KR20020006194A - auto control apparatus for material crane warehousing - Google Patents

Abstract

PURPOSE: A device for automatically controlling crane stocking is provided to prevent the generation of wrong operation due to the mistake of judgement and standardize the stocking work by mounting a communication unit, a distance measuring unit, a weight measuring unit and an image measuring unit on a crane for automatically controlling the operation of the crane. CONSTITUTION: A device for automatically controlling crane stocking includes X and Y shaft crane driving motors(5,6) of which analogue output becomes a maximum speed of 1100rpm at forward and reverse 5 stages in a crane automatic control unit(21), an up/down hook driving motor(7) of which analogue output is forward and reverse 400rpm in the crane automatic control unit via respective motor forward/reverse deceleration control output parts(9), an encoder(28) for conversion of a distance of 1mm per 1000 pulses, an image recognition unit(31) for inputting binary digital data for outputting +,- 12V DC to the crane automatic control unit transmitting/receiving part(22) mounted on the crane for receiving or transmitting infrared signal radio data from a transmitting part(25). A Y-shaft distance measuring sensor(24) emits an infrared frequency to a reflection plate(27). Returning frequency receiving time is calculated by one second and the calculation result is converted to digital to be received by the crane automatic control unit(21).

Description

Automatic control apparatus for material crane warehousing

The present invention relates to an automatic control device for wearing a distribution crane for wire rod, and more particularly, to install a communication, distance measurement, weighing, image measuring device on the top of a crane in a wire rod warehouse, and work operation of a crane for receiving work. It relates to a distribution crane wearing automatic control device to automatically control the.

In the warehouse of the wire rod factory, the crane performs the receipt of the generated product, and the driver on board the crane receives the radio information of the factory unloader operator during the receipt operation and performs the crane operation to the receiving position.

The driver who rides on the crane when the receiving operation is performed, operates the up / down hook switch 13 of FIG. 1 to perform the up / down hook 2 at the current position. When it is determined that there is no collision of the up / down hook (2m) when the crane moves to the X axis by raising the up / down hook (2) (4m on the ground), the driver wears the crane and the Y-crane forward / reverse drive switch of FIG. 11), Operate the X-crane forward / reverse drive switch 12 to move the crane.

The forward / down hook driving switch 11, the X-crane forward / backward driving switch 12, and the up / down hook driving switch 13 to the up / down target point are hooked on the up / down hook 2 and moved.

After placing the coil at the target location, the wireless information is notified to the warehouse control room. When the goods are received, these repetitive tasks occur and the radio information and the number of mutual judgment errors are generated.

In addition, because the operator's operation characteristics are different, the crane cannot be used efficiently, and an incorrectly loaded coil is shipped to the customer as it is, and the operator's skill is not standardized.

Therefore, the present invention was devised to solve the above conventional problem,

When the wire rod product is received, the coil information to be received is received from the host computer in the control device inside the crane, and the coil information measured at the time of receipt is precisely checked by the image scanner. In this case, it is necessary to perform the position control, automatic performance processing, and voice information guiding function during the required work.

1 is a block diagram of a conventional logistics crane wearing control device.

Figure 2 is an automatic control device wearing a logistics crane of the present invention.

3 is a flow chart of the automatic control device of the present invention.

<Explanation of symbols for the main parts of the drawings>

1: wire rod coil 2: up / down hook

3: X-axis mobile crane 4: Y-axis mobile crane

5: X axis crane driving motor 6: Y axis crane driving motor

7: Up / down hook drive motor

8: moving rail 9: each motor forward and reverse deceleration control output

10: operation desk 11: Y crane forward and reverse drive switch

12: X crane forward and reverse switch

13 up / down hook drive switch

21: crane automatic control unit

22: receiver 23: X distance measuring sensor

24: Y axis distance measuring sensor 25: transmitter

26: X-axis infrared reflector 27: Y-axis infrared reflector

28: encoder 29: L / C

30: speaker 31: image recognition device

32,33: photosensor 34: host computer

L: Label a: Receiving point b: Loading point

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Embodiment of the logistics crane wearing automatic control device of the present invention,

Up / down hook (2), X-axis mobile crane (3), Y-axis mobile crane (4), X-axis crane drive motor (5), Y-axis crane drive motor (6), up / down hook drive motor (7 ), Moving rail (8), forward and reverse deceleration control output unit 9 of each motor, crane automatic control panel 21, receiver 22, X distance measuring sensor 23, Y axis distance measuring sensor ( 24, transmitter 25, X-axis infrared reflector 26, Y-axis infrared reflector 27, encoder 28, L / C 29, speaker 30, image recognition device 31, photosensor In the logistics crane receiving automatic control device consisting of (32) (33),

