JPH089404B2 - Travel control method for self-propelled crane - Google Patents

Description

TECHNICAL FIELD The present invention is directed to self-propelled along a plurality of racks and processing devices, transferring loads between these racks and processing devices, and loading and unloading. The present invention relates to a traveling control method for a traveling crane.

2. Description of the Related Art Conventionally, the traveling control method of the self-propelled crane counts pulses from a pulse transmitter that is interlocked with traveling movement of the self-propelled crane, and sets a preset pulse for each bay of the rack and for each processing device. A method of comparing the count value with the actually counted pulse count value and controlling the self-propelled crane according to the difference has been adopted.

However, in the conventional traveling control method for the self-propelled crane, the pulse count value that is counted in conjunction with the self-propelled crane is caused by the slip between the wheels of the self-propelled crane and the guide rails. However, there is a case where the value deviates from the value corresponding to the actual traveling distance, and it is impossible to control the stop position with high accuracy. Therefore, particularly in a processing device that requires a highly accurate stop position control according to the length of the load (unprocessed workpiece) transferred to the processing device, the load may drop during transfer. There was a problem.

The present invention solves the above problem, and an object of the present invention is to provide a traveling control method for a self-propelled crane that enables highly accurate stop position control according to the length of a load.

Means for Solving the Problems In order to solve the above problems, the present invention is self-propelled along with a plurality of racks and processing devices, and a self-propelled crane that performs transfer of loads between these racks and processing devices, A pulse transmitter interlocked with the traveling movement of the self-propelled crane provided in the self-propelled crane, a dummy vertical truss provided with the processing device along the traveling direction of the self-propelled crane, and the provision provided in the self-propelled crane In a processing facility equipped with a dummy vertical truss and a detector for detecting the vertical truss of the rack, the stop position for transferring the load to the processing device of the self-propelled crane corresponds to the length of the transferred load. Then, by determining the number of pulses of the pulse generator from the dummy vertical truss, the self-propelled crane is detected by detecting the dummy vertical truss of the processing device that performs transfer, and then the load length during transfer is determined. The predetermined number of pulses is counted and stopped.

Action By the above method, the stop control is performed by newly counting the number of pulses from the dummy vertical trusses provided at both ends of the processing device to the stop position determined according to the length of the load. Therefore, even if the pulse count value linked to the traveling movement deviates from the value corresponding to the traveling distance, the stop control is performed with high accuracy.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a plan view of a processing facility equipped with a self-propelled crane using the traveling control method for the self-propelled crane of the present invention.

In FIG. 1, reference numeral 1 denotes a warehousing conveyor, and an unprocessed workpiece 2 received from the warehousing conveyor 1 is guided by a self-propelled crane 6 that travels on a guide rail 5 along a rack 3 and a processing device 4, According to the processing procedure of the unprocessed work 2, it is stored in the load receiving portion 8 of the bay 7 of the rack 3 shown in FIG. 2 or transferred to the processing device 4. Also, the second
As shown in the figure, the self-propelled crane 6 is provided with a lifting / lowering carriage 10 which is lifted / lowered by being guided by a support column 9, on which the unprocessed work 2 is transferred between the rack 3 and the load receiving portion 8 of the rack 3. Flexible running fork 11
Is provided. Further, the self-propelled crane 6 includes a traveling motor 13 for driving the driving wheels 12 for traveling, a fork motor 14 for driving the running fork in and out, and an elevator carriage.
As shown in FIG. 1, an elevating motor 15 is provided to drive the 10 up and down, and as shown in FIG. 1, a pulse transmitter 16 linked to the traveling motor 13 and a rack bay truss detector (a rack bay truss detector for detecting a vertical truss 17 separating the bay 7 of the rack 3 ( Reflective photoelectric switch etc.)
18. Dummy vertical truss detectors (reflection type photoelectric switch etc.) 20 for detecting dummy vertical trusses 19 provided along the traveling direction of the self-propelled crane 6 are provided on both sides of the processing device 4. When the processing by the processing device 4 is completed, the unprocessed work 2 is transferred to the delivery conveyor 21 by the self-propelled crane 6 and is carried out. Further, in FIG. 1, reference numeral 22 denotes a home position, which indicates the origin of counting by the pulse oscillator 16, the rack bay truss detector 17, and the dummy vertical truss detector 20.

