JPH06206688A - Crane driving control device - Google Patents

Abstract

PURPOSE:To automatically suppress crane conveyance in a gripping error by driving a conveyed material holding means so as to be raised by a control means on condition that detected weight is approximately equal to conveyed material weight from weight information. CONSTITUTION:An electric control system has a trolley control section 72 with a controller 6 as its center, and this section 72 reads a condition of a load cell 39 through an interface 724, and transfers it to the controller 6. The controller 6 moves a trolley 3 transversely, and moves a tongue unit 4 to a pickup point, and lowers it to a height optimum for gripping a conveyed steel sheet, and closes a tongue 42, and grips the steel sheet. Next, it energizes a raising- lowering motor 35 under normal rotation by a motor driver 723, and starts to raise the tongue unit 4, and reads a suspending load in a prescribed height position, and compares it with weight of the conveyed steel sheet stored beforehand. When these exceed an allowable range and are different from each other, abnormal processing is carried out by regarding it as abnormal.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to drive control of a crane for carrying objects to be conveyed such as steel plates.

[0002]

2. Description of the Related Art For example, an iron manufacturing plant is equipped with an overhead crane for transferring, stacking or transporting steel plates, coils and the like. This type of overhead crane is operated by a specialized operator in order to convey heavy objects such as steel plates and coils, but automation is convenient when pursuing work efficiency and accuracy.

Various inventions have heretofore been made regarding automation of this crane. For example, Japanese Patent Publication 61-3
In Japanese Patent No. 1035, when an obstacle in the moving direction of the crane is detected, or when an abnormality in the coil material immediately below the tongs or the gap between the tongs and the gripped coil is detected,
A control method for stopping the operation of a crane is disclosed,
Japanese Patent Publication No. 61-43279 discloses a control device for setting the height when the crane is unwound based on the height data of the stock yard of the plate-like transported object and / or the thickness data of the transported object. ing.

[0004]

It can be said that all of these can achieve the intended purpose within the scope of their application, but when viewed as an overall system, it can be performed by a skilled operator through delicate operations. There is no substitute for the crane movement that results. That is, the application is limited when the objects to be conveyed, the means for holding the objects, or the stacking method are limited, and the usability remains a problem. For example, in the case of lifting and transporting the transported object, if a large amount (small amount) of the transported object is grasped or a different object from the intended one is grasped, not only will it be erroneously transported, Since the weight is different, especially when grasping a heavier object than the target object, the acceleration and deceleration characteristics deviate from the intended one, and the stop positioning is disturbed, or the floor is impacted when lowered to the destination. This may cause a problem such as giving a damage to the transported object or equipment. Such a grip error is a major factor that hinders the full automation of the crane operation.

An object of the present invention is to automatically suppress the crane transportation of the grip error and to enhance the reliability and versatility of the automatic crane operation.

[0006]

According to the present invention, a crane carriage; a supporting means for movably supporting the crane carriage; a first driving means for driving the crane carriage; and a suspended object held by the crane carriage to hold an object to be transported. A movable object holding means that can move up and down; a second driving means that drives the carried object holding means up and down; an information setting means that sets position information and height information; and a first driving means that is controlled by position information. In the crane drive control device, there is provided a control means for positioning the crane carriage at a position to be controlled, and controlling the second drive means to position the transported object holding means at the height indicated by the height information.
The information setting means further comprises a weight detection means for detecting the weight of the transported object held by the transported object holding means, and the information setting means further holds the weight of the transported object to be held by the transported object holding means. Information is set, and the control means controls the second drive means on condition that the weight detected by the weight detection means is substantially equal to the weight of the conveyed object indicated by the weight information. And the object-to-be-conveyed holding means is raised.

[0007]

According to this, the control means drives the conveyed object holding means to move upward so that the weight detected by the weight detection means is substantially equal to the weight of the conveyed object indicated by the weight information. Since the condition is satisfied, when an object having a different weight is gripped, the ascending drive is not performed there, and an object having a different weight is not conveyed by mistake. Therefore, an object with a different weight from the scheduled one will not be transported according to the transportation characteristics of the scheduled one, and the stop positioning will be disturbed or the floor will be impacted when lowered to the destination. The problem is solved and the reliability of automatic crane operation is improved. Also,
Since it can be applied regardless of the type of the transported object holding means or the shape of the transported object, the versatility is extremely high.

