JPH10330073A - Pulse rate adjusting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pulse rate adjusting device of a simple configuration which can automatically determine the pulse rate of pulse signals emitted by a rotary encoder. SOLUTION: A pulse rate adjusting device is composed of limit switches 31a and 31b and contacting parts 32a and 32b for sensing that a hoist 3 reaches Point O and Point X on a transverse rail, respectively, a counting device to count, on the basis of the given sensing signals, the number of pulse signals emitted by a rotary encoder coupled with a roller for sensor rolling on the transverse rail while the hoist makes movement from Point O to X or from Point X to O, and a CPU device which calculates the pulse rate of the pulse signals on the basis of the pulse count of the counting device and the pre-entered distance from Point O to X. The pulse rate adjustment should be conducted only in case the hoist moves in one direction, where dislocation of the sensing position of limit switch is taken into consideration, or otherwise, the distance from Point O to X used in calculation of the pulse rate is corrected in accordance with the moving direction of the hoist.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pulse rate adjusting device, which is useful, for example, when a moving position (a running position and a traversing position) of an overhead traveling crane is detected using a rotary encoder.

[0002]

2. Description of the Related Art An overhead traveling crane is used for cargo handling work in factories and the like. FIG. 10 is a perspective view showing an example of such an overhead traveling crane. As shown in FIG. 1, the overhead traveling crane 1 includes a pair of saddle units 2a and 2b, a hoist 3, and the like.

The saddle units 2a and 2b are provided with a pair of running rails 4a and 4 provided in parallel near the ceiling of a factory or the like.
b has traveling motors (induction motors: IM) 5a, 5b that are rotatably provided on the wheels 13a, 13a and that rotate the wheels 13a, 13b, and are orthogonal to the traveling rails 4a, 4b. And supports both ends of a pair of main girders 6a and 6b arranged at the same position. Traverse rails 7a and 7b are laid on the main girders 6a and 6b. The hoist 3 moves the wheels 1 on the traversing rails 7a and 7b.
4, a traversing motor (IM) 8 rotatably driving the wheels 14 and a lifting / lowering motor (IM) 9, a drum 10 rotatably driven by the lifting / lowering motor 9, and a winding or winding by the drum 10. A wire rope 11 to be lowered, a hanging tool (hook) 12 provided at a lower end of the wire rope 11, and the like are provided.

Accordingly, the overhead traveling crane 1 is entirely driven by the traveling motors 5a, 5b to drive the traveling rails 4a, 4b.
b along with the hoist 3
Drives along the traversing rails 7a and 7b, and conveys a load (not shown) suspended by the wire rope 11. At this time, the suspended load swings in the traveling direction due to the traveling as indicated by an arrow in FIG. 10, and also swings in the traveling direction due to the traversing. So overhead traveling crane 1
Has a positioning and steadying control system for suppressing the runout in the running direction and the runout in the transverse direction and for accurately positioning the target position.

FIG. 11 is an explanatory view showing an outline of a positioning and steadying control system provided for an overhead traveling crane.
As shown in the figure, the control method of the positioning and steadying control system is positioning and steadying control, and the sensing means used for this control detects the traveling position of the entire overhead traveling crane 1 and the traversing position of the hoist 3. And a deflection angle sensor for detecting the deflection angle of the wire rope 11. Among these sensing means, the position detection sensors related to the present invention can be roughly classified into those of the detection strip type, the roller rotation type and the reflection type as shown in [Table 1]. there were.

[0006] The detection strip method is to continuously detect a position by detecting a fixed detection strip using a limit switch or a photoelectric switch, and is easy to install, but has a large detection error. Having. The roller rotation type is one in which position detection is continuously performed by detecting rotation of a sensor roller rotating on the traveling rails 4a, 4b or on the traversing rails 7a, 7b by a rotary encoder. That is, the pulse signals output from the rotary encoder are counted, and the pulse count value is multiplied by a pulse rate (moving distance per pulse) to convert the counted value into a moving distance. This roller rotation type has a feature that a high stopping accuracy can be obtained although slip prevention or correction of the sensor roller is required. With the reflection type, the position is continuously detected by directly detecting the distance from the fixed point position by the reflection time of light or electromagnetic waves, and cannot be detected when there is an obstacle, but high stopping accuracy is obtained. It has the feature that it can be.

