JP2577885B2 - Travel control device of transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a transport device that travels along a fixed path such as a self-propelled transport vehicle or a traveling crane, and in particular, is transmitted at time intervals proportional to the traveling speed. The present invention relates to a travel control device of a transport device having a pulse count value as a travel distance value from an origin position and performing travel control based on the pulse count value.

(Prior Art) The traveling control system of the transport device as described above is generally called a pulse encoder system. The transport device has a pulse encoder such as a pulse encoder that emits pulses at time intervals proportional to the traveling speed. A pulse transmission means and a control device are mounted, and a pulse count value corresponding to a distance from the origin position on the traveling route to each arbitrarily set stop position is set and stored in advance by learning, and is input to the control device. The number of stored pulses corresponding to the destination stop position and the count value of the pulses transmitted by the travel of the transport device are compared and calculated, and the shift and braking of the transport device are controlled in accordance with the difference, so that the transport is performed. The apparatus is to be automatically stopped at a target stop position.

(Problems to be Solved by the Invention) In the control system of the pulse encoder system as described above, there is no need to install a code plate or the like having a fixed address for each stop position, and the stop position can be arbitrarily set on the traveling route. , Or can be changed or increased or decreased, but has the following problems.

That is, when an unexpected power outage occurs during the movement of the transport device and the transport device stops, the counting function of counting the transmitted pulses of the pulse encoder (generally counting by a counting program of a microcomputer) is also used. The pulse count value indicating the current position at that time becomes unusable due to the expiration and disappears.

Therefore, even if the power is restored, the current position of the transport device is unknown, so that the transport device is once returned to the origin (generally, one end of the travel route) and the pulse count value is reset to zero or a predetermined value. Then, the transport device must be moved again to the target stop position. For this reason, especially when the entire length of the traveling route is long and the transport device is at the end of the traveling route, a significant time loss occurs before recovery to a normal state, and a significant reduction in work efficiency is unavoidable.

(Means for Solving the Problems) The present invention proposes a traveling control device for a transport device that can solve the above-described problems, and the features of the embodiments are described in parentheses with reference numerals in embodiments described later. In FIG. 2, the member to be detected (11), the pulse transmitting means (10), and the detector (1
2) and a control device (15), and the detected member (11) is provided on a traveling route of the transport device (1),
Arranged at appropriate intervals so that the distance between the front and rear adjacent detected members (11) is different from each other, and divides the traveling route into a plurality of zones... (1), a pulse is transmitted at a time interval inversely proportional to the traveling speed of the transport device (1), and a detector (12) is provided in the transport device (1) to detect the detected member (11). The control device (15) is provided in the transport device (1), and controls the number of pulses [50
..., and the number of pulses [5000, 101] corresponding to the distance from the origin position on the traveling route to each detected member (11).
..], And during normal traveling, the traveling distance from the origin position on the traveling route is obtained from the pulse count value of the pulse transmitting means (10), and the transport device ( The traveling control of 1) is performed, and when traveling for detecting the position of the transporting device after the pulse count value has disappeared due to a power failure or the like, the second detected object signal from the first detected member detection signal by the detector (12). The number of pulses transmitted by the pulse transmitting means (10) up to the detection member detection signal is counted, and the counted value and the stored number of pulses corresponding to the distance between the detected members [5000,510
0,5200...], And when the detector (12) detects the detected member (11) in the zone next to the identified zone, the pulse count value at that time is stored. The number of pulses corresponding to the distance between the detected member (11) and the origin is [5000, 10100, 15300,...].

(Embodiment) An embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1, reference numeral 1 denotes a suspended-transport-type monorail train-type transport device, which includes a drive trolley 4 having drive wheels 3 fitted to a guide rail 2, a driven trolley 6 having driven wheels 5, and a drive wheel 3. It comprises a motor 7 to be driven, a hanger frame 8 hung on the guide rail 2 via both trolleys 4 and 6, and a transferred object support 9 provided on the hanger frame 8.