[0008]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a side view showing an overhead crane device for carrying out the present invention by way of example, and FIG. 2 is a plan view showing its operating region. This device is composed of a traveling rail 1, a traveler 2 traveling on the traveling rail 1, a trolley 3 mounted transversely on the traveler 2, and a tong unit 4 suspended on the trolley 3, and a terminal for performing sorting work and the like. The steel plate Slp is transported by freely moving in the yard 5.

The traveling rail 1 is composed of rails 11 and 12 extending in the vertical direction (see FIG. 2) on both sides of the terminal yard 5, and each of them is erected by four columns 111 to 114 or 121 to 124. On each rail, there are provided a pair of stoppers 13 and 14 that limit the travel of the traveler 2 and a home position sensor 15 that detects the home position of the traveler 2.

The traveler 2 includes a traveler main body 21 that laterally straddles the terminal yard 5, a wheel 22 pivotally attached to the main body 21, a traveling motor 23 installed on the main body 21, and a main body 2.
1, a pair of traverse rails 24 laid on the vehicle 1, a traveling sensor 25 for detecting the traveling position of the traveler 2, and a home position sensor 2 for detecting the home position of the trolley 3.
It has 6 mag.

The wheel 22 is a rail 1 of the traveling rail 1.
Wheels 221 and 222 rolling on 1 and rail 12
It consists of wheels 223 and 224 rolling over, and the traveling motor 23 drives the wheels 222 and 224 via a reduction mechanism. That is, the traveler 2 reciprocates along the traveling rail 1 by the forward and reverse biasing of the traveling motor 23. The traverse rail 24 consists of laterally extending rails 241 and 242.

The trolley 3 has a trolley body 31 straddling the traverse rail 24, a wheel 32 pivotally mounted on the body 31, a traverse motor 33 installed on the body 31, a traverse sensor 34 for detecting a traverse position of the trolley 3, and a lift. A motor 35, a speed reduction mechanism 36, a lifting mechanism 37, a lifting sensor 38, a load cell 39 and the like are provided. Wheel 32 is traverse rail 2
4 includes wheels 321 and 322 rolling on a rail 241 and wheels 323 and 324 rolling on a rail 242. The traverse motor 33 includes a wheel 321 via a reduction mechanism.
And drive 323. That is, the trolley 3 reciprocates along the traverse rail 24 by the forward and reverse biasing of the traverse motor 33. The elevating motor 35 drives the elevating mechanism 37 via the reduction mechanism 36. The lifting mechanism 37 adjusts the length of the wire 371 that suspends the tongue unit 4. That is, the tongue unit 4 is moved up and down by the forward and reverse biasing of the lifting motor 35.

The lift sensor 38 is an encoder coupled to the speed reduction mechanism 36, and detects the length of the wire 371 adjusted by the lift mechanism 37, that is, the height of the tongs unit 4.

The load cell 39 is connected to the end of the wire 371 and detects the tension of the wire 371, that is, the hanging load.

The tongs unit 4 includes a tongs body 41, a tongs 42 provided on the body 41, an opening / closing motor 43, an opening sensor 44, an inclination sensor 45, a landing sensor 46 and the like. The tongue unit 42 has a pair of opening / closing claws 42.
1 and 422, and 423 and 424, and the opening and closing claws of each set are laterally separated. In addition, the opening / closing motor 43
Is a motor 431 that drives the opening / closing claws 421 and 422 to open / close, and a motor 432 that drives the opening / closing claws 423 and 424 to open / close. The opening sensor 44 detects the opening degree of the opening / closing claws 421 and 422, and the opening / closing. The sensor 442 detects the opening degree of the claws 423 and 424.

A tilt sensor 45 detects a vertical tilt of the main body 41, and a landing sensor 46 is a weight suspended from the main body 41.
The relative position of the tongs unit 4 which is most suitable for landing of 461, that is, gripping the steel plate Slp by the tongs 42 is detected.

Although not shown in FIG. 1, a through beam penetrating the trolley body 31 is connected to the tongue body 41 to prevent lateral inclination.

With the above construction, the tongue unit 4 can be moved to any position in the terminal yard 5. The two-dot chain line 47 shown in FIG. 2 shows the outer edge of the movable area of the tongs unit 4 by the locus of its center point.

On the other hand, the terminal yard 5 is a carry-in yard 51 in which a freight car Fre for loading steel plates is stopped, and a cover yard 5 in which a heat insulating cover Cvr for covering the freight car Fre is stacked.
2, a stock yard 53 on which the steel plates Slp are stacked and a loading yard 54 on which the loading table Tbl is stopped. Further, the loading yard 51 has four yards 511 to 5
14, the stockyard 53 has 8 yards 531 to 538,
The charging yard 54 is divided into two yards 541 and 542, respectively. In FIG. 2, the steel plate Slp placed in each of these yards is shown by hatching.