[0007]

[Table 1]

[0008]

Among the above-mentioned conventional position detection sensors, the roller rotation type position detection sensor related to the present invention requires that the pulse rate of the pulse signal output from the rotary encoder be set in advance. No.
That is, after determining the movement start position (running start position or traversing start position) of the overhead traveling crane 1,
Is moved by an arbitrary distance, the pulse signal output from the rotary encoder is counted, and the pulse rate is determined from the pulse count value and the moving distance of the overhead traveling crane 1. During the actual operation of the overhead traveling crane 1, the pulse rate is multiplied by the pulse count value to move the overhead traveling crane 1 (traveling distance or traversing distance).
And

Conventionally, however, this pulse rate adjustment operation had to be performed manually. When the measurement is performed manually, an expensive measuring device is introduced to measure an arbitrary moving distance of the overhead traveling crane 1, or the moving distance is measured many times using a general-purpose measure, and an average value thereof is calculated. I had to adopt and find the pulse rate. In addition, the sensor roller is a traveling rail 4a,
4b and the traversing rails 7a and 7b are constantly in contact with each other, so that the outer peripheral surface of the sensor roller is worn by a long operation, and the moving distance of the overhead traveling crane 1 per rotation of the sensor roller differs from the initial value. Therefore, the pulse rate is also different from the initially determined pulse rate. Therefore, the above-mentioned pulse rate adjustment work had to be performed periodically. For this reason, it causes cost increase,
It took a lot of work time.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a pulse rate adjusting device capable of automatically obtaining the pulse rate of a pulse signal output from a rotary encoder with a simple configuration in view of the above prior art.

[0011]

Means for Solving the Problems A first method for solving the above problems is described below.
The pulse rate adjusting device according to the present invention is a pulse rate adjusting device that adjusts a pulse rate of a pulse signal output from the rotary encoder in order to detect a moving position of a moving body that moves on a predetermined moving path using a rotary encoder. A position detecting means for detecting that the moving body has moved along the moving path to reach a first point and a second point on the moving path, respectively, based on a detection signal of the position detecting means. Counting means for counting the number of pulse signals output from the rotary encoder while the moving body moves from the first point to the second point or while moving from the second point to the first point When,
Signal processing means for calculating a pulse rate of the pulse signal based on a pulse count value counted by the count processing means and a distance previously input from the first point to the second point. Features.

A pulse rate adjusting device according to a second aspect of the present invention is the pulse rate adjusting device according to the first aspect, wherein the signal processing means includes a pulse count value n at a current time t.
_{Based on t} and the pulse count value _nta at time _ta which is a time before the current time t, the “moving direction determination formula =
n _t −n _ta ”, the moving direction of the moving body is determined from the positive or negative of the moving direction determination formula, and the counting process is performed only when the moving body moves to any one based on the determination result. Calculating a pulse rate of the pulse signal based on the pulse count value counted by the means and a distance previously input from the first point to the second point in consideration of a deviation in position detection of the position detecting means. It is characterized by that.

A pulse rate adjusting device according to a third aspect of the present invention is the pulse rate adjusting device according to the first aspect of the present invention, wherein the signal processing means includes a pulse count value n at a current time t.
_{Based on t} and the pulse count value _nta at time _ta which is a time before the current time t, “moving direction determination formula =
n _t −n _ta ”, the moving direction of the moving body is determined from the positive or negative of the moving direction determination formula, and based on the determination result, the first point is determined in consideration of the position detection deviation of the position detecting means. And correcting the distance from the second point to the second point, and calculating the pulse rate of the pulse signal based on the corrected distance and the pulse count value counted by the count processing means. .

