JPS5992892A - Controller for center rest of hanging type conveyor - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a steady rest control device for a suspension-type transportation device such as a trolley-equipped hoist or a crane that suspends and transports a transported object.

When transporting a suspended object to a target position using a hoist with a trolley, a crane, etc., simply stopping the transport object (trolley) at the target position will cause the object to swing due to inertia. It was extremely difficult for the operator to suppress this by inching the conveyor, and required great care and skill.

In addition, the burden on operators increases in adverse environments, and this leads to increased radiation exposure, especially when working around reactors at nuclear power plants.

In order to eliminate the above-mentioned drawbacks, the present invention performs trolley control electrically instead of relying on human hands, and when the conveyance object approaches a certain distance to the target position, the movement is temporarily stopped and the conveyed object is controlled electrically. When the body makes a single pendulum motion due to inertia and reaches the maximum amplitude, and the inertia of the transported object is about to switch from the advancing direction to the returning direction, the inertia becomes zero, and at this time the transported object is moved directly above the transported object. It is an object of the present invention to provide a steady rest control device based on the technical idea that a conveyed object can be stopped without swinging if the conveyed object is positioned at .

First, the present invention will be explained in detail.

In FIG. 1, a conveying body 1 with a conveyed object 2 suspended by a chain or wire rope 10 (hereinafter referred to as a wire loaf) having a length t is moved from a starting position p1. While the conveyor 1 is accelerating, the conveyed object 2 is delayed in following, and the vertical line of the conveyor 1 and the wire rope 10 etc. move at a certain angle α. Subsequently, the conveyor 1 is at a constant speed V. When the acceleration reaches zero, the conveyed object 2 follows with α=0.

After that, when the conveyor 1 stops at the temporary stop position p2, the conveyed object 2 moves in the same manner as when a simple pendulum of length t, with the conveyor 1 as the center of rotation, is projected in the horizontal direction at an initial velocity VQ. I do. According to the law of conservation of energy, the following (
1) The relationship of equation is obtained.

Ding mv♂= m g h −φ・・・・・・・−・・
...(1) Here, m is the mass of the transported object 2, g is the acceleration of gravity, and h is the vertical displacement of the transported object 2 at the maximum swing.

Still, based on the geometric considerations in Figure 1, the following (2)? (3
) is obtained.

h = t(1-cosθ) ・・・・・・・・・・・・
・(2) Xθ=t−outputθ・・・・・・・・・・・・
・(3) Therefore, θ is the angle between the wire rope 10, etc. and the vertical line of the conveying body 1 when the conveyed body 2 swings at its maximum, and Xθ is the distance between the vertical line of the conveyed body 1 and the conveyed body 2. be.

From equations (1) and (2), θ is expressed by the following equation.

θ=Focus-"(15")・----・=・(4)gt Therefore, the distance Xθ between the vertical line of the transport object 1 and the transported object 2 is (
4) Substitute the equation into the equation (3) and get Xθ=tOsbscrs″−’(1−−”−7−) −
----(5) On the other hand, it is known that the synchronization T of a simple pendulum is given by the following equation.

The conveyed object 2 starts a single wave motion, and the maximum deflection angle θ
The time t0 required for the transported object 2 to restart and move the distance Xθ to reach the target position H: j p 3 is given by the following equation 1. % (8) Therefore, the time from when the transported object 2 is temporarily stopped until it is restarted is given by.

Thus, in order to stop the conveyed object 2 at the target position p3 without swinging, the temporary stopping distance Xθ must be set before the target position ps.
When reaching the target position p3, the conveying body 1 is temporarily stopped, and the conveying body 1 is allowed to reach the target position p3 and stopped after a time tθ, and after the conveying body 1 is temporarily stopped. (It is only necessary to restart after tθ-t time.

The present invention has been developed for women with this point in mind, and the configuration of a first embodiment thereof will be explained with reference to FIG.

In the first embodiment, the driving device 7 is actuated by the operation system 6 to start the transport body 1 from the starting position P, with the conveyed object 2 suspended by a wire rope 10, etc., and the trajectory is set at a constant speed VQ. In a suspended transport device that moves at positions p and -1, a movement amount detector 3 is used to detect the movement amount of the transport object 1, and the output of this movement amount detector 3 is inputted to detect the movement amount of the transport object 1.
is the target position p.