FIG. 3 is a block diagram showing a system configuration of an electric control system of the above-mentioned overhead crane device.

The electric control system is mainly composed of the controller 6.
It comprises a traveler control section 71, a trolley control section 72, a tong control section 73 and a communication section 74.

The traveler control section 71 is
Servo motor driver 711, relay driver 712 and interface 713. The servo motor driver 711 is connected to the traveling motor 23 and the timing generator TG1 mechanically coupled to the rotary shaft thereof, and the relay driver 712 is connected to the energizing line of the traveling motor 23 for shorting the armature. Is connected to the relay RL1 of the travel sensor 25 and the home position sensor 1 of the traveler 2 on the interface 713.
5 and the home position sensor 26 of the trolley 3 are connected. The servo motor driver 711 energizes the traveling motor 23 in the direction and speed instructed by the controller 6 while monitoring the output of the timing generator TG1, and the relay driver 712 energizes the relay RL1 in response to the instruction of the controller 6. The interface 713 reads the states of various sensors and transfers them to the controller 6.

The trolley control section 72 is
Servo motor driver 721, relay driver 722, motor driver 723 and interface 724. The servo motor driver 721 is connected to the traverse motor 33 and the timing generator TG2 mechanically coupled to the rotating shaft thereof, and the relay driver 722 is connected to the energizing line of the traverse motor 33. Relay RL2 for motor driver is connected
The elevating motor 35 described above is connected to the 723, and the elevating sensor 38, the traveling sensor 34, and the load cell 39 described above are connected to the interface 724. Servo motor driver 721 is timing generator TG
While monitoring the output of controller 2, the traverse motor 33 is energized in the direction and speed instructed by the controller 6, and the relay driver 722 responds to the instruction of the controller 6 by relay RL2.
The motor driver 723 biases the lift motor 35 in the direction instructed by the controller 6, and the interface 724 reads the states of various sensors and transfers them to the controller 6.

The tongs control section 73 comprises a motor driver 731 and an interface 732, and the motor driver 731 includes the above-mentioned opening / closing motors 431 and 432.
Are connected to the interface 732, the motor lock sensor 733, the above-described opening degree sensors 441 and 442,
The inclination sensor 45 and the landing sensor 46 are connected. The motor driver 731 energizes the open / close motors 431 and 432 in the direction designated by the controller 6, and the interface 732 reads the states of various sensors and transfers them to the controller 6. The motor lock sensor 733 is
It is composed of current sensors 7331 and 7332, comparators 7333 and 7334, and an AND gate 7335. When the opening / closing motors 431 and 432 lock and the energizing current sharply rises, the AND gate 7335 outputs the H level.

The communication section 74 comprises wireless modems 741 and 742 to ensure communication between the controller 6 and the host computer. The controller 6 controls each unit according to the instruction of the host computer given via the communication section 74.

Next, the operation of the controller 6 will be described with reference to the flowcharts shown in FIGS. In the following description, the position of the tongue unit 4 is indicated by the central coordinates, and the above-mentioned yard (511 to 514, 5) is shown.
2, 531 to 538, 541, 542) are indicated by the respective center coordinates, and these are the origin at the lower left corner of the movable area 47 shown in FIG. 2, the horizontal direction is the X axis, and the vertical direction is the Y direction.
It is assumed to be given by an XY coordinate system which is an axis.

Referring to FIG. 4, when a predetermined voltage is supplied to each part from a power supply device (not shown), the controller 6 operates as an input / output port and an input / output port in S1 (indicated by the numbers attached to steps in the flowchart: synonymous below). Initializes internal registers, etc., and also traveler 2 and trolley 3
To each home position. As a result, the coordinates of the tongue unit 4 become equal to the origin, that is, the lower left corner of the movable area 47 shown in FIG. That is, here, the tongue unit 4 is set to the home position.

S2 shown in FIG. 4 is a loop for waiting for an input from the host computer. When there is an input from the host computer, the input waiting loop is released, and the pickup point Af transferred at that time in S3, that is, the coordinates of the yard for lifting the transported steel plate,
Place point At, that is, the coordinates of the yard on which the transported steel sheet is placed, the current stacking height H (Af) of the pickup point,
The current stacking height H (At) at the place point, and the length LG, width WD, thickness TH and weight WT of the transported steel sheet.
To read.