Therefore, according to the pulse rate adjusting apparatus of the first invention, when the moving body is moved from the first point to the second point or from the second point to the first point, the position detecting means Then, the mobile unit detects that the mobile unit has reached the first point and the second point, respectively, and the count processing unit determines whether the mobile unit moves from the first point to the second point based on the detection signal of the position detection unit. The number of pulse signals output from the rotary encoder while moving from the second point to the first point is counted, and the signal processing means calculates the pulse count value of the count processing means and the distance from the first point to the second point. The pulse rate of the pulse signal is obtained based on the pulse rate. That is, the pulse rate can be automatically obtained only by moving the moving body along the moving path.

Further, according to the pulse rate adjusting device of the second invention, the position detecting means moves the moving body from the first point to the second point and from the second point to the first point. The moving direction of the moving object is determined by the signal processing means based on whether the moving direction of the moving object is positive or negative in the moving direction determination formula. Since the pulse rate is obtained only when the operation is performed, the pulse rate can be accurately obtained without being affected by the displacement of the detection position of the position detection means.

Further, according to the pulse rate adjusting device of the third invention, the position detecting means moves the moving body from the first point to the second point and from the second point to the first point. The moving direction of the moving body is determined from the positive / negative of the moving direction determination formula by the signal processing means, and the position detecting means determines In order to correct the distance from the first point to the second point in consideration of the shift of the detection position,
Regardless of the moving direction of the moving body, the pulse rate can be accurately obtained without being affected by the displacement of the detection position of the position detection means.

[0017]

Embodiments of the present invention will be described below in detail with reference to the drawings. The same parts as those in the related art are denoted by the same reference numerals, and overlapping detailed description will be omitted.

FIG. 1 is a block diagram showing a configuration of a positioning and steadying control system for an overhead traveling crane provided with a pulse rate adjusting device according to an embodiment of the present invention, and FIG. 2 shows a configuration of the pulse rate adjusting device. Block diagram, FIG.
FIG. 4 is a plan view showing a configuration of a position detecting means in the pulse rate adjusting device, FIG. 4 is an explanatory view showing a position detecting method by the position detecting means, and FIGS. FIG. 7 is a flowchart showing a processing procedure for correcting a deviation in position detection by the position detecting means. FIG. 8 is an explanatory view showing a configuration of another position detecting means in the pulse rate adjusting device. FIG. 4 is an explanatory view showing the principle of the other position detecting means.

As shown in FIG. 1, the overhead traveling crane 1 is provided with an eddy current displacement sensor as a traveling direction deflection angle sensor and a traverse direction deflection angle sensor. In the sensor heads 21 and 23 of the eddy current displacement sensor, the wire rope 1
A current corresponding to the traversing distance with the supporter 20 (that is, the traversing direction swing angle) with the supporter 20 and a current corresponding to the traveling direction distance with the wire rope 11 (that is, the running direction deflection angle) are output. In the amplifier units 22 and 24 of the eddy current displacement sensor, the output current of the sensor heads 21 and 23 is converted into a DC voltage or a current, and the control device 40 of the overhead traveling crane 1 is converted into a traverse direction deflection angle signal and a traveling direction deflection angle signal. Output to.

On the other hand, the sensor roller 51 provided in the saddle unit 2a or 2b is provided with a rotary encoder 25.
Are connected to the sensor roller 5 provided on the hoist 3.
2 is connected to a rotary encoder 26, and a lifting / lowering motor 9 is connected to a rotary encoder 27. These rotary encoders 25, 26 and 27 output pulses corresponding to the traveling position and the traversing position of the overhead traveling crane 1. A signal and a pulse signal corresponding to the lifting position of the hanging tool 12 are output to the control device 40. Further, as will be described later in detail, two limit switches 3 installed on the traveling rails 4a and 4b are used.
0a, 30b and two limit switches 31a, 31b installed on the traversing rails 7a, 7b output contact signals to the control device 40 when the overhead traveling crane 1 passes through a predetermined traveling position and a traversing position. You.

