JP6824217B2 - Transport controller, method and program - Google Patents

Description

The present invention relates to a transport control device, method and program for transporting an object to be transported to a target position.

In a transport system that transports an object to be transported by a suspended crane, the object to be transported is suspended from the crane, the object to be transported is transported to a target position while being suspended, and the object to be transported is lowered at the target position. The work is repeated. However, when the transported object is stopped at the target position, it swings according to the law of inertia. Therefore, in order to continue the work such as unloading the object to be transported from the crane, it is necessary to wait until the rocking stops or to forcibly stop the rocking, and as a result, the working time. Becomes longer. In order to shorten the work time of such a series of operations, control is performed to suppress the shaking of the object to be transported when stopped. For example, in Patent Document 1, there is a method of reducing the shaking when the transported object is stopped by making the acceleration / deceleration time when the transported object is transported in the horizontal direction equal to the shaking cycle of the transported object. Proposed.

Japanese Unexamined Patent Publication No. 2011-93633

However, the method described in Patent Document 1 does not sufficiently suppress the shaking of the transported object when it is stopped.

The present invention has been made in view of the above circumstances, and an object of the present invention is to be able to sufficiently suppress shaking when the transported object is stopped.

The transport control device according to the present invention is a transport control device that swingably suspends the transported object and transports the transported object from a start position to a target position.
A drive unit in which the object to be transported is suspended and driven along a path including a start position and a target position.
The first step of moving the drive unit from the start position to a position within a specific range including the target position according to the required time based on n times the swing cycle of the object to be transported when n is a natural number, and the first step. After the process, the drive unit is reciprocated a specific number of times with a period smaller than the swing period of the object to be transported and an amplitude smaller than the amplitude of the object to be transported in the first step, and the drive unit is stopped at the target position. A control unit that drives the drive unit is provided by the second step of making the drive unit.

The "swing cycle of the object to be transported" means that the suspended object is actually transported from the start position to the target position under certain conditions (speed, moving distance, required time, etc.) and rocked. In the case, it means one cycle of the swinging cycle. The swing cycle differs depending on the type and size of the object to be transported, the method of suspending the object to be transported, the distance from the hanging position to the position of the center of gravity of the object to be transported, and the like. The swing period of the object to be transported may be calculated by calculation or may be calculated by actual measurement. While transporting the transported object from the start position to the target position, the transported object may swing for a plurality of cycles. At this time, the swing time of each cycle may be different. Therefore, when the transported object swings for multiple cycles from the start position to the target position, the cycles representing each cycle (for example, the average value of the cycles, the median of the cycles, the maximum value of the cycles, or the minimum of the cycles) Value, etc.) is preferably set to the swing period of the transported object.

The "required time based on n times the swing cycle of the transported object" is not only the required time of n times, but also ± 10% with respect to n times the rocking cycle of the transported object, for example. It also includes having some error such as. When n = 1, the upper limit of the time required for the first step may have an error larger than + 10%, which is n times the swing period of the object to be transported. For example, it may have an error of + 25%, which is n times the swing period of the object to be transported.

The "amplitude of the transported object in the first step" is the required time based on n times the swing period of the transported object (n is a natural number), and the suspended object is moved from the start position to the target position. It means the maximum amplitude of the swinging object to be transported, which is measured with the drive unit stopped at the target position. The shaking of the transported object stopped at the target position is attenuated with the passage of time. Therefore, in the present invention, the amplitude of the transported object in the first step is the swing of the transported object in a state where the speed of the transported object is first 0 after the drive unit is stopped at the target position. It is the distance between the perpendicular line passing through the fulcrum (that is, the fulcrum of the pendulum) and the reference point of the object to be transported. As the reference point of the transported object, the center of gravity of the transported object, the point farthest from the swing fulcrum of the transported object, or the like can be used.

The "position within a specific range including the target position" is a position where the first step ends, may be the target position itself, or may be a position before the target position with respect to the transport direction. It may be a position that has passed the target position.