In S4 shown in FIG. 4, the waiting point Aw, that is, the coordinates of the tong unit 4 currently waiting is read from the traverse position of the trolley 3 and the traveling position of the traveler 2. The weighting point Aw read at this time is equal to the origin because the home position is initially set in S1, but in other cases, it is equal to the origin or the coordinates of each yard.
This will be clear from the description given below.

In S5 shown in FIG. 4, a route from the waiting point Aw to the pickup point Af is set. In this embodiment, the lengths of the steel plates are classified into a plurality of stages in advance, the longest steel plate in each stage is hung, and the columns 111 to 114 or 121 to 124 are provided between any two points of the origin and each yard. The shortest route for safe transportation without touching is determined, and the route is stored in the controller 6 with the coordinates of the start point, the end point, and the turning point. In other words, in S5, a route from which the starting point is the waiting point Aw and the ending point is the pickup point Af and the length of the steel plate to be hung is the shortest (there is no hang up here) is selected in S5. Then, the data is written in the buffer memory in the table format specified by the address i (hereinafter, the written data is referred to as a route table). In this case, since the steel plate is not suspended, the route is a straight line without a turning point, and the coordinates of the end point, that is, the pick-up point Af are set in the area of address i = 0.
The starting point, that is, the coordinates of the waiting point Aw are written in the area of the address i = 1, respectively, and the route table is created. However, when there is a turning point, the addresses i = 1 to n- as shown in the concept of FIG. The route table is obtained by writing those coordinates in the area 1 in order from the end point to the start point.

Thereafter, in S6 shown in FIG. 4, the suspension load Wh is reset to 0 (without suspension: the tongs unit 4
If the weight of itself is treated as a constant), the tong unit 4 is moved to the waiting point A while tracing each point in reverse order from the address i = n of the route table in S7 shown in FIG.
Move from w to pickup point Af. The contents of this "move" processing S7 are shown in FIG.

Referring to FIG. 5, in the "move" processing S7,
First, in S301, the coordinates of the start point (waiting point Aw in this case) and the coordinates of the end point (pickup point Af in this case) are compared to determine the traverse and traveling directions. In S302, the address i is set to n (route table). Address in the bottom column). Since the address i at this time is 1 or more, it is decremented (-1) by 1 in S304, and the point indicated by the address i in S305, that is, the point which is the immediate target to be moved (hereinafter, the next target point). ,) In the registers X and Y.

Next, when the coordinates of the current position Ap of the tongue unit 4 are read in S306, the X coordinate of the next target point and the X coordinate of the current position Ap are compared in S307, and if they are within the allowable range, S308 is determined. At register F
To 0, and if not equal to 4 in register F in S309
0 is set respectively, and the Y coordinate of the next target point and the Y coordinate of the current position Ap are compared in S310. If they are equal to each other within the allowable range, 0 is set in the register F in S311 and if they are not equal, the register is registered in S312. 4 to F
, Respectively.

After that, when the timer T (internal timer) is cleared and started in S313, the current position Ap of the tongs unit 4 is monitored in S314 to S318, and the "transverse control" in S317 is performed until the value of the register F becomes 0. The "process" and the "travel control" process of S318 are repeatedly executed. In this loop, the traverse speed vx and the traveling speed vy of the tongue unit 4 are obtained from the time gradient of the displacement amount in S316.

FIG. 6 shows the contents of the "transverse control" processing in S317. In this case, the value of the register F is checked in S321. If the tens digit of this value is 4, in S322, the target transverse velocity Vx indicated by the value of the timer T at that time is read from the acceleration graph V in which the velocity is stored in advance as a function of time, and in S323. , The servo motor driver 721 is instructed to energize the traverse motor 33 in the traverse direction set in S301 and the speed Vx.

In S324, the first deceleration graph fx ₁ in which the first deceleration start distance is stored in advance as a function of the speed and the hanging load is used to indicate the first deceleration indicated by the traverse speed vx and the hanging load Wh. Read the start distance Mx ₁ . This first deceleration start distance Mx ₁ is subtracted from the X coordinate of the next target point (added when making a negative movement in the X direction:
The same applies to the following) Since the coordinate becomes the X coordinate of the first deceleration start position, in S325, it is compared with the X coordinate of the current position Ap of the tongue unit 4 at that time, and the above is continued until both are equal within the allowable range. repeat. Please refer to FIG. 15 together below.

