JP2577886B2 - 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 on a fixed route, such as a self-propelled transport vehicle or a traveling crane, and in particular, is transmitted at time intervals inversely 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 above-described traveling control system for a transport device is generally called a pulse encoder system. The transport device includes a pulse encoder such as a pulse encoder that emits pulses at time intervals inversely 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 position control device for a transport device capable of solving the above-mentioned problems, and the features of the devices are described in parentheses in the embodiments described later. When attached and shown,
It has a member to be detected (11), a pulse transmitting means (10), a detector (12), and a control device (15). The member to be detected (11) is located on the traveling path of the transport device (1). The pulse transmission means (10) are provided at appropriate intervals and have different lengths. The pulse transmitting means (10) is provided in the transport device (1), and the time is inversely proportional to the traveling speed of the transport device (1). A pulse is transmitted at intervals, the detector (12) is provided in the transport device (1) and detects the detected member (11), and the control device (15) is provided in the transport device (1). , The number of pulses corresponding to the length of each detected member (11) [8
0,92,100 ...] and the number of pulses corresponding to the distance from the origin position on the traveling route to each of the detected members (11). During normal traveling, the traveling distance from the origin position on the traveling route is stored. It is obtained from the pulse count value of the pulse transmission means (10), and based on the pulse count value, the traveling control of the transport device (1) is performed, and the transport device position detection after the pulse count value disappears due to power failure or the like. For traveling, the detector (12)
Counts the number of transmitted pulses of the pulse transmitting means (10) while detecting one detected member (11), and stores the counted value and the stored number of pulses corresponding to the detected member length [80, 92, 100].
…]] To identify the detected member (11) that has passed,
When the detector (12) detects the detected member (11) next to the identified detected member (11), the pulse count value at that time is stored in the detected member (11) and the origin. It is characterized in that it is replaced with the number of pulses corresponding to the distance between them.

(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 all configured to have different lengths.
At appropriate intervals along the travel route (eg at equal intervals)
And divides the traveling route into a number of zones. 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. A zone number detection counting function 18 is provided for counting the 12 detection signals so as to add them when moving forward and subtract them when marching.

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 drive wheel 3 is rotated by the motor 7 to move the transport device 1 forward, 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 travel 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.

Also, when the transport device 1 passes through the position of each detected member 11, when the detection signal of the detector 12 rises (at the time of detection of the start end).
The difference between the pulse count value in the counting function 17 and the pulse count value in the counting function 17 when the detection signal of the detector 12 falls (at the end detection) is calculated to correspond to the length of each detected member 11. Learning value [80] [92] [100] ...
This is stored in the storage unit 19 in association with each detected member number.

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 power-off, the detected member 11 which arrives first by the forward movement of the transporting apparatus 1, that is, the detected member located at the start end of the zone A pulse count value (pulse count value corresponding to the length of the member to be detected 11) while the detector 12 is detecting 11 is calculated by a calculation function 22 shown in FIG.

That is, as shown in the flowchart of FIG. 4, first, the pulse count value in the counting function 17 is reset to zero when the detection signal rises when the detector 12 detects the front end of the detected member 11 at the start end of the zone. The member to be detected
By reading the pulse count value of the counting function 17 when the detector 12 comes off from the rear end of the detector 11 and the detection signal of the detector 12 falls, it corresponds to the length of the detected member 11 at the start end of the zone A pulse count value [92] is obtained. Of course, even when the pulse count value of the counting function 17 is temporarily stored at the time of the rise of the detection signal, and the difference between the pulse count value and the stored count value at the count function 17 at the next fall of the detection signal is calculated by the calculation function 22, A pulse count value [92] corresponding to the length of the detected member 11 is obtained.

The detected member length learning values [80] [92] [100] previously learned and stored in the storage unit 19 for each detected member number in the storage unit 19 are obtained.
.. In the arithmetic function 22 to search for a matching detected member number. As a result, it is found that the transport device 1 has passed through the zone and entered the zone.
If the count value of the counting function 18 is set to the detected member number corresponding to the detected member 11 at the start end of the zone based on the search result, the transport device 1 continues to move forward and the second When the detector 12 detects the detection member, that is, the detected member 11 at the beginning of the zone, as described above, the correction function 21 sets the position between the origin and the detected member corresponding to the number of the detected member at the beginning of the zone. The distance learning value 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 retrieval learning value. By this correction, the current position of the transport device 1 and the counting function
Since the expected state in which the pulse count value matches the pulse count value at 17 is restored, the transport device 1 can be stopped to end the countermeasure work at the time of power recovery.

In addition, another detector for detecting that the transport 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 recovering 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.

Further, the traveling position detection described above can be performed continuously even when the transport device 1 is traveling in a normal state, and the zone in which the transport device 1 is currently located can be continuously checked.

(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, the pulse transmission means (10) while the detector (12) detects one detected member (11). The number of transmitted pulses is counted, and the detected member (11) that has passed is identified by comparing the counted value with the stored number of pulses corresponding to the detected member length [80, 92, 100. When the detector (12) detects the detected member (11) next to the member (11), the pulse count value at that time is stored in the detected member (1).
Since the number of pulses equivalent to the distance between 1) and the origin is replaced, the current position of the conveyance device, that is, the pulse count value corresponding to the travel distance from the origin becomes unclear due to power-off, the conveyance device It is not necessary to return
At that time, from the zone to which the transport device belongs, simply travel the distance that can detect at least two detected members,
The pulse count value can be automatically restored to a value corresponding to the distance from the origin to the current position of the transport device.

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.

In addition, it is only necessary to use detected members having different lengths, and the intervals between the detected members can be set arbitrarily such as at equal intervals, so that the detected members can be easily installed.

[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 disposed at an appropriate interval on a traveling route of the transport device (1). 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 [8] corresponding to the length of each detected member (11).
0,92,100 ...] and the number of pulses corresponding to the distance from the origin position on the traveling route to each of the detected members (11). During normal traveling, the traveling distance from the origin position on the traveling route is stored. It is obtained from the pulse count value of the pulse transmission means (10), and based on the pulse count value, the traveling control of the transport device (1) is performed. For traveling, the detector (12)
Counts the number of transmitted pulses of the pulse transmitting means (10) while detecting one detected member (11), and stores the counted value and the stored number of pulses corresponding to the detected member length [80, 92, 100].
…]] To identify the detected member (11) that has passed,
When the detector (12) detects the detected member (11) next to the identified detected member (11), the pulse count value at that time is stored in the detected member (11) and the origin. A travel control device for the transfer device that replaces the number of pulses equivalent to the distance between them.