JPH0372525B2 - - Google Patents

Description

Detailed Description of the Invention (Industrial Field of Application) The present invention is designed to move up and down along a lifting path with stopping positions set at appropriate intervals, such as the lifting carriage of a traveling crane for loading and unloading used in automated warehouses. The present invention relates to a lifting control method for raising and lowering a lifting device to a set destination stop position in a lifting pattern consisting of a combination of high speed and low speed.

(Prior art and its problems) The general lifting pattern of the above-mentioned lifting device is to move up and down at high speed until a certain distance before the set destination stop position, and then switch to low speed when the deceleration point is reached. This is a pattern in which the vehicle moves up and down at low speed to the destination stop position and then stops, but the problem in terms of control is how to set the deceleration point.

In other words, in the conventional general method of setting the stop position one stop before the destination stop position as the deceleration point, the low-speed ascending and descending distance after deceleration is much longer than the minimum necessary distance due to the relation of the stop position pitch. It becomes long, and work efficiency cannot be improved. In order to solve this problem, the pulses of the pulse encoder that are linked to the lifting and lowering of the lifting device are counted, the current address of the lifting device is determined, and this is compared with the destination address corresponding to the destination stop position to determine the difference between the two. A pulse encoder method in which the deceleration point is set when

(Means for Solving the Problems) The present invention proposes an elevator control method that can solve the conventional problems as described above. A member to be detected is arranged at each stop position, and a detector is provided on the lifting device side to detect the member to be detected at each stop position, and the destination stop position is reached in advance from the point of deceleration from high speed to low speed. Set the low-speed lifting time Tx required to reach the destination stop position, and move between the deceleration position G, which is a distance equivalent to the time Tx from the set destination stop position, and the stop position one place before the destination stop position. When the lifting device is in actual operation, the moving device is raised and lowered at high speed from the previous stop position until the control time Td has elapsed, and when the control time Td has elapsed, the moving device is decelerated to a low speed. The point is to make it happen.

Further, a feature of the second invention that makes the control in the first invention easier is that a member to be detected is arranged at each stop position on the lifting path side of the lifting device, and a member to be detected is provided at each stop position at the end of the path. A detection member for high-speed cutting command is installed that continues from the first position to an appropriate intermediate position between the second stop position, and a detector for detecting the detection member at each stop position and a high-speed cut command are installed on the lifting device side. A detector for detecting the detected member for command is provided, and the stop position at the end of the path and the position P at which the detection signal of the detected member for high-speed cut command rises are determined in advance.
Find the time Tx required for low-speed movement in the section _H1 between
The control time Td is obtained by multiplying the data D obtained by subtracting the required time Tx from the required time for the section between the destination stop position and the previous stop position of the lifting device by the speed ratio of the low speed to the high speed, During actual operation of the lifting device, the moving device is moved at a high speed after passing the previous stop position until the control time Td has elapsed, and is decelerated to a low speed when the control time Td has elapsed.

This control method is effective when the lifting section of the lifting device exceeds one section of the stop position.
The present invention also provides that the lifting section of the lifting device is at a stop position.
We also propose a lift control method that is effective for sections.

The feature of this third invention is that the required time Tx during low-speed movement in the section _H1 between the stop position at the end of the path and the position P where the detection signal of the detected member for high-speed cutting command rises, is determined in advance at this position. The time required for low-speed movement Ty in the section _H2 between P and the second stop position, the time required for low-speed movement from the stop position at the end of the path to reach each stop position, and the said section
Calculate the time Tz required for high-speed movement between starting from one end of _H2 and reaching the other end, and then calculate it from the time required for the section between the starting and stopping position of the lifting device and the next destination stopping position. The control time Td' is obtained by multiplying the data D' obtained by subtracting the required time Tx by the Tz/Ty, and when the elevating device is in actual operation, the control time Td' elapses after starting from the start/stop position. The moving device is moved at high speed until the control time
The point is to decelerate to a low speed when Td′ has elapsed.

(Embodiment) An embodiment of the present invention will be described below based on the attached illustrative drawings. In FIG. The vehicle travels while being guided by upper and lower guide rails 3 and 4 arranged in the same direction. This crane 1 is equipped with an elevating carriage 6 equipped with a fork 5 for loading and unloading, and a loading platform 7 for loading and unloading installed adjacent to the home position at one end of the crane travel path, and a shelf 2 for storing loads. It is possible to carry out loading and unloading work between the compartment 2a and the compartment 2a. Reference numeral 8 denotes a traveling drive device for the crane 1, which includes a drive wheel 9 and a motor 1 that drives the drive wheel 9.
0, control means, etc. Reference numeral 11 denotes an elevating drive device for the elevating carriage 6, and numeral 12 represents an egress/retreat drive device for the fork 5.

