JPH02169365A - Transporter constant interval controller for automatic recirculating cableway - Google Patents

Abstract

PURPOSE:To make the constant interval operation of a transporter stably continuable irrespective of disturbance by setting a control section shorter in length than a specified interval of the transporter released out of a cable, to a forwarding transfer section, and installing a control transferrer in this control section. CONSTITUTION:A terminal 1 has a pulley 3 rolled on with a cable 2, while a transporter 10 is circulatively moved by a grip of the cable 2 by a cable gripper installed in this transporter, and it is released in an A point at this terminal 1, then it is regrasped in a D point. In addition, a decelerating transferrer 5 is set up in space between A and B points and an accelerating transferrer 6 between C and D points, respectively. In this case, an interval between B and C points is installed as a transporter control section 20, and in this section, there is provided with a control transferrer 21 consisting of plural numbers of neumatic rubber tires R1, R2 and so on for transferring the cable gripper 11 and a variable speed motor M or the like. Then, rotational frequency of the variable speed motor M for this control transferrer 21 is controlled, whereby transfer of the transporter 10 is made so as to be controlled for lead or delay.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to the field of cableways, particularly to a device for controlling the spacing of carriers at constant intervals in an automatic circulation cableway.

[Prior art] An automatic circulation cableway circulates a tow rope or tow rope endlessly between pulleys installed at terminals (terminals) at both ends (the same shall apply hereinafter), and suspends the carrier. The rope gripping machine grips the above-mentioned tow rope or tow rope, and transport is carried out by operating a carrier along with the circulation of the tow rope or tow rope, and is used for sightseeing in mountainous areas and ski resorts. It is widely known that it is widely used for transportation in the countryside, and recently it has also been attracting attention as a means of transportation for mountain transportation in cities.

Here, the automatic circulation cableway includes a double-track or three-track automatic circulation cableway that uses a stationary cable that supports and guides the carrier, and a single or two tow rope to tow the carrier. There are other types of cableways, such as single-track automatic circulation cableways or double-track single-track automatic circulation cableways that use only one or two guy ropes to support and pull the carrier, each of which has its own characteristics. There is. However, a removable gripping device is used to hold the towline or towline on the cableway line and the vehicle is towed by it, and at the terminal, the towline or towline is released and the vehicle is transported. The two have something in common as far as the basics of operation, such as using equipment to transport vehicles at slow speeds, are concerned.

The technology related to the present invention is related to the basic operation of the above-mentioned operation, and is related to any of the above-mentioned types of automatic circulation cableway. Although this specification mainly describes the case of the most frequently used single-track automatic circulation cableway, it is also applicable to other types of automatic circulation cableway.

A conventionally known device that uses a transfer device to transfer carriers and adjusts the interval between the carriers is disclosed in Japanese Patent Laid-Open No. 6
No. 0-113761 [Proposed method and device J for regular interval operation of automatic circulation cableway.

In FIG. 13, pulleys 103 and 123 are disposed at terminals 101 and 121 at both ends, respectively, and a cable 102 circulates between them.

A rail 104 is arranged in the terminal 101 in a U-shape, and along the U-shaped turning section of the rail 104,
A chain-type forwarding transfer device 111 equipped with ratchets 113, 113, . . . at predetermined intervals is driven by a subrocket 1 and a wheel 112. Also rail 10
A deceleration transfer device 105 and an acceleration transfer device 106 are provided in the straight line portion 4, respectively.

One terminal 121 also has a chain-type forwarding transfer device 131 driven by a sprocket width 132 near the turning section of the U-shaped rail 124. Engagement claw 1
It is equipped with 33,133°133... Also rail 1
24 is provided with a deceleration transfer device 125 and an acceleration transfer device 126.

These forwarding transfer devices 111, 131, deceleration transfer device 1
05,125. The acceleration transfer device 106°126 is connected to the cable 10
2 and is operated at a proportional speed mechanically or electrically interlocked with the hoe. Although the carriers are not particularly shown, the ratchets 113, 113, and
. . . They are transferred at regular intervals to each other, grab a rope, and depart in the direction of arrow 107. When it arrives at the other terminal 121 and decelerates, it engages with one of the engagement claws 133 of the chain-type transport device 131 and is transported.

Here, since the forwarding transfer device 131 is also operated at a speed proportional to the cable 102 as described above, at the terminal 101, f
The scheduled regular interval service 9j is maintained or saved as it is, and the service returns to the terminal 101. Inside the terminal 101, it is caught again by the ratchet 113 of the forwarding transfer device 111. This circular operation is repeated one after another, and the carriers are moved in unison one after another at regular intervals.

[Problems to be Solved by the Invention] The above-mentioned device for moving carriers at regular intervals has already been put into practical use and has achieved considerable success with a number of achievements. Since the entire device operates in unison while maintaining a proportional speed relationship, ideally it should maintain a constant rhythm and operate stably continuously.

However, if there is some kind of disturbance, there is a possibility that the rhythm of operation will be disrupted.

For example, if there is such a disturbance and the carrier returns to the terminal 101 with a slight delay, the ratchet 113 of the forwarding transfer device 111, which should have been captured, takes the lead and moves next. radi 1tsu h 11
As a result, the distance from the preceding carrier increases and the connected carrier approaches.

Although such incidents are relatively rare, when they do occur, there is an inconvenience such as the staff having to manually push the vehicle forward to correct it.

The present invention has been made to improve the above-mentioned situation, and when there is some kind of disturbance in the circulating operation of the carriages of the automatic circulation cableway and the regular interval operation is disturbed, this invention is automatically restored, The purpose is to provide a device that allows stable operation at regular intervals.