When the X coordinate of the first deceleration start position and the X coordinate of the current position Ap of the tongs unit 4 become equal within the allowable range, 10 is subtracted from the value of the register F in S326, and the servo motor driver 721 is sent to the servo motor driver 721 in S327. After instructing to deactivate the traverse motor 33, in step S328, the relay driver 722 is instructed to energize the relay RL2. As a result, the relay RL2 short-circuits the armature of the traverse motor 33, and the brake is turned on.

Since the traverse speed vx begins to decrease due to this braking, it waits until the value becomes equal to or less than the predetermined traverse speed Sx (the value of the register F is 10 in S326).
Has been reduced to 10's place of 3).

When the traverse speed vx becomes equal to or lower than the predetermined traverse speed Sx, the process proceeds to S330, where 10 is further subtracted from the value of the register F, and the relay driver 722 is instructed to deactivate the relay RL2 in S331. As a result, the armature of the traverse motor 33 is released and the brake is turned off.
After that, the traverse speed becomes almost constant.

In S332, as in the first deceleration graph fx ₁ , the second deceleration graph fx ₂ stores the second deceleration start distance as a function of the speed and the hanging load.
Thus, the second deceleration start distance Mx ₂ indicated by the traverse speed vx and the suspension load Wh at that time is read. This second
The coordinate obtained by subtracting the deceleration start distance Mx ₂ from the X coordinate of the next target point becomes the X coordinate of the second deceleration start position. Therefore, in S333, the X of the current position Ap of the tongue unit 4 at that time is obtained.
The coordinates are compared with each other, and this comparison is repeated until both are equal within the allowable range (the value of the register F is 2 in the tens place by subtracting 10 in S330).

When the X-coordinate of the second deceleration start position and the X-coordinate of the current position Ap of the tongs unit 4 become equal within the allowable range, 10 is subtracted from the value of the register F in S334, and the relay driver 722 is again sent in S335. On the other hand, the energization of the relay RL2 is instructed, and the traverse motor 33 is braked.

After that, the robot waits until the traverse speed vx decreases and becomes equal to 0 (stop) within the allowable range (the value of the register F is reduced by 10 in S334, so that the tens digit is 1).
If it becomes equal, 10 is further subtracted from the value of the register F in S334, the relay driver 722 is instructed to deactivate the relay RL2 in S335, and this traverse processing is ended. At this time, the X coordinate of the tongue unit 4 becomes equal to the X coordinate of the next target point set in S305. In other words, the second deceleration start distance Mx ₂ indicates the distance that the tongs unit 4 moves after starting braking when the traverse speed is Sx and the suspension load is Wh.

Since the traveling control process is completely similar to the above-mentioned "traverse control" process (FIG. 6) as shown in FIG. 7, its explanation is omitted here.

The coordinates of the tongue unit 4 are set in S305 by repeatedly executing the "traverse control" process (Fig. 6) and the "travel control" process (Fig. 7) in the loop of S314 to S318 shown in Fig. 5. When it becomes equal to the coordinates of the next target point, the value of the register F becomes 0. In that case, the process proceeds from S314 to S303, the next target point is updated and set until the address i becomes 0, and the above is repeated.

Referring again to FIG. When the "move" process is executed in S7 to move the tongue unit 4 from the waiting point Aw to the pickup point Af, the "tong open" process is executed in S8 to open the tongue 42. The "tongue opening" process will be described in detail with reference to the flowchart shown in FIG.

Referring to FIG. 8, in the "tongue opening" processing, first, the opening degree of the tongue 42 is read in S101, and S102 is read.
The opening is examined in. At this time, if the opening degree of the tongue 42 exceeds the value of the sum of the width WD of the conveyed steel sheet and the predetermined margin Mg, the processing is ended as it is, but if it is less than that value, the motor driver 731 is opened / closed in S103. After instructing the forward rotation energization of the motors 431 and 432, and waiting in S104 and S105 until the opening degree of the tongue 42 exceeds that value, instructing the motor driver 731 to deactivate the opening / closing motors 431 and 432 in S106. Ends the process.

When the tongue opening process is executed in S8 to open the tongue 42, the "unwinding 1" process S9 is executed to lower the tongs unit 4 to the optimum height for gripping the conveyed steel plate. This "Unwinding 1" processing of S9 will be described in detail with reference to the flowchart shown in FIG.