The measurement data processing section 41 of the control device 40 counts the number of pulse signals input from the rotary encoders 25, 26, and 27, and adds a pulse rate (moving distance per pulse or moving distance up and down) to these pulse count values. ) To obtain the traveling position and the traversing position of the overhead traveling crane 1 or the elevating position of the hoisting tool 12, and output it to the data processing unit 43. Measurement data processing unit 4
1, the details will be described later, but the rotary encoder 25,
26 and the limit switches 30a, 30
The pulse rate (moving distance per pulse) is adjusted based on the contact signals input from 0b, 31a, and 31b.

The data processing unit 43 processes the data input from the measurement data processing unit 41 and the set value input via the set value input processing unit 42, and outputs the processed data to the positioning / sway control unit 44. Positioning and steadying control unit 44
Then, the positioning control calculation and the steady rest control calculation are performed based on the data input from the data processing unit 43. The speed command output unit 45 includes a positioning / sway control unit 44.
Inverters 46, 47, 48 based on the calculation result at
Outputs the set speed signal to Each inverter 46, 47,
At 48, each motor 5 is controlled based on these set speed signals.
a, 5b, 8 and 9 are controlled to rotate.

The pulse rate adjusting apparatus according to the present embodiment is provided with the limit switches 30a, 30b, 31a, 31b in the above-mentioned positioning / sway control system.
And a measurement data processing unit 41 of the control device 40. Hereinafter, this pulse rate adjusting device will be described with reference to FIG.
This will be described in detail based on FIG. Although the pulse rate adjustment is performed for both the rotary encoders 25 and 26,
Since the processing contents are the same, the pulse rate adjustment for the rotary encoder 26 serving as the traversing position detection sensor will be described below, and the description of the pulse rate adjustment for the rotary encoder 25 serving as the traveling position detection sensor will be omitted.

As shown in FIG. 2, the rotary encoder 2
6 and the rotation shaft 52a of the sensor roller 52
Are connected via a coupling 53. The sensor roller 52 is rotatably mounted on the hoist 3 (see FIG. 9) so as to contact the traversing rail 7a.
Therefore, when the hoist 3 traverses along the traversing rails 7a and 7b (see FIG. 9), the sensor roller 52 rolls on the traversing rail 7a, and the rotary encoder 26 rotates accordingly. As a result, a number of pulse signals corresponding to the moving distance (traverse distance) of the hoist 3 are output from the rotary encoder 26.

As shown in FIG. 3, the 0-point limit switch 31a and the X-point limit switch 31b are installed at the 0-point and the X-point on the traversing rails 7a and 7b, respectively. The distance from the point 0 to the point X is X (m) (for example, 2 m). On the other hand, the hoist 3 has a limit switch 31a for point 0 and a limit switch 3 for point X.
1b, corresponding to the zero-point contact portions 32a
And the X-point contact portion 32b are provided respectively.

Therefore, as shown in FIG. 4, when the hoist 3 traverses rightward along the traversing rails 7a and 7b as indicated by arrows in FIG.
Contact part 31a of 2a and zero point limit switch 31a
-1 makes a contact signal from the limit switch 31a, and at the point X, the contact is caused by the contact between the contact part 32b for the X point and the contact part 31b-1 of the limit switch 31b for the X point. Switch 3
1b outputs a contact signal. Limit switch 31
a, 31b are transmitted to the control device 4 as described above.
Input to 0.

As shown in FIG. 2, the measurement data processing section 41 of the control device 40 includes a count processing device 41a, an analog input device 41b, an analog output device 41c, a contact input device 41d, a contact output device 41e, and a CPU device 41f. Etc. are provided. The pulse signals output from the rotary encoder 26 and the limit switches 31a, 31
1b is output from the measurement data processing unit 41
Is input to the count processing device 41a, and is processed in the count processing device 11a.

That is, the count processing device 11 a
It has an OWN counter, and based on the contact signals input from the limit switches 32a and 32b, while the hoist 3 moves from the point 0 to the point X or from the point X to the point 0.
While moving to the point, the number of pulse signals output from the rotary encoder 26 is counted, and this pulse count value n (the number of pulses between two points) is output to the CPU device 41f. Then, the CPU device 41f calculates the pulse rate P _rate by the following equation based on the pulse count value n input from the count processing device 11a and the distance X (m) from the point 0 to the point X, which is input in advance. calculate.