[Means for solving the TR problem] In accordance with this objective, the present invention has a cable that circulates between pulleys at both end terminals, and a plurality of cable grippers that are detachably attached to the cables, each of which has a carrier suspended therein. In the cableway, the rope gripping machine grips the cables to move the carriers one after another, and at the terminal, the rope gripping machine abandons the cables to move the carriers one after another. In an automatic circulation cableway that performs circular transport by performing forward transport at predetermined intervals, the forward transport section has at least one carrier control section whose length is longer than the predetermined interval of the 1112 vessels, The control section is provided with a controlled transfer device, and the controlled transfer device is configured to drive a plurality of transfer wheels with a variable speed electric motor and frictionally transfer the rope gripping machine around the periphery of the transfer wheels. According to the present invention, there is provided a carrier fixed interval control device for an automatic circulation cableway, which controls the rotation speed of the variable speed electric motor to advance or delay the transport of the carriers and correct the intervals between the carriers to a predetermined interval. In the automatic circulation cableway, at least one carrier control section having a length shorter than a predetermined interval of the carriers is defined in the forwarding section, and the control section is provided with a is provided with a control transfer device, a cable movement amount detecting means for detecting the speed of the cable and outputting a cable speed signal, and a cable moving amount detecting means for detecting the g-movement m of the cable and outputting a pulse signal. Article 8iIiJJ intoxication detection means and It! that enters the carrier control section! a carrier detecting means for detecting two carriers and outputting a carrier signal; and a number means for inputting the Moeki 11g one instrument signal and the pulse signal, counting the pulse signals, and outputting a pulse count value signal; a calculation means for inputting the rope speed signal and the pulse count value signal to generate fl and IJ control pattern signals; a controller for controlling the variable speed m motor based on the control pattern signal; and a variable speed electric motor. and a transmission means, and the controlled transfer device is driven by the variable speed electric motor via the transmission means to transfer the carriers at variable speeds to correct the distance between the carriers to a predetermined interval. Automated circulation cableway transport system at regular intervals 2
, which is structured as follows.

[Operation] At least one carrier control section is defined in the section for transporting the carrier at the terminal of the automatic circulation cableway, and the length is shorter than the predetermined interval of the carriers, and a control transfer device is provided in this section. The controlled transfer device has a plurality of transfer wheels arranged in parallel along the carrier path, and frictionally transfers the gripping device of the carrier at the periphery of the transfer wheels. These transfer wheels are driven by variable speed electric motors in the transmission means.

On the other hand, it is provided with a cable movement amount detection means that detects the cable speed and outputs a cable speed signal, and a cable movement amount detection means that detects the cable movement amount and outputs a pulse signal, At least on the entrance side thereof, there is provided a carrier detection means for detecting passage of the carrier and outputting a carrier signal.

It also includes a counting means and a calculation means for issuing carrier control commands, and a controller for controlling the variable speed electric motor based on the commands from the calculation means.

In this configuration, the calculation means generates a basic speed pattern based on the cable speed signal.

The basic speed pattern is determined based on the cable speed at that point in time, and corresponds to the carrier transfer speed when there is no disturbance in the carrier interval. Next, when the deviation between the standard value and the value of the pulse signal counted within the time interval of the carrier signal between the preceding carrier and the 1112 carrier is calculated, this corresponds to the delay or advance distance of the carrier. The additional speed pattern is calculated as a speed curve that should be added or subtracted to recover from the delay or advance of the carrier.

A control pattern signal is synthesized by adding these basic speed patterns and additional speed patterns, taking into account whether they are positive or negative. The control pattern signal is output as a speed curve for controlled transport of the carrier against time within the controlled transport section, and the transport speed at the start point and end point of the m-carrier controlled transport coincides with the basic speed.

Based on the control pattern signal, the controller controls the rotation of the variable speed electric motor, and the transmission means drives the wheels.

The wire gripping machine of Widing is sequentially transferred by the transfer wheels, and the adjustment of the interval between the carriers according to the control pattern is completed within the carrier transfer section. Furthermore, if the carrier spacing was originally normal, the additional speed pattern becomes zero and the original carrier spacing is maintained as it is.

The calculations for performing the above operations can be performed each time according to a predetermined calculation procedure, but they can also be predefined as a menu and the menu that meets the conditions can be selected.

The controlled transfer section may be located at one location in one terminal, but it may also be divided into a plurality of stages and the carrier interval adjustment may be distributed to each stage.

In addition, the present device can be installed at both terminals of the automatic circulation cableway system, but it can also be installed at only one terminal.

[First Embodiment] The following first embodiment is for explaining a typical configuration of the present invention as a whole.

FIG. 1 shows the arrangement of the carrier control section 20 and the control transfer device 21 in the terminal 1. In this embodiment, of the automatic circulation cableways to which the present invention is applied, a line II automatic circulation cable is used, and the cables 2 are therefore synonymous with the tow cables.

A pulley 3 is pivotally installed in the terminal 1, and a cable 2 is wound around the WJ car 3 and circulates in the direction of the arrow 7. Point A in the figure is the abandonment point, and point D is the gripping point. A rail 4 is arranged from point A to point D via points B and C in a horseshoe shape or a U-shape in plan view. A deceleration transfer device 5 is disposed between the rail 4 from point A to point B, and
An acceleration transfer device M6 is disposed between the points and the point D.

