JPS624192A - Method and device for automatically operating crane - 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 [Field of Industrial Application] The present invention relates to a crane automatic operation method and apparatus.

[Prior art]

- In C, cranes are used to transport heavy objects.
They are rarely used only to transport the same type of objects from one predetermined position to another, but are commonly used for a variety of objects, and their transport start and end positions vary. It is normal to have one. Furthermore, even when transporting the same type of object repeatedly from one predetermined position to another, there will be slight differences in the height of the transporter, so we believe that it is impossible to automatically operate the crane. I've been exposed to it. Particularly in cases where sling work is required before and after transportation, it has been thought that automatic operation of cranes is meaningless, as it does not eliminate human labor.

Therefore, with conventional crane control devices, when repeating a similar task, such as picking up steel plates one by one stacked at a predetermined position and moving them to another predetermined position, the operator does not have to do anything. The same maneuvers are repeated over and over again, and each time the pilot gets complicated! ! ! It is necessary to repeat tasks that require practice.

[Purpose of the invention]

The present invention has been made in consideration of these circumstances, and provides a method and device for automatically operating a crane that can perform automatic control to automatically repeat operations with similar content. The purpose is to

[Structure of the invention]

In order to achieve the above-mentioned object, the crane automatic operation method according to the present invention inputs an operation command to actuate a desired actuator of the crane into a control panel, and transmits this operation command to a control means via a transmission means. Then, in accordance with this operation command, the control means operates the corresponding actuator to move the carrier to a desired position, and then inputs a write command to the control panel instructing the control means to store the position of the carrier. a teaching step in which the writing command is transmitted to the control means via the transmission means and the position of the carrier is stored in the control means; An automatic operation command that automatically controls each actuator is input into the control panel, and this automatic operation command is transmitted to the control means via the transmission means, and the control means that receives the automatic operation command reads the stored contents. and an autopilot step in which each actuator is automatically controlled so that the position of the carrier corresponds to its stored contents.

In order to perform automatic control more preferably, any series of movements of the crane's carrier is divided into multiple steps, and in the teaching stage, a movement command to activate the desired actuator of the crane is sent to the control panel for each step. This operation command is transmitted to the control means via the transmission means, and the control means operates the corresponding actuator according to this operation command, and then inputs a write command to the control panel, and transmits this operation command to the control means. A command is transmitted to the control means by the transmission means, and the operation of the step of the carrier is stored in the control means with an address representative of the step. An automatic operation command for automatically controlling the actuator to match the memory of the control means is input into the control panel, this automatic operation command is transmitted to the control means via the transmission means, and this automatic operation command is received. The control means sequentially reads out the stored contents in the order of the addresses each time control of one step is completed, and each actuator is automatically controlled so that a series of operations of the carrier corresponds to the stored contents.

In this case, during the automatic operation stage, it is possible to input the automatic operation command into the control panel by specifying the address of the desired step, and sequentially read out the memory of the operation after the step at the specified address in the series of movements of the carrier. In addition, in the teaching stage, a program number is attached to an arbitrary series of movements of the crane and stored in the storage means, and in the automatic operation stage,
It is possible to designate a desired program number and automatically control a series of operations of the crane according to the storage of the designated program number.

In the teaching stage, the control means inputting the write command inputs and stores the position information of the carrier at the end of its operation from the position detection means that detects the position of the carrier, and in the automatic operation stage, the control means inputs and stores the position information at the end of the operation of the carrier. It is advantageous to compare the memory with the current position of the carrier obtained from the position detection means and to automatically control the operation of each actuator so that the position of the carrier coincides with the stored content.

In addition, in order to achieve the above object, the crane autopilot device according to the present invention includes an operation command for operating a desired actuator of the crane according to the operator's input, and an operation command for operating the above-mentioned carrier based on this operation command. A control panel that outputs a write command to store the operation and an automatic operation command to automatically control each actuator so that the operation of the carrier matches the pre-stored operation of the carrier, and each command input to the control panel. is input through a transmission means, controls the operation of the desired actuator according to the operation command, memorizes the position of the carrier according to the write command,
and a control means for automatically controlling each actuator so that the carrier moves in accordance with the operation of the carrier stored in advance in accordance with the automatic operation command.

In order to fully perform its functions, the above control means includes: (1) a position detection means that detects the current position of the carrier and outputs position information; (2) a memory means; (2) inputs each of the above commands and position information; A function to write the position information to this storage means when a write command is input, and to sequentially read the memory of the storage means when the automatic operation command is input, and the memory read from the storage means and the current position. a central processing means having a function of outputting a control command to operate each actuator so that the position of II9.2S coincides with the position of the carrier position information stored in advance; It is preferable to include a driver that operates each actuator based on a control command.

Further, it is preferable that each actuator is individually provided with a position detection means that detects the movement of the carrier moved by each of the seven actuators in the reciprocating direction and outputs the position information.

In order to eliminate errors in detecting the position of the carrier as much as possible, this position detection means has a tooth row fixed to one of the two parts of the crane that is relatively displaced, and a gear supported by the other part and meshing with the tooth row. It is advantageous to have a rotary encoder which is rotatably interlocked therewith and outputs a pulse number signal corresponding to the relative displacement amount.

The transmission means provided between the control panel operated by the pilot and the control means is composed of a radio transmitter assembled to the control panel and a radio receiver assembled to the control means, so that the pilot can have more freedom. It would be particularly advantageous to be able to wirelessly control the crane in an optimal position depending on the specific working situation of the crane.