P _rate = X (m) ÷ n

Therefore, according to the pulse rate adjusting device according to the present embodiment, when the hoist 3 is moved in the direction from the point 0 to the point X or in the direction from the point X to the point 0, the limit switches 31a and 31b Hoist 3
Have reached point 0 and point X, respectively, and count processing device 41a detects limit switches 31a, 3a.
Based on the contact signal 1b, the hoist 3 moves X
The number of pulse signals output from the rotary encoder 26 while moving to the point or from the point X to the point 0 is counted, and the CPU device 41f counts the pulse count value n of the count processing device 41a and the distance from the point 0 to the point X. X
(M), the pulse rate of the pulse signal is obtained.

For this reason, the hoist 3 is connected to the traversing rails 7a,
The pulse rate can be automatically obtained simply by moving the pulse rate along the line 76b, so that it does not take much time to adjust the pulse rate unlike the related art. Moreover, since the configuration of the pulse rate adjusting device is simple, there is no possibility that the cost will increase.

<Pulse Rate Adjustment Depending on Movement Direction>
However, in the above, since the limit switches 31a and 31b are used for detecting the position of the hoist 3, the operation of the limit switches 31a and 31b requires
The accuracy of the pulse rate is improved by performing the pulse rate adjustment only when is moved to either one (the reason will be described later).

Therefore, in the CPU device 41f, the pulse
When finding the weight, move the hoist 3 in the following direction
Is determined. That is, the pulse count at the current time t
Value n _tAt time ta, which is a hours before the current time t,
Pulse count value n_taBased on
Calculate the moving direction judgment formula and calculate the positive
The moving direction of the hoist 3 is determined.

[0034] moving direction determination formula = n _t -n _ta

That is, when the hoist 3 is moving from point 0 to point X, the rotary encoder 2
The pulse signal output from 6 is a count processing device 41a
, N _t is greater than n _ta . Therefore, it can be determined that the hoist 3 is moving in the direction from the point 0 to the point X by confirming that the calculated value of the moving direction determining formula is positive (moving direction determining formula> 0). . On the other hand, when the hoist 3 is moving from the point X to the point 0, the pulse signal output from the rotary encoder 26 is down-counted by the count processing device 41a, so that n _t is smaller than n _ta . Therefore, it can be determined that the hoist 3 is moving in the direction from the point X to the point 0 by confirming that the moving direction determination formula is negative (moving direction determination formula <0).

Accordingly, the CPU 41f determines the moving direction of the hoist 3 from the positive or negative of the moving direction determination formula as described above. Then, the CPU device 41f performs a process of obtaining the pulse rate only when the hoist 3 moves in one of the directions based on the determination result.

As a result, the limit switch 31
Even if the detection position of the hoist 3 is shifted between the case where the hoist 3 is moved from the point 0 to the point X and the case where the hoist 3 is moved from the point X to the point 0 as shown in FIGS. The pulse rate can be accurately obtained without being affected by the deviation of the position detection of the switches 31a and 31b.

In this case, the distance from the point 0 to the point X, which is input in advance for use in the calculation of the pulse rate, is a distance in consideration of the deviation of the position detection of the limit switches 31a and 31b. That is, when the pulse rate adjustment is performed only when the hoist 3 moves from the point 0 to the point X, the distance is set to X (m), and the hoist 3 is set.
If the pulse rate adjustment is performed only when moves from the point X to the point 0, the distance is set to Xe (m) (see FIG. 6, and a detailed description of FIG. 6 will be described later).

Here, the limit switches 31a, 31b
The reason why the accuracy is improved by performing the pulse rate adjustment only when the hoist 3 is moved to any one of the operation mechanisms will be described.