Pause distance Xθ = tsln times - 1 (1 -
T￥-2) (here, t is the length of the wire rope 10, etc.,
g is the acceleration of gravity), a temporary stop signal is output and the transport body 1 is temporarily stopped via the operation system 6, and the transport body 2 starts a simple oscillation motion to reach the maximum deflection angle θ. (t' is the time required for the transported object 2 to restart and move the distance Xθ), the operating system 6
When the transport body 1 reaches the target position p3, the output of the movement amount detector 3 and the temporary stop signal generator 4 for restarting the transport body 1 from the temporary stop position p are input. It consists of a target position signal generator 5 for outputting a signal to stop the carrier 1 via an operating system 6.

The operation system 6 receives, for example, a start signal S, outputs a bold signal, and has a hold circuit 6a which is reset by the output of the target position signal generator 5.

The output of the hold circuit 6a is input to one input terminal, and the output of the temporary i'y stop signal generator 4 is input to the not circuit 6.
It is comprised of an AND circuit 6C for inputting the signal to the other input terminal via the terminal b and operating the drive device 7 with its AND output.

For example, the temporary stop signal generator 4 detects when the carrier 1 is at a target position p3.
The outputs of the pause distance setter 4a for setting the front pause distance Xθ, the target position t,, f setter 5a, and the output of the movement amount detector 3 are input, and a signal of the difference is output. and a movement amount signal processor 4e.

A comparator 4b inputs the output of the movement amount signal processor 4e and the output of the pause distance setting device 4a, and outputs a pulse signal when both human forces match. a hold circuit 4C that outputs a signal) to the NOT circuit 6b, and a timer 4d that receives the output of this hold circuit 4C and generates an output that resets the hold circuit 4C after the elapse of time tθ-t'.
It becomes more.

Further, the target position signal generator 5 inputs, for example, a target position setter 5a that sets a value corresponding to the target position p, and the output of this target position setter 5a and the output of the movement amount detector 3. The comparator 5b generates an output that resets the hold circuit 6a when they match.

Next, the operation of the first embodiment will be explained.

When the start signal 8z (see FIG. 3C) is input to the hold circuit 6a, the hold circuit 6a outputs the H level hold signal s, (see FIG. 3C). Haze feeder 1
The output of the temporary stop signal generator 4 is as shown in FIG. 3(d) until the temporary stop position p2 is reached. Therefore, the AND circuit 6C outputs the H level signal S2 of the hold circuit 6a.
and the H level signal ss (see Fig. 3C) of the NOT circuit 6b are input to generate the H level signal (drive signal) s4 (
(see Figure 3 f). The drive device 7 is actuated by the output of the AND circuit 6C, and starts the sending body 1 from the start position p. After being started, the carrier 1 is accelerated and moves to a constant speed v0 as shown in the first diagram.

The amount of movement of the carrier 1 is detected by a movement detector 3,
The output is input to the movement amount signal processor 4e and the comparator 5b. Until the carrier 1 reaches the target position p3, the output of the target position setter 5a and the output of the movement amount detector 3 do not match, so no reset output is generated from the comparator 5b, and the hold circuit 6a is reset and the I.9 Lyricist 6 never stops working. When the output of the movement amount detector 3 and the output of the target position signal unit 5a are input to the H%r movement signal processor 4e, a signal representing the difference between them (current movement distance and target position p, A signal corresponding to the difference between The output of the movement amount signal processor 4e and the output of the temporary stop distance setting device 4a are input to the comparator 4b, and when both inputs match, that is, when the feeder 1 is -F1. '7
When the stopping distance Xθ is reached, an H level pulse signal is outputted. This pulse number 10 is hold circuit 4C
This hold signal (temporary stop signal) S6 (see Figure 3 d) is input to the NOT circuit 6b and from this is an L level signal 8a (see Figure 3 e).
Output. Since this No. 18 is input to the AND circuit 6C, its output is the L level signal 87 (see Figure 3 f).
During this L level communication period, that is, the time tθ-t', the carrier 1 temporarily stops.

At the moment when the conveyor 1 stops, the conveyed object 2 starts a single pendulum motion due to inertia.