Referring to FIG. 9, in the "winding 1" process of S9, first, in S401, the motor driver 723 is instructed to reversely urge the lift motor 35 to start descending the tong unit 4, and S402 to S405. The current height Hp of the tongue unit 4, the inclination sensor 45, and the state of the landing sensor 46 are monitored by a loop consisting of In this loop, the tilt sensor 45 detects the tilt of the tongue unit 4 before the current height Hp of the tongue unit 4 becomes equal to or less than the sum of the current accumulated height H (Af) of the pickup point and the predetermined margin Mh. , Or when the landing sensor 46 detects landing,
Since the tongs unit 4 may have come into contact with the obstacle,
Immediately, the processing is ended and abnormal processing is executed in S406.

The present high Hp of the tongs unit 4 without abnormality
However, when it becomes less than or equal to the value of the sum of the current pile-up height H (Af) of the pickup point and the predetermined margin Mh, the above loop is released, and in S407, the supporting motor driver 723 is instructed to deactivate the lifting motor 35. In S408 and S409, a sufficient time is waited for the descent of the tongs unit 4 to stop.

Thereafter, in S410, the motor driver 723 is again instructed to reversely urge the lift motor 35 to start descending, and the states of the tilt sensor 45 and the landing sensor 46 are monitored by the loop of S411 and S412. To do. When the tongue unit 4 is displaced during the descent at this time, the tongs 42 come into contact with the conveyed steel plate and tilt. Therefore, when the tilt sensor 45 detects the tilt of the tongs unit 4 before the landing sensor 46 detects the landing, it is determined that the position is misaligned and the tong unit 4 is detected in S413 and thereafter.
Correct the position of.

In S413, the motor driver 723 is instructed to deactivate the lift motor 35, and in S414, the tilt direction at that time is stored. Thereafter, in S415, the motor driver 723 is instructed to urge the forward / reverse motor 35 to rotate in the normal direction, and the tongue unit starts to move up.
At 17, the current high Hp of the tongs unit 4 is monitored.
As a result, when the current height Hp of the tongs unit 4 exceeds the sum of the current accumulation height H (Af) of the pickup point and the predetermined margin Mh, the motor driver 723 is instructed to deactivate the lifting motor 35 in S418, In step S419, the front-rear position (vertical position) of the tongue unit 4 is finely adjusted according to the stored inclination direction.

When the position correction of the tongs unit 4 is completed, the process returns to S410, and the descent of the tongs unit 4 due to the reverse rotation of the lifting motor 35 is restarted.

When the landing is detected without detecting the inclination of the tongs unit 4 by the loop consisting of S411 and S412, the tongs unit 4 has the optimum height for gripping the steel sheet to be conveyed, as described above. Accordingly, the loop is released by this, and in S420, the motor driver 723 is instructed to deactivate the lifting motor 35, and the descent of the tongs unit 4 is stopped. In this case, since the tongs unit 4 is stopped by the sum of the current stacking height H (Af) of the pick-up point and the predetermined margin Mh, the inertia does not have to be taken into consideration, and the tongs unit 4 is properly optimized. Stop at a certain height.

When the "unwinding 1" process is executed in S9 (FIG. 4; details are shown in FIG. 9) and the tongs unit 4 is lowered to the optimum height for gripping the steel sheet to be conveyed, in S10 shown in FIG. The "close" process is executed to close the tongue 42. FIG. 10 shows the contents of the "tongue closing" process of S10.

Referring to FIG. 10, "Tong closed" in S10
In the process, after instructing the motor driver 731 to urge the open / close motors 431 and 432 to rotate in the reverse direction in S201, the process waits in S202 and S203 until the opening degree of the tongue 42 becomes equal to the width WD of the conveyed steel plate within the allowable range. After that, in step S205, the opening / closing motors 431 and 432 are locked and waits until a sufficient gripping force is generated on the tongue 42.
The process is ended by instructing the deenergization of 431 and 432.

When the "tongue closing" process of S10 is executed to close the tongue 42 and the conveyed steel plate is gripped with a sufficient gripping force, the "winding 1" process of S11 shown in FIG. The unit 4 is raised to the transport height Hc. FIG. 11 shows the contents of the "winding 1" process in S11.

Referring to FIG. 11, "winding 1" in S11
In the processing, in S601, the motor driver 723 is instructed to urge the raising / lowering motor 35 to rotate normally, and the tongue unit 4 starts to move up. The current height Hp of the tongue unit 4 is monitored by the loop of S602 and S603. In this loop, when the current height Hp of the tongs unit 4 exceeds the sum of the current accumulated height H (Af) of the pickup point and the predetermined margin Mh, the loop is released and the process proceeds to S604, where the motor driver 723 moves up and down. Instructing the deenergization of the motor 35. At this time, the suspension load (excluding the weight of the tongue unit 4) Wp is read in S605, and compared with the weight WT of the conveyed steel plate in S606. If these values are different from each other within the allowable range, it is possible that the steel sheet to be conveyed is fused with another steel sheet. Therefore, the abnormality process is performed in S607.