As shown in FIG. 5 (only the limit switch 31a is shown in FIG. 5), the limit switches 31a, 3
1b is not turned ON only when the contact portions 31a-1 and 31b-1 and the contact portions 32a and 32b (see FIG. 4) on the hoist 3 side contact at a zero point (a contact signal is not output). As the contact portions 32a and 32b move together with the hoist 3 in the direction from the point 0 to the point X (moving direction) or in the direction from the point X to the point 0 (moving direction), the contact of the limit switches 31a and 31b occurs. It is turned on only when the sections 31a-1 and 31b-1 have moved by a certain angle. Therefore, this limit switch 31
The movement of the contact portions 31a-1 and 31b-1 of a and 31b must be considered.

This problem is particularly significant in the zero point limit switch 31a. Usually, this is because the count processing device 41a sets the pulse count value at the zero point as 0 when counting the number of pulse signals from the rotary encoder 26.

More specifically, the flag for performing the count initialization is turned on, and the hoist 3 is moved in the direction to pass the zero point. Then, the pulse count value is set to 0 by the contact signal output from the limit switch 31a when the hoist 3 passes through the zero point. That is, the point at which the contact portion 31a-1 of the zero-point limit switch 31a moves further from the zero point and turns on is the zero pulse count value point. Then, after turning off the flag for performing the count initialization, the hoist 3 is further moved to the X point. On the other hand, the flag for initializing the counter is set to O
If the hoist 3 is moved in the direction and returned to the original position without performing the FF, the pulse count value becomes 0 in the reverse direction (direction) by the angle required for turning on the limit switch 31a.
The points will shift.

<Pulse Rate Adjustment Independent of Movement Direction> In the above, the pulse rate adjustment can be performed only when the hoist 3 moves to one of them. Therefore, a method of adjusting the pulse rate regardless of the moving direction of the hoist 3 will be described below.

As shown in FIG. 6, when the hoist 3 moves in the direction, the moving distance of the hoist 3, ie, the hoist 3 moves in the direction and the zero point limit switch 31
From the point where “a” turns ON, limit switch 31 for X point
The distance X (m) to the point where b turns ON and the distance X from the point 0
The actual distance X (m) to the point matches. Therefore,
In this case, the distance X (m) and the pulse output from the rotary encoder 26 while the hoist 3 moves from the point at which the zero-point limit switch 31a turns on to the point at which the X-point limit switch 31b turns on. The pulse rate may be calculated based on the signal count value.

On the other hand, when the hoist 3 moves in the direction, the hoist 3 moves in the direction first from the moving distance of the hoist 3, that is, the point where the hoist 3 moves in the direction and the X-point limit switch 31b is turned ON. The distance to the point at which the 0-point limit switch 31a is turned ON (that is, to the point at which the count value becomes 0 after down-counting) is the shift width e (m) of the ON point in the X-point limit switch 31b. Only shorter than X (m),
Xe (m). That is, the moving distance X of the hoist 3
-E (m) and the actual distance X from point 0 to point X
(M) does not match. Accordingly, in this case, the travel distance Xe (m) of the hoist 3 and the limit switch 31b for the X point during this time, that is, when the hoist 3 moves in the direction.
From the point where is turned ON, limit switch 3 for point 0 first
The pulse rate may be calculated based on the count value (number of pulses) of the pulse signal output from the rotary encoder 26 while the hoist 3 moves to the point where 1b is turned ON.

Therefore, the CPU device 41f performs processing as shown in the flowchart of FIG. First, the moving direction determination formula is calculated, and the moving direction of the hoist 3 is determined from the positive or negative of the moving direction determining formula (step S1).
If the “moving direction determination formula> 0”, the hoist 3
The processing for the moving direction is performed. That is, the distance used in the moving direction determination formula is X (m), and this distance X (m)
The pulse rate is calculated from the pulse count value at this time (step S2). On the other hand, “moving direction determination formula <0”
In the case of (1), the processing in the moving direction of the hoist 3 is performed. That is, the distance used in the moving direction determination formula is X-e (m).
The pulse rate is calculated from the corrected distance Xe (m) and the pulse count value at this time (step S3).