10 is a pulse transmission means such as a pulse encoder linked to the driven wheel 5 and 11 is a plate-shaped member to be detected, and the guide rail 2 is arranged so that the plate surface is parallel to the length direction of the guide rail 2. Attached to. Reference numeral 12 denotes a detector for detecting the detected member 11, which is attached to the hanger frame 8. Reference numeral 13 denotes a power supply and control signal transmission / reception rail laid on the side surface of the guide rail 2. Reference numeral 14 denotes a current collection unit which slides on the rail 13 and is attached to the drive trolley 4. The pulse transmitting means 10 may be connected to the driving wheel 3 in an interlocked manner, or a dedicated wheel for the pulse transmitting means may be separately provided and connected to this.

As shown in FIG. 2, a transport device 1 includes a control device 15 including a microcomputer and the like, and a drive wheel 3.
And a controller 16 of the motor 5 for driving the motor. As shown in FIG. 3, the detected members 11 are disposed at appropriate intervals along the traveling route so that the distance between the front and rear adjacent detected members is different from each other, and the traveling routes are formed by a plurality of members having different lengths. The zone of .... is divided. Further, a large number of stop positions (1), (2),... Are set on the travel route regardless of each travel zone.

Next, the learning operation and the function of the control device 15 will be described. The control device 15 includes a mileage detection counting function 17 for counting the transmitted pulses of the pulse generation means 10 so as to add them when moving forward and subtract them when marching, and a detector. There is provided a zone number detection counting function 18 for counting the 12 detection signals so as to add them when moving forward and subtract them when moving.

In the learning operation, first, the transport device 1 is positioned at the origin position at one end of the travel path, and the count values of the counting functions 17 and 18 at this time are set to be zero or a predetermined value. In this state, when the transport device 1 is moved forward by rotating the drive wheel 3 by the motor 7, the pulse transmission means 10 that operates in conjunction with the rotation of the driven wheel 5 causes the pulse transmission means 10 to operate at a time interval inversely proportional to the traveling speed of the transport device 1. Send a pulse. Thus, the pulse count value in the counting function 17 when the transport device 1 is at the fixed position with respect to each of the stop positions (1), (2)... Set on the travel route (proportional to the travel distance from the origin position) Is stored in the storage unit 19 as each stop position learning value, and the pulse counter in the counting function 17 when the detector 12 detects each detected member 11 (when the detection signal rises or falls). The numerical value is stored in the storage unit 19 in association with the count value in the counting function 18, that is, each detected member number, as an origin-detected member distance learning value.

When the transport device 1 travels in each traveling zone, the detected member 11 at the zone start position is detected by the detector.
From the pulse count value in the counting function 17 when 12 is detected and the pulse count value in the counting function 17 when the detector 12 detects the detected member 11 at the zone end position,
The number of pulses corresponding to the distance between the detected members (the length of each traveling zone...) Is calculated, and the calculated number is used as the learned distance between the detected members [5000] [5100] [5200]. Is stored.

The control during the actual operation of the transport device 1 is performed as follows. That is, when the destination stop position of the transport device 1 is set, the storage unit 19 retrieves the stop position learning value corresponding to the destination stop position. For example, if the destination stop position is the stop position (4) in FIG. 3, the learning value [16300] corresponding to the stop position (4) is retrieved from the storage unit 19.
Then, the current position-corresponding pulse count value in the counting function 17 and the destination stop position learning value [16300] are compared by the calculating function 20, and a traveling direction, a shift, and a braking command corresponding to the difference are given to the motor controller 16, and Apparatus 1
Travels toward the set destination stop position (4) and is automatically shifted, and the destination stop position (4)
Is braked so as to stop with a predetermined accuracy. Therefore, when the transport device 1 stops at the destination stop position (4), the current position-corresponding pulse count value in the counting function 17 matches the destination stop position learning value [16300] or is within the allowable error range.