The cycle of the second step may be smaller than the swing cycle of the object to be transported. For example, it may be 0.1 times or more and 0.9 times or less of the swing period of the transported object, 0.2 times or more and 0.8 times or less, and 0.3 times or more and 0.7 times. It may be double or less, and may be 0.4 times or more and 0.6 times or less.

The amplitude of the second step may be smaller than the amplitude of the object to be transported. For example, the amplitude of the transported object may be 0.1 times or more and 0.9 times or less, 0.2 times or more and 0.8 times or less, and 0.3 times or more and 0.7 times or less. It may be 0.4 times or more and 0.6 times or less.

The "specific number of times" in the second step may be any number as long as it can suppress the swing of the object to be transported that has reached the target position. For example, it may be 10 times or less, 8 times or less, 5 times or less, or 3 times or less.

In the transport control device according to the present invention, the drive unit may include a hook for suspending the object to be transported.

Further, in the transport control device according to the present invention, the drive unit may be provided with a suspension mechanism for suspending the transported object so as to be rotatable in the moving direction of the transported object.

Further, in the transport control device according to the present invention, the control unit may start the second step as soon as the drive unit reaches the target position.

Further, in the transfer control device according to the present invention, the control unit may start the second process after the drive unit reaches a position before the target position by the second process amplitude.

In addition, "front" means that it is in front of the target position with respect to the transport direction. Therefore, by "starting the second process after the drive unit reaches a position before the target position by the amplitude of the second process", the second process is started before the drive unit reaches the target position. Will be done.

Further, in the transport control device according to the present invention, the control unit may start the second step after the drive unit reaches the target position and before a specific time elapses. The specific time may be 6 seconds, 5 seconds, 4 seconds, 3 seconds, 2 seconds, or 1 second. Further, in relation to the natural period of the material to be transported, the material to be transported has the maximum swing width in the cycles of 1/4 and 3/4 of the natural cycle. Therefore, the time that becomes 1/4 or 3/4 of the natural period of the object to be transported may be set as a specific time.

Further, in the transfer control device according to the present invention, the control unit may move the drive unit in the direction opposite to the direction in which the object to be transported swings at the start of the second step.

The transport control method according to the present invention is a transport control method in which the transported object is swayably suspended and the transported object is transported from the start position to the target position.
The drive unit in which the object to be transported is suspended and driven along the path including the start position and the target position is driven by the required time based on n times the swing cycle of the object to be transported (n is a natural number). From the first step of moving the unit from the start position to a position within a specific range including the target position, and after the first step, a cycle smaller than the swing cycle of the transported object, and the amplitude of the transported object in the first step. It is driven by the second step of reciprocating the driving unit a specific number of times with a small amplitude and stopping the driving unit at the target position.

It should be noted that it may be provided as a program for causing a computer to execute the transport control method according to the present invention.

According to the present invention, the first step of moving the drive unit from the start position to a position within a specific range including the target position according to the required time based on n times the swing period of the object to be transported (n is a natural number). , And after the first step, the drive unit is reciprocated a specific number of times with a period smaller than the swing period of the object to be transported and an amplitude smaller than the amplitude of the object to be transported in the first step to aim at the drive unit. The drive unit is driven by the second step of stopping at the position, and the object to be transported is conveyed. The first step can suppress the shaking of the transported object at the target position, but the second step further suppresses the shaking of the transported object. Therefore, according to the present invention, it is possible to sufficiently suppress the shaking of the transported object when it is stopped.

Overall configuration diagram of the transport device to which the transport control device according to the embodiment of the present invention is applied. Schematic block diagram showing the configuration of the control unit The figure which shows the example of the drive pattern of a drive part and the movement distance of a drive part Diagram for explaining the amplitude of the object to be transported Diagram for explaining a specific range including the target position Table showing examples of the present invention

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an overall configuration diagram of a transport device to which the transport control device according to the embodiment of the present invention is applied. As shown in FIG. 1, the transport device 1 according to the present embodiment has a linear guide member 3 and a guide member 3 connected to the upper ends of two columns 2A and 2B and two columns 2A and 2B, respectively. It includes a drive unit 4 that is moved along the line, a moving mechanism 5 for moving the drive unit 4, and a control unit 6 that controls the drive of the drive unit 4. The drive unit 4 and the control unit 6 constitute the transfer control device of the present embodiment.

