JP3565702B2 - Suspension type lifting device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a suspension type lifting device having a lifting portion suspended from a base (for example, a moving vehicle) via a suspension member so as to be able to lift and lower, and capable of attenuating the swing of the lifting portion in a short time. It is.
[0002]
[Prior art]
For example, in a factory or the like, a transport device equipped with a suspension type lifting device (a so-called crane) is often used as a transport device for loads. FIG. 4 shows an example of such a transport device.
The transfer device A0 shown in FIG. 4 includes a movable carriage 53 that moves along a rail 52 provided on a ceiling 51, a suspension 54 suspended from the movable carriage 53, and a lower end of the suspension 54. And a lifting unit 55 provided. A hand 55a capable of holding a predetermined load 56 is integrally attached to the elevating unit 55. The suspension member 54 is wound / unwinded by, for example, a winding device (not shown) attached to the movable carriage 53 side, whereby the lifting / lowering portion 55 is moved up / down.
When the load 56 is transported by the transport device A0, first, as shown in FIG. 4A, the movable carriage 53 is stopped immediately above the load 57, and the elevating unit 55 is lowered, and the hand 55a is moved. , The luggage 56 is gripped. Then, the lifting unit 55 is raised to a predetermined position while the luggage 56 is gripped, and is conveyed to a target position by the movable carriage 53 along the rail 52 in the state shown in FIG. When the vehicle arrives at the destination position, the movable carriage 53 is positioned right above the position where the load 56 is placed, and the elevating unit 55 is lowered again to place the load 56.
By repeating the above operation, the cargo can be efficiently transported using the space near the ceiling where there are relatively few obstacles.
[0003]
[Problems to be solved by the invention]
By the way, since the conventional transport device A0 has a structure in which the elevating unit 55 is hung by the suspension member 54, the elevating unit 55 constitutes a pendulum having the movable carriage 53 as a fulcrum. Therefore, for example, when the movable trolley 53 is stopped, a swing occurs in the elevating unit 55 according to the natural frequency determined by the length of the suspension member 54. For this reason, in the conventional transport device A0, even if the movable carriage 53 stops at the target position, the hand 55a grips the luggage 56 or removes the luggage 56 that has been gripped until the swing of the elevating unit 55 stops. It could not be placed, which greatly affected the transfer efficiency.
As a countermeasure, a passive vibration damping device (for example, a dynamic vibration absorber, a damper, etc.) is mounted, but it is troublesome to adjust the vibration damping device when the height of the lift 55 is different. And it is not easy.
SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a suspension type lifting device capable of dramatically improving work efficiency by effectively preventing the lifting portion from oscillating. That is.
[0004]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides a lifting section position control device for controlling the position of a lifting section suspended from a base via a suspension member by controlling the position of the suspension member. In the suspension type lifting device provided, the lifting portion position control device includes a swing speed detecting device for detecting a swing speed of the lifting portion, a positioning device for positioning the suspension member in a horizontal plane, and a position target for the positioning device. A position compensating means for outputting a speed command based on a deviation between the value and the actual position, and an operation amount of the positioning means based on a deviation between the speed command for the positioning means output from the position compensating means and the actual speed. and speed compensation means for outputting a certain thrust command, and steadying compensation means for outputting a damping signal to said positioning means in proportion to the output of the shake speed detection means, the Re and the damping signal output from the stop compensating means is configured as a suspended-type lifting apparatus characterized by comprising comprises an adding means for adding to the thrust command output from said speed compensation means.
The suspension type lifting device can be applied to, for example, a transfer device using the above-mentioned base as a movable carriage.
The positioning means can be configured to move the suspension member and the elevating unit with respect to the base. For example, when a movable carriage is used as the base, the movement of the movable carriage is performed. Means may be used as the positioning means.
The proportional output to the touch speed by the steady rest compensating means can be constituted by , for example, a proportional element, and its value is set according to the stop height of the lifting / lowering unit.
