JPS6097108A - Stop control method of moving body - Google Patents

Abstract

PURPOSE:To improve the accuracy of stopping position, by adjusting the starting time of brake in accordance to overrun or underrun of moving body if the stopping position is not within specific range upon braking/stopping of moving body. CONSTITUTION:Boards 7 to be detected are provided on a plurality of trays 4 fixed with equi-interval on an endless chain 1 while a pair of photo-optical switches PHS-F, R are provided with such interval as to detect the opposite ends of said board 7 simultaneously while furthermore, a photo-optical switch PHS-X for detecting the original point is provided. Upon elapse of setting time after detection of the front edge of said board 7, a brake command is produced to stop a tray 4 with accuracy within specific range. If it is detected that the stop position is not within specific range, setting time is shortened or extended by predetermined amount in accordance to overrun or underrun of tray 4 and the setting time after said adjustment is utilized to control stoppage of tray 4 again.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for controlling the stop of a moving body, which can be used, for example, to control the stop of a rotary rack in a fixed position, which is equipped with a large number of trays that are connected in an endless manner and move on a circulation path. be.

In the above-mentioned rotating rank, in order to use the automatic load transfer device, it is necessary to stop the called specific tray at the load handling position (home position) with a high stopping accuracy of, for example, ±1 (hn). However, 1. The distance traveled by inertia from when the brake is applied by a stop command until the tray comes to a stop, that is, the braking distance, changes due to the loading rate of the cargo, the rust on the chain that drives the tray, the refueling condition, and various other factors. However, there is a strong possibility that the tray will not stop within a predetermined stopping accuracy range and will stop in an overrun or underrun state.

The present invention provides a moving body capable of automatically correcting the stopping position of the tray within a predetermined stopping accuracy range when one helay does not stop within a predetermined stopping accuracy range as described above. A stop control method is provided.

Hereinafter, one embodiment of the present invention will be described based on the attached illustrative drawings. In FIG. , 4 is a tray mounted on the endless chino 1 in an equidistant manner, and 5 is a driving induction motor operatively connected to the drive gear 2 through the chino transmission means 6. As shown in FIGS. 2 and 3, each tray 4 includes a detection plate 7, a support guide roller 8, a support guide rail 9, a steady rest guide roller 10, and a steady rest guide rail 11. It is supported so that it can circulate in a fixed posture on a horizontal circulation path. PH3-F and PH5-R are a pair of photoelectric switches that detect the detection plate 7 of the tray 4 passing through the material handling position, and simultaneously detect both ends of the detection plate 7 at a fixed location beside the tray movement path. (-J is set ζ) at intervals of i.

Incidentally, among the series of trays 4, the origin tray 4a serving as No. 1 tray is attached with an origin detection plate 7a, and an origin detection photoelectric switch P detects only this origin detection plate 7a. HS-X is the pair of photoelectric switches PH
It is arranged between 3-F and PH3-R.

FIG. 4 shows the overall configuration of the stop control device, in which 12 is an addition/subtraction counter, and the photoelectric switch PH3-
When both F and PH3-R detect both ends of the detection target plate 7, the signal output from the A'ND game 1-13 is corrected according to the forward/backward movement discrimination signal 14 corresponding to the rotational direction of the tray 4. When the rotation is reversed, it is added, and when the rotation is reversed, it is subtracted, and a unique tray M is output for each tray passing through the cargo handling position. Incidentally, the detection signal 15 of the photoelectric switch PHS-X is used to return the counter value to the origin (Ml).

Reference numeral 16 denotes a comparison circuit, which compares the inputted tray tray value with the detection tray value given from the addition/subtraction counter 12, and determines whether the one tray in front of the loaded tray in the tray movement direction has passed. Deceleration command 17 when
It also outputs a coincidence signal 18 when the calling tray interval and the detection tray interval coincide.

The drive device 19 includes the motor 5 and its control means, and switches the rotating speed of the tray 4 to a low speed when the deceleration command 17 is given. After the rotating speed of the tray 4 is switched to a low speed by this deceleration command 17, when the calling tray 4 reaches the yarn handling position as shown in FIG. The front end is detected by the photoelectric switch PH3-R (in the case of reverse rotation, the rear end of the detection target plate 7 is detected by the photoelectric switch PH3-F).

As a result, a timer operation command 22 is output from the AND gate 21 based on the signal applied from the OR gate 20 and the deceleration command 17. The timer switch 23 activated by this timer activation command 22 is, for example, a soft timer that emits pulses at an extremely short period (e.g., 1 to 2 ms/pulse) and a soft timer that counts these pulses to reach a preset count value. The braking command 24 can be configured in combination with a digital switch that is activated at certain times, and outputs the braking command 24 after the set time T has elapsed (when the timer switch is OFF).

Upon receiving this braking command 24, the drive device 19 releases the drive of the motor 5 and simultaneously switches to a dynamic braking state.

