JP6243740B2 - Control method of cargo handling equipment - Google Patents

Description

  The present invention relates to a control method for smoothly cutting a ground by controlling the front of the cargo handling by using an acceleration sensor in the lifting control of the cargo handling equipment when the weight of the cargo handling is not constant. Is.

  In patent document 1, it is control of the raising / lowering of a cargo handling material carrier when the weight of a cargo handling material is not constant. In the control flow, first, the landing load is hooked. Next, force is applied to the operating lever in the upward direction. Next, air is rapidly supplied to the air cylinder. Next, the cargo handling material cuts the ground. Next, the moment when the ground is cut is detected by the speed detector. Next, the air pressure is corrected so as to stop, and the elevation is stopped.

  However, when air is rapidly supplied and the cargo handling object is grounded, the cargo handling object moves in the upward direction immediately after the earthing. In order to suppress the movement in the upward direction, correction was made immediately after the ground cut, but there was a drawback that it took time. On the other hand, if the air supply is slightly delayed, the upward movement becomes small, but there is a drawback that it takes time until the ground is cut.

  In Cited Document 2, an acceleration sensor is provided in the clamp mechanism to detect the moment when the cargo handling object is cut. In FIG. 4 of the cited document 2, the acceleration sensor detects the acceleration immediately after the air pressure is rapidly applied, but this is a momentary shaking of the clamping mechanism, and the air pressure in the cylinder is decreased until the cargo handling material is grounded. It is constantly increasing rapidly. And the moment of earth cutting is judged and the air pressure in a cylinder is finely controlled using the detection value of an acceleration sensor.

  What is common to Patent Document 1 and Patent Document 2 is that the air pressure in the cylinder is controlled or corrected after the moment of earthing and after the earthing of a cargo handling object are detected by a speed detector or an acceleration sensor. In other words, fine control is not performed before ground cutting, but air is supplied at once, and fine control is performed at the moment of ground cutting and after the ground cutting.

  In FIG. 4 of Patent Document 3, a gyro sensor is disposed in the middle of the arm, but the purpose is to detect only the lifted state of the arm after the cargo handling material is grounded.

JP 2000-169100 A JP 2009-166995 A JP 2010-241518 A

  The problem to be solved is that with just fine control just after the ground cut, the cargo handling was rising immediately after the ground cut, and it took time for the cargo handling to reach a balanced state. is there.

  The present invention finely controls the air pressure to the air cylinder from the time of raising the landing load to just before the ground cutting, and the air pressure is rapidly controlled before the ground cutting. The most important feature is that the arm motion is detected by an acceleration detector that uses the characteristic that the arm bends when it is raised and the bending characteristic is arranged in the middle of the arm.

  The control method of the material handling machine of the present invention is capable of finely controlling the air pressure to the air cylinder until just before the ground cutting by raising the landing material, so the movement in the upward direction immediately after the ground cutting Is smaller, the time to correct the cylinder pressure after ground cutting is shortened, and there is an advantage that smooth ground cutting can be performed.

FIG. 1 is a general view of a material handling machine according to an embodiment of the present invention. Example 1 FIG. 2 is a block diagram showing the control. Example 1 FIG. 3 is a chart showing the control. Example 1 FIG. 4 is a graph of the detected value of the acceleration detector and the air pressure of the air cylinder. Example 1 FIG. 5 is a graph of the increase in acceleration and command cylinder pressure. Example 1 FIG. 6 is an image diagram of arm deflection. Example 1 FIG. 7 is a chart showing the control. (Example 2)

  By installing an acceleration detector in the middle of the arm and detecting the movement of the arm from the landing state of the cargo handling to the ground cutting with the acceleration detector, the air of the air cylinder from the landing status of the cargo handling to the ground cutting is detected. Realized fine control of pressure.

  The first embodiment shows claims 1 and 2. FIG. 1 is a general view of a material handling machine according to an embodiment of the present invention. The cargo handling machine 1 includes a swivel base 2, a main body 3, a pedestal 4, a first arm 5, a second arm 6, and an acceleration detector 7 disposed in the vicinity of the tip of the first arm 5. The operation unit 8, the operation lever 9, the lifting tool 10, the air cylinder (not shown) in the main body 3, the calculation unit (not shown) in the main body 3, and the speed in the main body 3 It comprises a detector (not shown). Therefore, when the operator 11 operates the operation unit 8 and the operation lever 9, the cargo handling object 12 suspended from the hanging tool 10 can be transported in three dimensions. The hanging tool 10 is a gripping device described later.