When the detector 12 detects the detected member 11 during traveling of the transport device 1, that is, every time the detected member number detected by the counting function 18 changes, the correction function 21 corresponds to the detected member number. The learning value of the distance between the origin and the member to be detected is retrieved from the storage unit 19, and the pulse count value corresponding to the current position in the counting function 17 at that time is replaced and corrected with the retrieved learning value. Therefore, even if an error occurs between the current position of the transport device 1 and the current position-corresponding pulse count value in the counting function 17 due to slippage of the driven wheel 5 linked to the pulse transmitting means 10 or malfunction of the pulse transmitting means itself, Each time the device 1 passes through the position corresponding to each detected member 11, the current position corresponding pulse count value is automatically corrected to the learning value,
It does not happen that errors accumulate and the stop position accuracy of the transport device 1 decreases.

When the power is turned off during the travel of the transport device 1 and the transport device 1 stops on the travel route, and the count values in the counting functions 17 and 18 disappear, the current position of the transport device 1 becomes unknown. The position detection method in this case will be described below.

When the power is restored, first, the transport device 1 is moved forward, for example. Assuming that the transporting apparatus 1 has been stopped in the zone shown in FIG. 3 due to the power failure, the forward and backward movement of the transporting apparatus 1 causes the first and second detected members 11, that is, the workpieces located at both ends of the zone. The arithmetic function 22 shown in FIG. 2 calculates a pulse count value corresponding to the travel distance while the detecting member 11 is detected by the detector 12.

That is, as shown in the flowchart of FIG.
The detected member 11 (the detected member at the beginning of the zone
11) When the detector 12 detects the pulse count value in the counting function 17 is reset to zero, and then the second detected member is detected.
By reading the pulse count value of the counting function 17 when the detector 12 detects 11 (the detected member 11 at the start end of the zone), the pulse count value corresponding to the distance between the detected members 11 at both ends of the zone is obtained. [5200] is obtained. Of course, the pulse count value of the counting function 17 is temporarily stored when the first detected member is detected, and the difference between the pulse count value and the stored count value in the counting function 17 when the next detected member is detected is calculated by the calculation function 22. Thus, a pulse count value [5200] corresponding to the distance between the detected members 11 at both ends of the zone is obtained.

The pulse count value [5200] obtained in this way is
The learned function [5000] [5100] [5200]... Stored in the storage unit 19 is compared with the arithmetic function 22 to search for a matching zone number. As a result, it is clear that the transport device 1 has passed through the zone and entered the zone. Based on the search result, the count value of the counting function 18 is changed to the detected member corresponding to the detected member 11 between the zones. If the number is set to the number, when the transport device 1 continues to move forward and the detector 12 detects the third detected member, that is, the detected member 11 between the zones, the correction function 21 as described above is performed. Is the learning value of the distance between the origin and the detected member corresponding to the detected member number between zones [5000
+ 5100 + 5200 + 5300 = 20600] is detected from the storage unit 19, and the pulse count value corresponding to the current position in the counting function 17 at that time is replaced and corrected with the learned distance between the origin and the detected member [20600]. This correction restores the expected state in which the current position of the transport device 1 and the pulse count value in the counting function 17 coincide with each other.
Can be stopped to end the countermeasure work at the time of power recovery.

Regardless of the traveling direction of the transport device 1, the counting function 18 is advanced when the signal of the detector 12 rises, and the pulse value of the current position corresponding to the current position in the counting function 17 is calculated when the signal of the detector 12 falls. It is also possible to program so as to perform replacement correction to the inter-member distance learning value. In this case, without causing the transport device 1 to travel to the position where the third detected member 11 is detected, when the signal of the detector 12 falls after detecting the second detected member 11, the counting function 17 Corrections can be made to restore the pulse count to the desired state.

In addition, another detector for detecting that the transporting device 1 has reached the origin position or the end position at one end of the traveling route and the detected member are installed, and during the operation of restoring the counting functions 17 and 18 to the expected state. When the origin position or the end position of one end of the traveling route is detected, control may be performed such that the count values of the counting functions 17 and 18 are immediately corrected to the learning value set corresponding to the origin position or the end position. it can.