The moving mechanism 5 that drives the drive unit 4 includes a motor 10 and a ball screw 11 that is rotated by the motor 10. The motor 10 is attached to the guide member 3 on the front side in the transport direction from the transport start position Ps of the transported object 7 transported by the drive unit 4. The ball screw 11 extends along the guide member 3. One end of the ball screw 11 is connected to the motor 10, and the other end is rotatably supported by the bearing 12. The bearing 12 is attached to the guide member 3 at a position exceeding the target position Pe for transportation in the transport direction of the object to be transported 7. As a result, when the ball screw 11 is rotated by rotating the motor 10, the drive unit 4 moves along the guide member 3 in the direction corresponding to the rotation direction. A hook 4a for suspending the object to be transported 7 is attached to the drive unit 4.

Further, an encoder 13 is connected to the motor 10. The encoder 13 detects the position of the drive unit 4 according to the rotation of the motor 10 and outputs the detection signal to the control unit 6.

The moving mechanism 5 for moving the drive unit 4 is not limited to the above configuration, and any configuration can be adopted as long as the drive unit 4 can be moved along the guide member 3.

In the present embodiment, the object to be transported 7 is, for example, an endoscopic flexible tube described in Japanese Patent Application Laid-Open No. 2011-183115. The object to be transported 7 is held by the holding member 8 and transported. A hook 8a is attached to the holding member 8 on the side opposite to the side that holds the object to be transported 7. The object to be transported 7 held by the holding member 8 is swayably suspended from the drive unit 4 by hooking the hook 8a on the hook 4a of the drive unit 4. As a result, when the drive unit 4 is stopped after moving, the object to be transported 7 swings according to the law of inertia.

FIG. 2 is a schematic block diagram showing the configuration of the control unit. As shown in FIG. 2, the control unit 6 includes a CPU (Central Processing Unit) 21, a motion controller 22, a servo amplifier 23, and a storage unit 24. Further, an input unit 25 including a keyboard, a mouse and the like, and a display unit 26 including a liquid crystal monitor and the like are connected to the control unit 6.

The motion controller 22 outputs a drive signal for driving the motor 10 to the servo amplifier 23 in response to an instruction from the CPU 21. Further, a position signal indicating the position of the drive unit 4 is input to the motion controller 22 via the servo amplifier 23. The motion controller 22 outputs a drive signal for driving the motor 10 according to the input position signal.

The drive signal from the motion controller 22 and the detection signal from the encoder 13 are input to the servo amplifier 23. The servo amplifier 23 outputs a drive signal to the motor 10, whereby the motor 10 rotates to drive the drive unit 4.

The storage unit 24 is composed of a semiconductor memory, and various patterns for driving the drive unit 4 are stored. The CPU 21 reads out the pattern stored in the storage unit 24 and outputs it to the motion controller 22. The motion controller 22 outputs a drive signal according to the input pattern.

The control unit 6 may be composed of a computer including a CPU, a semiconductor memory, a hard disk, and the like. In this case, the transfer control program of the present invention is installed on the hard disk, and the transfer control program controls the drive of the drive unit 4.

Next, the drive pattern of the drive unit 4 in the present embodiment will be described. In the present embodiment, the control unit 6 drives the drive unit 4 by two steps of the first step and the second step, and moves the drive unit 4 from the start position Ps to the target position Pe to be transported. The object 7 is conveyed from the start position Ps to the target position Pe. In the first step, the drive unit 4 is moved from the start position Ps to a position within a specific range including the target position Pe by the required time t0 based on n times the rocking period T1 of the object to be transported 7 (n is a natural number). Move. In the second step after the first step, the drive unit 4 is driven by a period T2 smaller than the swing period T1 of the object to be transported 7 and an amplitude A2 smaller than the amplitude A1 of the object 7 to be transported in the first step. The drive unit 4 is stopped at the target position Pe by reciprocating a specific number of times.