〔Effect of the invention〕

Once an operator moves an object with a crane and issues a teaching command to memorize the movement of the carrier in the control means, automatic operation will be performed if the operator moves the carrier in the same way in the future. By issuing a command, the operation of the carrier can be automatically controlled by the control means without controlling the operation of the carrier itself. Therefore, for example, when repeating a similar task, such as picking up steel plates stacked one by one at a predetermined position and moving them to another predetermined position, the operator must repeat the same maneuver over and over again. This is no longer necessary, and the worker only has to monitor the movement of the carrier (the work is simple and the burden on the worker is reduced.

In addition, especially when transmitting commands from the control panel to the control means by wireless communication, the operator is not restricted to a certain range from the cockpit or club trolley, and can be combined into one unit or separated from the club trolley. With the control panel and transmitter, you can observe the crane, the objects to be transported, and their surroundings as best as possible, and you can also operate the crane from a distance to a safe and optimal position.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

FIG. 1 is a front view of the overhead crane, and FIG. 2 is a plan view thereof. This overhead crane is mounted on a pair of rails 1 laid at appropriate intervals in the north-south direction (horizontal direction in the figure) at the top of a building H, and is mounted so that it can run east-west astride these rails 1. The installed girder 2, another pair of rails 3 laid on the girder 2 at an appropriate distance in the east-west direction, and the R''l!
The club trolley 4 includes a club trolley 4, and a carrier 6 suspended from the club trolley 4 via an extendable mast 5 so as to be movable up and down. A rotary frame 7 is provided between the telescopic mast 5 and the carrier 6, and the rotary frame 7 connects the carrier 6 to the telescopic mast 5 so as to be rotatable about its axis. Connected so that they can swing. Note that the carrier 6 is provided with a vacuum suction device (vacuum band) 6a and an electromagnetic suction device (refmag) 6b for suctioning the conveyed object. In addition, the above-mentioned overhead crane has a motor 8 mounted on the girder 2 to drive it, another motor 9 mounted on the club trolley 4 to drive it, and another motor 9 mounted on the club trolley 4 to drive it up and down. A motor 10 is mounted on the upper part of the telescopic mast 5, another motor 11 is mounted on the lower part of the telescopic mast 5 to drive the rotating frame 7, and a motor 11 is mounted on the lower part of the telescopic mast 5 to drive the rotating frame 7.
Another motor 12 is mounted on the motor.

This overhead crane is equipped with a control device to operate it. This control device firstly controls the east and west sides of the carrier 6.
A position detection system 13 is provided that detects north-south and up-down positions and outputs electrical signals corresponding to each position. This position detection system 13 includes an east-west position detection device 14 that detects the east-west position of the girder 2, a north-south position detection device 15 that detects the north-south position of the club trolley 4, and a vertical position of the carrier 6. 6, a turning position detecting means 17 for detecting the horizontal rotational position of the carrier 6, and an inclination angle detecting means 18 for detecting the rotation angle of the carrier 6 about the horizontal axis. be done. The east-west position detection device 14 is supported by one rack rail 19 provided along the rail 1 of the building H and the girder 2, and is controlled by the amount of movement of the girder 2 via a gear meshing with the seven rails 19. It is composed of a rotary encoder 20 which is rotated correspondingly and outputs a pulse number signal corresponding to the amount of movement of the girder 2, and an up/down counter 21 which counts this number of pulses.

The north-south position detection device 15 is supported by one rack rail 22 laid along the rail 3 on the girder 2 and the club trolley 4, and is connected to the club trolley 4 via a gear that meshes with the rack rail 22. It is comprised of another rotary encoder 23 which is rotated in accordance with the amount of movement of the club trolley 4 and outputs a pulse number signal corresponding to the amount of movement of the club trolley 4, and an up/down counter 24 which counts this number of pulses. The vertical position detection device 16 is provided at the upper part of the telescopic mast 5, and is rotationally driven by a chino 25 that is wound up and down by the motor 10.
It is comprised of yet another rotary encoder 26 that outputs a pulse number signal corresponding to the amount of stroke of the cheno 25, and an up/down counter 27 that counts this number of pulses.

The turning position detecting means 17 rotates in response to the amount of rotation of the rotating frame 7 via a ring gear 28 fixed to the rotating frame 7 and a gear supported at the lower part of the telescopic mast 5 and meshing with the ring gear 2B. The rotary encoder 29 includes another rotary encoder 29 which outputs a pulse number signal corresponding to the amount of rotation of the rotary frame 7, and an up/down counter 30 which counts the number of pulses of this rotary encoder 29. The inclination angle detection means 1 includes an arcuate gear 31 fixed to the carrier 6;
Another rotary encoder 32 is supported by the rotary frame 7 and meshed with the arc gear 31 via a gear, and outputs a pulse number signal corresponding to the amount of change in the tilt of the rotary frame 7.
and an amplifier down counter 33 that counts the number of pulses.

The control device further includes a control panel 34 and a control panel 35.
and is provided. On the surface of the control board 34, there is a third
As shown in Figures 1 to 6, there is a "buffer check" lamp L, a power switch SW (not shown), and 12 keys for inputting various commands by the operator, including an input section K consisting of 1 to 12. It will be done. Of these keys 1 to 12,
Of the nine keys, 1 to 9 are used to input three types of commands, and the remaining two keys, KIO and Kll, are page turn keys KIO that switch the functions of 1 to 9 all at once. and is used as a page return key Kll.

