JPS5889502A - Method of controlling vertical movement and stoppage of ascent/descent carrier of crane - Google Patents

Abstract

PURPOSE:To always stop an ascent/descent carrier at a position appropriate to working, by comparing a set numbers and a present number with each other to stop the carrier when the numbers coincide with each other. CONSTITUTION:A destination bay and a destination level are set so that a set number 23 of pulses corresponding to a cargo placing section 15 which is a warehouse entry object is taken out of a memory 22 and entered into a comparator circuit 24. When a vertical drive means 10 of an ascent/descent carrier is started, the number 25 of calculation pulses obtained from an addition/subtraction counter 19 is compared with the set number 23 of pulses. An ascent instruction signal 26 or a descent instruction signal 27 is sent out depending on the result of the comparison of the numbers 25, 23. A stoppage instruction signal 28 is sent out when the numbers are equal to each other.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides for controlling the lifting and lowering of the lifting platform in a running lane having a lifting platform equipped with cargo delivery means, such as a Sukuso car crane used in an automated warehouse. The present invention relates to a control method that utilizes pulses from pulse transmitting means that are linked to the lifting and lowering of a platform.

In the conventional general control method, a detection plate is attached to the column that guides the lifting platform at the stop position of each level, and a detector is installed on the lifting platform to detect the detection plate. The lifting platform was stopped when the detector detected the target plate at the target level.

However, if the manufacturing accuracy or erection accuracy of the shelf, or the horizontal accuracy of the crane traveling road surface is low, the vertical positional relationship between the stopping position of each level of the lifting platform and the loading section at the corresponding level of the shelf may be incorrect in each pay. They may not match and may vary, making it impossible to carry out normal and safe cargo delivery operations.

The present invention sets the stop position at each level for each pay according to the number of calculated pulses obtained by adding and subtracting the pulses from the pulse transmitting means linked to the lifting and lowering of the lifting platform. That is, the set address is compared with the number of calculated pulses, ie, the current address, and when the two match, the lifting platform is stopped and the point is canceled.

An embodiment of the present invention will be described below with reference to the attached illustrative drawings. In FIG. 1, 1 is a stacker crane, 2 is a
is a shelf. The stacker crane 1 includes a main body 5 that runs along a shelf 2 guided by a ceiling rail 6 and a floor rail 4, and a lifting platform 7 that ascends and descends on pillars 6 in front and behind the main body 50. is provided with cargo delivery means 8 such as a running fork. Reference numeral 9 denotes a traveling drive means, and 10 denotes an elevating drive means for the lifting platform 7. As shown in FIG. The chain is comprised of a motor 15 that drives the chain in any forward or reverse direction, and a guiding free-rotating toothed wheel 14 that engages with the chain 11. The shelf 2 is provided with a loading section 15 that is partitioned in the shape of a grid in the traveling direction of the crane main body 5 and the vertical vertical direction. Each of the loading devices s15 includes a pair of left and right loading racks attached to a support column 16 and is equipped with a rail 17.

Further, as shown in FIG. 2, the drive gear t2 of the chain 11 is provided with a pulse transmitting means 1 such as a shaft uncoder.
8 are linked together. The pulse signal from the pulse transmitting means 18 is input manually to an addition/subtraction counter 19 as shown in FIG. This counter 19 increments when the platform 7 is raised and subtracts it when it descends.
When the lifting platform 7 is at the lowering limit position, that is, when the detector 20 attached to the lifting platform 7 detects the lowering limit detection plate 21 attached to the column 6, as shown in FIG. It is something that will be tested.

Prior to actual loading/unloading work using the crane 1, learning work of the stop position of the lifting platform 7 is performed. That is, the crane 1 is stopped at each pay of 41IlI2, the drive gear 12 is driven by the motor 13 to pull in the tune 11, and the lifting platform 7 is raised so that the lifting platform 7 can load the load at each level of the shelf 2. The count value of the addition/subtraction counter 19 when passing through a suitable height for the warehousing operation for the section 15, that is, the number of calculated pulses, is stored in the memory 22 as the set number of pulses (set address) for each loading position nls.

At this time, if the lifting platform 7 is provided with a detector that outputs a detection signal when the lifting platform 1 passes through a suitable height for the warehousing operation for each loading %Es15, an addition/subtraction counter can be used when this detection signal is output. Although it is possible to automatically write the number of calculation pulses 19 to the memory 22, it is possible to automatically write the number of calculation pulses into the memory 22 by stopping the lifting platform 7 at the target height for each warehousing operation.
You may perform the writing work manually.