When time tθ-t' has elapsed, the hold circuit 4C is reset by the signal output from the timer 4d, and the output of the hold circuit 4C becomes the L level signal 811 (see FIG. 3d), and the not circuit 6b is turned off. Since the output becomes an H level signal, the output of the AND circuit 6C becomes an H level signal (drive signal) S8 (see FIG. 3 f), and the drive device 7 is operated by the output of the AND circuit 6C. The carrier 1 is restarted from the temporary stop position p2.

When the transport body 1 is arrested at the locomotive position ff pa, it moves! rI
'The output of the IJ amount detector 3 and the output of the target position setting device 5a match, and a reset signal 48 (target position signal) S (see FIG. 3) is output from the comparator 5b. Since the hold circuit 6a is reset by this output, the output of the hold circuit 6a is the L level signal s1 (see Figure 3C), and the output of the AND circuit 6C is also the L level signal s2 (see Figure 3C). f), the operation of the operating system 6 is stopped, and the restarted transport body 1 is stopped. At this time, the conveyed object 2 also reaches the target position ps due to the single-oscillation movement, and the inertia of the conveyed object 2 disappears, and the force in the return direction (force in the left direction in Fig. 1) becomes zero. Therefore, the conveyed object 2 stops without swinging.

FIG. 4 is a connection diagram showing an example of a specific circuit of the first embodiment shown in FIG. In this example, an analog output type detector such as a potentiometer is used as the movement amount detector 3. Transmission between the two is performed by a sheep gear 8 or the like having a sufficiently large ratio difference so that the operating span of the movement amount detector 3 by this analog output type detector corresponds to the swing span of the carrier 1.

A potentiometer is used as the target position setter 5a,
-V is applied to both detectors 3 and 5a, respectively, so that the output of the movement amount detector 3 has a value of opposite polarity.

A voltage of +■ is applied. The comparator 5 bid, the positive output voltage of the target signal setter 5a, and the movement amount detector 3
Comparator 5b1 by operational amplifier which compares the negative output voltage of , and the output of this comparator 5b are -■
A one-shot circuit consisting of a transistor circuit 5b that changes the level of +■ to +y- or 0 volts, a NOT circuit 5b whose output is input, and a NAND circuit 5b4. The one-shot circuit is constructed so that a reset signal 30 (see FIG. 3) is generated when both inputs of this one-shot circuit match.

As the temporary stop distance setting device 4a, a potentiometer is used to set a voltage independent of Xθ.

The displacement amount signal processor 4e inputs the positive output voltage of the target position setting device 5a and the negative output voltage 02 of the movement amount detector 3 to a subtracter 4e1 using an operational amplifier, and calculates a voltage difference obtained by subtracting the latter from the former. so that the transport body 1 moves to the target position f
[Pause distance before f-P s [~lff1
The configuration is such that when the target position p approaches xθ, the output differential voltage becomes a voltage value of opposite polarity to the award pressure value set by the temporary stop distance setting device 4a. The comparator 4b includes an operational amplifier that receives the output voltage of the movement amount signal processor 4e and the output voltage of the pause distance setting device 4a as inputs;
b, (7) A transistor circuit 4b2 for changing the output from the level of +V matach-V to the level of 0 volts →-■, and a knot circuit 4b whose output is input. , an AND circuit 4b, and a one-shot circuit, so that a pulse signal is generated when both inputs of the one-shot circuit match.

The hold circuit 6a includes an OR circuit 6al and an AND circuit 6a.
, and the hold circuit 4c is the OR circuit 4.
c, and the combination of AND circuit 4c2. The timer 4d is a combination of a resistor 4d, a delay circuit including a capacitor 4d2, and a not circuit 4d, and the resistor is set so that an L level output 811 (see FIG. 3d) is obtained after the elapse of time tθ-t'. 4d, and the values of capacitor 4d are determined.

FIG. 5 is a connection diagram showing the other side of the specific circuit of the first embodiment shown in FIG. In this example, the movement amount detector 3 is an incremental rotary encoder 3a-! A pulse output type detector with bamboo proximity switch 3 bQ) is adopted.

Although the circuit example shown in FIG. 4 is limited by the mechanical detection span of the movement amount detector 3, this circuit example has the advantage that no measures are required to deal with this.