The deceleration transfer device 5 and the acceleration transfer device 6 are usually of a type in which a plurality of pneumatic retires are arranged in parallel to decelerate or accelerate the transfer of the rope grasper 11. Next, the area between point B and point C in the arcuate section of the rail 4 is a carrier control section 20, in which one control transfer device 21 is disposed. The control transfer device 21 is provided with a plurality of pneumatic rubber tires R, R2, . In this embodiment, only one set of the carrier control section 20 to the controlled transfer device 21 is provided between the deceleration transfer device 5 and the acceleration transfer device 6, but as will be described later, they may be provided in multiple stages as necessary. It is also possible to provide one.

Further, a carrier detection means is provided on the entrance side of the m-carrier 10 into the carrier control section 20. is installed. Further, a cable movement amount detection means and a cable movement m detection means are provided at appropriate locations on the cable 2.

In this overall arrangement, the carrier 10 is connected to the cableway 8
It reaches the terminal 1 in the direction of arrow 7, discharges the cable 2 near point A, moves to the rail 4, and is slowly decelerated by the deceleration transfer device 5 while rolling on the rail 4. Near point B, the carrier is detected as passing by the carrier detection means, enters the carrier control section 20, and is controlled and transferred by the controlled transfer device 21. Please note that passengers will be boarding or disembarking during this section.

Next, it is accelerated from point C by the acceleration transfer device 6 to 0, grabs the cable 2 near point D, and departs in the direction of the cableway line 8.

Next, FIG. 2 is an expanded version of the one shown in FIG. 1, and also includes a block diagram of each component.

A rail 4 is suspended from a point A through points B and C to a point D in the terminal 1, and a rope gripping machine 11 with a carrier 10 suspended rolls on the rail 4. The cable 2 is introduced from the cableway line 8 to near point A in the terminal 1, and although not shown near the middle, it is sent out again in the direction of the cableway line 8 from near point D and circulates.

From near point A to near point B, there is a deceleration transfer device 5 indicated by a chain line.
are arranged, and an acceleration transfer device 6 is arranged near points C to D.

Next, between point B and point C of the rail is a carrier control section 20, and a control transfer device 21 is installed in this section.

Controlled transfer @ 21 is a plurality of transfer wheels R along the rail 4,
R, R3...Ro are arranged in parallel, and these transfer wheels R, R, R3...Rn are interconnected by a transmission means 22 as shown by a dotted line to connect a variable speed electric motor. Driven by M, transfer wheels R, R, R3...R,
The gripping ropes 1111 are rubbed and transported in the direction of arrow 7 by the respective peripheral edges of the gripping lines 1111. Here, as the transmission means 22, a winding transmission such as a belt, a gear device, etc. can be used.

Next, a carrier detection means is provided on the approach side of the carrier 10 in the carrier control section 20. is arranged, and the position is controlled by the carrier 10 or the rope gripping machine 1.
1 passes, this is detected and a carrier signal SC is generated and output to the counting means COU.

A contact or non-contact switch or sensor such as a limit switch, a photoelectric switch, or a proximity switch can be used as the carrier detection means DC.

Cable movement amount detection means D are provided at appropriate locations on the passage route of the cable 4.
v and a cable movement n detection means Dl) are provided.

The cable movement amount detecting means DV detects an electrical signal, for example, a voltage signal, having a value proportional to the speed of the cable 4 by using a roller 15 that rotates rapidly with the peripheral edge of the cable 4 in contact with the cable 4. It is generated as a row speed signal SV and output to the calculation means CAL.

In addition, the cable movement detection means similarly uses a roller 6 that rapidly rotates on the cable 4 with its peripheral edge in contact with the cable 4,
One pulse signal sp is generated for each fixed length of the cable 2 and output to the counting means CoU.

π] As described above, the carrier signal SC and the pulse signal sp are input to the number means COU, but here, the pulse signal sp from the time when one carrier signal SC is input until the next carrier signal SC is input. is counted, and the counted value is outputted to the operator/stage CAL as a pulse count value signal sn. In addition, when the counting means COU completes one counting,
Return to zero and start the next count. Next, the calculation means CAL inputs the above-mentioned cable speed signal SV and pulse count value signal sn, performs calculations on a predetermined relationship, and generates a control pattern signal ptc. Details of this calculation will be described later.

The controller CTR is variable speed electric based on the instructions of the control pattern signal PTC! ! 1M, and various methods can be used, such as V, V V
F-type inverter control or the like is suitable.

In this way, the rotation of TialM drives the transfer wheels R, R2, R3, . . . Ro via the transmission means 22, and the rope grasping machine 1
Transfer 1.

Next, we will discuss the operation.

First, it is assumed that the various relationships for cableway operation are as follows as a precondition.

When the operating speed of cable 2 is , the standard transfer speed in the slow transfer section in terminal 1 is Vo
=r-V. Here, r is a constant value reduction ratio.

On the other hand, if Lr is the distance between the carriers 10 and 10 on cable 2, that is, the carrier interval, then the carrier time interval T is T,=L
,/V.

(sec). Also during the transfer section, the carrier time interval T
= T, so the distance between the carriers is equal. is L = V −
T = r-V -T, = r-L, and ccc
r becomes.

In other words, - in numerical example, V, = 4.0 (m/s),
If r=115, then V=0.8 (m/S). At this time, if the lIl interval on the cable 2 is -24 (m), the carrier interval is T r =24/4-6 (S e
C). The transporter time interval T is also used during the transfer section. =5
(sec) is stored, so the carrier interval L = (115) x 24 = 0.8 (m).

In other words, although the carrier time interval remains unchanged, W in the transfer section
The carrier interval Lc is shortened to one-fifth of the carrier interval L on the cable.