Furthermore, the traveling position can be continuously detected even when the transport device 1 is traveling in a normal state, and it can be continuously checked whether or not the transport device 1 is located in the zone with the present.

(Operation and Effect of the Invention) As described above, according to the present invention, at the time of detecting the position of the transfer device, a pulse is transmitted from the first detected member detection signal to the second detected member detection signal by the detector (12). The number of transmitted pulses of the means (10) is counted, and the counted value and the stored number of pulses corresponding to the distance between the detected members [5000, 5100, 5200
..], The zone is identified, and the detected member (11) of the zone next to the identified zone (the detected member need not be at the end of the next zone as described above, When the detector (12) detects the detected member at the start end), the pulse count value at that time is stored as the distance between the stored detected member (11) and the origin. Since the number of pulses is replaced by [5000, 10100, 15300 ...], when the current position of the transport device, that is, the pulse count value corresponding to the travel distance from the origin is unknown due to power-off, the transport device concerned It is not necessary to return the origin to the origin. At that time, the pulse count value is calculated by the distance from the origin to the current position of the transfer device by simply moving the three detected members away from the zone to which the transfer device belongs. Automatic recovery equivalent to Can be done.

In other words, the transport device traveling control pulse count value (pulse count value corresponding to the distance from the origin to the current position), which becomes unknown due to power-off, is quickly and accurately recovered without returning the transport device to the origin. You can do it. Therefore, even if the traveling route is very long and the transport device is located near the end of the traveling route,
The time loss required to restore the transport device travel control pulse count value to the expected state can be greatly reduced, and work efficiency can be improved.

Moreover, there is an advantage that the same member can be used as the member to be detected.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an example of a transport device, FIG. 2 is a block diagram illustrating a control mechanism, FIG. 3 is a diagram illustrating an arrangement of detected members on a traveling route, and FIG. It is a flowchart explaining a control procedure. DESCRIPTION OF SYMBOLS 1 ... Conveying apparatus, 2 ... Guide rail, 3 ... Drive wheel, 5 ... Driven wheel, 7 ... Motor, 10 ... Pulse transmission means, 11 ... Detected member, 12 ... Detector, 15 ... Control device, 16 ... Motor controller, 17,18 ... Counting function, 19 ... Storage unit, 20,22 ... Calculation function, 21 ... Correction function.

Claims (1)

(57) [Claims] A member to be detected (11) and pulse transmitting means (1)
0), a detector (12), and a control device (15), and the detected member (11) is provided between the detected members (11) adjacent to each other on the traveling path of the transport device (1). Are arranged at appropriate intervals so that the distances are different from each other, and divide the traveling route into a plurality of zones... The pulse transmitting means (10) is provided in the transport device (1),
A pulse is transmitted at a time interval that is inversely proportional to the traveling speed of the transport device (1). A detector (12) is provided in the transport device (1) to detect the member to be detected (11), and a control device (15) ) Are provided in the transport device (1), and the number of pulses [50] corresponding to the distance between the respective detected members (11).
..., and the number of pulses [5000, 101] corresponding to the distance from the origin position on the traveling route to each detected member (11).
..] During normal driving, the travel distance from the origin position on the travel route is obtained from the pulse count value of the pulse transmission means (10), and the transport device ( The traveling control of 1) is performed, and when traveling for detecting the position of the transporting device after the pulse count value has disappeared due to power-off or the like, the second detected object signal from the first detected member detection signal by the detector (12). The number of pulses transmitted by the pulse transmitting means (10) up to the detection member detection signal is counted, and the counted value and the stored number of pulses corresponding to the distance between the detected members [5000,510
0,5200...]], And when the detector (12) detects the detected member (11) in the zone next to the identified zone, the pulse count value at that time is stored. The travel control device of the transfer device, wherein the number of pulses corresponding to the distance between the detected member (11) and the origin is [5000, 10100, 15300...].