On the lifting path of the lifting carriage 6 in the crane 1, stopping positions are set corresponding to the load storage compartments 2a of each level of the shelf 2.
Levels 1 to 6 shown in FIG. 3 indicate the stopping positions of the elevating carriage 6, and a horizontally convex detection plate 13 is attached to the side of the elevating path of the elevating carriage 6 at each of the stopping positions, Furthermore, from the upper and lower ends of the lifting path (level 1 and level 6),
Cams 14a and 14b for high-speed cutting commands are provided that continue to a predetermined position P before the second stop position (level 2 and level 5). On the other hand, as shown in FIG. 2, the elevating carriage 6 is equipped with detectors 15 to 17 for detecting the detection plate 13 and a detector 18 for detecting the cams 14a and 14b.

Among the detectors 15 to 17, the highest detector 1
5 and the lowest detector 16 detect the central protrusion 13a of the detection plate 13, and the central detector 17 detects the base 13b of the detection plate 13. The detectors 15 and 17 are turned ON when the elevator carriage 6 is in the upper position for unloading at each stop position, and the detectors 15 and 17 are ON. , the detectors 16 and 17 are configured to be turned on. Also, lifting carriage 6
When the detector 18 moves up and down toward the end of the up-and-down path, the high-speed cut command cams 14a, 14b
The distance from the position P to the stop position at the end of the path (level 1 and level 6) when the high-speed cut detection signal 18a rises by detecting this is such that the elevating carriage 6 can be safely stopped at the stop position at the end of the path. equal to the minimum slow lift path length required for

The arithmetic/storage/control means 19 shown in FIG. ，
A lower fixed position detection signal 20a is output from the AND gate 20 when both detectors 17 are turned on, an upper fixed position detection signal 21a is output from the AND gate 21 when both detectors 16 and 17 are turned on,
A clock pulse 22 supplied from a clock pulse transmitting means, a destination command 23, and a current speed value 2 supplied from the carriage lift drive device 11.
4, etc., and controls the carriage lifting/lowering drive device 11 based on these inputs.
This outputs the following.

Next, a learning method will be explained.Here, high and low speeds of the lifting carriage 6 are set and stored in advance in the arithmetic/storage/control means 19, and the clock pulse 22 is, for example, 20 ms.
The signal is transmitted at a rate of 1 pulse each time, and this is counted as the time count value. Further, by counting the lower fixed position detection signal 20a and the upper fixed position detection signal 21a such that they are added when the carriage is ascending and subtracted when the carriage is descended, the current position of the elevating carriage 6 on the elevating path is detected.

[Learning 1] (1) First, the carriage 6 is raised at a preset low speed from the lowering origin (lower fixed position of level 1) to the rising origin (upper fixed position of level 6), and the clock pulse 22 is Counting starts, and the lower position detector 15 as shown in FIG.
The time count values Dt ₁ , Dt ₂ at the rise and fall of the detection signal 15a of the upper position detector 16 and the time count values Ut ₁ , Ut ₂ at the rise and fall of the detection signal 16a of the upper position detector 16 are measured and stored. In addition, the high-speed cut command cam 14a was detected as the time required to move up and down at low speed in the section _H1 from the descending origin (lower measurement position of level 1) to the upper end position P of the high-speed cut command cam 14a. Time count value when the high-speed cut detection signal 18a of the detector 18 falls
Measure and memorize Tx.

(2) From each of the above time count values Dt ₁ and Dt ₂ (Dt ₁
+Dt ₂ )÷2 is calculated to find the lower fixed position median time Dct at the stop position of each level, and from each time count value Ut ₁ and Ut ₂ , (Ut ₁ +
By calculating Ut ₂ )÷2, the upper fixed position median time Uct at the stop position of each level can be obtained and stored.

(3) Next, the elevating carriage 6 is lowered at high speed, and counting of clock pulses 22 is started at the same time as the lowering starts, and the lowering speed is stabilized at a predetermined speed as shown in FIG. The time count value _t1 at the time when the detection signal 16a of the upper position detector 16 rises when passing through, and the detection signal of the upper position detector 16 when passing through the next stop position of level 3. Measure and store the time count value t ₂ at the time when 16a rises, calculate t ₂ - t ₁ , and calculate the required time T _HD for high-speed descent between levels 3 and 4.
seek.