In addition, as mentioned above, the operating speed V of the cable 2 of the cableway equipment that circulates is changed into multiple stages.
An example of the above numerical values in such a case is as shown in the table below. In this case V, = 4.2
．． 1 (m/5ec), V and L
,,T.

In other words, when the cableway is operated at variable speeds, the interval between the carriers on the cable or in the transport section remains unchanged, and the WI equipment interval changes in inverse proportion to the speed.

The above describes the general operating conditions on the cableway using this device.
The operation and processing flow will be explained based on Figure (A).

When the cable 2 is operated, the cable moving amount detection means detects the cable speed, and outputs a cable speed signal S having a value proportional to the cable speed.
Outputs V. Also, the cable movement f71 @ detection means is,
A fixed number of pulses are generated per rotation of the roller 16 that rotates to scan the cable 2, that is, one pulse signal SP is output for each fixed movement length of the cable 2. On the other hand, the carrier detection means is disposed on the entrance side of the carrier 10 of the control transfer device 21, and outputs a carrier signal SC when the carrier passes.

Next, the pulse signal sp and the carrier signal @sc are input to the counting means COU, and the first carrier signal @sc is input! Ikishin@S
The number of pulse signals sp from C to the next carrier signal SC from the carrier 10 is cumulatively counted, and the counted value is output as a pulse count value signal sn.

As described above, since the length of the cable 2 per pulse is predetermined, the pulse count signal sn is proportional to the size of the carrier spacing.

A large value of the pulse count signal Qsn means that
This means that the interval between the carriers 10 is good, and a small value means that the interval is short.

Next, the calculation means CAL performs a calculation n to generate a control pattern @ptc. Here, the basic speed pattern ptb based on the cable speed V and the additional speed pattern pt
a and calculate the control pattern signal ptc from both of them.
is being calculated.

The contents of this performance will be described later, but the control pattern signal ptc calculated here is a time schedule that instructs changes in speed with respect to time, as shown in FIGS. 4 to 7, for example. When this control pattern signal ptc is output to the next controller CTR, the controller CTR controls the rotation speed of the variable speed electric motor M in accordance with this command.

The variable speed 'Ii motor M simultaneously drives each transfer wheel R, R2, . The carrier detection means shown in the second figure. When the carrier 10 passes through the position, the cylinder processing is immediately performed as described above, and the rotation control of the transfer wheels R, R, . . . , Ro is started according to the time schedule of the control pattern signal ptc. The carrier/vehicle 10 has transfer wheels R, R2...
The carriers are transported one after another by Ro and are controlled to catch up with or move away from the preceding carrier over time, and the interval is adjusted.

Next, the processing procedure and contents of the calculation in the calculation means CAL will be explained. FIG. 3(a) shows the arithmetic processing part of FIG. 3(a).

As a premise, the length of the controlled transfer section 20 is L,
This length. The above-mentioned standard carrier interval Lc is at least (Lo-margin distance)≦L.

Therefore, it is necessary to prevent two carriers from entering the controlled transfer section 20 at the same time.

First, the basic speed pattern ptb is generated based on the value of the cable speed signal SV. The value of the cable speed signal SV is the cable cable speed V in the operating state.

and, as mentioned above, also proportional to the transfer speed Vc°. That is, the value of the rope speed signal SV corresponds to the basic speed V=Vo at which the carrier 10, which has a normal transport interval and does not require interval control, should pass through the carrier control section 20,
or a vision.

The basic speed pattern ptb corresponds to that shown in FIG. 4(A). That is, in a coordinate system in which the horizontal axis is time and the vertical axis is velocity, the basic speed V is shown as a constant straight line. The basic passage time t is the carrier 1
0 is the basic speed V. The length of the sub-control section is ``cm'', and the time to pass through is expressed as to=L./vo.The length of the carrier control section 20 is expressed as the area in FIG. 4(A).

Next, the additional speed pattern pta is the pulse count value signal s
n, and the aforementioned basal speed V. It is calculated as follows based on 6 and 6. As mentioned above, one pulse of the pulse signal sp corresponds to a certain length of the cable 2, so the pulse count signal Qsn is determined by the distance L between the cable 2 and the preceding wl unit.
1 or the distance between the leading carriers in the section of transport. is proportional to.

Therefore, a large value of the pulse count value signal sn means that the distance between the preceding carrier and the corresponding carrier 10 is large, and a small value of the pulse count value signal sn means that the distance between the preceding carrier 10 is small. .

Next, perform normal carriage spacing. The number of pulses corresponding to la s
Since s is predetermined, this is the deviation from the value sn of the J1 number (deviation from the value sn of No. ii) △p= (Sn
-55) corresponds to or represents the deviation ΔL between the normal carrier interval Lo and the detected carrier interval.

Here, a value of Δp (+) indicates that the carrier 1o is behind, and a value of Δp (-) indicates that the carrier 1o is ahead.

Figure 4 (a) shows that the carrier interval is ΔL from the deviation Δp mentioned above.
This shows a case where the delay is too large, that is, a case where the carrier 10 is delayed. The delay y separation ΔL is the basic speed V.

It takes time ta to drive, so in the end it's the same! In order to recover the delay, the second device needs to change the control 11 transfer section 20 (1-
18) indicates that it is necessary to pass.

Next, FIG. 4(T) shows an additional speed pattern pta. Since the carrier 10 is delayed by the distance ΔL, the length of the control section is Recovery is possible by increasing the speed so that the passing time becomes (1-1,). For this purpose, an additional speed pattern p ta is generated so as to obtain an area equal to the area shown in FIG. 4(a). The additional speed pattern n pta is represented by a speed curve having a substantially trapezoidal shape with respect to time, and the starting point of the speed curve and n lft'! The slope part indicates the acceleration and deceleration sections. The values of acceleration and deceleration used here may be determined in advance.