Another key 12 is used exclusively for inputting an emergency stop command to stop the operation of all motors 8-12. Further, a display panel is provided at a location easily visible to the operator, such as the upper part of the telescopic mast 6, for example, so that the operator can recognize the control status. As shown in FIG. 7, this display panel includes a mode display device D1 that displays the operating mode being executed via the control panel 35, and representative functions assigned to keys 1 to 9. Page display device D for displaying
2, and each output display device D3a, D3 that displays the output of the vacuum pad 6a of the carrier 6 and the output of the fried tuna b, respectively.
b, a program display device D4 for displaying the number of the automatic control program, and a step display device D5 for displaying the number of the step in the program displayed on the program display device D4. In addition, the above control panel 3
4, as shown in FIG.
36 is built-in, and correspondingly, the control panel 35 is provided with a receiver 8137. Various commands input to the reception W137 are transferred to the divider 38, and if the command is an operation command to operate any of the motors 8-12, the divider 38 transfers the power to each motor 8-12. Outputs the command to the driver 39 that controls opening and closing of the circuit,
Other commands are output to the control π section. This control section is
Commands from the driver 38 and position information from the position detection system 13 are input to the storage device 40, and in the teaching stage described later, the position information when the teaching command given by the operator is input is written to the storage device 40. In the automatic operation stage, which will be described later, after inputting a driving command given by the operator, there is a function to read out the memory of the storage device 40 for each step after the step selected by the operator according to the program selected by the operator; It is comprised of a central processing unit 41 which has the function of comparing the stored information with the current position information and outputting a control signal to operate the required motor so as to eliminate the difference between them.

Next, the method of operating this overhead crane and the operation of the drifting device will be explained based on FIG. 9.

This overhead crane has two modes: a manual mode in which the operator inputs operation commands for the desired motors 8 to 12 into the control panel 34, and the desired motors 8 to 12 are operated according to the operation command; a teaching mode in which the motors 8 to 12 are operated and their operations are stored in the storage device 40 of the control section;
The vehicle is operated according to three operation modes, including an automatic operation mode in which the control section 28 automatically controls the operation of the second operation.

(Manual mode) First, with the entire system powered on,
When the power switch SW of the control panel 34 is turned on, the control program starts (Fl), and each of the encoders 20,
After inputting signals from 23, 26 and 29, 32 and reading the current position (F2), the manual mode is entered (F3).

After confirming that the operation mode is not the automatic operation mode (F4), the process shifts to an input standby state (F5).

If you press any key while waiting for input (F6), you can check whether the program number is confirmed (F6).
7) However, of course, no program number is given when performing manual operation.

In manual mode, operate each key from 1 to 6 to command the operation of each motor 8 to 12, vacuum pump, drawer a, and rift tuna b, operate 12 to the emergency stop key, and turn the page to switch the input mode. Key operations other than the operation of the key KIO, the page return key Kll, and the operation of the teaching key 7 for switching the operation mode to the teaching mode are considered invalid key operations. That is, the input mode in which the function of inputting operation commands is given to the key Kl-6 (i.e., the yellow page mode shown in FIG. 4 or the 5'
(Blue page mode shown in the figure) (F8),
In this input mode, either 7 was pressed on the operation key to command automatic operation, 8 was pressed on the stop key to command stop of automatic driving, or 9 was pressed on the write key to command data writing to the storage device 4o. Check whether or not (F9~F1
1) If 7 is pressed on the run key, 8 is pressed on the stop key, or 9 is pressed on the write key, that key operation will be invalidated.
Without executing the process according to the command input with that key (F12 to F14), the program is repeated after the step of confirming whether the automatic driving mode is set (F4). In addition, in the input mode in which the function of inputting an operation command is not given to the key Kl-6 (that is, the red page mode shown in FIG. , check whether 3 has been pressed on the program clear key that commands deletion of a stored program or 4 has been pressed on the step clear key that commands deletion of one step of a stored program (F15 to F1
B), 9 for the descending condition key, 3 for the program clear key,
When any one of 4 is operated on the step clear key, that key operation is invalidated, and the process according to the command input by that key is not executed (F19~
F22), the program is repeated after the step (F4) of confirming whether or not there is a 7 input on the key that commands automatic operation again.

7 on the operation key in yellow page mode or blue page mode.
If there is no original of 8 in the accompaniment key, 9 in the write key, 9 in the red page mode descending condition key, 3 in the program clear key, and 4 in the step clear key, a valid key operation was performed in manual mode. First, it is checked whether the input mode of the control panel 34 is the red page mode used in the teaching mode (F23).

When in the red page mode, it is possible to switch from manual mode to teaching mode by operating the teaching key 7. First, it is checked whether the operation mode has been switched to teaching mode, and then it is checked whether the operation mode has been switched to teaching mode or not. When there is, an operation is performed to return to manual mode.

That is, it is checked to see if the teaching key has been operated for the first time (F24), and if there is this operation, the operation mode is switched to the teaching mode, and by operating the teaching key again (F25), the operation mode is switched to the teaching mode. Returns to manual mode (F26). By returning to this operating mode, the manual mode is displayed on the mode display device D1 via the central processing unit 41 (F27),
After confirming that the above power switch SW has not been turned off (F1a), the process returns to the step of confirming the presence or absence of an automatic operation command (F4), and from now on, whether or not the above teaching key is operated for the first time is checked. 611 Recognition stage (F
The program up to 24) is repeated.