As the target position setter 5a, a BCD code digital switch is used to set the weight of the absolute amount of movement. As the temporary stop distance setting device 4a, a BCD code digital switch is used to set a weight corresponding to Xθ. The group movement signal processor 4e uses an up counter 4ea and a digital subtracter 4eb to set the movement number pulse as 'tA;'')-L by the up counter 4ea, and sets the target position by using the digital subtracter 4eb. The output of the temporary stop distance setting device 4a is subtracted from the output of the device 5a, and the respective results are output. The weight value corresponds to the travel distance 1t until stopping.

The comparator 4b is a digital comparator that receives the output of the digital subtractor 4eb and the output of the up counter 4ea (integrated value of movement amount), and outputs a pulse signal when the carrier 1 reaches the temporary stop position p2. It is something.

The comparator 5b is a digital comparator that receives the output of the up counter 4ea and the output of the target position setter 5a.

When it reaches the up counter 4e, it outputs a pulse signal and
At the same time, it is input to the NOT circuit 5b, and outputs a reset signal Be (see FIG. 3). Hold m'Th6a, hold circuit 4C
The timer 4d has the same configuration as the circuit example shown in the diagram.

The circuits shown in FIGS. 4 and 5 are both concrete illustrations of the configuration of the first embodiment shown in FIG. 2, and thus operate in exactly the same way as described above.

As is clear from the above description, with the configuration of the first embodiment, the conveyance body 1 is temporarily stopped at a temporary stop position p at a temporary stop distance Xθ 9 points before the target position p, and the conveyed body 1 is
is caused to make a single pendulum motion by inertia, the transmitting body 1 is restarted, and when the target position p3 is reached and the conveying body 1 is stopped, the conveyed body 2
Since the target position Ps is reached in a timely manner by simple pendulum motion, the inertia of the transported object 2 increases and the force in the return direction becomes zero, so the transported object 2 can be moved without rocking. It is possible to accurately position and stop at the target position p.

In addition, since the conveyed object 2 can be reliably positioned and stopped at the target position ps, there is no need to require the operator to be extremely careful and skilled in inching operations, and the manual operation is reduced. Because it does not rely on radiation, it can relieve the burden on operators by freeing them from working in harsh environments, especially when dealing with radiation 'jf3. The exposure rate can be significantly reduced.

However, in the first embodiment, when the start signal S is given to the operation system 6 to operate the drive device 7, the drive device 7
If the drive signal S4 of the operating system 6 for operating the wire rope is a steep start-up signal as shown in FIG. This has the disadvantage of shortening the life of the wire rope 10 and the like, and mechanically damaging the conveying body 1 and the conveyed body 2.

Also, after restarting the carrier 1, the target position Kf: P s
It is desirable to make the t' time as short as possible because the shorter the time it takes to reach the position, that is, the shorter the t' time, the more accurate the target positioning of the conveying body 1 and the transported body 2 can be.

FIG. 6 shows a drive for manufacturing the first embodiment shown in FIG. 2 in order to improve the above-mentioned drawbacks and shorten the t' time to improve the accuracy of target positioning of the conveying body 1 and the conveyed body 2. FIG. 3 is a block diagram showing a second embodiment configured by adding a system regulator 9. FIG.

That is, in the second embodiment, the apparatus of the first embodiment illustrated in the second diagram is used to excite the conveyor 1 from the start position p to the temporary stop position.
Drive signal 84 for the operation system 6 to be moved by fKPzt
is converted into a gradually rising cushion start signal 841 and input to the drive device 7, and a drive signal for the operation system 6 to restart the conveyor 1 from the temporary stop position p2 and move it to the target position Ps t: S8 is a high-speed signal with high output.
A drive system regulator 9 is added for converting the data into ET and inputting it to the drive device 7.

The drive system tri-joint device 9 inputs, for example, the output of the operation system 6 (the output of the AND circuit 6C) (see FIG. 3 f1, FIG. 7 a), and moves from the start position p to the temporary stop position fi P by turning. Sometimes, the drive signal 34 is used to start the conveyor 1 from the start position Pr and move it to the temporary stop position pt''!
(a pulse signal with a long time width) (see Fig. 7), and when moving from the temporary stop position fipt to the target position Pg, the conveyor 1 is restarted from the temporary stop position p2 to the target position p, Drive signal ss (
A constant speed/restart interval signal generator 9a that outputs a pulse signal (with a short time width) (?4', see Figure 7C) and a drive signal S4+88 output from this signal generator 9a are input, respectively. Cushion start signal 54 that gradually rises
1 (see Figure 7 d) and a cushion start setting device 9b that outputs a large output high-speed signal 5Ill (see Figure 7 C).
and a high-speed setting device 9C, and these setting devices 9b.

