further, L ₂ is loaded by the output from the adjustment sensor 3. The selector 53 is controlled by each of the comparators 512, 522 and the adjustment sensor 3 to selectively output a calculated value from the latest loaded distance count.

The output of the arithmetic circuit is sent to a central control unit (not shown) and used as a bogie absolute position signal for controlling the drive motors 213 and 223.

The operation of the truck position detecting device configured as described above will be described below.

The carriage 1 starts moving from the position indicated by the broken line on the left side in the direction of arrow 1 by the driving device 21, and the carriage 1 is moved by appropriate rotation of the motor 213. When the carriage 1 advances and its tip 11 reaches the adjustment sensor 3, the sensor 3 detects it, and the detection output indicates that the distance counter 511 has L.
₂ is loaded, the distance counter 511 from that point will be added in accordance with the movement of the carriage to the output of the movement detector 214 from the value of L _2. At this time, the selector 53
Since the control is set by the output of the adjustment sensor 3 so as to allow the signal from 1 to pass, the distance signal from the distance counter 511 is output as a bogie absolute position signal via the selector 53 to control the moving speed of the bogie. Will be used.

Further, when the bogie advances in the direction of arrow 1 and the bogie 1 reaches the position indicated by the solid line, the bogie is positioned on both the driving devices 21 and 22. At that time, the output of the distance counter 511 becomes L. It becomes ₄ . Therefore, the value of the counter by the comparator 512 is detected that has become L _4, a comparator
Distance counter 521 to adjust the signal L ₄ is loaded by a timing signal from the 521.

From this point, the carriage 1 is driven and controlled by the driving device 22, and the distance counter 521 is controlled by the movement detector 224.
Operative to sequentially added to the L ₄ by the output from. At this time, since the selector 53 is selected to pass the output of the distance counter 521 by the timing signal of the counter 512, the output signal of the distance counter 521 is also
As in the case of 11, it is output as a bogie absolute position signal via the selector 53.

And by the operation of the drive unit 22, carriage moves further, the position shown in the right dashed line in FIG. 1, i.e. the distal end portion 11 of the carriage is driven and controlled to stop at the position L _5, truck stops At this point, the count value of the distance counter 512 is L ₅
It has become.

Then, when the carriage is moved in the direction of arrow 2 from a position the stop, the output of the distance counter 521 are sequentially subtracted from the output from the motion detector 224, it by the comparator 522 when the value becomes L ₄ detected by the timing signal is output to the distance counter 511, whereby the value L ₄ in counter 511 is set. Then, the distance counter 511 is sequentially subtracted by the signal from the movement detector 214, and the bogie is moved at an appropriate speed based on the bogie absolute position signal output from the distance counters 511 and 512 via the selector 53. , Stop at the position indicated by the broken line on the left side of FIG.

Although the above description has been made with emphasis on the detection of the position of the bogie, if the present invention is applied to a drawing device of a mill stand, for example, the relationship between the moving speed and the position of the bogie is shown in FIG. Since the signal can be generated, the movement of the cart can be accurately controlled.

In the above embodiment, the driving device is provided only at two places for the sake of simplicity, but the driving device is not limited to this.
Needless to say, they are arranged at appropriate places at intervals corresponding to the length of the bogie or less according to the bogie track length.

[Effects of the Invention] Since the present invention is configured as described above, the following effects can be obtained.

(1) By providing a movement detector for each driving device and employing an electric position detection means, the number of position detectors can be significantly reduced, and the position signal of the bogie at any position can be accurately detected. And it can be obtained easily.

(2) Since the position signal (absolute position signal) of the cart can be easily obtained, the position of the cart can be easily adjusted, and the running pattern of the cart can be easily changed. Optimal driving is possible.

(3) Since a mechanical limit switch is not used for position detection, the rate of malfunctions is small and the maintainability of the device is improved.

[Brief description of the drawings]

FIG. 1 is an explanatory view showing the relationship between a truck and a driving device in an embodiment of the present invention, FIG. 2 is a circuit diagram showing a configuration of a truck absolute position calculating circuit, and FIG. It is explanatory drawing which shows an example of a relationship. DESCRIPTION OF SYMBOLS 1 ... Dolly, 21, 22 ... Driving device 214, 224 ... Movement detector 3 ... Adjustment sensor 4, ... Rail 511, 521 ... Distance counter 512, 522 ... Comparator 53 ... Selector

Claims (1)

(57) [Scope of request for utility model registration] 1. A plurality of driving means provided along a track sequentially move to advance on the track by transiting the driving means.
In a position detecting device for detecting an absolute position of a bogie controlled to move backward from a predetermined reference point, a pulse signal having a frequency proportional to a moving speed of the bogie by each of the driving means is provided in each of the driving means. And a reversible counter provided corresponding to each of the movement detecting means, wherein a count value corresponding to the absolute position of the carriage moved by the driving means up to the preceding stage is loaded,
Each time a pulse signal is output from the corresponding movement detection means, the count value is incremented or decremented according to the moving direction of the bogie, and the count values of the respective reversible counter means are input. Selecting means for selecting the count value of the reversible counter corresponding to the driving means and outputting as a bogie absolute position signal corresponding to the current absolute position of the bogie. .