Incidentally, the program when the teaching key 7 has not been operated a second time at the stage where the teaching key 7 has been operated once (F24) will be explained later in the explanation of the teaching mode.

If there is no operation of 7 on the teaching key, or if 7 is operated on the teaching key three times, there is a step to check whether or not 7 has been operated for the first time on the teaching key (F2
In step 4), it is assumed that there is no operation of 7 on the teaching key, and it is checked whether the mode is manual mode or not (F29). If it is not in manual mode here, confirm that the 7rL source switch SW is not off (F28), return to the step of checking whether there is an automatic operation command (F4), and check whether it is in manual mode from here on. The program up to (F29) is repeated. If it is confirmed that it is in manual mode, even at this stage (F29), if it is in red page mode, it is possible to switch to teaching mode by pressing 7 on the teaching key, and the operation mode will change to manual mode. After confirming that this is the case, the presence or absence of the first input of a teaching command is checked again (F30). Here, when a direct load teaching command is input, the operation mode is switched from manual mode to teaching mode (F28), and the mode display word WDI indicates that the operation mode is teaching mode via the central processing unit 41. is displayed (F29), and after confirming that the power switch SW has not been turned off (F1a), the process returns to the step of checking whether there is an automatic operation command (F4), and the first teaching command is issued after this. The program up to the step (F24) of first checking whether there is any input is repeated, and by pressing the teaching key 7 for the second time (F25)
), the operation mode is returned to manual (F26), and the program is repeated up to the step of re-investigating whether or not the first teaching command has been input (F30).

If it is determined that the first teach command has not been input at this stage (F30), it is not possible to input operation commands by key operation in the red page mode, so operate the page forward key KIO or page return key Kll. You need to switch the input mode.

That is, if it is reconfirmed that the teaching command has not been input for the first time at this stage (F30), check whether the page forward key KIO or the page back key Kll has been input (F33), and press the page forward key KIO or page If there is no input from the return key Kll, it is confirmed that the power switch SW has not been turned off (F28), and the process returns to the step of checking whether there is an automatic operation command (F4), and from this point forward the page will not be turned. key KI
The program up to the step (F33) of checking whether or not O or the page return key Kll has been input is repeated. For example, when the above page turn key KIO is operated, -
The red page mode and the yellow page mode are alternately switched for each operation, and when the page return key Kll is input, the red page mode and the blue page mode are alternately switched for each operation, and the input mode is set to the yellow page mode. Or it is converted to blue page mode (F34). After the input mode selected by this conversion is displayed on the page display device D2 via the central processing unit 41 (F35), it is confirmed that the power switch SW is not turned off (F28), and the automatic The process returns to the step (F4) of checking whether there is a driving command, and the program is repeated up to the step (F23) of checking whether or not it is in the border page mode.

In this way, when the operation mode is manual mode and the input mode is yellow page mode or blue page mode, the step of checking whether the mode is red page mode (
F23) indicates that the yellow page mode or blue page mode is li1! It is checked again whether the operation mode has been switched to teaching mode (F36).

If the operating mode is the teaching mode, the subsequent programs in the teaching mode will proceed as described below. If the operation mode is not teaching mode, please reconfirm whether it is manual mode or not (F37). If it is not manual mode, proceed to the automatic operation mode program described later, and if it is manual mode, press the automatic key that commands automatic operation. The presence or absence of operation 7 is then checked (F38). Here, when the automatic key is operated 7, the operation mode is switched to automatic operation mode (F39), and the mode display device DI displays via the central processing unit 41 that the operation mode has been switched to automatic operation mode. A buzzer (not shown) sounds (F40
), the automatic operation mode program described below will be executed. When the automatic key 7 is not operated, it is confirmed whether or not the page forward key KIO or the page backward key Kll is operated (F41). When this key is operated, the input mode is switched in the same way as described above (F4
2) The selected input mode is displayed on the page display device D2 via the central processing unit 41 (F43). If there is no operation of the page forward key KlO or the page back key Kll, then it is checked whether or not there is an operation command (F
44).

If it is determined that this is not an operation command, check that the power switch SW is not off (F28),
Return to the step (F4) of checking whether there is an automatic driving command,
From this point on, the program up to the step of checking whether or not it is an operation command (F44) is repeated. When it is determined that it is an operation command, the divider 37 classifies the operation command.
45), transmitting the operation command to the driver 38,
Control the operation of desired motors 8-12 (F46).

In this way, each position of the carrier 6 in the east, west, north, south, top and bottom,
Manual control of the horizontal rotation position, the tilt angle, the output of the vacuum pad 6a, and the output of the fried tuna b is performed.

(Teaching mode) In the teaching mode, the operation of the carrier 6 is stored in the storage device 4.
0. In this mode, similarly to the manual mode, the operator inputs operation commands for the desired motors 8 to 12 into the control panel 34 to operate the desired motors 8 to 12, and the operation is is written to the storage device 40.

That is, in this mode, the program is the same as the manual mode described above from the stage when the power switch SW is turned on and the program starts (Fl) until the stage when it is checked whether the input mode of the control panel 34 is the red page mode (F23). is executed.