The X, Y-axis crane driving motor (5) (6) has an analog output of the maximum speed of 1100rpm in the forward and reverse five-stage in the crane automatic control panel 21, the up / down hook driving motor (7) The analog output is the output of the single stage forward and reverse 400rpm through each motor forward and reverse deceleration control output unit 9 in the crane automatic control panel 21, the encoder 28 is converted into a distance of 1mm per 100 pulses In the image recognition device 31, the output of the binary digital data is +,-12V DC is input to the crane automatic control panel 21, the L / C generated by the L / C (29) Is a maximum of 5 tons, the signal is input voltage is 10V DC and the output voltage is 10mv / v, the signal is converted in the L / C signal detection unit of the crane automatic control panel 21, the transmission / reception unit 22 Send and receive infrared signals (transmission: 860um, reception: 904um) from the transmitter 25 installed on the top of the crane and mounted on the crane wall. The data received from the bride 22 is converted into digital and received by the crane automatic control panel 21, and the Y-axis distance measuring sensor 24 transmits an infrared ray (850um) frequency (50MHz) to the reflector 27. Radiating, and calculating the reception time of the return frequency every second to convert to a digital signal received by the crane automatic control panel 21, the speaker 31 has an impedance of 100 and the analog output from the voice output unit It is preferable to include processing the signals 0 to 24V.

2 is a logistics crane wearing automatic control device of the present invention, Figure 3 is a flow chart of the automatic control device of the present invention, when described with reference to it as follows.

X and Y-axis crane driving motor (5) has an analog output of the maximum speed of 1100rpm in the forward and reverse five stages in the crane automatic control panel 21 of Figure 2 and the analog output of the up / down drive motor of Figure 2 The crane automatic control panel 21 outputs the output of 1-speed forward and reverse 400 rpm through each motor reverse speed reduction control output unit 9, and the encoder 28 is converted into a distance of 1 mm per 100 pulses.

The image recognition device 31 inputs the output of binary digital data to +,-12V DC to the crane automatic control panel 21, and the L / C generated by the L / C 29 is 5 tons at most. The signal has an input voltage of 10V DC and an output voltage of 10mv / v.

This signal is converted by the L / C signal detection unit of the crane automatic control panel 21, and the communication transmission / reception unit 22 is installed at the top of the crane and the infrared signal (transmission: 860um from the communication transmission unit 25 installed on the crane wall). , Receive: 904um) Send and receive wireless data.

The data received from the communication receiving unit 22 is converted into digital and received by the crane automatic control panel 21, the Y-axis distance measuring sensor 24 radiates an infrared (850um) frequency (50MHz) to the reflector 27 do.

The reception time of the returning frequency is calculated every second and converted into a digital signal and received by the crane automatic control unit 21. The speaker 31 has an impedance of 100 and the analog signal (0 to 0) output from the audio output unit. 24V).

Hereinafter, the operational effects of the present invention will be described.

In the movement control of the crane to the receiving place, when the wire rod 1 arrives at the receiving position a, the roast computer 34 transmits the receiving position information and the coil information to the communication receiving unit 22 using the communication transmitting unit 25. do.

When transmitting from the communication transmitter 22 to the communication receiver 22, 860 um and the transmission completion judgment are processed at an infrared wavelength of 904 um, and the communication receiver 22 processes the data in the RS422 method of the communication control unit 21. Send to.

The automatic control unit 21 performs a flow chart when the data is receipt information, and when the receipt operation is received, the controller 21 divides the target value of the crane X distance value, Y distance value, and Z height by 10 cm. And store the value in the buffers Mx, My, and Mz.

If the measured pulse value (P _p ) is smaller than 40cm, the output is turned on continuously. If the measured pulse value is larger than 400cm, the up / down hook motor is stopped and the current is stopped. If the measured distance value (P _x ) of the X axis is smaller than Mx, it outputs two forward direction outputs. If the distance value (P _x ) of the currently measured X axis is larger than Mx, the reverse two stage output is output. )

If the distance value P _y of the currently measured Y axis is less than My, it outputs two forward outputs. If the distance value P _y of the currently measured Y axis is greater than My, it outputs the reverse two stage outputs. 9)

When the measured P _x and P _y values reach 70% of Mx and My, the first stage output is reduced to the motor forward / back deceleration control output unit 9 to reduce the speed, and the immediate P _x and P _y values are Mx and My. If it is equal to the motor, the motor is stopped by the forward and reverse deceleration control output unit 9.