As a result, the limit switch 31
Even if the detection position of the hoist 3 is shifted between the case where the hoist 3 is moved from the point 0 to the point X and the case where the hoist 3 is moved from the point X to the point 0 as shown in FIGS. 3 regardless of the direction of travel,
The pulse rate can be accurately obtained without being affected by the deviation of the position detection of the limit switches 31a and 31b.

<When Other Position Detecting Means are Used> If a limit switch is used as the position detecting means, the deviation of the detected position due to the inclination angle of the contact portion necessary for the limit switch to perform the ON operation must be considered. When a high positioning accuracy that must be used is required, a photoelectric switch may be used instead of the limit switch to increase the position detection accuracy.

That is, as shown in FIG.
At the zero point and the X point on the main girder 6a where the (see FIG. 10) is laid, a zero point photoelectric switch 63 and an X point photoelectric switch 64 having different heights are respectively installed. On the other hand, the 0-point shield 61 and the X-point shield 61 are installed on the hoist 3 so as to correspond to the 0-point photoelectric switch 63 and the X-point photoelectric switch 64, respectively.

The photoelectric switches 63 and 64 are turned on when light such as a laser beam projected from the photoelectric switches 63 and 64 is shielded (reflected) by shields 61 and 62 located in front of the switches, and there are no shields 61 and 62 in front. It is turned off when the light is not blocked (reflected).

Therefore, when the hoist 3 moves in the direction or direction and the shield 61 for the zero point is located in front of the photoelectric switch 63 for the zero point, the photoelectric switch 63 for the zero point is turned on and the hoist 3 is set to 0. It is detected that the point has been reached, and when the X-point shield 62 is located in front of the X-point photoelectric switch 64, the X-point photoelectric switch 64 is turned on and the hoist 3 is detected to have reached the X point. I do.
The photoelectric switches 63 and 64 and the shield 6
When the pulse rate adjusting devices 1 and 62 are applied to the pulse rate adjusting device of the present invention, an accurate pulse rate can be obtained without considering a shift of a detection position as in the case where a limit switch is applied.

Although the above description has been given of the case where the pulse rate adjusting device of the present invention is applied to an overhead traveling crane, the present invention is, of course, not limited to this, and the pulse rate adjusting device of the present invention may be applied along a predetermined moving path. The present invention can be widely applied to the case where the moving positions of various moving bodies moving by using a rotary encoder are detected.

In the above, limit switches 31a and 31b are installed on the side of the traversing rail, and the contact section 3 is mounted on the side of the hoist.
Although 2a and 32b are installed, the present invention is not limited to this. The contact portions 32a and 32b may be installed on the traversing rail side, and the limit switches 31a and 31b may be installed on the hoist side.

In the above description, the case where a reflection type photoelectric switch is used instead of the limit switch as the position detecting means has been described. However, the present invention is not limited to this.
A light-emitting device and a light-receiving device may be arranged so as to be positioned before and after the shield, and a transmission-type photoelectric switch or the like that detects that the shield blocks light may be used. Of course, other position detecting means may be used, and if there is a deviation in the detected position according to the moving direction of a moving body such as a hoist, as described above,
Pulse rate adjustment that depends on the moving direction of the moving object and pulse rate adjustment that does not depend on the moving direction of the moving object can be appropriately applied.

[0055]

As described above, according to the pulse rate adjusting apparatus of the first invention, the moving body is moved from the first point to the second point or the second point. From the position to the first point, the position detection means detects that the moving body has reached the first point and the second point, respectively, and the count processing means based on the detection signal of the position detection means. Counting the number of pulse signals output from the rotary encoder while the moving body moves from the first point to the second point or from the second point to the first point. A pulse rate of the pulse signal is obtained based on a pulse count value and a distance from the first point to the second point. For this reason, the pulse rate can be automatically obtained only by moving the moving body along the movement path, and it does not take much time to adjust the pulse rate unlike the related art. Moreover, since the configuration of the pulse rate adjusting device is simple, there is no possibility that the cost will increase.