FIG. 2 is a block diagram showing the control. The cargo handling machine 1 includes a main body 3, a first arm 5, a second arm 6, an acceleration detector 7 disposed near the tip of the first arm 5, an operation unit 8, and an operation lever 9. The suspension 10, the air cylinder 13 in the main body 3, the calculation unit 14 in the main body 3, the speed detector 15 in the main body 3, and the electric / pneumatic converter 16 in the main body 3. , Fulcrum 17 and force point 18. An air cylinder 13 is fixed to the main body 3. A force point 18 is supported at the tip of the rod 19 of the air cylinder 13. The power supply 20 is supplied to the calculation unit 14. The calculation unit 14 is connected to the operation unit 8, the acceleration detector 7, the speed detector 15, the electric / pneumatic converter 16, and an electric wire. The air source 21 is supplied to the electric / pneumatic converter 16. The electric / pneumatic converter 16 is connected to the air cylinder 13 by an air pipe. The electric / pneumatic converter 16 converts the pressure of the air to the air cylinder 13 based on the electric signal from the calculation unit 14. The calculation unit 14 performs the control shown in FIGS.

  FIG. 3 is a chart showing the control. Gripping operation 22 of the gripping device, increasing the air pressure 23, acceleration detection 24 of the acceleration detector, adjusting the air pressure 25 according to the detected value of the acceleration detection 25, ground cutting determination 26, value corresponding to the detected value of the acceleration detector It consists of steps 27 and 28 for lowering.

FIG. 4 is a graph of the detected value of the acceleration detector and the air pressure of the air cylinder. The upper diagram is a graph of the acceleration detection value of the acceleration detector 7, in which time is indicated on the X axis and acceleration is indicated on the Y axis. The following figure is a graph of the air pressure of the air cylinder 13, with the time on the X axis and the air pressure of the air cylinder 13 on the Y axis. The sections A, B, C, D, E, F, G, H, J, and K are breaks in the control. The switching time between the section A and the section B is a time point when the handling object 12 is gripped by the gripping operation which is the lifting tool 10.
The switching time between the section H and the section J is a time when the cargo handling object 12 is cut off. In the upper diagram, the time passes as the X axis goes to the right, and the acceleration increases as the Y axis goes up. The time passes as the X axis in the lower diagram goes to the right, and the air pressure in the air cylinder 13 increases as the Y axis goes up. Dotted lines 29 and 30 are threshold values. The upper dotted line 29 or more is a section N of FIG. The area below the upper dotted line 29 and below the lower dotted line 30 is a section M in FIG. Below the lower dotted line 30 is a section L in FIG.

  FIG. 5 is a graph of the increase in acceleration and command cylinder pressure. The X axis indicates the acceleration that is the detection value of the acceleration detector 7. In other words, the increase amount of the command cylinder pressure is an air pressure added to the air pressure of the air cylinder 13 at that time. The command cylinder pressure increase is indicated on the Y axis. The sections L, M, and N are widths of changes in acceleration. As the X axis goes to the right, the acceleration increases. As the Y axis goes upward, the amount of increase in the command cylinder pressure increases.

  FIG. 6 is an image diagram of arm deflection. The reference numerals are the same as those in FIG. The solid first arm 5 is before the air pressure of the air cylinder 13 is increased. The dotted first arm 5 is after the air pressure of the air cylinder 13 is rapidly increased. When the air pressure is rapidly increased to the air cylinder 13 from the state where the entire weight of the cargo handling object 12 has landed, the rod 13 moves in the direction of the arrow, and at that time, the first arm 5 bends. When the first arm 5 bends, the acceleration detector 7 disposed on the first arm 5 also moves in the direction of the arrow, and the acceleration is detected. The amount by which the power point 18 is lowered is increased for easy explanation. The curve of the dotted line is enlarged for easy explanation.