Next, a basic speed V based on these basic speed patterns ptb. and the additional speed pattern pta to obtain the fourth
The control pattern ptc in Figure (1) is synthesized. During time (1-1,), the control pattern signal ptc accelerates from the basic speed ■ at the beginning, reaches the speed (V+V1), and then changes flatly, and returns to the basic speed ■ at the end. .

This is shown by the speed curve that returns to . The area enclosed by this curve is the length of the controlled transfer section 20. Therefore, if the carrier 10 is transferred at increased speed according to such a time schedule, the distance between the carrier 10 and the m preceding carriers will be restored to normal by the time the carrier 10 exits the controlled transfer section 20.

This control pattern signal ptC is applied to the control means C as described above.
It is output to TR and executed.

Similarly, the case where the distance between the preceding carrier and the carrier 10 is short will be described with reference to FIGS. 5(A) to (1).

Figure 5 (a) shows the basic speed pattern p as in the previous case.
tb is shown.

In FIG. 5(a), the distance Δ1- of the carrier has moved too far is the basic speed V. indicates the time t to be delayed when the train is operated at

FIG. 5(A) shows an additional speed pattern pta having the same area ΔL as the over-advance distance Δ゛L shown in FIG. 5(A).
The gradient sections at the beginning and end are deceleration and acceleration sections.

Next, the control pattern signal ptc shown in FIG. 5 is synthesized by adding the additional speed pattern pta of (-) sign to the basic speed ■o based on the basic speed pattern ptb, in other words, subtracting it. The control pattern signal @ptC+1 time (t
10ta), in the beginning period, the basic speed ■ decelerates, reaches the speed of (V-Vl), then remains flat, and in the final period accelerates again to the basic speed ■. is shown by the velocity curve reaching .

The area surrounded by this curve. indicates the distance that the carrier is transferred within the carrier control section 20 within (1o+1.) time. Therefore, if the carrier is transferred in this way, the carrier 10 that has moved too far and is approaching the preceding carrier will be controlled. It can be separated and restored to normal until it has passed through the transfer section.

This control pattern signal ptc is applied to the controller CTR as described above.
is output and executed.

Note that when the distance between the preceding carrier and the carrier 10 is normal from the beginning, the additional speed pattern pta becomes zero, the basic speed pattern ptb and the III lit signal ptc become equal, and the carrier distance is maintained as it is.

An example of the arithmetic processing has been described above with reference to the drawings, but if this is summarized, the control pattern can be determined as follows.

If the carrier 10 is behind, or if it is ahead, α=acceleration or deceleration, and the control pattern signal p j C is calculated as shown in FIG. 6(A).

How should the control pattern ptc be calculated?

Furthermore, although the above example shows the case where the acceleration or deceleration α is constant, more generally, V1=f (t>> is shown in FIG. 7(A).
Alternatively, it is also possible to use the method shown in FIG. 7(a).

[Second Embodiment] This embodiment is also the same as far as the flowchart shown in FIG. 3 (A) of the previous embodiment is concerned, but only the specific processing of the calculations related to the calculation means CAL is different. . FIG. 8 shows only the pruning processing part of the calculation means CAL in this embodiment.

The basic concept of the calculations performed here is completely the same as in the above embodiment, but here, control speed patterns are prepared in advance in multiple stages by @ calculations as described above, and this is applied to a multi-choice type. I'm trying to choose.

According to the flowchart related to the calculation means CAL in FIG. 8, in FIG. 9, first, the value of the search speed signal SV is checked in advance to see which conditions match each zone range, and the basic speed pattern that matches the conditions is determined. For example, the arrow ρt shown by the solid line in the figure
Select b. Next, for each type of basic speed pattern ptb, from among the menu of additional speed patterns prepared in advance in multiple stages according to the degree of advance or lag of the l#2 device, for example, an additional speed pattern indicated by a solid line arrow is selected. pt.
Select a. In this way, these signals are combined and a control pattern signal indicated by a solid arrow is synthesized and output.

In the case of this method of processing, the selection of the control pattern signal ptc is gradual and "coarse", but the IF...
・THEN... format can be selected from the menu, making it fully usable for practical use.

[Third Example] The above-mentioned 1. In the second embodiment, a basic format has been described in which only one carriage control section 2o is defined and the interval between carriages is controlled.

In this embodiment, the basic type of carrier control described above is performed in multiple stages. Transport control section fl120a, 20b with three stages.

20c... and a controlled transfer device 21a.
, 21b, 21c are also shown in detail.

FIG. 10 shows an arcuate curved section approximately corresponding to points A to C in FIG. 1, in which the carrier 10 to the rope 'R11 enter from the direction of the deceleration transfer device 5 and proceed in the direction of the acceleration transfer device 6. The curved sections include carrier control sections 20a, 20b and 2.
0c is determined, and control transfer devices 21a, 21 are respectively provided.
b or 21c is provided. Each of the control transfer devices 21a, 21b, 21c is driven by a variable speed electric motor M, , Mb or M, each of which has a variable speed of 9 mm. These control transfer devices 21a.

21b and 21G are suspended at fixed positions and fixed to an arc-shaped frame (not shown in FIG. 10). Each control transfer device @21a.

21b and 21cG are basically equivalent, so here, one control transfer device 20a will be represented in detail. 1 configuration will be explained.