Further, in order to prevent the servo system from oscillating due to the observation noise, it is desirable to attach a filter for removing the observation noise to the steady rest compensating means.
Further, when the shake speed of the elevating section detected by the shake speed detecting means is a relative speed with respect to the base, the vibration damping control based on the vibration damping signal output from the vibration damping compensating means and the speed compensation. In order to prevent a problem caused by interference with the speed control of the positioning means by the thrust command output from the means, the vibration compensating means is provided with a frequency band related to the vibration from the vibration speed signal obtained by the vibration speed detecting means. It is desirable to attach a filter that extracts only
[0005]
[Action]
According to the suspension type elevating device of the present invention, when the elevating portion swings, the positioning means equivalently displaces in proportion to the oscillation speed of the elevating portion. Further, a force proportional to a relative displacement between the base and the elevating unit caused thereby is given to the elevating unit as a damping force. Therefore, the vibration of the elevating part is attenuated in a very short time. Further, since the vibration suppression signal output from the steady rest compensating means is added to the thrust command output from the speed compensating means in the form of a disturbance, the positioning means is controlled by the position control by the position compensating means. It is accurately positioned at the target position together with the attenuation of the vibration of the elevating unit. As described above, the steadying and positioning of the elevating unit can be extremely effectively performed by the simple control system, and the working efficiency can be dramatically improved.
In the case where a movable trolley is used as the base, if the movable means for moving the movable trolley on the rail is used as the above-mentioned positioning means, there is no need to install a separate positioning means, resulting in cost and compactness. It is advantageous in terms of. However, in this case, only vibration in the direction parallel to the rail can be handled.
Further, when the stop height of the elevating unit is different, only the value of the proportional element is changed, and adjustment can be easily performed as compared with the case where a conventional passive vibration damping device is used. In addition, by attaching a filter for removing observation noise to the steady-state compensation means, oscillation of the servo system due to observation noise can be prevented.
Further, when the shake speed of the lifting section detected by the shake speed detecting means is a relative speed with respect to the base, only the frequency band related to the shake from the shake speed signal (speed control By installing a filter for extracting the vibration control signal from the steady-state compensating means, the vibration suppression control based on the vibration suppression signal output from the steady rest compensating means, and the positioning means based on the thrust command output from the speed compensating means. Problems due to interference with speed control can be prevented.
[0006]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments and examples of the present invention will be described with reference to the accompanying drawings to provide an understanding of the present invention. The following embodiments and examples are mere examples embodying the present invention, and do not limit the technical scope of the present invention.
Here, FIG. 1 is a schematic diagram showing a schematic configuration of a transport device A1 according to an embodiment of the present invention, FIG. 2 is a block diagram showing a schematic configuration of a lifting / lowering portion position control device 10 of the transport device A1, and FIG. A graph showing a displacement decay time calendar when a minute displacement is applied to the elevating unit 55 ((a) is a result of the conventional transport device A0, (b) is a result of the transport device A1 according to the embodiment of the present invention) It is.
The transfer device A1 according to the present embodiment is an example in which the suspension type lifting device according to the present invention is embodied in the same manner as the above-described conventional transfer device A0. This will be described with reference to FIG.
[0007]
As shown in FIG. 1, the transfer device A1 includes a movable carriage 53 that moves along a rail 52 provided on a ceiling 51, and a positioning actuator 1 (an example of a positioning unit) mounted below the movable carriage 53. ) And the upper plate 2, a suspension member 54 suspended from the upper plate 2, and a lifting / lowering portion 55 attached to a lower end portion of the suspension member 54 and integrally attached with a hand 55a capable of holding a load 56. The positioning is performed by controlling the operation of a shake speed sensor 3 (an example of a shake speed detecting means), which is attached to the elevating unit 55 and detects a shake speed (absolute speed) of the elevating unit 55, and the positioning actuator 1. An elevator position control device 10 (see FIG. 2, which will be described in detail later) that performs positioning of the actuator 1 and damping of the elevator unit 55 is configured.