FIG. 3 is a diagram showing an example of the drive pattern of the drive unit 4 and the moving distance of the drive unit 4. In the upper diagram of FIG. 3, the vertical axis represents the speed of the drive unit 4, and the horizontal axis represents time. In the lower view of FIG. 3, the vertical axis represents the moving distance of the drive unit 4, and the horizontal axis represents time. As shown in FIG. 3, the drive unit 4 is accelerated in the section z1 and travels at a constant speed in the section z2. Then, it is decelerated in the section z3, and after stopping, it reciprocates a specific number of times (here, 3 times) in the section z4. As a result, at the start of the second step, the drive unit 4 is driven in the direction opposite to the direction in which the object to be transported 7 swings. In FIG. 3, sections z1, z2, and z3 are sections of the first step, and section z4 is a section of the second step. At the end of the second step, the drive unit 4 stops at the target position Pe.

Here, the natural period of the object to be transported 7 is represented by T1 = 2π√ (l / g). g is the gravitational acceleration, and l is the distance from the fulcrum P0 (see FIG. 1) of the swing of the transported object 7 to the center of gravity G0 of the transported object 7. In the present embodiment, the swing period T1 of the object to be transported 7 is different from the natural period, and the object to be transported 7 is actually suspended and transported under certain conditions (speed, moving distance, required time, etc.). Obtained by measuring the shaking of. Specifically, the object to be transported 7 in a stationary state is transported from the start position Ps to the target position Pe, and after the transfer is started, the object to be transported 7 overlaps with the perpendicular line L1 passing through the fulcrum P0 of the swing twice. The time until, that is, one cycle of the swing of the object to be transported 7 during transportation is determined as the swing cycle T1. While the transported object 7 is being transported from the start position Ps to the target position Pe, the transported object 7 may not swing for one cycle. Here, the time from the start of transport until the transported object 7 reaches the maximum amplitude is 1/4 of the swing period T1, and the transported object 7 sets the swing fulcrum P0 after the start of transport. The time until it overlaps with the perpendicular line L1 passing through once is 1/2 of the swing period T1. Therefore, when the transported object 7 does not swing for one cycle while the transported object 7 is transported from the start position Ps to the target position Pe, a value corresponding to the ratio of the measured cycle to one cycle is measured. The swing period T1 may be obtained by multiplying the period. For example, when the measured cycle is 1/4 of one cycle, the swing cycle T1 may be obtained by multiplying it by four. Further, when the measured cycle is 1/2 of one cycle, the swing cycle T1 may be obtained by doubling it.

While the transported object 7 is transported from the start position Ps to the target position Pe, the transported object 7 may swing for a plurality of cycles, but the swing time for each cycle may be different. .. Therefore, when the transported object 7 swings in a plurality of cycles from the start position Ps to the target position Pe, the cycles representing each cycle (for example, the average value of the cycles, the median of the cycles, the maximum value of the cycles, or the minimum of the cycles) (Value, etc.) is preferably determined as the swing period T1 of the object to be transported 7. Further, when the transported object 7 swings in a cycle (for example, 1.25 cycle and 1.5 cycle, etc.) that does not become an integer while the transported object 7 is transported from the start position Ps to the target position Pe. There is. In such a case, the swing period T1 may be obtained by dividing the measured period by a magnification with respect to the one period. For example, when the measured cycle is 1.5 cycles of the object to be transported 7, the swing cycle T1 can be obtained by dividing the measured cycle by 1.5.

Further, in the present embodiment, the time required t0 of the first step may have some error with respect to n × T1. For example, it may have an error of about ± 10% with respect to n × T1. That is, it may be 0.9 × n × T1 ≦ t0 ≦ 1.1 × n × T1. When n = 1, the upper limit of the required time t0 in the first step may have an error larger than 10%. For example, it may have an error of 25%. In this case, 0.9 × T1 ≦ t0 ≦ 1.25 × T1.

