JPH05338718A - Stopping position correction control method of traveling crane for carrying-in and-out - Google Patents

Abstract

PURPOSE:To provide a stopping position correction control method of a traveling crane for carrying-in and-out which can detect slippage and correct the stopping position of a traveling crane for carrying-in and-out if slippage of more than one series occurs during the travel positioning of the traveling crane for carrying-in and-out. CONSTITUTION:In a stopping position control method of a traveling crane for carrying-in and-out, a series of racks are formed with a travel fixed position striker for each rack. The traveling crane for carrying-in and-out is provided with a travel fixed position sensor 2 which detects the travel fixed position striker and travel fixed position counters 1-4 which count detected signals. A traveling variable rotary encoder is provided with a function of outputting absolute address data according to a series of racks and encoder absolute address data storage parts 1-5 which store the absolute address data. It is thus possible to compare the calculated value of the travel fixed position striker of the counter with the absolute address data when the traveling crane for carrying-in and-out completely stops, and if they do not match with each other, to correct the stopping position based on the counted values of the travel fixed position striker.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stop position correction control system for a loading and unloading traveling crane that travels along a shelf composed of a plurality of stations.

[0002]

2. Description of the Related Art Conventionally, as a stop position control of a loading / unloading traveling crane that travels along a shelf made up of a plurality of stations such as an automated warehouse, a rotary encoder is provided to the loading / unloading traveling crane to output a pulse according to its movement. In some cases, the number of pulses from the rotary encoder is counted, and when the counted value reaches a predetermined value, the loading / unloading traveling crane is stopped.

[0003]

However, in the conventional stop position control of the above-mentioned loading / unloading traveling crane, when slippage for one station or more occurs during traveling positioning, positioning is performed in an overrun state with respect to the target station. However, there is a problem that the pick-and-drop operation of luggage is performed by mistakenly using the number of stations. Especially when the rack pitch is narrow, such a problem is likely to occur.

The present invention has been made in view of the above points, and when a slip for one station or more occurs during the traveling positioning of the loading / unloading traveling crane, it is detected and the stop position of the loading / unloading traveling crane is corrected. It is an object of the present invention to provide a stop position correction control system for a loading and unloading traveling crane that can be carried out.

[0005]

In order to solve the above problems, the present invention provides a variable output pulse to a loading / unloading traveling crane that travels along a shelf composed of a plurality of stations. A rotary encoder is provided, the number of pulses from the variable rotary encoder is counted, and when the count value reaches a predetermined value, the loading and unloading traveling crane is stopped. A running fixed position striker is provided for each station,
The loading / unloading traveling crane is provided with a sensor for detecting the traveling fixed-position striker and a counter for counting the detection signal, and the variable rotary encoder further has a function of outputting absolute address data according to the rack and the absolute address data. A storage unit for storing is provided, and when the stop of the loading / unloading traveling crane is completed, the count value of the traveling fixed-position striker and the absolute address data are compared. If they do not match, the stop position is corrected by the counted value of the traveling fixed-position striker It is characterized by performing positioning.

[0006]

According to the present invention, the count value of the traveling fixed position striker of the counter is compared with the absolute address data at the completion of the stop of the loading and unloading traveling crane, and when the two do not match, it is determined that the traveling overrun and the traveling fixed position striker. Since the stop position is corrected by the count value of No., it is possible to perform the positioning in the overrun state as in the conventional case and avoid picking and dropping the luggage by mistake in the number of stations.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of a stop position correction control device of the present invention. The stop position correction control device includes a control unit 1, a traveling fixed position sensor 2 for detecting a traveling fixed position striker, a traveling variable rotary encoder 3 and an input device 4. Further, the control unit 1 includes an input / output device 1-1, a central processing unit 1-2, a distance storage unit 1-3 to each rack station, a traveling fixed position counting unit 1-4, and an encoder absolute address data storage unit 1-5. And a stop position control program storage unit 1-6.

FIG. 3 shows the racks M1, M2, M3 of the automatic warehouse.
... and fixed traveling strikers S1, S2, S3
It is a figure which shows arrangement | positioning .... The center of the traveling fixed position strikers S1, S2, S3 ,.
It is provided so as to coincide with the center of 2, M3, ....
The stop position of each rack of the loading / unloading traveling crane is the center position of the strikers S1, S2, S3, .... Distance from the center of base points M0, S0, which is the station of the loading / unloading traveling crane, to the center of traveling fixed position strikers S1, S2, S3 ,. Let L1, L2, L3, ... Respectively.