Grab it! ! Transfer wheel Ra1°Ra for transferring 111
2. Ra3 and Ra are respectively axes 23, 23°23.
The transfer wheel Ran is also pivotally supported via a shaft 23 on a gearing 25 . tM car device 2
Shafts 26, 26.26°26.26 extend upward from 4, 24, 24.24 and 25, respectively, and pulleys 27, 27.27.27.27 are fitted onto these, respectively. . and these pulleys 27, 27, 27.27
Belts 28, 28°28. between adjacent ones of 27°.
28 is a rotation story) It is possible to wrap around.

FIG. 11(A) is a view of the transfer wheel Ra4 as viewed from the direction in which the rope gripping machine 11 is traveling. A gear system 25 is fixed on the frame 33 and connected to a variable speed electric motor M via a shaft 29.

The variable speed electric motor Ma is connected to, for example, an electric machine frame 34 extending from a frame 33 at a fixed position, so that a force can be transmitted to the electric motor Ma. i1 stage. As described above, the transfer wheel Ra4 provided in the case 23 frictionally transfers the rope grasper 11 around its periphery. And the rope gripping machine 11 carries the carrier 10 downward! It is designed to roll along the rail 4 at the power of g.

The internal structure of the gear device 25 is schematically shown in FIG. 11 (a).
It's like this. The shaft 23 is equipped with a gear 30, the shaft 26 is equipped with teeth rμ31, and the gears 30, 31 each have an umbrella #
They are J cars and mesh with each other.

Further, the shaft 29 is provided with a gear 32 which is a paddle gear, and meshes with the gear 31 described above.

In addition, the gear device 24 related to the other transfer wheels RRR and Ra5 a1° a2, a3, is shown in FIG. Gear 3 as shown in Figure 11
2 is missing, and only the gears 30 and 31 mesh with each other.

In this way, the transmission means 22 rotates the transfer wheel R84 via the shaft 29, gears 32, 31, 30, and shaft 23 due to the rotation of the variable speed electric motor M, and the pulley 27 also rotates, thereby causing the belt 28. 28..., the rotations are transmitted one after another, and as a result, the transfer wheels RR...R simultaneously rotate so as to be able to transfer the rope graspers al-a2, a5, 11.

The above has described the controlled transfer device 21a, but the controlled transfer devices 21b and 21c in the other carrier control sections 20b and 20G are also driven independently by variable speed electric motors Mb or Mc, and only the number of transfer wheels is are different, but other things are equal. Further, the number of transfer wheels can be increased or decreased as required.

Next, these transfer control devices 21a, 21b.

21c each on the carriage entrance side! mil! !
! Detection means D, D or the like. It is equipped with C.

ca cb Here, the counting means COU and the calculating means C in FIG.
If AL is collectively used as a control command means, the control transfer device 21
control command means C0NTL, which are independent from each other for a, 21b, and 21c;

C0NTL and C0NTLo are provided, and a
b) to control the rotation of variable speed electric motors M, M, MC. Note that these control command means C0NTL, C0
It goes without saying that NTLb and C0NTLC may share the same CPU, as shown surrounded by two-dot chain lines in the figure, and perform the above-mentioned independent functions through area division, time division, etc.

Further, as in the case of the above embodiment, the cable 2 is provided with a roller 15.
The roller 16 is rotated at a rapid speed by the movement amount detection means.
The means for detecting the amount of cable movement rotated at high speed. The control command means C0NTL, C0NTLb,
A shared signal is sent to C0NTLc. Further, the carrier detection means Dca, Dob, and D. , are the respective υ control command means C0NTL, C0NTL, C0NTL
Connecting a b to C to send out a signal is also similar to the case of the previous embodiment. (The illustration is omitted because it is complicated.) In this way, the carriage control section 20a has multiple stages.

In the apparatus of this embodiment provided with 20b and 20c, the carrier 1
0 enters from the deceleration transfer device e5 in the direction of arrow 7,
The carrier interval is adjusted, and the carrier advances in the direction of the accelerated transfer device 6. As mentioned above, individual controlled transfer S! Places 21a, 21
b and 21c are designed to function independently. In this way, the magnitude of the additional speed due to the above-mentioned additional speed pattern pta is limited so that it is not excessive, and the adjustment of the carriage spacing is divided and distributed in multiple stages, and the desired carriage spacing is finally achieved. can be performed without excessive speed fluctuations. Incidentally, as described in the above embodiment, the IJO device control section 20a.

At the beginning and end of each stage 20b and 20c, the transfer speed t always returns to the basic speed, so each carrier transfer section 2
The speeds of carrier transfer between 0a, 20b, and 20c are the same, and the transfer is smooth and does not involve any shock.

In addition, this device is installed using the curved transfer section for turning back the carrier, which is indispensable in automatic circulation cableway equipment, and there is no need to separately provide equipment for regular intervals in the straight section. Therefore, terminal equipment can be reduced to a minimum.

[Fourth Embodiment 1] This embodiment is based on the fourth embodiment. A case where the device of the second or third embodiment is installed in a cableway equipment system will be described.

FIG. 12 schematically shows the entire automatic circulation cableway. The cable 2 circulates between the pulleys 3 and 53 of the terminals 1 and 51. One terminal area has a deceleration transfer device @5, and a single-stage or multi-stage carrier transfer section 20 or 20a, 20b, 20c on the return route between it and the acceleration transfer device 6.
m..., and single-stage or multi-stage control transfer devices 21 or 21a, 21b, 21c, . . . are arranged therein.

On the other hand, in the other terminal 51, a forward transfer device 61 that does not perform carrier interval control is provided on a return path between the deceleration transfer device 55 and the acceleration transfer device 56.