The suspension member 54 is wound / unwound by, for example, a winding device (not shown) attached to the upper plate 2 side, whereby the elevating unit 55 is moved up / down.
The positioning actuator 1 moves the upper plate 2 relative to the movable carriage 53 in a horizontal direction perpendicular to the rails 52, and operates in accordance with a thrust command from the lifting / lowering unit position control device 10. The actual position (actual movement amount) and actual speed of the positioning actuator 1 are detected by a sensor (not shown).
Next, the configuration and control operation of the lifting unit position control device 10 will be described with reference to a control block diagram shown in FIG.
As shown in FIG. 2, the lifting / lowering unit position control device 10 controls the position compensating unit 11 (for position compensating means) based on a deviation between a position command (position target value) for the positioning actuator 1 and an actual displacement (actual position). And a speed control unit 12 (corresponding to a speed compensating means) based on a deviation between the actual speed and the speed command for the positioning actuator 1 output from the position compensating unit 11. A speed control loop for outputting a thrust command to the positioning actuator 1 and a vibration damping signal for the positioning actuator 1 based on the shake speed of the elevating unit 55 output from the shake speed sensor 3, and The anti-sway compensator 4 (the anti-sway compensator) adds the thrust command output from the speed compensator 12 after the phase of the shake signal is inverted. It is constructed out with corresponds to a unit).
The steady rest compensator 4 is composed of a proportional element 4a and a filter 4b. The proportional element 4a is set according to the stop height of the elevating unit 55. The filter 4b is a low-pass filter provided for removing observation noise and preventing the oscillation of the servo system due to the observation noise.
[0008]
The control operation of the positioning actuator 1 by the lifting unit position control device 10 as described above will be described.
When the movable carriage 53 stops at the target position, the positioning actuator 1 is moved, for example, to a predetermined origin position (determined from the relative positional relationship between the movable carriage 53 and the upper plate 2) with respect to the lifting / lowering unit position control device 10. Is given a position command for control. The position command has a deviation (position deviation) from the actual displacement of the positioning actuator 1 and is input to the position compensation unit 11. The position compensating unit 11 outputs a speed command to make the position deviation zero, and the speed command is a deviation from the actual speed of the positioning actuator 1 (speed deviation). 12 is input. The speed compensator 12 outputs a thrust command that makes the speed deviation zero.
At the same time, the shake speed of the elevation unit 55 output from the shake speed sensor 3 is input to the steady-state compensation unit 4. In the steady rest compensator 4, the proportional element 4a outputs a thrust corresponding to the swing speed of the elevating unit 55, and further outputs the vibration as a vibration suppression signal through the filter 4b.
The vibration damping signal output from the steady rest compensating unit 4 is added to the thrust command output from the speed compensating unit 12 after phase inversion, and the thrust command is input to the positioning actuator 1 and given a predetermined value. The operation is performed.
According to the above control, when there is a run-out in the elevating unit 55, the positioning actuator 1 is equivalently proportional to the run-up speed of the elevating unit 55 when the run-out frequency is sufficiently lower than the speed control frequency. And displace. Here, when a relative displacement occurs between the upper plate 2 and the lifting / lowering portion 55, a force proportional to the relative displacement acts on the lifting / lowering portion 55. Therefore, a force proportional to its own swing speed is applied to the lifting / lowering portion 55 by a damping force. The vibration of the elevating unit 55 is attenuated in a short time. Further, since the vibration damping signal output from the steady rest compensator 4 is added to the thrust command output from the speed compensator 12 in the form of a disturbance, the positioning actuator 1 is controlled by the position control loop. It is accurately positioned at the target position together with the attenuation of the vibration of the elevating unit 55.