The period T2 of the drive unit 4 in the second step is smaller than the swing period T1 of the object to be transported 7. That is, T2 = k1 × T1 (0 <k1 <1). It should be noted that 0.1 ≦ k1 ≦ 0.9, 0.2 ≦ k1 ≦ 0.8, 0.3 ≦ k1 ≦ 0.7, and 0.4 ≦ k1 ≦ 0.7. ≦ k1 ≦ 0.6 may be set.

Further, the amplitude A1 of the object to be transported 7 in the first step actually suspends the object to be transported 7 from the drive unit 4, and the object to be transported from the start position Ps to the target position Pe by the required time t0 calculated as described above. 7 is conveyed, and measurement is performed in a state where the drive unit 4 is stopped at the target position Pe. Here, the shaking of the object to be transported 7 stopped at the target position Pe is attenuated with the passage of time. That is, as shown in FIG. 4, the object to be transported 7 swings with the largest amplitude immediately after stopping at the target position Pe. In the present embodiment, the maximum value of this amplitude is the amplitude A1 of the object to be transported 7 in the first step. The amplitude A1 is the reference point of the object to be transported 7, that is, the fulcrum P0 of the swing of the object to be transported 7 in the state where the speed is first 0 after the drive unit 4 is stopped in the first step. It is the distance between the center point P1 of the opposite end and the perpendicular line L1 passing through the fulcrum P0 of the swing of the object to be transported 7. The center of gravity G0 of the transported object 7 may be used as the reference point of the transported object 7.

The amplitude A2 of the drive unit 4 in the second step is smaller than the amplitude A1 of the object 7 to be transported in the first step. That is, A2 = k2 × A1 (0 <k2 <1). It should be noted that 0.1 ≦ k2 ≦ 0.9, 0.2 ≦ k2 ≦ 0.8, 0.3 ≦ k2 ≦ 0.7, and 0.4 ≦ k2 ≦ 0.7. ≦ k2 ≦ 0.6 may be set.

The number of reciprocating movements of the drive unit 4 in the second step may be determined experimentally. For example, it may be 10 times or less, 8 times or less, 5 times or less, or 3 times or less.

The final position for moving the drive unit 4 in the first step is a position within a specific range including the target position Pe. FIG. 5 is a diagram for explaining a specific range including the target position Pe. As shown in FIG. 5, the specific range is a range of ± A2 centered on the target position Pe. In FIG. 5, the position in front of the target position Pe is shown negatively, and the position beyond the target position Pe is shown positively. Within this range, the first step may be completed and the second step may be started. That is, if the drive unit 4 has reached the target position Pe after the end of the second step, the second process may be started after moving the drive unit 4 to the target position Pe by the first step, and the target position Pe may be started. The second step may be started at a position two minutes before the amplitude A2 of the second step, or the second step may be started at a position where the target position Pe has passed the amplitude A2 minutes of the second step.

In the present embodiment, after the drive unit 4 is stopped at the target position Pe by the first step, the second step may be started before a specific time elapses. The specific time may be 6 seconds, 5 seconds, 4 seconds, 3 seconds, 2 seconds, or 1 second. Further, in relation to the natural period of the transported object 7, the transported object 7 has the maximum swing width in the cycles of 1/4 and 3/4 of the natural cycle. Therefore, the time that becomes 1/4 or 3/4 of the natural period of the object to be transported 7 may be set as a specific time.

In the present embodiment, the drive unit 4 is positioned within a specific range including the target position Pe from the start position Ps by the required time t0 based on n times the swing period T1 of the object to be transported 7 (n is a natural number). In the first step of moving to, and after the first step, the target position has a period T2 smaller than the swing period T1 of the transported object 7 and an amplitude A2 smaller than the amplitude A1 of the transported object 7 in the first step. In Pe, the drive unit 4 is reciprocated a specific number of times to stop the drive unit 4 at the target position Pe, and the drive unit 4 is driven to convey the object to be transported 7. Here, the first step can suppress the shaking of the transported object 7 at the target position Pe, but the second step further suppresses the shaking of the transported object 7. Therefore, according to the present embodiment, it is possible to sufficiently suppress the shaking of the transported object 7 when it is stopped.