The variable speed motor control device 9d inputs the output of the motor 9c and outputs a speed command to the drive device 7.

The operation of the second embodiment (117 configurations) is as follows. When the start signal st (see Fig. a) is input to the hold circuit 6a, the AND circuit 6c is activated as described above.
Sideward movement signal 84+S8 (see Figure 3 f and Figure 7 C)
outputs. This drive signal S4yS8 is input to the constant speed/restart section signal generator 9a, and the output 34 of this signal generator 9a (see Fig. 7) is input to the cushion start setting device 9b to gradually rise the cushion. It is converted into a start signal 541 (see FIG. 7d) and output. This gradually rising cushion start signal 341 is input to the variable speed motor control device i; i 9 d, and the drive device 7 is operated by its output. Therefore, the conveyor 1 is smoothly started by the drive device 7, gradually accelerates, reaches a constant speed v0, and then moves to the temporary stop position p2.

When the transport body 1 reaches the temporary stop position p2, it is temporarily stopped as described above, and after the elapse of time tθ-t', the AND circuit 6C outputs the drive signal sa (see FIG. 3 f1 and FIG. 7 a). This drive! IIJl No. S is input to the constant speed/restart section signal generator 9a, and the output 111 of this signal generator 9a is
g (see FIG. 7C) is input to the high-speed setting device 9C, where it is converted into a high-output high-speed signal 581 (see FIG. 7C) and output. This high-output high-speed signal set is input to the variable speed motor control device 9d, and the drive device 7 is operated by its output. Therefore, the conveyor 1 is restarted by the drive device 7 at a high speed (n times the constant speed v0, n) 1
) to move to the target position p. The subsequent operation is exactly the same as that of the first embodiment.

FIG. 8 is a connection diagram showing an example of a specific circuit of the drive system cylinder adjuster 9 in the second embodiment shown in FIG. 6. In this example, the drive signal S4,
S8 (pulse) is counted and output terminal 0. Then, the second drive signal sa (pulse) is output, and the output so (see FIG. 3) of the target position signal generator 5 is connected to the knot circuit 9.
A BCD up counter 9a1 that is reset by inputting to the reset terminal via
2 to Ip which takes the output of a1 as an input, and an AND circuit 9a3 which takes the output of this knot circuit 9a2 and the output of the operation system 6 as input and outputs only the first lotus motion signal S4 (pulse).
A circuit consisting of this is used.

The cushion start setting device 9b includes a variable resistor 9b for setting the speed vo, and an operational amplifier 9b.

, an integrator consisting of resistors R0, R, , R, and a capacitor C, a relay driver 9b that inputs the first drive signal S4, and a relay XS.
1 is excited, the negative voltage of the variable resistor 9b1' charges the integrator and outputs the cushion start signal 541 (see FIG. 7d).

The high-speed setting device 9C includes a variable resistor 9 (!t) for setting a voltage with a weight of nv, (n)1), and an up counter 9.
a relay driver 9C2 which inputs the output of a1;
It is composed of relay X, and relay X.

When the variable resistor 9cl is excited, the positive voltage of the variable resistor 9cl is outputted as a high-output high-speed signal 581 (see FIG. 7e).

An existing device can be used as the variable speed motor control device 9d. For example, if an eddy current joint type motor is used as the drive device 7, an eddy current joint control amplifier is used,
When a three-phase induction motor is used as the drive device 7, an AC same wave number inverter can be used.

According to the second embodiment, the drive signal 84 of the operating system 6 for starting the conveyor 1 from the start position pS and moving it to the temporary stop position p2 is applied to the apparatus of the first embodiment shown in the second figure. A drive signal for the operating system 6 for converting into a cushion start signal 841 that gradually rises and inputting it to the drive device 7, and for moving the carrier l from a temporary stop position p to a restart and a target position p. s8 high-speed signal 5 with high output
By adding a drive system regulator 9 for converting the signal into I11 and inputting it to the small moving device Since the cushion start signal B41 can be activated gradually, the startup can be performed smoothly, and sudden tension is not applied to the wire rope 10, etc., and the life of the wire rope 10, etc. can be extended. The body 1 and the conveyed body 2 are not mechanically given a value of 1 awn.