FIG. 3 shows a schematic view of the unprocessed work 2 receiving portion of the processing device 4. The receiving part is composed of a fixed work chuck 23 and a movable work chuck 24 that is movable in the traveling direction of the self-propelled crane 6, and the movable work chuck 24 moves according to the length of the unprocessed work 2 to Accepted. Therefore, when the stop position in the processing device 4 of the self-propelled crane 6 is not changed by the length of the unmachined work 2, or when the stop position control is not performed with high accuracy,
The unprocessed work 2 falls.

FIG. 4 shows a block diagram of the traveling control device for controlling the traveling motor 13 of the self-propelled crane 6. The traveling control device 25 is
From the self-propelled crane 6, for example, by an optical transmission method, the pulse signal i of the pulse transmitter 16 and the dummy vertical truss detector
The dummy vertical truss detection signal h of 20 and the rack bay truss detection signal d of the rack bay truss detector 18 are input, and the destination data signal g of the self-propelled crane 6 is transferred from a master computer (not shown) that controls the entire processing equipment. The load length signal k of the unprocessed work 2 is input, and the drive signal z is output to the traveling motor 13 by, for example, an optical transmission method. In FIG. 4, reference numeral 26 is a first counting pulse signal i.
Is a second addition / subtraction counter that counts the rack bait truss detection signal d, and 28 is a third addition / subtraction counter that counts the dummy vertical truss detection signal h. In both cases, the self-propelled crane 6 operates from the home position 22. When moving forward toward the warehousing conveyor 1, addition counting is performed, when moving backward toward the warehousing conveyor 21, subtraction counting is performed, and when the self-propelled crane 6 returns to the home position 22, the counting value is forcibly performed. Is reset to zero. Reference numeral 29 is a target value setting unit for setting the number of pulses corresponding to the target bay 7 of the rack 3 or the stop position of the processing device 4 of the self-propelled crane 6, and the destination data signal g, the load length signal k,
The pulse count signal n of the first addition / subtraction counter 26 and the dummy vertical truss count signal t of the third addition / subtraction counter 28 are input, and the first pulse setting signal a, the second pulse setting signal b, the set and reset of the counter are input. It outputs a control signal c for performing. The target value setting unit 29 will be described in detail later. The first pulse setting signal a is input to the first comparing section 30, is compared with the pulse count signal n of the first adding / subtracting counter 26, and the first deviation output signal x of the first comparing section 30 is the traveling control. It is output to the unit 31. When the control signal c is set, 32 is added to the pulse signal i of the pulse generator 16 when the self-propelled crane 6 is moving forward and is subtracted when moving backward, and when the control signal c is reset, the count value is forcibly reset to zero. It is a fourth addition / subtraction counter, and the second pulse count signal q of the fourth addition / subtraction counter 32 is compared with the second pulse setting signal b by the second comparator 33, and the second pulse count signal q of the second comparator 33 is compared. The deviation output signal y of 2 is output to the traveling control unit 31. The traveling control unit 31 is the first,
When the second deviation output signal x, y is positive, it is moved forward, when it is negative, it is moved backward, and when the deviation is 200 pulses or more, a high speed drive signal z is output to the traveling motor 13, which is a low speed drive signal z. ing. Reference numeral 34 is a correction value storage unit that stores the reference pulse for each vertical truss 17 of the bay 7 of the rack 3 by learning. The reference pulse stored in the correction value storage unit 34 is the rack bay truss of the second addition / subtraction counter 27. According to the count value E of the count signal e, that is, the number of the vertical truss 17, it is learned and stored, for example, as shown in Table 1, and is output to the correction unit 35 as the reference pulse signal f every time the rack bay truss count signal e is updated. The correction unit 35 forcibly corrects the count value N of the first addition / subtraction counter 26 to the reference pulse number F by outputting the reference pulse signal f as the correction signal m every time the rack bay count signal e is updated. .