Next, examples of the present invention will be described. A table for explaining an embodiment of the present invention is shown in FIG. In FIG. 6, one Comparative Example 1 and nine Examples 1 to 9 are shown. In Comparative Example 1 and Examples 1 to 9, the transport distance is 1 m. In Comparative Example 1 and Examples 1 to 5, 7 to 9, the object to be transported 7 is a flexible tube of an endoscope having a length of 1.5 m and a diameter of 15 mm, and in Example 6, the object to be transported 7 is a flexible tube. Is a flexible tube for an endoscope having a length of 0.5 m and a diameter of 15 mm. Therefore, in Comparative Example 1 and Examples 1 to 9, the natural period is 2.30 seconds, but in Example 6, the natural period is 1.40 seconds. Regarding the first step, in Comparative Example 1 and Examples 1 to 5, 7 to 9, the section z1 shown in FIG. 3 is 1.2 seconds, the transport speed in the section z2 is 0.45 m / sec, and the section z3 is 1. 2 seconds. In the sixth embodiment, the section z1 shown in FIG. 3 is 1.3 seconds, the transport speed in the section z2 is 0.45 m / sec, and the section z3 is 1.3 seconds.

In FIG. 6, the “difference” in the first step is a value obtained by subtracting the required time t0 from the swing period T1 × n (n = 1). In Comparative Example 1 and Examples 1 to 9, the difference is in the range of ± 10% of the swing period T1 × n (n = 1). Further, in FIG. 6, the result column shows the amplitude of the object to be transported 7 at the end of transportation, that is, at the end of the second step. Since the second step is not performed in Comparative Example 1, the column of the result of Comparative Example 1 shows the amplitude A1 of the object to be transported 7 at the end of the first step.

Regarding the cycle T2 of the second step, Examples 1, 2, 4 to 6, 8 and 9 are 0.54 seconds, Example 3 is 0.43 seconds, and Example 7 is 1.79 seconds. It is smaller than the swing period T1 of the object to be transported 7 in one step. Further, regarding the amplitude A2, Examples 1, 2, 4 to 7, 9 are 7.5 mm, Example 3 is 6 mm, and Example 8 is 15 mm, which is the result of Comparative Example 1, that is, when there is no second step. It is smaller than 25 mm, which is the amplitude of the object to be transported 7 in the first step. Further, regarding the number of reciprocating movements, Examples 1, 3 to 6 are 3 times, Examples 2, 7 and 8 are 10 times, and Example 9 is 5 times.

Further, "simultaneously" at the start position of the second step of Examples 1 to 3, 6 to 9 means that the second step is started at the same time when the drive unit 4 reaches the target position Pe. “7.5 mm before” in the fourth embodiment means that the second step is started from 7.5 mm before the drive unit 4 reaches the target position Pe. The 7.5 mm at the start position of Example 4 is the same as the magnitude of the amplitude A2 of the second step in Example 4. “5 seconds later” in the fifth embodiment means that the second step is started 5 seconds after the drive unit 4 reaches the target position Pe.

As shown in the column of the result of FIG. 6, by performing the second step in addition to the first step as in the present embodiment, the amplitude of the object to be transported 7 when transported to the target position Pe is set to be larger than 25 mm. I was able to make it smaller. Further, as shown in the fourth embodiment, the driving unit 4 is also conveyed to the target position Pe by starting the second process after the drive unit 4 reaches a position two minutes before the amplitude A2 of the second step from the target position Pe. The amplitude of the object to be transported 7 could be made smaller than 25 mm. Further, as shown in the fifth embodiment, even if the second step is started after the drive unit 4 reaches the target position Pe and before a specific time elapses, the object to be transported when it is conveyed to the target position Pe. The amplitude of 7 could be made smaller than 25 mm.