When in red page mode, press 7 on the teaching key.
By operating once (F24), the operation mode is switched to the teaching mode, and by operating the teaching key 7 again, it is checked whether the operation mode has been returned to the manual mode (F25). The subsequent program when the mode is returned to manual mode is as described above. When it is determined that the teaching key is not operated for the second time in step 7, the address of the storage device 40 for storing the operation of the carrier 6 is specified in the teaching mode, and then the carrier 6 is operated in the same manner as in the manual mode. The data of the operation is stored in the storage device 40.

That is, when it is confirmed that the teaching key 7 has not been operated for the second time (F25), the program number and the step number in the program are read from the storage device 40 via the central processing unit 41. Program display device D
The program number is displayed at 4, and the step number is displayed at step display device D5. Then, it is confirmed whether the program forward key is operated 1 or the program return key is operated 2 (F47). When 1 is operated on the program forward key or 2 is operated on the program return key,
The program number read from the storage device 40 is incremented or incremented to specify the program number (F1a), and +! The determined program number is displayed on the program display device D4 (F49). After specifying this program, after confirming that the power switch SW is not off (F28), the process returns to the step of checking 6i L'2 whether or not there is an automatic operation command (F4), and from now on, press the program feed key. 1 or 2 to program return key
The program up to the step (F46) of checking whether or not the operation is performed is repeated. When there is no operation of 1 on the program forward key or 2 on the program return key, it is checked whether or not there is operation of 3 on the program clear key for erasing the program of the read program number (F50). When this key operation is performed, the memory of the program with the program number displayed on the program display device D4 is erased from the storage device 40 (F51), and it is necessary to confirm that the power switch SW is not turned off.
28), Step to check whether there is an automatic driving command (F4)
, and the program is repeated up to the step (F50) of confirming whether or not the program clear key has been operated in step 3. When it is confirmed that there is no operation of 3 on the program clear key, it is checked whether there is operation of 4 on the step forward key or 5 on the step return key (
F52). When the step forward key is operated with 4 or the step return key is operated with 5, the step number is incremented or incremented to specify the step number (F53), and the specified step number is displayed on the step display device D5. (F54), then after confirming that the power switch SW has not been turned off (F28), the process returns to the step of checking whether there is an automatic operation command (F4), and from this point on, the step feed key is not pressed. Ii1 of whether or not there is an operation of 4 or step return key 5! The program up to the recognition stage (F52) is repeated. Here, if the step forward key is not operated with 4 or the step return key is not operated with 5, then it is checked whether the step clear key is operated with 6 (F55). When 6 is operated on the step clear key, the storage device 40 stores the steps displayed on the step display device D5 among the steps constituting the program displayed on the program display device D4.
(F56), and the step numbers of the steps subsequent to that step are sequentially incremented (F57).
Make sure that the above power switch SW is not turned off (F28), return to the step of checking whether there is an automatic operation command (F4), and check whether the step clear key is operated in Step 6 from now on. The program up to step (F55) is repeated. When the step clear key 6 is not operated, it is checked whether the page forward key KIO or the page backward key Kll for switching the input mode is operated (F58). When this key is operated, the input mode is switched (F59) as described above.
, the switched input mode is displayed on the page display device D2 via the central processing unit 41 (F60). After this, make sure that the power switch SW is not turned off (F28), and check whether there is an automatic operation command on the Wi
The program returns to the confirmation step (F4) and repeats the program up to the confirmation step (F58) whether or not the page forward key KIO or page return key Kll has been operated. At this stage (F58), the previous page turn key KI
The desired input mode is switched by operating O or the page return key Kll. If the page forwarding key KIO or the page backward key Kll is not operated at this stage (F58), the starting point of the slow descent program of the carrier 6 is used instead of the starting position or the ending position of the operation of the vacuum pad 6a and the vacuum pad 6a. The presence or absence of the operation of 9 is indicated by tl Lv on the descending condition key that commands the storage of (
F61). Here, when the descending condition key is operated 9, the device information constituted by the position detection system 13 at that time is imported (F62), and an address corresponding to the specified step of the specified program is attached. It is stored in the storage device 40 (F63). After this, confirm that the power switch SW is not turned off (F28), and confirm the presence or absence of an automatic operation command (F28).
Returning to step 4), the program is repeated up to the step (F61) of checking whether or not the descending condition key 9 has been operated. If there is no operation of 9 on the descending condition key, it is checked whether or not there is operation of 8 on the additional key for instructing the addition of a step (F64). After the step is specified as described above, if you operate 8 on this additional key, the step numbers after this specified step will be decreased in order (F65).
, after freeing up the memory area at the address corresponding to the specified step (F66), the position detection system 13 at that time
The specified device information is imported (F67).