Then, as shown in Figure 3, the required time T _L for slow ascent in the same section is calculated from the data obtained in the learning (1) above, and from this T _HD and T _L , the low speed relative to the high speed during high speed descent Speed ratio T _HD /T _L
Calculate and store. It should be noted that, at low speeds, the data for the ascent is used, assuming that there is no significant speed difference between the ascent and the descent.

(4) In order to learn the speed ratio between low speed and high speed during high-speed ascent, the lifting carriage 6 is raised at high speed and the clock pulse 22 is activated at the same time as the ascent begins.
starts counting, and the point at which the detection signal 15a of the lower position detector 15 rises when the rising speed is stabilized at a predetermined speed as shown in FIG. 5, for example, when passing the stop position of level 3. The time count value t ₁ ' at , and the lower position detector 1 when passing the next level 4 stop position.
The time count value t ₂ ' at the time when the detection signal 15a of No. 5 rises is measured and stored, and the time count value t ₂ '-
Calculate t ₁ ' to find the time T _HU required for high-speed ascent between levels 3 and 4.

Then, as shown in Figure 3, the required time T _L ′ for a slow ascent in the same section is calculated from the data obtained through learning (1), and from this T _HU and T _L ′, the time required for a high speed ascent in the same section is Low speed speed ratio T _HU /
Calculate T _L ′ and store it.

[Learning 2] Next, a learning method for one-level elevation control will be explained.

(1) As shown in Fig. 6, the elevating carriage 6 stopped at the lower fixed position at the stop position of level 2 is started and lowered from a low speed, and after a certain time t it reaches a predetermined high speed with a constant acceleration. It is accelerated and moved downward at high speed to a position P where the high-speed cut detection signal 18a of the detector 18 is output. Then, counting of clock pulses 22 is started from the time of starting, and the time count value Tz when the high-speed cut detection signal 18a is output is measured and stored.
This time count value Tz is calculated by starting from one end of the section _H2 between the lower fixed position at the stop position of level 2 and the position P where the high speed cut detection signal 18a is output, and then reaching the other end. time required.

(2) Required time Tx to move up and down section _H1 between the descending origin (lower fixed position of level 1) and the above position P at low speed (measured and memorized in (1) of learning 1) From the lower fixed position median time 2Dct of level 2 obtained by (2) of learning 1, the required time Ty = 2Dct to move up and down the section H ₂ at low speed
-Calculate and store Tx.

Next, a control method during actual operation will be explained.
The carriage lifting drive device 11 is controlled based on the lifting direction command, start command, acceleration stop command, deceleration start command, deceleration stop command, and stop braking command supplied to the destination command 23. It moves up and down in a predetermined pattern to the set destination stop position and then stops. Further, the acceleration stop command and deceleration stop command are output based on a comparison calculation between the current speed value 24 supplied from the carriage lift drive device 11 and a preset speed value.

[Control method 1] (a) When the calculation/storage/control means 19 receives the destination command 23, the upper and lower fixed position detection signals 20 are output.
The current address of the carriage 6 (number of stop positions at each level x 2) given by the addition/subtraction count of a and 21a is compared with the set destination stop position address (same as above), and the carriage 6 is determined by determining the size of both addresses. The direction of elevation is determined. Of course,
Convert the current address of the carriage 6 and the set destination stop position address to the upper and lower fixed position median times Uct and Dct at the stop position of each level stored in (2) of learning 1. By determining the size, it is also possible to determine the direction in which the carriage 6 will move up and down.

(b) As shown in FIG. 7, to explain the case where the carriage 6 is lowered from the lower fixed position of level 4 to the lower fixed position of level 2, a control signal 25 is sent to the carriage lift drive device 11. The carriage elevating drive device 11 is operated by the elevating direction command and start command supplied by the elevating carriage 6, and the elevating carriage 6, which had been stopped at the fixed position on the lower side of level 4, starts at a low speed and waits for a certain period of time t after starting. It is accelerated to high speed, and then moved downward toward level 2 at high speed.

(c) This carriage 6, which is moving downward at high speed, moves from the lower fixed position of level 2, which is the destination stop position, to position G, which is the same distance H1 _' as the section H1 for high-speed cutting shown in Fig. ₁ . If the high-speed descent is continued and the vehicle is decelerated to a low speed at position G, it is possible to safely stop at the lower fixed position of level 2 after descending at a low speed for the minimum necessary distance (time). The time Td required for high-speed descent from the stop position one level before the destination stop position, that is, level 3, to the deceleration position G is:
The above section from the low speed lifting time between levels 2 and 3
Multiply the data D (the time required to move up _and down the section between level 3 and deceleration position G at low speed) by the speed ratio of low speed to high speed It is required by certain things.