In addition, since the conveyor 1 can be restarted by the high-output high-speed signal ``81'' and moved to the target position p at high speed, the time t' can be shortened and the accuracy of target positioning of the conveyor 1 and the conveyed object 2 can be improved. be able to.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram for explaining the present invention in detail, and FIG. FIG. 2 is a block diagram showing the configuration of the first embodiment of the device of the present invention; FIG. 3 is a signal waveform diagram for explaining its operation; FIG. 5 is a connection diagram showing an example of the specific circuit of the first embodiment, FIG. 5 is a connection diagram showing the other side of the specific circuit of the first embodiment, and FIG. 6 is a block line showing the configuration of the second embodiment. 7 is a signal waveform diagram for explaining the operation of the drive system regulator in the second embodiment, and FIG. 8 is a connection diagram showing an example of a specific circuit of the drive system regulator. 1...Transfer body, 2...Transferred object, 3...Transfer fib amount detector, 4.
......Pause signal generator, 4a...
...Pause distance setting device, 4b...
Comparator, 4c...Hold circuit,
4d・・・・・・・Timer, 4e・・・・・・・
...Movement amount signal processor, 5...Target position signal generator, 5a...Target position setter, 5b-...・Comparator, 6...
......Operating system, 6a...Hold circuit, 6b...Knot circuit, 6C...
・・・・・・AND circuit, 7・・・・・・Drive device, 9・・・・・・Drive system regulator, 9a...
...Constant speed/restart section signal generator, 9b...
...Cushion start setting device, 9C...
...High speed setting device, 9d...Variable speed motor control +, r11 device f'i:s io...
...wire rope 0゜) 1 merit procedural amendment (spontaneous) January 17, 1980 [1 Kazuo Wakasugi, Commissioner of the Patent Office 1, Indication of the case 1982 Patent Application No. 202591 2, Name suspension of the invention Steady rest control device for lowering type conveyance equipment 421 Made in Japan Co., Ltd. Shredding specification. 6. Contents of amendment (1) The scope of claims is amended as shown in the attached sheet. (2) Specification page 6 lines 4, 6, 11, 12, 14
line, page 7, line 4, line 7, line 10, line 14, page 8, line 8. Line 12, line 15, page 9, line 11, page 12, line 1, line 14
Page 19, line 15, page 15, line 5, page 16, line 18, page 18, line 7
Correct "Xθ" in the line to rx6J. (3) Specification box 6 negative line, page 7 lines 2 and 3, line 10 line 215 and line 17, page 8 line 12 (2 locations), page 10 line 1, page 12 line 10, Line 13, page 16, line 4, nth
Correct "tθ" in line 7 of the page to "t,". Range of Requirements (1) Operate the drive device 7 using the operating system 6 to start the conveyor 1 with the covered conveyor 2 suspended from the wire rope 10 etc. from the start position P+ and move it along the trajectory. In a hanging device that moves at a constant speed v0 to a target position p,
a movement amount detector 3 for detecting the movement amount of the carrier 1;
The output of this movement amount detector 3 is input and the conveyor 1 is at the target position W.
Pause distance x before ps = exit surface - weight (1 - -
When reaching 02g1- (where t is the length of the wire rope 10, etc., and g is the acceleration of gravity), a temporary stop signal is output and the conveyor 1 is temporarily stopped via the operation system 6. 1. −1・=
x P '' s <, -2g V. In this case, h is the time it takes for the conveyed object 2 to start the simple vibration motion and reach the maximum deflection angle θ, and t' is the time it takes for the conveyed object 2 to restart. A temporary stop signal generator 4 for restarting the carrier 1 to the temporary stop position p via the operation system 6 after the elapse of the time (time required to move the distance Xo), and a movement amount detector. 3 and a target position signal generator 5 which outputs a target position signal and stops the carrier 1 via the operation system 6 when the carrier 1 reaches the target position p. Steady rest control device for a lower type transport device. (2) The drive device 7 is activated by the operation system 6 to start the transport body 1 with the transported object 2 suspended by a wire rope 10 etc. from the starting position P1, and the trajectory is started. In a suspended transport device that moves to a target position p at a constant speed V6, a movement amount detector 3 is used to detect the movement amount of the transport object 1, and the output of this movement amount detector 3 is inputted to detect the movement of the transport object 1. 1 is the temporary stopping distance z before the target position PgO1, = tthg-1(1-δi
) (where t is the length of the wire rope 10, etc., and g is the acceleration of gravity), a temporary stop signal is output and the transport body 1 is temporarily stopped via the operation system 6, and 1□ -t'
= 4 - ÷ ÷ (Here, h is the time it takes for the transported object 2 to start the simple υ motion and reach the maximum deflection angle of 0, and t' is the time required for the transported object 2 to restart and reach the distance king 1. The output of the temporary stop signal generator 4 and the movement amount detector 3 is used to restart the carrier 1 from the temporary stop position p via the operation system 6 after the elapse of time (the time required to move the object). When the carrier 1 reaches the target position p3, a target position signal generator 5 outputs a target position signal and stops the carrier 1 via the operation system 6, and a target position signal generator 5 outputs a target position signal to stop the carrier 1. A cushion start signal 8 gradually rises the drive signal S of the operation system 6 which is started from p1 and moved to the temporary stop position pyf.
41 and input to the drive device 7, the drive signal S of the operating system 6 for moving the conveyor 1 from the temporary stop position p to the restart position p to the target position p is converted into a high-speed signal with a large output. This is a steady rest control device for a suspended transport device, which is different from the drive system regulator 9 that converts the signal into sst and inputs it to the drive device 7.