The base point M is stored in the distance storage unit 1-3 to each rack.
Distances from the center of 0 to the centers of the traveling fixed position strikers S1, S2, S3, ... Of the racks M1, M2, M3 ,. (Converted to the number of encoder pulses) is stored. In the traveling fixed position counting unit 1-4, the traveling fixed position sensor 2 is provided with the traveling fixed position strikers S1, S2 from the traveling base point of the loading / unloading traveling crane.
The count value obtained by detecting S3, ... Is stored (the count value is added or subtracted depending on the traveling direction of the loading / unloading traveling crane). In addition, the variable rotary encoder for traveling 3
Is capable of outputting absolute address data according to the rack. Absolute address data from the traveling variable rotary encoder 3 is stored in the encoder absolute address data storage unit 1-5. Stop position control program storage unit 1-6
A program for stopping position control of the loading / unloading traveling crane and correction control of the stopping position is stored in.

In the traveling positioning of the warehousing / moving traveling crane, first, the input device 4 is operated to input the target shelf series, and when the traveling motor is activated, the warehousing / moving traveling crane starts traveling from the base point M0 toward the target shelf series. The pulse output from the traveling variable rotary encoder 3 is taken into the central processing unit 1-2 via the input / output device 1-1. Central processing unit 1-
2 reads the distance to the target shelf station from the distance storage unit 1-3 to each shelf station, compares it with the pulse number from the variable rotary encoder 3 for traveling, and brakes when the difference reaches a predetermined value. If they match, stop.

In the stop position correction control device having the above construction, if a slip of one rack or more occurs during the traveling positioning of the loading / unloading traveling crane, the positioning is stopped in the state of overrunning the target rack, and the number of racks is increased. There is a risk that the luggage will be picked and dropped in the wrong state. In view of this, in the present embodiment, the traveling variable rotary encoder 3 outputs absolute address data in accordance with the rack string, and this absolute address data is stored in the encoder absolute address data storage unit 1-5. Further, the traveling fixed position counting unit 1-4 stores the count value obtained by detecting the traveling fixed position striker by the traveling fixed position sensor 2 from the traveling base point of the loading / unloading traveling crane as described above.

The central processing unit compares the stored value of the encoder absolute address data storage unit 1-5 with the stored value of the traveling fixed position counting unit 1-4. If they do not match, the loading / unloading traveling crane overruns. Therefore, the position is corrected by the stored value of the traveling fixed position counting unit 1-4.

FIG. 2 is a diagram for explaining the operation of traveling positioning. At the same time when the positioning operation of the loading / unloading traveling crane is started (start of the loading / unloading traveling crane), a pulse is output from the traveling variable rotary encoder 3 at the same time. Absolute address data corresponding to the rack is output from the traveling variable rotary encoder 3 and stored in the encoder absolute address data storage unit 1-5 as described above. Further, the traveling fixed position sensor 2 detects the traveling fixed position striker, and the traveling fixed position counting unit 1-4 counts it.

[0014]

As described above, according to the present invention, the count value of the traveling fixed position striker of the counter and the absolute address data are compared when the stopping of the loading and unloading traveling crane is completed, and when the two do not match, the fixed traveling position is determined. Since the stop position is corrected and positioned by the striker count value, it is possible to obtain an excellent effect that the number of stations is not mistakenly picked and dropped in an overrun state.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a stop position correction control device of the present invention.

FIG. 2 is a diagram for explaining a traveling positioning operation.

[Fig. 3] Racks M1, M2, M3, ... in an automated warehouse
And traveling fixed position striker S1, S2, S3, ...
It is a figure which shows arrangement | positioning.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 control part 1-1 input / output device 1-2 central processing unit 1-3 distance storage part to each rack station 1-4 traveling fixed position counting part 1-5 encoder absolute address data storage part 1-6 stop position control program Storage unit 2 Traveling fixed position sensor 3 Variable rotary encoder for traveling 4 Input device

Claims (1)

[Claims] 1. A variable rotary encoder that outputs a pulse in response to movement of the loading / unloading traveling crane, is provided in the loading / unloading traveling crane that travels along a shelf composed of a plurality of stations.
In the stop position control method of the loading and unloading traveling crane, which counts the number of pulses from the variable rotary encoder, and stops the loading and unloading traveling crane when the counted value reaches a predetermined value, in the shelf station, for each shelf station. A traveling fixed-position striker is provided, and a sensor for detecting the traveling fixed-position striker and a counter for counting the detection signal are provided in the loading and unloading traveling crane, and further, the variable rotary encoder is provided with absolute address data corresponding to the shelf series. A storage unit for storing the output function and the absolute address data is provided, and when the stop of the loading / unloading traveling crane is completed, the count value of the traveling fixed position striker of the counter is compared with the absolute address data, and when the two do not match, Stop position of the loading and unloading traveling crane characterized by performing the correct positioning of the stop position based on the count value of the traveling fixed position striker Positive control system.