  The control will be described with reference to FIGS. 1, 2, 3, 4, 5, and 6. FIG. The operator 11 operates the operation lever 9 to stop the gripping device that is the lifting tool 10 at a position where the cargo handling object 12 can grip. Section A is when the cargo handling object 10 is stopped at a position where it can be gripped. Next, a holding button (not shown) of the operation unit 8 is pressed to hold the cargo handling article 12 with the lifting tool 10. The operation of gripping the cargo handling object 12 is the gripping operation 22 of the gripping device of FIG. The moment of gripping is the time when section A and section B are switched. Next, the air pressure of the air cylinder 13 is rapidly increased. The section B rapidly raises the air pressure of the air cylinder 13, and 23 increases the air pressure in FIG. 3. Next, since the pressure of the air cylinder 13 is rapidly increased, the rod 19 of the air cylinder 13 is lowered and the force point 18 is lowered. Since the cargo handling part 12 has landed, the amount by which the rod 19 is lowered is very small. Since the force point 18 is slightly lowered, the first arm 5 is bent. FIG. 6 shows a state in which the first arm 5 is bent. Since the first arm 5 bends and the acceleration detector 7 moves, the acceleration detector 7 disposed on the first arm 5 detects the acceleration and is the acceleration detection 24 of the acceleration detector of FIG. Next, the air pressure of the air cylinder 13 is adjusted according to the acceleration. The air pressure is adjusted 25 according to the detected value in the acceleration detector of FIG. The adjustment includes increasing the air pressure of the air cylinder 13, decreasing the air pressure, and maintaining the air pressure as it is. The amount by which the air pressure of the air cylinder 13 is increased is varied according to the acceleration. The amount to be varied is shown in FIG. From the section C to the ground cutting in the section H, the air pressure of the air cylinder 13 is increased according to the acceleration. When the acceleration is small, the command cylinder pressure is increased. When the acceleration is large, the command cylinder pressure is increased. Since the amount of increase in the command cylinder pressure is varied according to the detection value of the acceleration detector 7, the acceleration changes as shown in the upper diagram of FIG. Further, since the acceleration changes, the graph line of the air pressure of the air cylinder 13 does not align as shown in the lower diagram of FIG. Next, when the detection value of the speed detector exceeds the threshold value, it is determined that the ground is cut. It is the part of the ground cutting of FIG. In FIG. If the ground is not cut, the process returns to the acceleration detection 24 of the acceleration detector as indicated by the arrow of NO in FIG. Next, immediately after the ground cutting is determined, the value corresponding to the acceleration detection value is decreased to prevent the cargo handling object 12 from jumping up. That section is section J. In FIG. 3, the value corresponding to the speed detection value is decreased by 27. Then, the ground cutting control ends. This is the end 28 of FIG. The control cycle of FIG. 3 is 0.5 ms and is repeated until the ground cutting is completed. When the acceleration increases and the amount of spring-up is likely to increase, the command cylinder pressure is decreased. If the acceleration decreases, the command cylinder pressure is increased. By detecting the movement of the first arm 5 up to the ground cutting by the acceleration detector 7, fine control up to the ground cutting can be performed, and the ground cutting can be smoothly performed while suppressing the jumping up. The acceleration detector 7 detects the movement of the first arm 5 before the cargo handling object 12 is released from the state where the cargo handling object 12 has landed and before the cargo handling object 12 is grounded. The calculation unit 14 calculates based on the electric signal, and the air pressure to the air cylinder 13 is varied to perform the earthing of the cargo item 12. The control includes the step of the gripping operation 22 of the gripping device, the step of increasing the air pressure after the gripping operation, the step of detecting the acceleration 24 of the acceleration detector, and the air pressure according to the detection value of the acceleration detector. The step of adjusting 25 is included, and the step 25 of adjusting the air pressure in accordance with the acceleration of the acceleration detector 7 is repeated until the cargo handling object 12 is grounded.