Next, the target value setting unit 29 will be described in more detail with reference to the block diagram of FIG.

In FIG. 5, reference numeral 36 denotes a first storage unit that outputs the number of pulses learned and stored as a first set output signal 1 according to the destination data signal g. For example, as shown in Table 2, the destination is shown. destination number G of data signal g is output pulse number N _B of the stop position of the self-traveling crane 6 of rack-and-pinion each bay 7 of 4 for 1-7, when the destination number G is 8-10 processing apparatus 4 every The numbers T _L , T _S and the pulse numbers N _RL , N _{RS of} the dummy vertical trusses 19 provided on both sides (the ones closer to the home position 22 of the self-propelled crane 6 are T _S , T _RS ) are output. When the destination number G is zero, it means a stop command and the output signal 1 is turned off.

Further, 37 is directed by the load length signal k from the dummy vertical truss 19 farther than the home position 22 of the processing device 4 toward the center of the processing device 4, and the pulse number J of the stop position stored by learning is set to the second value. The second storage unit outputs the pulse number J by the load length data value K of the load length signal k as shown in Table 3, for example.
In addition, L represents the distance between the dummy vertical trusses 19 on both sides of the processing device 4 by the number of pulses.

38 inputs the first and second setting output signals l, j, the destination data signal g, the pulse count signal n of the first addition / subtraction counter 26 and the dummy vertical truss count signal t of the third addition / subtraction counter 28, This is a determination unit that determines and outputs the first and second pulse setting signals a and b and the control signal c. The determination procedure of the determination unit 38 will be described with reference to the flow chart of FIG.

First, it is determined whether the destination number G of the destination data signal g is zero, that is, whether it is a stop command (step 41). When the destination number G is zero, the pulse set value A of the first pulse setting signal a is counted by pulse count. The pulse count value N of the signal n is tracked so that no deviation occurs in the first comparing section 30 (step 42), and the pulse set value B of the second pulse setting signal b is set to zero (step 43). The control signal c is reset (step 44). Therefore, the second
The deviation of the comparison unit 33 does not occur. When the destination number G is not zero in step 41, it is determined whether the destination number G is 7 or less, that is, whether the destination is bay 7 of rack 3 (step 45). When the destination is the bay 7 of the rack 3, the first comparison is made from the first set output signal 1 by setting the stop position pulse set number N _B of the bay 7 of the rack 3 as the pulse set value A of the first pulse set signal a. Output to section 30 (step 4
6) Proceed to steps 43 and 44 to output B = 0 and a reset as a control signal c. At step 45,
When the destination is determined to be the processing device 4, the relative position between the destination processing device 4 and the self-propelled crane 6 is determined. Dummy vertical truss 19 with self-propelled crane 6 on the left side (storage conveyor 1 side)
When it is determined that the self-propelled crane 6 is on the left side (step 47), the self-propelled crane 6 is set on the right side of the dummy vertical truss 19 on the left side (the delivery conveyor) as the pulse set value A of the first pulse setting signal a.
21 side) to output A = N _RL −α obtained by subtracting an arbitrary constant α, for example, 100 pulses from the number of pulses N _RL of the dummy vertical truss 19 on the left side to the first comparison section 30 (step 48). ), Self-propelled crane 6 has dummy vertical trusses 19 on both sides
When it is determined that the self-propelled crane 6 is moved to the left side of the left dummy vertical truss 19 as the pulse setting value A of the first pulse setting signal a (step 49), A = N _RL + Α is output to the first comparison unit 30 (step
50) When the self-propelled crane 6 is located on the right side of the right dummy vertical truss 19, the self-propelled crane 6 is moved to the left side of the right dummy vertical truss 19 as the pulse setting value A of the first pulse setting signal a. In order to move, A = N _RS + α is output to the first comparison section 30 (step 51). And step
By setting 48, the self-propelled crane 6 moves to the right with the dummy vertical truss 19 on the left side as the target, and the dummy vertical truss 19 on the left side of the target is not detected by the dummy vertical truss detector 20 (step 52). The pulse set value A of the pulse set signal a of 1 and the pulse count value N of the pulse count signal n
(Step 53), and B = -J (minus represents movement to the right) according to the number of pulses J set by the load length data value K as the pulse setting value B of the second pulse setting signal b. Output to the second comparison unit 33 (step
54), with the control signal c set, the counting of the fourth addition / subtraction counter 32 is started (step 55). Step
With the setting of 50, the self-propelled crane 6 moves to the left with the dummy vertical truss 19 on the left as the target, and when the dummy vertical truss detector 20 detects the dummy vertical truss 19 on the left of the target (step 56), the above-mentioned step 53 ~ 55 is executed, and the self-propelled crane 6 is set on the right dummy by setting the steps 51 for outputting the signals b and c for moving the self-propelled crane 6 to the right according to the load length with the left dummy vertical truss 19 as the origin. When the vertical truss 19 is moved to the left as a target and the dummy vertical truss detector 20 detects the dummy vertical truss 19 on the right side of the target (step 57), the pulse set value A of the first pulse set signal a is changed to the pulse count signal. Tracking with the pulse count value N of n (step 58), as the pulse set value B of the second pulse setting signal b, the number of pulses J set by the load length data value K = LJ to the second comparison unit 33
(Step 59), the control signal c is set at step 55, and the signals b and c for moving the self-propelled crane 6 to the left according to the load length are output with the dummy vertical truss 19 on the right side as the origin.