The storage device 40 with an address corresponding to the step
(F68). After this, turn on the power switch S
Make sure that W is not turned off (
F28), the step of checking whether there is an automatic driving command (F4
), and the program is repeated up to the step (F58) of checking whether or not the page forward key KIO or the page backward key Kll has been operated. Then, with the steps specified in this way, each of the motors 8 to 12
, After switching the input mode to yellow page mode or blue page mode as described above (F58 to F60
), make sure the power switch SW is not off, press F2
8) Return to the step of checking whether there is an automatic driving command (F4), and check whether or not you are in world page mode (F23)
) Repeat the program up to ). At this stage (F23), the input mode is determined to be yellow mode or blue mode, so it is determined that the operation mode is teaching mode.
After 'fl L' 2 (F36), page forward key K
The input mode is selected as yellow mode or blue mode by operating the IO or page return key Kll or without operating this key (F69). Here, when a mode is selected by operating the page forward key KIO or the page back key Kll, the input mode is switched to the selected mode (F70), and this mode is transferred to the page display device D2 via the central processing unit 41. Please display it on F7
1) Make sure the power switch SW is not off.
1a), Step of checking whether there is an automatic driving command (F4)
The program returns to step F69 and repeats the program up to the step (F69) of checking whether or not the page forward key KIO or page backward key Kll has been operated. This page forward key K
If it is determined that the page forward key KIO or page backward key Kll is not operated at the step of checking whether the IO or page back key Kll has been operated (F69), use keys 1 to 6 (F72). Input operation commands for desired motors 8 to 12, vacuum buff drawer a, and fried tuna b.

This operation command is classified by the divider 37 (F73), and the desired operation of the motors 8 to 12, the vacuum pad 6a, and the fried tuna b is controlled by this operation command via the driver 38 (F74). When such operation control is completed, confirm that the power switch SW is not off, and then proceed to the step of confirming the presence or absence of an automatic operation command (F4
), and the operations are repeated up to the step (F72) of checking whether or not an operation command has been input. This stage (F
72), if no operation command is input, press 9 on the write key.
The presence or absence of the operation is confirmed (F75). If this key is not operated, after confirming that the power switch SW is not off (F28), the process returns to the step of confirming the presence or absence of an automatic operation command (F4), and from this point on, whether or not the write key is operated 9. The program up to the confirmation stage (F75) is repeated. If there is a 9 operation on the write key here,
The location information of the current location (e) is input from the location detection system 13 (F76), and is stored in the storage device 40 with an address corresponding to this step. When the recording of one step is completed, confirm that the power switch SW is not off (F28), return to the step of confirming the presence or absence of an automatic operation command (F4), and from now on, press 4 or 4 on the step feed key. The program up to the step (F52) of checking whether or not the step return key has been operated is repeated.

Furthermore, when recording the movement of the carriage 6 in the next step, the next step can be designated by operating the step feed key 4, and the position information of this step can be recorded in the same manner. Further, as described above, by operating the step clear key 6 or the additional key 8, the series of operations of the carrier 6 can be modified in various ways.

In this way, by storing a series of steps in succession, a series of operation programs for the carrier 6 can be stored in the storage device 40.

(Automatic operation mode) In the automatic operation mode, a series of operation programs for the carriage 6 stored in advance in the memory word 240 are read out, and the carriage 6 is operated according to the series of operation programs for the carriage 6.
is automatically piloted.

In the automatic operation mode, after starting the control program by turning on the power switch SW (Fl), operate the automatic key in the manual mode (F38), or once switching to the teaching mode, and storing a series of operation programs for the carrier 6 in the storage device 40. After canceling the teaching mode (F'25) and returning to automatic mode (F26), when the automatic key is operated (F38), the operation mode is switched to automatic operation mode (F39>, and automatic operation is started. The buzzer sounds at the same time as the mode is displayed (F40)
. When the automatic operation mode is switched to, the program in this mode is interrupted, and the presence or absence of operation of the stop key 8, which stops the operation of the above-mentioned L) device 6, is confirmed (F78).
When the stop key is operated 8, a series of operation programs for the carrier 6 executed in the automatic mode is interrupted on the software, and the operation mode is returned to the manual mode (F79). By returning the operation mode to the manual mode, the operation of the carrier 6 is interrupted, except for the output of the vacuum pad 6a and the fried tuna b.

This return to the manual operation mode is indicated by displaying the manual mode on the mode display device D1 (
F80). After this, the control program switches the power switch S
After confirming that W is not off (F28), the program returns to the step of checking whether there is an automatic operation command (F4), and from this point on, the program operates again up to the step of checking the automatic key operation (F38). During this time, manual mode maneuvers can be performed. Return to the automatic key operation confirmation stage (F3)
When the automatic key operation is confirmed in step 8), the operation mode is switched from manual mode to automatic mode again (F39).
, the program proceeds up to the step (F78) of checking whether or not the stop key has been operated. When it is confirmed that there is no operation of 8 on the stop key (F78), it is further confirmed whether or not there is operation of 12 on the emergency stop key that instructs to cancel the automatic mode (F81). When the emergency stop key 12 is operated, the execution of the automatic control program being processed by the central processing unit 41 is stopped (F82), and the operation of the carrier 6 is stopped, except for the output of the vacuum pad 6a and the fried tuna b. At the same time as the motors are stopped, the brakes are applied to each motor 8 to 12 (
F83), the operating mode is returned to automatic mode. After displaying the return to the automatic mode of the operation mode on the mode display device Dl via the central processing unit 41 (F84), after confirming that the power switch SW is not off (F2
8), the process returns to the step (F4) of checking whether there is an automatic driving command. However, this does not immediately enable operation in manual mode; instead, manual mode or teaching cannot be performed until after a person climbs up to the control panel 35 and releases the brake applied due to an emergency stop. Mode maneuvers will no longer be possible. 1 for emergency stop key
2 is not operated, confirm that the power switch SW is not off (F28), confirm with l+1 that there is an automatic operation command (F4), and then switch the central processing unit 4.
1 is executed. The central processing unit 41 sequentially counts up the steps of the operation program for the carrier 6 (F85), displays the step number on the step display device D5 to designate the step (F86), and displays the step in the storage device 40 corresponding to the designated step. The data at the address is fetched (F87), and it is checked whether data exists at this address (F88). If no data exists, the step number is deleted (F89
), return the operation mode to manual mode and end automatic control F90), manual mode is the mode display bag ffD
1 and the erased step number is displayed on the step display device D5 (F91). After this, the Wi
Return to 4). When the existence of the data is confirmed, the arithmetic processing unit 42 compares the data with the current position obtained from the position detection system 13 using the data as the target position, and the data is set to the target position. -12 is output to the driver 3rd (F89). Then, the operation of each motor 8 to 12 is controlled according to this control command (F92). After this control signal is output to the driver 38 (F92), it is confirmed that the program number has been determined, that the input mode is not red page mode, that the operation mode is not teaching mode, and that the operation mode is not manual mode. Confirmed (F7.F23.
F36. F37), and when it is confirmed that the stop key 8 is not operated and the emergency stop key K12 is not operated (F78, F81), after confirming that the power switch SW is not off (F28), the automatic mode is set. Make sure that F4), the program after the step count amplifier (F85) in the central processing unit 41 is executed,
The operation of the carriage 6 in the next step will be controlled.