In this example, the time count value 3Ut ₂ of the upper edge at the upper fixed position of level 3 (Learning 1
By subtracting the time count value 2Dct at the lower fixed position of level 2 (see (2) of learning 1) and the time Tx required to go up and down the section _H1 at low speed, The time Td is obtained by obtaining data D and multiplying this data D by the speed ratio T _HD /T _L of low speed to high speed during high-speed descent (see (3) of learning 1).

(d) Counting of clock pulses 22 is started from the time when the lifting carriage 6 descending at high speed passes the upper edge of the upper fixed position of level 3 and the detection signal 16a of the upper position detector 16 rises; The high-speed descent is continued until the time count value becomes equal to the time Td, that is, until the time Td has elapsed, and when the time count value becomes equal to the time Td, that is, the elevating carriage 6 reaches the deceleration position G. At this point, the carriage lift drive device 11 is controlled by the control signal 25 so as to decelerate from high speed to low speed.

As a result, the elevating carriage 6 is level 2 at low speed.
Carriage lifting/lowering drive device 11 is lowered to the lower fixed position and braked to a stop at a predetermined position, for example, when the lower fixed position detection signal 20a or the lower position detection signal 15a is output.
is controlled by the control signal 25, and the elevating carriage 6 automatically stops at the lower fixed position of level 2, which is the set destination stop position.

(e) Even if the destination stop position is above the current position of the elevating carriage 6, the control can be performed in the same way as above, but when calculating the control time Td, the low speed relative to the high speed during high speed descent must be Instead of the ratio T _HD /T _L , use the speed ratio of low speed to high speed when climbing at high speed, which was memorized in (4) of Learning 1.
T _HU /T _L ′ is used.

[Control Method 2] Elevation control between one level, for example, when lowering the elevating carriage 6 from the lower fixed position of level 4 to the lower fixed position of level 3 as shown in FIG. 8, the control is as follows. It will be done.

(a) Lifting carriage 6 using the same method as control method 1
Determine the direction of elevation. In this case, it will be a decline.

(b) Similarly to (C) of control method 1, the time count value 4Dct of the lower fixed position of level 4, which is the carriage current position, is changed from the time count value 3Dct of the lower fixed position of level 3 and the required value before stopping. By subtracting the low speed lifting time Tx, data D' (the time required to move up and down at low speed in the section between the lower fixed position of level 4 and the deceleration position G) is obtained. And the time count value memorized in (1) of Learning 2
Tz, that is, the required time Tz for high-speed ascending and descending in the section _H2 between the lower fixed position of level 2 and position P, starting from one end and reaching the other end, and the required time memorized in (2) of learning 2. From the time Ty, that is, the time required to go up and down the section _H2 at low speed, the speed ratio Tz/
Ty is calculated, and the time Td' to the deceleration position G is determined by multiplying this speed ratio Tz/Ty by the data D'.

(c) According to the control signal 25, the elevating carriage 6, which started in the lower fixed position of level 4 in the downward direction at low speed, is accelerated to a high speed in a fixed time t according to the set acceleration pattern, and reaches level 3. However, at the same time as the lifting carriage 6 starts, the clock pulse 2
2, the high-speed descent is continued until the time count value becomes equal to the time Td', that is, until the time Td' has elapsed, and when the time count value becomes equal to the time Td',
That is, when the elevating carriage 6 reaches the deceleration position G, the carriage elevating drive device 11 is controlled by the control signal 25 so that the elevating carriage 6 is decelerated from high speed to low speed.

As a result, the lifting carriage 6 is at level 3 at low speed.
The carriage lifting drive device 11 is controlled by the control signal 25 so that the carriage 6 is lowered to the lower position and braked to a stop at the predetermined position.
automatically stops at the lower fixed position of level 3, which is the set destination stop position.

(d) Even if the destination stop position is above the current position of the elevating carriage 6, the same control can be performed as described above.

(Operations and effects of the invention) As described above, according to the elevation control method of the present invention,
Lifting device that moves up and down at high speed to a position a predetermined distance from the destination stop position, then decelerates to low speed, moves up and down at low speed for the minimum necessary distance (time), and then stops at the destination stop position. It is possible to control by pattern, but since it is a control method by time, even in the basic conventional system that uses a detected member placed at each stop position and a detector to detect it. It can be carried out using only the microcomputer used for control and its accessory equipment, and since a pulse encoder and various parts associated therewith are not required, costs can be reduced.