According to the pulse rate adjusting device of the second invention, the position detecting means moves the moving body from the first point to the second point, and moves from the second point to the first point. The moving direction of the moving object is determined by the signal processing means based on whether the moving direction of the moving object is positive or negative in the moving direction determination formula. Since the pulse rate is obtained only when the operation is performed, the pulse rate can be accurately obtained without being affected by the displacement of the detection position of the position detection means.

According to the pulse rate adjusting device of the third invention, the position detecting means moves the moving body from the first point to the second point and from the second point to the first point. The moving direction of the moving body is determined from the positive / negative of the moving direction determination formula by the signal processing means, and the position detecting means determines In order to correct the distance from the first point to the second point in consideration of the shift of the detection position,
Regardless of the moving direction of the moving body, the pulse rate can be accurately obtained without being affected by the deviation of the position detection of the position detecting means.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a positioning and steadying control system for an overhead traveling crane provided with a pulse rate adjusting device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of the pulse rate adjusting device.

FIG. 3 is a plan view showing a configuration of a position detecting means in the pulse rate adjusting device.

FIG. 4 is an explanatory diagram showing a position detecting method by the position detecting means.

FIG. 5 is an explanatory diagram for explaining a deviation in position detection by the position detection means.

FIG. 6 is an explanatory diagram for explaining a shift in position detection by the position detecting means.

FIG. 7 is a flowchart showing a processing procedure when correcting a deviation in position detection by the position detecting means.

FIG. 8 is an explanatory diagram showing a configuration of another position detecting means in the pulse rate adjusting device.

FIG. 9 is an explanatory diagram showing the principle of the other position detecting means.

FIG. 10 is a perspective view showing an example of an overhead traveling crane.

FIG. 11 is an explanatory diagram showing an outline of a positioning / steadiness control system provided for the overhead traveling crane.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Overhead traveling crane 2a, 2b Saddle unit 3 Hoist 25, 26 Rotary encoder 30a, 31a 0-point limit switch 30b, 31b X-point limit switch 31a-1 Contact point of 0-point limit switch 31b-1 X-point limit Switch contact part 32a Point 0 contact part 32b Point X contact part 40 Control unit 41 Measurement data processing unit 41a Count processing unit 41b CPU unit 61 Point 0 shield 62 Point X shield 63 Point 0 photoelectric switch 64 X point photoelectric switch

Claims (3)

[Claims] 1. A pulse rate adjusting device that adjusts a pulse rate of a pulse signal output from a rotary encoder in order to detect a moving position of a moving body moving on a predetermined moving path using a rotary encoder. Position detecting means for detecting that the moving body has reached the first point and the second point on the moving path by moving on the moving path, respectively, based on a detection signal of the position detecting means, Count processing means for counting the number of pulse signals output from the rotary encoder while the body moves from the first point to the second point or while the body moves from the second point to the first point; The pulse count is determined based on the pulse count value counted by the count processing means and the distance previously input from the first point to the second point. And a signal processing means for calculating a pulse rate of the pulse signal. 2. The pulse rate adjusting device according to claim 1, wherein the signal processing means includes a pulse count value _nt at a current time t and a pulse count value at a time ta which is a time earlier than the current time t. based on the n _ta performs the computation of the "moving direction determination equation = n _t -n _ta", to determine the moving direction of the moving body from the positive and negative of the movement direction judging formula, said moving object based on the determination result either Only when moving to one of the positions, the pulse count value counted by the count processing means and the distance from the first point to the second point, which is input in advance in consideration of the deviation of the position detection of the position detection means. A pulse rate adjusting device for calculating a pulse rate of the pulse signal on the basis of the above. 3. The pulse rate adjusting device according to claim 1, wherein the signal processing means includes a pulse count value _nt at a current time t and a pulse count value at a time ta which is a time earlier than the current time t. based on the n _ta, complete the "moving direction determination equation = n _t -n _ta" calculations, to determine the moving direction of the moving body from the positive and negative of the movement direction judging expression, of the position detecting means based on the determination result The distance from the first point to the second point is corrected in consideration of the deviation of the position detection, and the pulse of the pulse signal is determined based on the corrected distance and the pulse count value counted by the count processing unit. A pulse rate adjusting device for calculating a rate.