When control of all steps is completed, the step next to the final step is counted and amplified (F85), designated by the display (F86), and data is taken in from the address corresponding to this step (F87). However, since no data exists at this address, it is confirmed that no data exists at the data existence confirmation stage (F88), the step number is erased (F89), and the operation mode is returned to manual mode. (F90). Therefore, after the manual mode is displayed and the step number of m8% step is displayed (F91), the process moves to the step of checking whether the program number has been determined (F7).
Manual mode operation is possible from this stage (F7) onwards.

As described above, the pilot can interrupt automatic control by operating the stop key 8 at any time during automatic piloting in automatic mode, and restart the control program in manual mode or in teaching mode as necessary. Since the control program can be executed, when the surrounding conditions change during the transport route, the automatic control mode is executed until the change is made, and at that position, press 8 on the stop key to start the manual control mode. In this mode, for example, the carrier 6 can be operated to avoid collisions between the conveyed object and other surrounding objects, and this operation can be stored as necessary.

Then, by returning the operating mode to the automatic control mode again, the remaining automatic control programs can be continued.

In addition, in the slow descent program commanded by 9 to the descent condition key, for example, the carriage 6 to which the command is input is
By the time the carrier 6 reaches the position, the descending speed of the carrier 6 is decelerated to a predetermined slow speed or less, or the carrier is stopped at this position, and the vacuum pad 6a of the carrier 6 contacts the conveyed object at the predetermined slow speed. or until the conveyed object supported by the conveyor 6 comes into contact with another object below it,
The suction (output) of the conveyed object by the vacuum pad 6a and the fried tuna b, or the release of the suction, is executed.

Further, if the power switch or switch off is confirmed, the control program ends regardless of which operation mode it is in (F90).

The invention is, of course, not limited to the one embodiment described above, but also includes various modifications within the scope of the claims.

For example, when a control program is started by turning on the power switch SW (Fl), following data input from the position detection system 13 (F2), the teaching mode is set and unless the teaching key is set to 7, the control program is operated as manual operation. It is possible to configure such that each operation command key is operated with 1 to 6, and each time the write key is operated with 9, the position information at that time is sequentially assigned an address and stored. Further, as in the descending condition program of the above-mentioned embodiment, it is also possible to command the operation of each motor 8 to 12 at an operating speed different from the normal operating speed. At the starting point of each movement of the carrier 6, each motor 8~
At the end of the movement of the carrier 6, the operation of each motor 8 to 12 may be controlled so that the operating speed is gradually reduced at a predetermined deceleration before reaching the end point. It is possible. Furthermore, the control panel 34
It is also possible to increase the number of keys, such that each key is used only for inputting a single command. Furthermore, the carrier 6 is a mechanical chuck that pinches the conveyed object, a vacuum pad 6a such as a packet, and a fried tuna b.
It may be something other than that. Of course, the control panel 34 and the control panel 3
5 may be coupled to the divider 38 by a transmission means consisting of a signal transmission line.

[Brief explanation of the drawing]