Moreover, like the pulse encoder method, the lifting and lowering can be controlled by minimizing the low-speed lifting distance (time) before stopping regardless of the stop position pitch, thereby increasing work efficiency.

In particular, according to the second invention, which determines the low-speed lifting time before stopping using a detected member for high-speed cutting command and a detector for detecting the detected member, it is possible to easily and accurately set the low-speed lifting time before stopping. It can be done.
Further, the detected member for high-speed cutting command and the detector for detecting the detected member can be used as a safety measure in conventional systems.

Furthermore, according to the third aspect of the invention, in which the control time Td' is obtained by multiplying the data D' by the Tz/Ty, it is possible to ideally control the elevation of the elevation device between one level.

[Brief explanation of drawings]

Figure 1 is an elevation view of the automated warehouse, Figure 2 is a block diagram explaining the configuration of the control means, and Figures 3 to 6.
The figure is a diagram for explaining the learning method, and FIGS. 7 and 8 are diagrams for explaining the control method during actual operation. 1... Traveling crane for loading and unloading, 2... Shelf, 11
...carriage lift drive device, 13...detected plate, 14a, 14b...cam for high-speed cutting command,
15-18...Detector, 15a...Lower position detection signal, 16a...Upper position detection signal, 18a...High speed cut detection signal, 19...Calculation/memory/control means, 20a...Lower side fixed position detection Signal, 21a...
Upper fixed position detection signal, 22...clock pulse.

Claims (1)

[Scope of Claims] 1. A member to be detected is provided at each stop position on the elevating path side of the elevating device, and a detector for detecting the member to be detected at each stop position is provided on the elevating device side, In advance, set the low-speed lifting time Tx required from the point of deceleration from high speed to low speed until reaching the destination stop position, and then move to the deceleration position G that is a distance corresponding to the time Tx from the set destination stop position.
and a stop position one position before the destination stop position, and when the lifting apparatus is in operation, the moving apparatus is operated from the stop position one position before the destination stop position until the control time Td elapses. A method for controlling the elevation of a crane's elevating carriage, etc., characterized by elevating it at a high speed and decelerating it to a low speed when the control time Td has elapsed. 2. On the lifting path side of the lifting device, a member to be detected is arranged at each stop position, and a detection object for high-speed cutting commands is installed continuously from the path end stop position to an appropriate intermediate position between the second stop position. A detection member is provided, and a detector for detecting the detected member at each stop position and a detector for detecting the detected member for high-speed cutting command are provided on the lifting device side, and a detector for detecting the detected member for high-speed cutting command is installed in advance. The required time Tx during low-speed movement in the section _H1 between the position and the position P where the detection signal of the detected member for high-speed cutting command rises, and the low speed from the stop position at the end of the path to reach each stop position. Calculate the time required for movement, and then subtract the required time Tx from the time required for the section between the destination stop position and the previous stop position of the lifting device. The control time Td is determined by multiplying the speed ratio, and when the lifting device is in actual operation, the moving device is moved at high speed until the control time Td has elapsed after passing the previous stop position. A method for controlling the elevation of a crane's elevating and descending carriage, etc., which is characterized by decelerating to a low speed during elapsed time. 3 On the lifting route side of the lifting device, a detected member is arranged at each stop position, and a detected member for high-speed cutting commands is provided continuously from the route end stop position to an intermediate position before the second stop position. and
The lifting device side is provided with a detector for detecting the detected member at each stop position and a detector for detecting the detected member for the high-speed cut command, and is arranged in advance to detect the stop position at the end of the path and the high-speed cut command for the high-speed cut command. Required time Tx during low-speed movement in section _H1 between position P where the detection signal of the detected member rises; Required time during low-speed movement in section _H2 between this position P and the second stop position Ty, the time required during low-speed movement from the stop position at the end of the route to reach each stop position, and the above-mentioned section
Calculate the time Tz required for high-speed movement between starting from one end of _H2 and reaching the other end, and then calculate it from the time required for the section between the starting and stopping position of the lifting device and the next destination stopping position. The control time is calculated by multiplying the data D′, which is the value obtained by subtracting the required time Tx, by the Tz/Ty.
Td' is calculated, and when the elevating device is in actual operation, after starting from the start/stop position, the moving device is moved at high speed until the control time Td' has elapsed, and when the control time Td' has elapsed, the moving device is decelerated to a low speed. Features: A method for controlling the lifting and lowering of a crane's lifting carriage, etc.