Claims (2)

[Claims] (1) Activate the drive device 7 using the operation system 6 to start the carrier 1 with the transported object 2 suspended from the wire rope 10 etc. from the start position p1, and move the trajectory at a constant speed V6 to the eye position p In a suspended conveyance device that drives up to , 3 movement detectors are used to detect the amount of movement of the conveyor 1, and the output of the drive amount detector 3 is input to move the conveyor 1 to the target position p.
. (Here, t is the length of the wire rope 10, etc., and g is the acceleration of gravity.), a temporary stop signal is output and the transport body 1 is temporarily stopped via the operation system 6, and Lθ-t ′＝
7-÷t (here, tθ is the time from when the conveyed object 2 starts the simple oscillatory motion until it reaches the maximum deflection angle θ, t'
is the time required for the transported object 2 to restart and move the distance Xθ), a pause signal is generated to restart the transported object 1 from the temporary stop position p2 via the operation system 6. 4 and the movement amount detector 3, and when the carrier 1 reaches the target position p1, outputs a target position signal to stop the carrier 1 via the operation system 6. A steady rest control device for a hanging transport device similar to the generator 5. (2) The operating system 6 activates the drive unit (1x7) to move the transport body 1 with the transported object 2 suspended from the wire rope 10 etc. to the start position PI, and lowers the trajectory in the lowering type transport device. A movement amount detector 3 is used to detect the amount of movement of the transport body 1, and the output of this movement amount detector 3 is inputted to move the transport body 1 to the target position p. −t(1i)(
Here, t is the length of the wire rope 10, etc., and g is the acceleration of gravity. The time from starting the simple oscillator motion to reaching the maximum deflection angle θ,
At t', input the outputs of the temporary stop signal generator 4 and movement amount detector 3 necessary for the transported object 2 to restart and move the distance Xθ, and the L94 rest 1 reaches the target position p. When this occurs, the target position signal generator 5 outputs a target position signal to stop the carrier 1 via the operation system 6, and starts the carrier 1 from the start position pi and moves it to the temporary stop position p2. The driving signal $4 of the final operating system 6 is converted into a gradually rising pushbutton start signal 841, which is input to the dispatching device 7, and the conveyor 1 is brought to the temporary stop position p. A suspension system consisting of an FXX verb controller 9 that converts the drive signal S of the operating system 6 to a high-output high-speed signal 881 and inputs it to the drive device 7 for restarting the operating system 6 and moving it to the target position p. Steady rest control device for lowering type transport equipment.