During actual warehousing work, the destination level is set together with the destination pay setting, and the setting pulse number (setting address) 23 corresponding to the loading device n15 to be warehousing work is read from the memory 22 and input into the comparison circuit 24. Crane 1
By starting the travel drive means 9, the crane 1 moves to the load loading section 15 to be subjected to the warehousing operation using a conventionally well-known travel control method.
It automatically stops at a certain predetermined pay, but at the same time, by starting the lifting drive means 10 of the lifting platform 7, the number of calculation pulses (current address) 25 and the number of set pulses (setting address) 25 obtained from the addition/subtraction counter 19 are automatically stopped. are compared in the comparator circuit 24, and by determining the magnitude of both values, a rise command signal 26 or a fall command signal 27 is output, and the motor 16 is controlled based on these signals to pull in or pay out the chain 11. is performed, and the lifting platform 7 is raised or lowered. And set pulse number 2
'5 and the number of calculated pulses 25 corresponding to the current position, a stop command signal 28 is output from the comparator circuit 24, and according to this signal 28, the motor 15 is stopped and the lifting platform 7
is automatically stopped at a preset suitable height for the loading section 15 that is the object of the warehousing operation.

When the cargo delivery means 8 is a running wheel,
The stopping position of the elevating platform 7 is different between the time of unloading work and the time of warehousing work. Therefore, for each loading section 15, the stop position during warehousing work and the stop position during unloading work may be stored in the memory 22 as a number of pulses, or only the number of pulses corresponding to one of the stop positions may be stored. may be stored, and the set number of pulses 26 pink-amplified may be automatically corrected from the memory 22 according to the work settings.

The present invention can be carried out as described above, and the preferred stopping height of the lifting platform 7 is learned in advance for all the loading sections 15 of the shelf, and is stored as an address (setting the number of pulses). In addition, during actual work, the current address (calculated pulse number) of the lifting platform 7 can be compared with the set address (set pulse number), and control can be performed to automatically stop the lifting platform 7 when they match. Even if the manufacturing accuracy and construction accuracy of the shelves, or the horizontal accuracy of the crane traveling road surface is low, the lifting platform 7 can be stopped at a vertical position suitable for the work with respect to all loading sections 15, and loading and unloading operations can be carried out safely. Can be performed well.

Moreover, when the pulse transmitting means 18 is interlocked and connected to a rotary body that is in contact with the support column 6 and rotates as the lifting platform 7 moves up and down, errors occur due to slippage between the support column 6 and the rotary body, which impairs reliability. In order to solve this problem, if a rack gear is attached to the support column 6 and the rotating body is replaced with a pinion gear, the cost will increase, but according to the present invention, the lifting platform 7 can be moved up and down. Since the pulse transmitting means 18 is interlocked and connected to the drive gear wheel 12 (which may be the guide freewheel gear 14 or an additional dedicated freewheel gear) that engages with the chain 11, the problem of slippage as described above also occurs. Moreover, it can be implemented at extremely low cost. Furthermore, the elevating and lowering drive means 1 for the elevating platform 7
0 is normally provided on the side of the crane body 5, and in this case, the pulse transmitting means 18 is not provided on the lifting platform 7,
Being on the crane main body 5 side is convenient for the configuration of the control system.

The present invention brings about the above-mentioned effects, but when the chain 11 is stretched, the number of pulses transmitted from the pulse transmitting means 18 for a certain amount of elevation of the platform 7 decreases in inverse proportion to the amount of chain extension. As a result, the lifting platform stop position becomes higher than the initially set suitable work position.

Therefore, in a lane where the elongation of the chain 11 cannot be ignored, it is necessary to correct the set pulse number (set address) learned and stored in advance in accordance with the elongation of the chain 11.

Next, the second invention with the above-mentioned correction function will be explained based on an illustrative diagram.As shown in FIG.
A detection plate 30 for the upper limit is attached to the support 6, and the detector 29 attached to the elevator platform 7 (the detector 20 may be used also) detects when the elevator reaches the upper limit position. When learning the stop position of the lifting platform at
The number of output pulses of the addition/subtraction counter 19 when the detector 29 detects the plate 30 to be detected, that is, the chain The number of fluctuating pulses N' that fluctuated due to the increase in number 11 is input to the arithmetic circuit 31, and this circuit 31 compares the number of initially set pulses N and the number of fluctuating pulses N', and calculates the correction coefficient as =N'/ N is calculated, and this correction coefficient K is multiplied by the lifting platform stop position measurement data stored in the memory 22, that is, the set number of pulses (set address) for each loading section 15, and the set number of pulses is calculated as 0. to correct.