In this manner, the interval between the carriers 10, 10 in the arrangement relationship is as follows:
Control transfer device 21 or 21a, 21b of terminal 1
, 21c, . At other stops 51, the return transfer device 61 is used to turn back the carriages, but even if there is a disturbance that disturbs the interval between the carriages, practically the predetermined interval between the carriages is maintained and the carriages are turned back.

In this way, the UA adjustment of the carrier spacing is performed again at the terminal 1.

Notwithstanding the above, if there is a particular need, it is of course possible to install the terminals 1 and 51 at both ends to perform inter-carrier adjustment.

[Effects of the Invention] By using the device of the present invention, the following effects can be enjoyed.

(a) This device is installed using the curved forwarding section that is essential for the return and forwarding of carriers in an automatic circulation cableway, and does not require a separate straight section for regular interval control. Therefore, the terminal area can be intensively reduced.

(b) In this device, the signals from each detection device are processed by a calculation device such as a CPU and immediately controlled by a variable speed electric motor, so that the response of the operation is fast and precise.

(C) Carrier for each water bag Since the predetermined carrier interval control is completed within a υ1 m section, depending on the installation conditions, it is possible to achieve the desired purpose by providing only one carrier control section at one terminal.

(d) Notwithstanding (C) above, a plurality of carrier control sections can be provided at one terminal of the present apparatus, and carrier interval control can be assigned to each section.

In this way, there is less variation in the speed of movement of the carriers, and the interval between the carriers can be adjusted more accurately.

(e) The time schedule of the control pattern signal is 17f from the basic speed at the beginning! Since the speed starts and returns to the basic speed at the end, receiving and handing over is smooth even when the transporter transits through a plurality of transporter control sections as in (d) above, for example.

(f') This device can be installed at both end terminals of an automatic circulation cableway system, or it can be installed at only one terminal and folded at the other terminal while preserving the fixed spacing of the carriers. A forwarding device may be provided to return the information.

In the case of a grounded system, the entire cableway circulation can be operated harmoniously in one rhythm, and the equipment cost is low and economical.

[Other Embodiments] The following embodiments are included within the scope of this specification.

(a>Length of said one control transfer section. and said predetermined carrier interval. Both have a relationship of (LC-margin 1111t)≦Lo. (1) or (2), automatic circulation type cableway carrier fixed interval control device 1;

(b) The automatic circulation cableway according to claim (1) or (2) or embodiment (a), wherein the terminal is provided with one carrier control section. Spacing control device.

(C) The J-circulation cableway according to claim N), <2) or actual aspect (a), wherein the terminal is provided with a plurality of carrier control sections. l
112 constant interval control device.

(d) The carrier control section is provided only at one of the terminals at both ends.
1), (2) or the above real/l! ! Aspects (a), (b)
Alternatively, the automatic circulation cableway carrier fixed interval control device according to (C).

(e) Claim (1), wherein the carrier control section is provided with terminals at both ends, respectively;
(2) Or the automatic circulation type cableway carrier fixed interval control device according to the embodiments (a), (b), or (C).

(f) The time schedule of the control pattern signal starts from the basic speed at the beginning and returns to the basic speed at the end. C), (d) or (e), the automatic circulation type cableway carrier fixed interval control device.

(a) The control pattern signal is calculated by a calculation means and outputted each time the carrier passes.
, (b), (C).

(d), (e) or <f) ``W carrier fixed interval control device for automatic circulation cableway h) The 1IIll III pattern signal is selected from a predetermined menu every time the carrier passes. The method according to claim (2) or the actual I, wherein a calculation means selects and outputs the one that satisfies the condition.
A aspect (a), (b), (c).