If there is no abnormality, in S608, the motor driver 723 is instructed again to energize the raising / lowering motor 35 in the forward direction to start raising the tong unit 4, and the current tongue unit 4 is moved by the loop of S609 and S610. High H
Monitor p. In this loop, when the current height Hp of the tongs unit 4 exceeds the carry height Hc, the loop is released and S6
11 the motor driver 723 to the lifting motor 3
5 is instructed to be deenergized, and the process ends.

When the "winding 1" process of S11 is executed to raise the tong unit 4 to the conveyance height Hc, in S12 shown in FIG. 4, the route table from the pickup point Af to the place point At is similar to the above. Is created in the buffer memory. In other words, in this case, from the routes prepared in advance, the route where the start point is equal to the pickup point Af, the end point is equal to the place point At, and the length of the steel plate to be hung is equal to the length LG of the transported steel plate, respectively. select.

In S13 shown in FIG. 4, the suspending load Wh is set to the weight WT of the steel sheet to be conveyed, and S shown in FIG.
In 14, the above-mentioned “move” process (details in FIGS. 5 to 7) is executed based on the newly created route table,
Move the tong unit 4 from the pick-up point Af to the place point At. When you finish this,
The "winding 2" process of S15 shown in FIG. 4 is executed to lower the tongs unit 4 to the height at which the transported steel plate is placed. FIG. 12 shows the contents of the "unwinding 2" process in S15. 12
In the "Unwinding 2" process in S15, first, in S501, the motor driver 723 is instructed to reversely urge the lifting motor 35 to start descending the tong unit 4, and a loop including S502 to S505 is performed. The present height Hp of the tongue unit 4, the inclination sensor 45 and the landing sensor 46
Monitor the status of. Similar to the "Unwinding 1" process of S9 (details are shown in FIG. 9), the current height Hp of the tong unit 4 is the sum of the current stacking height H (At) of the place point At and the predetermined margin Mh in this loop. When the inclination sensor 45 detects the inclination of the tongs unit 4 or the landing sensor 46 detects the landing before the value becomes less than or equal to the value, the tongs unit 4 or the suspended conveyed steel plate comes into contact with the obstacle. Since there is a possibility, the processing is immediately terminated and the abnormal processing is executed in S506.

When the current height Hp of the tongue unit 4 becomes equal to or lower than the sum of the current stacking height H (At) of the place point At and the predetermined margin Mh without any abnormality, the above loop is released and the motor driver is supported by S507. The 723 is instructed to deactivate the lifting motor 35, and a sufficient time is waited for the descent of the tongs unit 4 to be stopped in S508 and S509.

Thereafter, in S510, the motor driver 723 is again instructed to urge the lift motor 35 to rotate in the reverse direction to start descending, and the hanging load Wp is monitored by the loop of S511 and S512. When the transported steel plate gripped by the tongs 42 is placed at the place point At, the hanging load Wp decreases. Therefore, when the suspension load Wp becomes equal to 0 within the allowable range, the motor driver 723 is executed in S513.
Is instructed to deactivate the lifting motor 35, the descent of the tongs unit 4 is stopped, and the processing is ended.

When the "winding 2" process of S15 is executed to lower the tongue unit 4 and place the conveyed steel sheet on the place point At, the "tongue opening" process described above in S16 shown in FIG. Figure 8) Run tong 42
Open and release the transported steel plate. After this, S17 shown in FIG.
The "winding 2" process is performed to raise the tongs unit 4 to the conveyance height Hc. FIG. 13 shows the contents of the "winding 2" process in S17.

Referring to FIG. 13, "winding 2" in S17
In the process, in S701, the motor driver 723 is instructed to urge the lifting motor 35 to rotate normally, and then S702 and S703 are performed.
In the loop consisting of (3), the process waits until the current height Hp of the tongs unit 4 exceeds the conveyance height Hc, and instructing the motor driver 723 to deactivate the lifting motor 35 in S704. That is, in the "winding 2" process of S17, since the steel plate is not suspended by the tongs unit 4, the tongs unit 4 is raised to the conveyance height Hc at once.