FIG. 3 shows a decay time chart of the displacement of the lift unit 55 when a minute displacement is applied to the lift unit 55. FIG. 3A shows the case of the conventional transfer device A0, and FIG. 3B shows the case of the transfer device A1 according to the present embodiment. In contrast to the above-described conventional transfer apparatus A0, in which the attenuation is hardly observed in a short time, in the transfer apparatus A1 according to the present embodiment, the positioning actuator 1 is displaced in a form proportional to the swing speed of the elevating unit 55. The swing of the elevating unit 55 is settled in a very short time. Further, it can be seen from FIG. 3B that in the transfer device A1, the positioning actuator 1 is accurately positioned at the target position (origin position) together with the attenuation of the vibration of the elevating unit 55.
[0009]
As described above, in the transfer device A0 according to the present embodiment, when the elevating unit 55 has a runout, the positioning actuator 1 is equivalently displaced in proportion to the runout speed of the elevating unit 55, As a result, a force proportional to the relative displacement between the upper plate 2 and the elevating part 55 is given to the elevating part 55 as a damping force, so that the vibration of the elevating part 55 is attenuated in a short time. Further, since the vibration damping signal output from the steady rest compensator 4 is added to the thrust command output from the speed compensator 12 in the form of a disturbance, the positioning actuator 1 is controlled by the position control loop. It is accurately positioned at the target position together with the attenuation of the vibration of the elevating unit 55. As described above, the steadying and positioning of the elevating unit can be extremely effectively performed by the simple control system, and the working efficiency can be dramatically improved.
[0010]
【Example】
In the above embodiment, the vibration direction of the elevating section 55 is limited to the direction perpendicular to the rail. However, the vibration parallel to the rail and the vibration of the suspension member 54 in the torsion direction are also respectively set in the rail. This can be applied by performing the same control using a positioning actuator that can move in a direction parallel to the vertical axis and around the vertical axis.
In the above-described embodiment, the positioning actuator 1 is used as an example of the positioning means. However, the moving carriage 53 itself may be used as the positioning means. In other words, the movement of the movable carriage 53 on the rail may be used to stop and position the elevating unit. However, in that case, it is possible to cope only with vibration parallel to the rail.
Further, the shake speed sensor 3 is not limited to a device that directly detects the absolute speed of the elevating unit 55, but may be a device that integrates an output of an acceleration sensor or a device that differentiates an output of a position sensor. Further, the swing speed sensor 3 is configured to detect the absolute speed of the lifting unit 55, but may be configured to detect the relative speed of the lifting unit 55 with respect to the upper plate 2. As a typical example of the detection of the relative speed, there is a method of detecting the relative position of the elevating unit 55 with respect to the starvation plate 2 and differentiating the output.
When the shake speed sensor 3 detects the relative speed of the elevating unit 55 with respect to the upper plate 2, the vibration suppression control based on the vibration suppression signal output from the steady rest compensation unit 4 and the speed compensation In order to prevent interference with the speed control of the positioning actuator 1 due to the thrust command output from the means, only the frequency band related to the shake from the shake speed signal (from the speed control frequency) It is desirable to use a low-pass filter or a band-pass filter that extracts the value that is sufficiently low.
[0011]
【The invention's effect】
As described above, the present invention includes a lifting / lowering portion position control device that controls the position of a lifting / lowering portion suspended from a base via a suspension member by controlling the position of the suspension member. A lifting / lowering portion position control device, wherein the lifting / lowering portion position control device detects a deflection speed of the lifting / lowering portion, a positioning device for positioning the suspension member in a horizontal plane, and a target position value for the positioning device. A position compensating means for outputting a speed command based on the deviation between the actual position and the actual position, and an operation amount of the positioning means based on a deviation between the speed command for the positioning means output from the position compensating means and the actual speed. and speed compensation means for outputting thrust command, and steadying compensation means for outputting a damping signal to said positioning means in proportion to the output of the shake speed detecting means, the deflection And an adding means for adding the vibration damping signal output from the compensating means to the thrust command output from the speed compensating means. When the lifting part has a run-out, the positioning means is equivalently displaced in proportion to the run-out speed of the lifting / lowering part, and the resulting force is proportional to the relative displacement between the base and the lifting part. Is given to the lifting unit as a damping force. Therefore, the vibration of the elevating part is attenuated in a very short time.