Fig. 1 is a front view of the overhead crane according to the present invention, Fig. 2 is a plan view thereof, Fig. 3 is a front view showing the key arrangement of the control panel 34, and Fig. 4 is the function of each key in yellow page mode. Figure 5 is a front view showing the functions of each key in blue page mode, Figure 6 is a front view showing the functions of each key in red page mode, Figure 7 is a front view of the display panel, FIG. 8 is a block diagram of the main circuitry of the overhead crane operating device, and FIG. 9 is a flowchart showing the flow of its control program. 1...Rail, 2...Girder, 3...Rail, 4
...Club trolley, 5...Extendable mast, 6...Carrier, 7...Rotating frame, 8...Motor, 9...Motor, 10...Motor, 11...Motor, 12... Motor, 13... Position detection system, 14... East-west position detection device, 15... North-south position detection device, 16...
Vertical position detection device, 17... Turning position detection means, 18
... Tilt angle detection device, 19 ... Rack rail, 20
... Rotary encoder, 2I ... Up-down counter, 22 ... Rack rail, 23 ... Rotary encoder, 24 ... Up-down counter, 25.
...Cheno, 26...Rotary encoder, 27...
・Up/down counter, 28...Ring gear, 29
... Rotary encoder, 30 ... Up-down counter, 31 ... Arc gear, 32 ... Rotary encoder, 33 ... Up-down counter, 34 ...
Control panel, 35... Control panel, 36... Transmitter, 37.
...Receiver, 38...Divider, 39...Driver, 40...Storage device, 41...Central processing unit, D.
...Display panel, DI...Mode display device, D2...Page display device, D3a...Output display device, D3b...
・Output display device, D4...Program display device, D5
...Step display device, K...Input section, K1...
Climb command/forward rotation command/program feed key, K2
...Descent command and negative direction turning command and program return key, K3...Eastward command and positive direction tilt command and program clear key, K4...Westward direction command and negative direction tilt command and step feed key, K5... Southward command and first output command and step return key, K6...Northward command and second output command and step clear key, K'7...Automatic operation command and teaching command key, K8...Stop command and addition Command key, K9...Write command and descending condition key, KIO...
・Page forward key, Kll... Page back key, K1
2... Emergency stop key, L... Battery check lamp. Procedural amendment (old style) October 17, 1985

Claims (9)

[Claims] (1) A motion command to operate a desired actuator of the crane is input into the control panel, this motion command is transmitted to the control means via the transmission means, and the control means operates the corresponding actuator in accordance with this motion command. After that, a write command for instructing the control means to memorize the operation of the carrier is input into the control panel, and this write command is transmitted to the control means via the transmission means, and the control unit to which the write command is input is inputted into the control panel. a teaching step in which the means detects the position of the carrier at this time by inputting and storing position information from the position detecting means; and a teaching step in which the control means inputs position information to each actuator so that the position of the carrier matches the stored content of the control means. An automatic driving command is input into the control panel to automatically control the automatic driving command, and this automatic driving command is transmitted to the control means via the transmission means, and the control means to which this automatic driving command is input stores the automatic driving command and detects the position. A method for automatically operating a crane, comprising an automatic operation step of operating each actuator so that the position of the carrier corresponds to its stored contents by comparing the current position of the carrier obtained from the means. (2) The above-mentioned teaching stage divides a series of arbitrary movements of the crane's carrier into a plurality of steps, and for each step, an operation command to operate a desired actuator of the above-mentioned crane is input into the control panel, and this operation command is inputted into the control panel. After transmitting the operation command to the control means via the transmission means and causing the control means to operate the corresponding actuator in accordance with this operation command, a write command is inputted to the control panel to instruct the storage of the current position of the carrier. A write command is transmitted to the control means via the transmission means, and the control means receiving the write command is made to read position information at the end of the step from the position detection means for detecting the current position of the carrier. , an address representative of the step is attached and stored. (3) The automatic operation step inputs an automatic operation command into the control panel that causes the control means to automatically control each actuator so that the position of the carrier matches the stored contents, and transmits this automatic operation command to the transmission means. Upon receiving this automatic operation command, the control means sequentially reads out the stored contents in the order of the address mentioned above, each time the control of one step is completed, and displays the current status of the carrier for each step. Each actuator is automatically controlled so that the position of the carrier corresponds to the position of the carrier at the end of the step read from the storage means, so that the series of operations of the carrier matches the stored contents. The method for automatically operating a crane as described in item 1. (4) At the teaching stage, a program number is assigned to an arbitrary series of movements of the crane and stored in the storage means;
The crane according to claim 1, 2, or 3, wherein a desired program number is specified during the automatic operation stage, and a series of operations of the crane are automatically controlled by storing the specified program number. How to autopilot. (5) An operation command to operate a desired actuator of the crane in accordance with an input operation by the operator, a write command to instruct storage of the operation of the carrier based on this operation command, and a write command to store the operation of the carrier in advance. A control panel into which automatic operation commands can be inputted to automatically control each actuator in accordance with the operation, and each command input to this control panel is inputted via a transmission means, and the desired actuators are controlled according to the operation commands. A control means for controlling the operation, storing the operation of the carrier according to the written command, and automatically controlling each actuator so that the position of the carrier matches the pre-stored position of the carrier according to the automatic operation command. An autopilot device for a crane, characterized in that it is equipped with. (6) the control means inputs the above-mentioned commands and position information to a position detection means provided individually for each actuator that detects the current position of the carrier and outputs position information; and a storage means; When the above writing command is input, the above position information is written into this storage means, and when the above automatic driving command is input, the memory of the above storage means is sequentially read out, and the memory read from the above storage means and the current a central processing means having a function of comparing the position information and outputting a control command for operating each actuator so that the position of the carrier matches the position of the position information of the carrier stored in advance; and the control command. 6. The crane autopilot system according to claim 5, comprising a driver that operates each actuator based on the following. (7) The position detecting means detects the relative displacement of the two parts of the crane through a tooth row fixed to one of the two parts and a gear supported by the other part and meshing with the tooth row. 6. The crane autopilot system according to claim 5, further comprising a rotary encoder that is rotatably coupled and outputs a pulse number signal corresponding to the relative displacement amount of the rotary encoder. (8) The crane autopilot system according to claim 1, wherein the transmission means comprises a radio transmitter built into the control panel and a radio receiver built into the control means. (9) The crane autopilot system according to claim 1, wherein the transmission means is constituted by a transmission line coupled to a control panel and a control means.