When the "winding 2" process is executed in S17 and the tongue unit 4 is raised to the carrying height Hc, a series of processes concerning the carrying of the steel sheet instructed by the host computer is completed, so that in S18 shown in FIG. Notify the host computer of the end. The host computer updates the data relating to the height of each yard, the type of steel plate, and the like.

Referring to FIG. 4, thereafter, the timer T is cleared and started in S19, and S20 and S21.
Set the input waiting loop in the loop consisting of. In this input waiting loop, if there is an input from the host computer before the predetermined time ti has elapsed, the process returns to S3 and repeats the above. If the predetermined time ti elapses before the input from the host computer, the tong unit 4 in S22. To the home position (origin) and return to S2.

[0068]

The control means determines that the weight detected by the weight detection means is substantially equal to the weight of the conveyed object indicated by the weight information, on condition that the conveyed object holding means is driven upward. Therefore, when an object with a different weight is gripped, the ascending drive is not performed there, and the object with a different weight is not conveyed by mistake. Therefore, an object with a different weight from the scheduled one will not be transported according to the transportation characteristics of the scheduled one, and the stop positioning will be disturbed or the floor will be impacted when lowered to the destination. The problem is solved and the reliability of automatic crane operation is improved. Further, since it can be applied regardless of the type of the object-to-be-conveyed holding means or the shape of the object-to-be-conveyed, its versatility is extremely high.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

FIG. 2 is a plan view showing an operation area of the crane shown in FIG.

FIG. 3 is a block diagram showing a system configuration of an electric control system of the embodiment shown in FIG.

FIG. 4 is a flowchart showing an operation of the controller 6 shown in FIG.

5 is a flowchart showing the contents of "movement" in step 7 shown in FIG.

FIG. 6 is a flow chart showing the contents of “transverse control” in step 317 shown in FIG.

FIG. 7 is a flowchart showing the contents of “travel control” in step 318 shown in FIG.

FIG. 8 is a flowchart showing the contents of “open tongs” in step 8 shown in FIG.

9 is a flowchart showing the contents of "Unwinding 1" in step 9 shown in FIG.

FIG. 10 is a flowchart showing the contents of “close tongs” in step 10 shown in FIG.

11 is a flowchart showing the contents of "winding 1" of step 11 shown in FIG.

FIG. 12 is a flowchart showing the contents of “Unwinding 2” in step 12 shown in FIG.

FIG. 13 is a flowchart showing the contents of “winding 2” in step 13 shown in FIG.

14 is a plan view showing the contents of a route table created by the controller 6 shown in FIG.

FIG. 15 is a graph showing the relationship between the lane position and the speed according to the deceleration control performed by the controller 6 shown in FIG.

[Explanation of symbols]

1: Traveling rail (supporting means) 11, 12:
Rails 13 and 14: Stopper 15: Home position sensor 2: Traveler 21: Traveler body 22: Wheel 23: Traveling motor 24: Traverse rail 25: Traveling sensor 26: Home position sensor 3: Trolley 31: Trolley body 32: Wheel 33: Traverse motor 34: Traverse sensor 35: Lifting motor (second driving means) 36: Reduction mechanism 37: Lifting mechanism 38: Lifting sensor 39: Load cell 2, 3: (Crane carriage) 23, 33: (First driving means) 4 : Tongs unit (transported object holding means) 41: Tongs main body 42: Tongs 43: Opening / closing motor 44: Opening sensor 45: Tilt sensor 46: Landing sensor 5: Terminal yard 6: Controller (controlling means) 71: Traveler control Section 72: Trolley Control Section 3: Tong Control Section 74: Communication Section Slp: steel Fre: wagons Cvr: heat insulating cover Tbl: loading table RL1, RL2: relay (control means)

Claims (1)

[Claims] 1. A crane carriage; a supporting means for movably supporting the crane carriage; a first driving means for driving the crane carriage; a vertically movable object holding means suspended by the crane carriage for holding an object to be conveyed. Second driving means for vertically moving the conveyed object holding means; information setting means for setting position information and height information; and controlling the first driving means to position the crane carriage at the position indicated by the position information. , Second
In a crane drive control device comprising: control means for controlling the driving means to position the carried object holding means at a height indicated by the height information: the weight of the carried object held by the carried object holding means A weight detecting means for detecting a weight, the information setting means further sets weight information of the transported object to be held by the transported object holding means, and the control means,
On condition that the weight detected by the weight detecting means is substantially equal to the weight of the conveyed object indicated by the weight information, the second driving means is controlled to raise the conveyed object holding means. A crane drive control device characterized by the above.