In this way, the number of set pulses corresponding to all the lifting platform stop positions stored in the memory 22 is adjusted by the correction coefficient K.
However, only one set pulse number 26 picked up from the memory 22 when setting the destination level of the lifting platform 7 is corrected based on the correction coefficient K each time, and then the comparator circuit It can also be configured to input into 24.

Also, the timing for correcting the set number of pulses in conjunction with the measurement of the number of fluctuating pulses N' can be set arbitrarily, but for example, when the main power of the crane is turned on, the initial processing of the arithmetic circuit always makes it possible to correct the number of fluctuating pulses. The number N' may be measured and the set number of pulses may be corrected based on this as described above.

As described above, according to the second invention, although the control method uses the chain 11 for driving the lifting platform up and down which cannot avoid the problem of elongation, the set pulse is set at a timely manner according to the elongation of the chain. The number (setting address) can be corrected with high precision, and the stopping position of the lifting platform 17 can always be ensured at a suitable position for the work, so that safe loading and unloading work can be performed.

Although the elongation of the Dane 11 was measured using the entire lifting section from the lowering limit position to the lifting limit position of the lifting platform 7, an appropriately set lifting section shorter than this entire lifting section was used. You may use it.

In addition, as shown in FIG. 3, a size determining circuit 62 is used to determine whether the correction coefficient K output from the arithmetic circuit 31 is greater than or equal to a certain value. For example, when it becomes 2% or more, the abnormality detection signal 36 may be outputted, and the display means 34 may display a message such as "DEN REPLACE J".

[Brief explanation of the drawing]

Figure 1 is an elevation view showing the crane and shelf, Figures 2 and 3
The figure is a detailed explanatory diagram of the present invention. 1... Crane, 2... Shelf, 6... Support, 7...
- Lifting platform, 8... Cargo delivery means, 9... Traveling drive means, 10... Lifting drive means, 11... Lowering drive gear, 12... Driving gear, 15... motor, 1
5... Load loading section, 2 18... Pulse transmitting means, 19... Addition/subtraction counter, 20.29... Detector, 21.30... Detection plate, 22 Memory, 26... Set pulse number (set address), 24... Comparison circuit, 25... Calculated pulse number (current address), 26... Up command signal, 27... Down command signal, 28... Stop command signal , 31...Arithmetic circuit for correction coefficient, N...Initial setting pulse number, N'...
Fluctuation pulse 3 8- Figure 1? Figure 2

Claims (1)

[Scope of Claims] ■ In a running lane having a lifting platform equipped with cargo transfer means, the driving gear is linked to the rotation of a driving gear of a lifting drive chain that suspends the lifting platform or a freewheeling gear meshing with the chain. The stop position at each level of the lifting platform is set by the number of calculated pulses obtained by adding and subtracting the pulses from the pulse sending unit, and the set pulse number and the current position of the lifting platform are set. A method for controlling the lifting and lowering of a crane platform by comparing the corresponding number of calculated pulses with the corresponding number of calculation pulses. , a pulse transmitting means is provided which is linked to the rotation of a drive tooth wheel of a lifting drive chain that suspends the lifting platform or a free tooth wheel that meshes with the tune, and the stop position at each level of the lifting platform is determined by the pulse sending means. A method of controlling the lifting and lowering of the lifting platform by setting the number of calculated pulses obtained by adding and subtracting pulses from the means, and comparing this set number of pulses with the calculated number of pulses corresponding to the current position of the lifting table. , the number of pulses corresponding to the length of a certain lifting/lowering section of the lifting platform is measured and set as the initial set number of pulses,
The number of pulses corresponding to the section length that fluctuates due to chain elongation is measured in a timely manner, and the set number of pulses corresponding to each stop position of the lifting platform is corrected based on the ratio of this fluctuating number of pulses to the initial set number of pulses. A method for controlling the lifting and lowering of a crane's lifting platform. (2) The method according to claim (2), wherein when the ratio of the number of fluctuating pulses to the number of initially set pulses exceeds a certain value, a lamp, a buzzer, or other means is used to display the information.