  The second embodiment shows claims 1 and 3. FIG. 7 is a chart showing the control. Calculate 31 the air pressure increase amount according to the variable amount of the operating lever, 32 increase the air pressure, acceleration detection 33 of the acceleration detector, adjust the air pressure according to the detection value of the acceleration detection 34, ground cutting determination 35, acceleration This is composed of 36 steps for decreasing the value corresponding to the detection value of the detector, and 37 for ending. The hanging tool 10 is a hook-type embodiment. Therefore, when lifting the cargo handling article 12, force is applied to the operation lever 9 in the upward direction. Since the hanging tool 10 is a hook type, the amount of increase in air pressure is calculated according to the variable amount of the operation lever 9 in FIG. The amount of increase in the air pressure according to the variable amount of the operation lever 9 is calculated in the same way as in the first embodiment.

  The acceleration detector 7 detects the movement of the first arm 5 before the cargo handling object 12 has landed and the operation unit lever 9 issues a rising command before the cargo handling object 12 is grounded. Based on the electrical signal, the calculation unit 14 calculates the air pressure to the air cylinder 13 to cut the cargo 12. The control includes a step 31 for calculating the air pressure increase amount according to the variable amount of the operation lever, a step 32 for increasing the air pressure after operation of the operation lever, a step for detecting the acceleration 33 of the acceleration detector, and an acceleration. The step of adjusting 34 the air pressure in accordance with the detection value of the detector is repeated, and the step of adjusting the air pressure 34 in accordance with the acceleration of the acceleration detector 7 is repeated until the cargo handling object 12 is grounded.

  In Example 1, although it is grasping | ascertaining, clamp and adsorption | suction are meant, and it can apply if it is a cargo handling material conveyance machine of the structure where an arm bends.

DESCRIPTION OF SYMBOLS 1 Cargo material handling machine 2 Swivel 3 Main part 4 Base 5 1st arm 6 2nd arm 7 Acceleration detector 8 Operation part 9 Operation lever 10 Lifting tool 11 Worker 12 Cargo goods 13 Air cylinder 14 Calculation part 15 Speed detector 16 Electro-Pneumatic Converter 17 Supporting Point 18 Force Point 19 Rod 20 Power Supply 21 Air Source 22 Grasping Operation of Gripping Device 23 Raising Air 24 Acceleration Detector Acceleration Detection 25 Adjusting Air Pressure according to Acceleration Detection Detection Value 26 Ground Cutting Determination 27 Decrease the value according to the detector of the acceleration detector 28 End 29 Threshold 30 Threshold 31 Calculate the amount of increase of the air according to the variable amount of the operating lever 32 Increase the air 33 Acceleration detection of the acceleration detector 34 Acceleration detection Adjust the air pressure according to the detection value. Gel 37 Exit

Claims (3)

A mechanism for raising and lowering the cargo handling device, an air cylinder that drives the raising and lowering mechanism, an operation unit that commands raising and lowering, a speed detector that detects the raising and lowering speed of the power point supported by the air cylinder, and an arm An installed acceleration detector, a speed detector, a calculation unit connected to the acceleration detector, and an electric / pneumatic converter for converting the pressure of the air to the air cylinder based on an electric signal from the calculation unit The acceleration detector detects the movement of the arm from when the cargo handling object is landed to before the cargo handling article is grounded by issuing an ascending command with the operation unit or the operation lever. in detecting the electrical signals of the acceleration detector is calculated by the calculation unit based on, by varying the air pressure to the air cylinder, handling product transporter which is characterized in that the earth cutting of該荷won game Control method.   A gripping operation step of the gripping device, a step of increasing the air pressure after the gripping operation, a step of detecting the acceleration of the acceleration detector, and a step of adjusting the air pressure according to the detection value of the acceleration detector, 2. The method of controlling a cargo handling equipment transporter according to claim 1, wherein the step of adjusting the air pressure according to the acceleration of the acceleration detector is repeated until the object is grounded. The step of calculating the air pressure increase amount according to the variable amount of the operation lever, the step of increasing the air pressure after operation of the operation lever, the step of detecting the acceleration of the acceleration detector, and the detection value of the acceleration detector 2. The method of controlling a cargo handling equipment according to claim 1, further comprising the step of adjusting the air pressure, and repeating the step of adjusting the air pressure according to the acceleration of the acceleration detector until the cargo handling material is cut off. .