With the above configuration, the unprocessed workpiece 2 having the load length data value K = 3, which is placed on the bay 7 of the rack 3 having the destination number G = 3 by the self-propelled crane 6 located at the home position 22. The operation when transferring to the processing apparatus 4 having the destination number G = 10 will be described as an example.

First, as the destination data signal g, the destination number G = 3,
When the load length data value K = 3 is input as the load length signal k, in the target value setting unit 29, J = 600 (L = 2200) is set in the second storage unit 37 based on Table 3, 1 storage unit 36
Then, N _B = 4000 is set on the basis of the second table, and in the judgment unit 38, in steps 45 and 46, A = N _B = as the pulse set value A of the first pulse setting signal a to the first comparison unit 30. 4000 is output. At this time, since the pulse count value N of the first addition / subtraction counter 26 is zero, the first comparison unit 30 outputs the deviation X = 4000 as the first deviation output signal x to the travel control unit 31, and the travel control unit 31. In 41, since a positive deviation of 200 or more is input, the traveling motor 13 is driven at a high speed to the left side (the storage conveyor 1 side), and the self-propelled crane 6 is self-propelled. As the self-propelled crane 6 self-propels, the pulse transmitter 16 transmits the pulse signal i, the first addition / subtraction counter 26 counts the pulse signal i, and the rack bait truss detector 18 detects the rack bait truss detection signal d.
Is counted by the second addition / subtraction counter 27, and the dummy vertical truss detection signal h of the dummy vertical truss detector 20 is counted by the third addition / subtraction counter 28. Also, the pulse count value N of the first addition / subtraction counter 26 is corrected by the reference pulse number F by the rack bay truss count value E of the vertical truss 17 every time the rack bay truss detector 18 detects the vertical truss 17 of the bay 7. It is corrected by the unit 35. When the pulse count value N becomes 3800 or more due to the self-propelled crane 6 self-propelled, the travel control unit 31 sets the deviation X to 200 or less, so that the self-propelled crane 6 is set to a low speed and the pulse count value N becomes 4000, the deviation X Since = 0, the traveling control unit 31 stops the self-propelled crane 6. When the unprocessed work 2 is transferred from the bay 7 to the self-propelled crane 6, the destination number G = 10 is input as the destination data signal g. Then, in the target value setting unit 29, N is stored in the first storage unit 36 based on the second table.
_RL = 8600, N _RS = 6400, T _L = 6, T _S = 5 are set,
In the judgment section 38, first, in step 51, the pulse setting value A of the first pulse setting signal a is A = N _RS + α = 6400 + 100 = 650
It is set to 0 and output to the first comparison unit 30. As a result, the deviation X of the first comparison unit 30 becomes 6500−4000 = 2500, and the traveling control unit 31 moves the self-propelled crane 6 to the left side at high speed. At this time, the dummy vertical truss count value T = 3 of the third addition / subtraction counter 38. The free running self-traveling crane 6, when the dummy vertical truss count value T of the third adder counter 38 becomes T = T _S = 5 (step 57), the pulse setting of the first pulse setting signal a at step 58 Value A
Tracks the current pulse count value N of the first addition / subtraction counter 26, ie N _RS = 6400, and thus the first
The deviation X of the comparison unit 30 becomes 0, and the traveling control unit 31 stops the self-propelled crane 6. Then, in step 59, B = L-J = 22 as the pulse setting value B of the second pulse setting signal b.
00-600 = 1600 is output to the second comparator 33 and step 55
At the fourth addition / subtraction counter 32 by the control signal c
Is set, and counting of the pulse signal i is started. In the second comparator 33, the deviation Y of the deviation output signal y is initially Y = B
= 1600, the traveling control unit 31 self-propels the self-propelled crane 6 to the left at high speed, and the self-propelled crane 6 self-propels the
The addition / subtraction counter 32 of
When the pulse count value Q of the second pulse count signal q of Q becomes 1600, the deviation Y of the second comparator 33 becomes Y = 0, and the traveling control unit 31 stops the self-propelled crane 6 to set the target value. The self-propelled crane 6 stops at the stop position of the processing device 4.