As a result of the above-mentioned dynamic braking, the tray 4 moves a distance as shown in FIG. It will stop after inertia movement indicated by i11 After the command 24 is output, the stop position checking means 26 is activated after a period of time (slightly longer than the expected maximum time required for the tray 4 to stop) has elapsed. This stop position checking means 26
For example, from the detection states of the photoelectric switches PH3-F and PH3-R, it is determined whether the tray 4 has stopped within a predetermined stopping accuracy range;
Or, it is determined whether it is in an overrun or underrun state, and the corresponding detection signals 27 to 29 are outputted.

Overrun detection signal 28 and underrun detection signal 29
is input to the timer switch setting time adjustment means 50, and is also converted into a stop position correction command 52 by an OR gate '51 and input to the drive device 19. Further, the within-accuracy stop detection signal 27 is input to the AND gate 53 together with the coincidence signal 18 from the comparison circuit 16, and a fixed position stop completion signal 54 is output. The timer switch setting time adjusting means 50 shortens or increases the setting time T of the timer switch 26, and its details will be explained below.

Next, a specific control method will be explained based on FIGS. 5 to 10 (the direction of rotation of the tray 4 is not indicated by an arrow in FIG. 5, but is assumed to be a normal rotation direction). In order to call the trays 4 to the handling position, when the drive device 19 is operated with the calling tray positive set and the motor 5 circulates a series of trays 4, the positive values of the trays 4 passing through the handling position are added and subtracted. The detected tray positive and the called L-ray positive are sequentially outputted from the counter 12, and are compared in the comparator circuit 16, and as shown in FIG. Deceleration command 1 when passing the position
7 is output, and the moving speed of the tray 4 is switched to low speed as described above.

Therefore, the pick-up tray 4 approaches the cargo handling position at low speed, but when the front end of the detection plate 7 in the tray 4 is detected by the photoelectric switch PHS-R as shown in FIG. The operation command 22 is output, and the timer switch 2i5 is turned on. When the time T set in the timer switch 25 has elapsed and the timer switch 26 is turned off, a braking command 24 is output, and at the same time the low-speed drive of the tray 4 by the motor 5 is canceled, the braking is switched to dynamic braking. The tray 4 moves by inertia for a distance L1 and then stops.

As described above, the set positive loading tray 4 will stop at the cargo handling position, but around the time the tray 4 stops, the stop position checking means 26 is activated, and at this time, as shown in FIG. If the photoelectric switches PH3-F and PH3-R are detecting both sides of the detection target plate 7 in the call tray 4, that is, both photoelectric switches PH3-F and PH
When the calling tray 4 is stopped within the predetermined stopping accuracy range [±(length of the detection plate 7 - distance between the photoelectric switch PH3-F and PH3-R) ÷ 2] where 3-R is ON. In this case, a stop detection signal 27 within the accuracy range is output. On the other hand, since the comparison circuit 16 naturally outputs the coincidence signal 18,
A fixed position stop completion signal 64 is output from the AND gate 36, and a series of stop controls are completed.

Normally, each pick-up tray 4 is stopped at the load handling position within a predetermined stopping accuracy range by the above-mentioned stop control.
If the inertial movement distance after dynamic braking becomes longer due to the reasons mentioned above, and the retrieval tray 4 comes to a stop in an overrun state that exceeds the predetermined stopping accuracy range in the forward direction, the following procedure should be taken. Correction control is performed.

That is, in the overrun stopped state as described above, only the photoelectric switch PHS-F is connected to the detection plate 7, as shown in FIG.
Since the overrun detection signal 28 is outputted from the stop position check means 26 and the timer switch setting time adjustment means 60 is activated. As a result, as shown in the flowchart of FIG. 9 following ■ in FIG. (This is the first stop position correction for the same tray)
. Further, a stop position correction command i52 is outputted by the overrun detection signal 28, and the drive unit W19 operates the motor 5 based on this command 32 so that the tray 4 is moved backward by one tray and then moved forward again. .

After this, as shown in the flowchart of FIG. 8 following ``■'' of FIG. 9, the previous stop control is performed again, but as described above, the front end of the detection plate 7 is
- Since the set time from detection of -R to switching to dynamic braking is shortened to (T - ΔT), the inertial movement distance of tray 4 under dynamic braking is normal as shown in Figure 6. Even if it is longer as shown by L2 compared to the inertial movement distance L1 at the time, the stop position of the tray 4 will move to the front of the stop position in the first overrun stop state.

With this correction control, the paging tray 4 is turned on, and both photoelectric switches PH8-F and PH3-R are turned ON, as shown in FIG.
When it comes to stop within the predetermined stopping accuracy range, the fixed position stop completion signal 64 is output and the stop position correction control is completed. If the overrun stop state still exists, the above stop position correction control is performed again. However, since the correction control is performed for the second time as shown in FIG. ×2). Therefore, the timing at which the braking is switched to dynamic braking is further advanced, and the pick-up tray 4 is stopped within a predetermined stopping accuracy range.