(d), (e), (f) or (9), the automatic circulation type cableway carrier constant interval tA control device.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing the arrangement relationship of the carrier fixed interval control device at the terminal, Fig. 2 is an explanatory diagram showing the carrier fixed interval control device in a developed view, and Fig. 3 (A) is a plan view showing the arrangement relationship in the terminal of the carrier fixed interval control device. FIG. 3 (a) is a flowchart of the process of the carrier constant interval control device in the first embodiment, and FIG. A speed diagram explaining the basic speed pattern of the case,
FIG. 4(a) is a speed diagram illustrating the delay distance of the carrier in the first embodiment, FIG. Figure 4 (1) is a speed line diagram explaining the control pattern in the case of the carriage being delayed in the first embodiment, and Figure 5 (A) is a speed line diagram explaining the basic speed pattern in the case of the carriage advancing in the first embodiment. Figure 5(a) is a speed diagram explaining the advancing distance of the carrier in the first embodiment, and Figure 5(T) is a velocity diagram explaining the additional speed pattern in the case of advancing the carrier in the first embodiment. , FIG. 5(1) is a speed diagram illustrating the control pattern when the carriage advances in the first embodiment, and FIG. 6(A) is a velocity diagram in the first embodiment! Figure 6 (a) is a speed diagram illustrating a control pattern summarized in the case of a vehicle being delayed; Fig. 6 (a) is a speed diagram illustrating a control pattern summarized and described in the case of a vehicle advancing in the first embodiment; , Figure 7 (A)
FIG. 7 is a speed diagram illustrating a generally expanded control pattern in the case of a carrier delay in the first embodiment;
b) is a speed diagram explaining a generally expanded control pattern in the case of advancing the carriage in the first embodiment;
FIG. 9 is a flowchart explaining the processing of the calculation means of the carrier interval control device in the second embodiment, and FIG. 9 is an explanatory diagram showing an example of menu selection of the basic speed pattern, additional speed pattern, and control pattern in the second embodiment. FIG. 10 is a plan view showing the arrangement relationship of the controlled transfer device in the case where a plurality of stages of carrier control sections are provided in the third embodiment, and FIG. A directional view, FIG. 11(A) is an explanatory diagram showing the connection relationship between the transmission means of the control transfer device and the variable speed electric motor in the third embodiment, and FIG. 11(T) is the control transfer device in the third embodiment. FIG. 12 is a plan view schematically showing an example of the arrangement of the carrier fixed interval control device in the automatic circulation cableway system in the fourth embodiment, and FIG. 13 is a diagram showing the conventional carrier. FIG. 2 is a plan view schematically illustrating an example of a constant spacing device. DESCRIPTION OF SYMBOLS 1... Terminal, 2... Cable, 3... Pulley, 4... Rail, 5... Deceleration transfer device, 6
...Acceleration transfer device, 7...Arrow, 8...Cableway, 9...Terminal floor, 10...Carrier,
11... Rope grip machine, 12... Running wheel, 15...
・Roller, 16...Roller, 20...Carrier control section, 20a, 20b, 2oc-...Carrier control section, 21.
... Controlled transfer device, 21 a, 21 b, 21 c - Controlled transfer device, 22.
... Conduction means, 23 ... Shaft, 24 ... Gear device, 25 ... Gear device, 26 ... Shaft, 27.
...Boo 1ha 28 ...Belt, 29...Shaft,
30, 31. 32... Gear, 33... Frame, 34... Electric motor frame, 51... Terminal, 53... Pulley, 55... Deceleration transfer device,
56... Acceleration transfer device, R, R2... Ro...
・Transfer wheel, Ra1. Ra2. R33... Transfer wheel, R, R, R... Transfer wheel, bl b2 b3 R cl. 2. Rc3... Transfer wheel, M...
Variable speed motor, M, Mb, Mc... Variable speed motor Oc... Carriage detection means, Dca"cb" cc... Carriage detection means, D
,... Cable movement amount detection means, D, ... Cable movement amount detection means, COU... Counting means, CAL... Calculation means, C
TR...controller 11, CTR3, CTRb, CTRo...controller, C0
NTL...! II control device, C0NTL, C0NTL, CON'TL =
-a b c control command device, SC...carrier signal, SV...rope speed signal, S
p Rus signal for river, sn...Pulse count value signal, o
ta...Additional speed pattern, ptb...Basic speed pattern, Dtc...Control pattern signal, s e t-tjl'afJm number, A, B, C, D
-1"j,, 101...Terminal, 102.
... cable, 103 ... pulley, 104 ... rail,
105... Deceleration transfer device, 106... Acceleration transfer device, 107... Arrow, 111... Forward transfer device, 112... Sprocket car, 113... Ratchet, 121 River terminal, 123...・Pulley, 124...Rail, 125...
- Deceleration transfer device, 126... Acceleration transfer device, 131... Forward transfer device, 132... Sprocket wheel, 133... Holding claw, ■,... Cable speed, ■. ...speed of transfer section, r
...Reduction ratio, [,...Transportation FA interval on the cable, King,
...Carrier interval on the cable, Lo...Carrier interval in the transfer section, Tc...Carrier interval in the transfer section, Lo...I carriage control section, 1o...Foundation passage Time, Vo...Basic speed SS/
...Normal IIP! The number of pulses corresponding to the interval, Δp...
・Pulse deviation, ΔL...deviation in carrier spacing Figure 1

Claims (2)

[Claims] (1) Using a cable that circulates between pulleys at both end terminals and a carrier suspended from each of a plurality of cable gripping machines that can be attached to and detached from the cable, the rope is An automatic circulation system in which the carriers are operated one after another by gripping the ropes, and at the terminal, the rope gripping machine is released from the ropes to transport the carriers at predetermined intervals for circular transportation. In the cableway, at least one carrier control section having a length shorter than a predetermined interval of the carriers is defined in the forward transfer section, and the control section is provided with a controlled transfer device, and the controlled transfer device is provided with a controlled transfer device. The device is configured to drive a plurality of transfer wheels with a variable speed electric motor, and frictionally transfer the rope gripping machine around the periphery of the transfer wheels, and by controlling the rotational speed of the variable speed electric motor, the carrier is moved. A carrier fixed interval control device for an automatic circulation cableway, which controls the advance or delay of transfer and corrects the interval between the carriers to a predetermined interval. (2) Using a cable that circulates between pulleys at the terminals at both ends, and a carrier suspended from each of a plurality of rope gripping machines that can grip and release the rope from the cable, the said rope gripping machines are used in the cableway line. At the terminal, the ropes are gripped to move the carriers one after another, and at the terminal, the rope gripping machine is released from the ropes to transport the carriers at predetermined intervals, thereby achieving circular transportation. In the automatic circulation cableway, at least one carrier control section having a length shorter than a predetermined interval of the carriers is defined in the redirection section, and the control section is equipped with a controlled transfer device, and the cable speed detection means for detecting the speed of the cable and outputting a cable speed signal; cable movement amount detection means for detecting the movement amount of the cable and outputting a pulse signal; a carrier detecting means for detecting an incoming carrier and outputting a carrier signal; a counting means for inputting the carrier signal and the pulse signal, counting the pulse signal and outputting a pulse count value signal; A calculation means for inputting a speed signal and the pulse count value signal to generate a control pattern signal, a controller for controlling the variable speed motor based on the control pattern signal, a variable speed motor, and a transmission means. and the controlled transfer device is driven by the variable speed electric motor through a transmission means to transfer the carrier at variable speed to correct the distance between the carriers to a predetermined interval. Constant interval control device