Further, since the vibration suppression signal output from the steady rest compensating means is added to the thrust command output from the speed compensating means in the form of a disturbance, the positioning means is controlled by the position control by the position compensating means. It is accurately positioned at the target position together with the attenuation of the vibration of the elevating unit. As described above, the steadying and positioning of the elevating unit can be extremely effectively performed by the simple control system, and the working efficiency can be dramatically improved.
The positioning means can be configured to move the suspension member and the elevating unit with respect to the base. For example, when a movable carriage is used as the base, the movement of the movable carriage is performed. By using the means as the positioning means, it contributes to cost reduction and downsizing.
If the stop height of the lifting unit is different, it is only necessary to change the value of the proportional element of the steady rest compensating means, and the adjustment is easier than when a conventional passive vibration damping device is used. Can be done.
In addition, by attaching a filter for removing observation noise to the steady-state compensation means, oscillation of the servo system due to observation noise can be prevented.
Further, when the shake speed of the lifting section detected by the shake speed detecting means is a relative speed with respect to the base, the shake preventing compensating means outputs the shake from the shake speed signal obtained by the shake speed detecting means. By attaching a filter that extracts only the frequency band related to, the vibration control by the vibration suppression signal output from the steady rest compensating means and the speed control of the positioning means by the thrust command output from the speed compensating means The trouble caused by the interference can be prevented.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing a schematic configuration of a transport device A1 according to an embodiment of the present invention.
FIG. 2 is a block diagram showing a schematic configuration of a lifting / lowering unit position control device 10 of the transfer device A1.
FIG. 3 is a graph showing a displacement decay time chart when a minute displacement is applied to the lifting / lowering unit 55 ((a) is a graph based on a conventional transport device A0, and (b) is a transport device according to an embodiment of the present invention). A1).
FIG. 4 is a schematic diagram showing a schematic configuration of a conventional transport device A0.
[Explanation of symbols]
1. Positioning actuator (an example of positioning means)
3. Shake speed sensor (an example of shake speed detecting means)
DESCRIPTION OF SYMBOLS 4 ... Anti-sway compensating part 4a ... Proportional element 4b ... Filter 10 ... Elevating part position control device 11 ... Position compensating part 12 ... Speed compensating part 52 ... Rail 53 ... Moving carriage 54 ... Suspension member 55 ... Elevating part

Claims (5)

In a suspension type lifting apparatus having a lifting section position control device for controlling the position of a lifting section suspended from a base via a suspension member so as to be able to ascend and descend by controlling the position of the suspension member,
The lift position control device is
A shake speed detecting means for detecting a shake speed of the lifting unit;
Positioning means for positioning the suspension in a horizontal plane;
Position compensating means for outputting a speed command based on a deviation between a position target value and an actual position with respect to the positioning means;
Speed compensating means for outputting a thrust command which is an operation amount of the positioning means based on a deviation between the speed command for the positioning means and the actual speed outputted from the position compensating means;
Anti-sway compensating means for outputting a vibration suppression signal to the positioning means in proportion to the output of the vibration speed detecting means;
A suspending type elevating device comprising: an adding unit that adds the vibration suppression signal output from the steady rest compensating unit to the thrust command output from the speed compensating unit. The suspension type lifting device according to claim 1, wherein the base is a movable carriage. 3. The suspension type lifting device according to claim 1, wherein the positioning means is configured to move the suspension member and the lifting portion with respect to the base. 3. The suspension type lifting device according to claim 2, wherein said positioning means is constituted by moving means of said movable cart. When the swing speed of the elevating section detected by the shake speed detecting means is a relative speed with respect to the base, the steady rest compensating means relates to the shake from the shake speed signal obtained by the shake speed detecting means. The suspension type lifting device according to any one of claims 1 to 4 , further comprising a filter for extracting only a frequency band.

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