In this way, the stop position of the target machining device 4 according to the unmachined work 2 is set by the pulse number J from the dummy vertical truss 19 on the left side, and the self-propelled crane 6 is set to the target machining device 4
After detecting the dummy vertical truss 19 of the above, the total amount of movement of the self-propelled crane 6 is finally obtained by moving the self-propelled crane 6 with the pulse number B set from the second pulse setting signal b as a target. By performing the stop control regardless of the pulse count value N of the first addition / subtraction counter 26 corresponding to
The error can be minimized and the self-propelled crane 6 can be stopped accurately.

EFFECTS OF THE INVENTION As described above, according to the present invention, stop control is performed by newly counting the number of pulses from the dummy vertical trusses provided at both ends of the processing device to the stop position determined according to the length of the load. Therefore, even if the pulse count value linked to the traveling movement deviates from the value corresponding to the traveling distance, the stop control can be performed with high accuracy, and the transfer of the load to the processing device fails due to the length of the load. Can be prevented.

[Brief description of drawings]

FIG. 1 is a plan view of a processing facility equipped with a self-propelled crane using a traveling control method for a self-propelled crane, showing an embodiment of the present invention, and FIG. 2 is a side view of the self-propelled crane and rack of the same processing facility. Figures and 3 are schematic diagrams of the processing equipment load receiving part of the processing equipment, Figure 4 is a block diagram of the traveling crane traveling control device of the processing equipment, and Figure 5 is the target value setting part of Figure 4. A block diagram and FIG. 6 are flow charts of the judging section in FIG. 2 ... unprocessed work (load), 3 ... rack, 4 ... processing device, 6 ... self-propelled crane, 7 ... bay, 13 ... traveling motor, 16 ... pulse transmitter, 17 ... bay Vertical truss,
18 …… Luck bay truss detector, 19 …… Dummy vertical truss, 20 …… Dummy vertical truss detector, 25 …… Traveling control device (self-propelled crane).

Claims (1)

[Claims] 1. A self-propelled crane that is self-propelled along a plurality of racks and processing devices and transfers a load between these racks and processing devices, and traveling of a self-propelled crane provided in the self-propelled cranes. Detects a pulse transmitter interlocked with movement, a dummy vertical truss provided in the processing device along the traveling direction of the self-propelled crane, the dummy vertical truss provided in the self-propelled crane, and the vertical truss of the rack. In a processing facility equipped with a detector, a stop position for transferring a load to the processing device of the self-propelled crane, a pulse generator from the dummy vertical truss corresponding to the length of the load to be transferred. Determined by the number of pulses, the self-propelled crane, after detecting the dummy vertical truss of the processing device to transfer,
A traveling control method for a self-propelled crane, which stops by counting the number of pulses determined by the length of a load being transferred.