JPS625844B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for measuring the stopping accuracy of a moving body.

The stacker crane 1 shown in FIG. 1 has a loading platform 3 movable up and down on a frame that runs on rails 2 on the floor, and cargo handling operations are performed by aligning the loading platform 3 with the position of a three-dimensional storage shelf. In order to obtain the braking timing to stop at this position, the striker 4 was installed on the floor as shown in Figure 2.
When the two sets of photoelectric detectors 5 attached to the stack car crane 1 detect this, the brakes are applied.
The stacker crane 1 stops at the desired position with a slight delay due to movement inertia and the like. If this slight delay is anticipated and the installation position of the striker 4 is adjusted in the forward direction E or backward direction F, the stacker crane 1 can be positioned with respect to the shelf with a high accuracy of ±10 mm.
To achieve this precision, Statzker Crane 1
Test run the Striker 4 to measure stopping accuracy.
Conventionally, the distance 6 shown in Figure 2 has been measured manually in the moving aisle, and as the number of shelves increases, the number of strikers 4 also increases. This required an extremely large amount of time and danger for the person taking the measurements. Loading platform 3
The same thing happened when adjusting the vertical stop accuracy.

An object of the present invention is to easily and safely measure the stopping accuracy of a moving body.

An embodiment of the present invention will be described below with reference to FIGS. 3 to 6.

This embodiment is an example in which the present invention is applied to the stacker crane 1 shown in FIGS. 1 and 2. In this embodiment, as shown in FIG. 3, the outer peripheral surface of the roller 7 is applied to the upper surface of the traveling rail 2 of the stacker crane 1. This roller 7 has an outer peripheral surface made up of 8 urethane rubber plates attached to the roller 7 body.
The rollers 7 are arranged to rotate accurately without slipping. A rotating shaft 9 of the roller 7 is supported by a bracket 10, and the rotating shaft 9 is connected to a measurement input shaft 12 of a rotary encoder 11, which is a pulse generator provided on the bracket 10. The top of the bracket 10 is integrally molded with a sliding rod 13 having the cross section shown in FIG. A guide rod 14 machined to have a cross section that fits with the cross section of the sliding rod 13 is fixed to the stacker crane 1. The guide rod 14 and the sliding rod 13 are fitted together as shown in Figs. 3 and 4 so as to be able to slide up and down to absorb excessive forces caused by vertical displacement of the rail 2, tilting of the stacker crane 1, etc. It has been made possible. A coil spring 15 is provided between the bracket 10 and the stacker crane 1 so as to accommodate each of the rods 13 and 14, and the force of the coil spring 15 presses the roller 7 against the rail 2 side, ensuring that the roller 7 is in contact with the rail 2 side to eliminate slips and the like and ensure the rotation of the roller 7.

The signals from the photoelectric detector 5 and rotary encoder 11 shown in FIG. 2 are transmitted to the measuring device 16 shown in FIG.
is being sent to. The mounting device 16 includes 17 microcomputers, 18 digital switches, 19 photoelectric displays, and 20 printers. The pulse output signals of the photoelectric detector 5 and the rotary encoder 11 are sent to the microcomputer 17, and when both photoelectric detectors 5 detect the striker 4 at the same time, that is, each light beam of both photoelectric detectors 5 is cut off by the striker 4, and both photoelectric detectors 5 transmit ON output signals, and the rotary encoder 11
A microcomputer 17 is configured to count the pulse output signals from the microcomputer 17. The time when this ON output signal is generated is also the brake activation timing of the stacker crane 1.

In this embodiment, the stacker crane 1 receives the signal from the photoelectric detector 5 by a microcomputer, counts addresses according to the combination of ON and OFF signals, and controls the speed pattern until it reaches its destination. .

When adjusting the stopping accuracy, the initial value is set by operating the digital switch 18. Next, when the stacker crane 1 is run, the rail 2
A roller 7 rolls on the top to rotate a measurement input shaft 12 of a rotary encoder 11. Therefore, the rotary encoder 11 inputs a pulse output signal to the microcomputer 11 section. At this point, both photoelectric detectors 5 are not in the ON signal, so the brake is not applied, and furthermore, the pulse output signal from the rotary encoder 11 is not counted. As the stacker crane 1 moves further, both photoelectric detectors 5 are finally illuminated by the striker 4, giving an ON signal. The ON signals from both photoelectric detectors 5 give a stop command to the Statzker crane 1 and apply the brakes.
At the same time, ON signals from both photoelectric detectors 5 are transmitted to the microcomputer 17, and the microcomputer 17 executes a program for counting pulse output signals from the rotary encoder 11. Although the counting results may be displayed directly, in order to make it easier to understand, the microcomputer 17 calculates the moving distance value according to the counting based on the counting results (predetermined in advance with the counting value of the pulse output signal). (distance per one pulse output signal) is output and displayed on the photoelectric display 19 and printer 20. As a result, if the moving distance value is greater than the set value, the stacker crane 1
This indicates that the vehicle has gone too far in the direction of travel and is off, and if it is too small, it indicates that it has gone off in the opposite direction. Therefore, in the former case, the installation position of the striker must be shifted or lengthened to the opposite direction in order to advance the brake timing, and in the latter case, the adjustment work must be done in the opposite direction. This may also be applied to the adjustment work for vertically stopping the loading platform of the stacker crane 1.

As described above, according to the present invention, since the amount of movement of a moving object from a stop command is automatically measured, it is possible to easily perform multiple measurements without the risk of approaching the moving object for measurement. This has the effect of eliminating errors caused by visual measurements.

[Brief explanation of the drawing]

FIG. 1 is an overall view of the Statzker crane, FIG. 2 is a plan layout of the position detection device of the Statzker crane, FIG. 3 is an enlarged front view of the measuring mechanism according to an embodiment of the present invention, and FIG. A-A arrow view in Figure 3,
FIG. 5 is a perspective view of a measuring device employed in an embodiment of the present invention, and FIG. 6 is a diagram of various signal acquisition paths in an embodiment of the present invention. 1... Statzker crane, 2... Rail, 3
... Loading platform, 4 ... Striker, 5 ... Photoelectric detector, 7 ... Roller, 11 ... Rotary encoder, 16 ... Measuring device, 17 ... Microcomputer, 19 ... Photoelectric display.

Claims (1)

[Claims] 1. In a moving body that detects the striker with a detector installed on the moving body and stops the moving body, a roller attached to the moving body with its rolling surface in contact with the moving path, and a roller interlockingly connected to this roller. Count the pulse output signals of the pulse transmitter and the pulse transmitter from the signal when the detector detects the striker issuing a stop command until the moving body stops, and calculate the number of pulse output signals and the one pulse output signal. 1. An apparatus for measuring stopping accuracy of a moving body, comprising a computer that calculates a travel distance from a hit distance, and a display device that inputs and displays the travel distance.