The up / down hook drive motor (7) outputs the down motion output to the motor forward / reverse deceleration control output (9), and the measured pulse value is not 0 (should not touch the floor) and the photosensor 32 is on. The down stop output of the up / down hook drive motor 7 is output to the motor forward / lower deceleration control output unit 9 when the lower side of the motor is driven.

The reverse driving signal of the Y-axis crane driving motor 6 is output until the photosensor 33 is turned on, and the reading of the image recognition device 31 is read, so that the measured value causes the control device 7 to operate up and the coil If the data is different, the job cancellation information is sent to the host computer 34.

If the measured pulse value is 4000mm or more during the up / down hook drive motor 7 operation, the up / down hook drive motor 7 is stopped, and then the control to move the coil caught by the hook 2 to the target point is performed. In this procedure, the reverse two-stage output is sent to the motor station reverse deceleration control output unit 9.

If the distance value P _{y of the} currently measured Y axis is less than My, the forward two-stage output is output. If the distance value P _y of the measured Y axis is greater than My, the reverse two-stage output is output. Serve with

The measured P _x, P _y value is Mx, the first stage of taking the output to the motor forward and reverse speed reduction control output section 9 reduces the speed, jeukjeong P _x, P _y value if the amount to 70% of the My Mx, My and If it is the same, it stops by the motor forward / lower deceleration control output part 9.

The up / down hook drive motor 7 is down-operated and outputted. If the measured pulse value P _P is equal to the target height Mp, the up / down hook drive motor 7 is stopped up and the measured Py distance value is The Y-axis crane reverse drive output is sent to the motor constant speed deceleration control drive section (9) until the target My-2000mm is reached.

The up / down hook drive motor 7 outputs the up action output to the motor constant-speed deceleration control drive section 9, and when the measured pulse value is 4000 mm or more, the up action output of the up / down hook drive motor 7 is stopped. . Where Vi (i = 1-9) is the audio output portion.

Therefore, the present invention is used as a crane work performance determination function using the reading, analysis, comparison function of the coil information using the image recognition device 31 to exclude the number of the number work and send and receive data from the host computer using wireless infrared communication As the crane itself moves, it automatically measures its movement distance (X, Y) and hook height (Z) to determine the storage location and the number of stages of the product in the warehouse using the measured data. By using the function, the operator can reliably handle the process and determine whether the hook of the crane is normally caught when controlling the storage location of the product by using the photo sensor.

As described above, according to the present invention, a communication device, a distance measuring device, a weight measuring device, and an image measuring device are installed on the upper part of the crane, and automatically control the work of the crane for the receiving work. It is effective in preventing work from occurring in advance, preventing mis-loaded coils from being shipped to demand, and standardizing when goods are transferred.

Claims (1)

Up / down hook (2), X-axis mobile crane (3), Y-axis mobile crane (4), X-axis crane drive motor (5), Y-axis crane drive motor (6), up / down hook drive motor (7 ), Moving rail (8), forward and reverse deceleration control output unit 9 of each motor, crane automatic control panel 21, receiver 22, X distance measuring sensor 23, Y axis distance measuring sensor ( 24, transmitter 25, X-axis infrared reflector 26, Y-axis infrared reflector 27, encoder 28, L / C 29, speaker 30, image recognition device 31, photosensor In the logistics crane receiving automatic control device consisting of (32) (33), The X, Y-axis crane driving motor (5) (6) has an analog output of the maximum speed of 1100rpm in the forward and reverse five-stage in the crane automatic control panel 21, the up / down hook driving motor (7) The analog output is the output of the single stage forward and reverse 400rpm through each motor forward and reverse deceleration control output unit 9 in the crane automatic control panel 21, the encoder 28 is converted into a distance of 1mm per 100 pulses In the image recognition device 31, the output of the binary digital data is +,-12V DC is input to the crane automatic control panel 21, the L / C generated by the L / C (29) Is a maximum of 5 tons, the signal is input voltage is 10V DC and the output voltage is 10mv / v, the signal is converted in the L / C signal detection unit of the crane automatic control panel 21, the transmission / reception unit 22 Send and receive infrared signals (transmission: 860um, reception: 904um) from the transmitter 25 installed on the top of the crane and mounted on the crane wall. Data received from the bride 22 is converted into digital and received by the crane automatic control panel 21, the Y-axis distance measuring sensor 24 is a infrared ray (850um) frequency (50MHz) to the reflecting plate 27 Radiating, and calculating the reception time of the return frequency every second to convert to a digital signal received by the crane automatic control panel 21, the speaker 31 has an impedance of 100 and the analog output from the voice output unit A distribution crane wearing automatic control device, comprising processing a signal (0 to 24V).