In the above embodiment, the hook 4a is attached to the drive unit 4, the hook 8a of the holding member 8 is hooked on the hook 4a, and the object to be transported 7 is suspended from the drive unit 4, but the present invention is limited to this. It's not a thing. For example, any mechanism capable of rotatably suspending the object to be transported 7 in the moving direction can be used.

Further, in the above embodiment, the object to be transported 7 is transported along the linear guide member 3, but the transport path of the object to be transported 7 is not limited to a straight line but is curved. It may be a path including a straight line and a curved line. Further, the route may be such that the height of the object to be transported 7 changes.

1 Transport device 2A, 2B Strut 3 Guide member 4 Drive unit 4a Hook 5 Movement mechanism 6 Control unit 7 Transported object 8 Holding member 8a Hook 10 Motor 11 Ball screw 12 Bearing 13 Encoder 21 CPU
22 Motion controller 23 Servo amplifier 24 Storage unit 25 Input unit 26 Display unit G0 Center of gravity of the object to be transported P0 fulcrum of swing P1 Center point at the position farthest from the viewpoint of swing of the object to be transported Ps Start position Pe Target position

Claims (9)

A transport control device that swingably suspends the transported object and transports the transported object from a start position to a target position.
A drive unit in which the object to be transported is suspended and driven along a path including the start position and the target position.
The first step of moving the drive unit from the start position to a position within a specific range including the target position according to the required time based on n times the swing cycle of the object to be transported when n is a natural number. , And, after the first step, the drive unit is reciprocated a specific number of times with a cycle smaller than the swing cycle of the object to be transported and an amplitude smaller than the amplitude of the object to be transported in the first step. A transport control device including a control unit that drives the drive unit by a second step of stopping the drive unit at the target position. The transport control device according to claim 1, wherein the drive unit includes a hook for suspending the object to be transported. The transport control device according to claim 1, wherein the drive unit includes a suspension mechanism for suspending the transported object so as to be rotatable in the moving direction of the transported object. The transfer control device according to any one of claims 1 to 3, wherein the control unit starts the second step at the same time when the drive unit reaches the target position. The transport according to any one of claims 1 to 3, wherein the control unit starts the second step after the drive unit reaches a position before the target position by the amplitude of the second step. Control device. The transport control device according to any one of claims 1 to 3, wherein the control unit starts the second step after the drive unit reaches the target position and before a specific time elapses. The transport control device according to any one of claims 1 to 6, wherein the control unit moves the drive unit in a direction opposite to the direction in which the transported object swings at the start of the second step. .. This is a transport control method in which the object to be transported is swayably suspended and the object to be transported is transported from a start position to a target position.
The drive unit in which the object to be transported is suspended and driven along a path including the start position and the target position is based on n times the swing cycle of the object to be transported when n is a natural number. The first step of moving the drive unit from the start position to a position within a specific range including the target position, and after the first step, a cycle smaller than the swing cycle of the object to be transported, depending on the required time. In addition, the transport is driven by the second step of reciprocating the drive unit a specific number of times with an amplitude smaller than the amplitude of the object to be transported in the first step and stopping the drive unit at the target position. Control method. A transfer control program that causes a computer to execute a transfer control method in which an object to be conveyed is swayably suspended and the object to be conveyed is conveyed from a start position to a target position.
The drive unit in which the object to be transported is suspended and driven along a path including the start position and the target position is based on n times the swing cycle of the object to be transported when n is a natural number. The first step of moving the drive unit from the start position to a position within a specific range including the target position, and after the first step, a cycle smaller than the swing cycle of the object to be transported, depending on the required time. The process of driving the drive unit by a second step of reciprocating the drive unit a specific number of times with an amplitude smaller than the amplitude of the object to be transported in the first step and stopping the drive unit at the target position. A transport control program that causes a computer to execute.