1. As shown in FIG. 9, the above-mentioned stop position correction control is repeated for the same paging tray a total of three times, and the setting time of the timer switch 26 is minimized to (T to 8 x 3). Even in the third correction control, if the call tray 4 does not come to a stop within the predetermined stop range of NN degrees, a lamp display and an alarm will sound to indicate an abnormal overrun stop for inspection and repair. I can do it.

If the inertia movement distance after dynamic braking becomes short due to another reason, and the retrieval tray 4 does not reach the predetermined stopping accuracy range and comes to a stop in an underrun state, the following procedure should be taken. Correction control is performed.

That is, in the above-mentioned underrun stop state, only the photoelectric switch PHS-R detects the detection target plate 7 and turns on, as shown in FIG. 29 is output, and the timer switch setting time adjusting means 50 is activated. As a result, as shown in flowchart 1 in FIG. 10 following ◯ in FIG. (This is the first stop position correction for the same tray.)

Further, a stop position correction command 32 is output in response to the underrun detection signal 29, and the drive device 19 operates the motor 5 based on this command 52 so that the tray 4 moves backward by one tray and then moves forward again. . After this, the previous stop control is performed again as shown in the flowchart of Fig. 8 following ◯ in Fig. 10, but as mentioned above, the front end of the detection plate 7 is detected by the photoelectric switch P Since the set time from when the braking is applied until switching to dynamic braking is extended to (T + ΔT), as shown in Figure 7, the inertial movement distance of L-ray 4 in the dynamic braking state is the same as the normal inertial movement distance. Even if it is longer as shown by L3 compared to L1, the stopping position of the tray 4 will move to the front of the stopping position in the first overrun stopped state.

With this correction control, the paging tray 4 is turned on so that both light quantity switches PH3-F and PHS-R are turned on as shown in FIG.
When the stop 3 is reached within the predetermined stop accuracy range of N, the fixed position stop completion signal 64 is output and the stop position correction control is completed, but the set time (T
+ΔT), if the underrun stop condition still occurs, the above-mentioned stop position correction control is performed again. However, since the correction control is performed for the second time as shown in FIG.
is corrected to the time (T+ΔT×2) extended by ΔTX2. Therefore, the timing at which the braking is switched to dynamic braking is further delayed, and the calling l/ray 4 is stopped within a predetermined stopping accuracy range.

Further, as shown in FIG. 10, the above-mentioned stop position correction control is repeated for the same paging tray up to three times in total, and the set time at the timer switch 23 is (T+ΔT×3).
) When the loading tray 4 fails to stop within the predetermined stopping accuracy range even during the third correction control when the maximum value is reached, as in the case of overrun correction control, the system is stopped for inspection and repair, etc. It is possible to display a lamp and sound an N alarm to indicate an abnormal underrun stop.

In the above embodiment, a case has been described in which the tray 4 rotates in the forward rotation direction, but the same control can be performed even when the tray 4 rotates in the reverse rotation direction. In addition, when the set time T in the timer switch 25 is adjusted to (T±Δ']'xn) in order to correct overrun or underrun as described above, the next loading tray 4 is moved to the handling position. This adjusted setting time (T±ΔT
n) is used, and when overrun or underrun occurs again, ΔT is added to the set time (T±ΔTXn).
Xn is added or subtracted.

The stop control method for a movable body according to the present invention can be implemented as described above, and its feature is that one of the movable body (tray 4 in the embodiment) that is moved along a fixed path and the fixed side is The detected part (detected plate 7 in the example) is placed on the other side, and the detector (photoelectric switches PH3-F and PH3-R in the example) is placed on the other side.
are respectively provided, and when the drive of the movable body is released after a set time has elapsed from the time when the detector detects the detected part, 5. A stop position where both are braked and the movable body is stopped within a predetermined stopping accuracy range. In the control method, means for detecting whether the moving body has stopped within a predetermined stopping accuracy range (
In the embodiment, the detection target plate 7 and a pair of photoelectric switches PH3-F
, PH3-R1 and stop position check means 26), and when the moving object stops outside the stopping accuracy range, the set time is shortened or extended by a certain amount of time depending on whether the moving object overruns or underruns. While adjusting the set time, the movable body is returned to a predetermined capacity δ11 and then driven again,
The point is that the moving body is controlled to stop again by using the set time after adjustment.

According to the method of the present invention, the inertial movement distance of the moving object after braking varies due to various causes, and the moving object may not stop within a predetermined stopping accuracy range but stop in an overrun or underrun state. Even under certain circumstances, the stop position of the movable body can be automatically corrected within a predetermined accuracy range by self-correction. Moreover, if the timing to apply the brakes is automatically adjusted by the self-correction function, subsequent stop control will apply the brakes at the corrected timing, so the same overrun or overrun will occur every time the stop control is performed. There is no need to correct underruns each time they occur, and the moving body can be operated efficiently.

In particular, as shown in the example, the number of times a set number of times (three times in the example) is required until the moving body stops within a predetermined stopping accuracy range.
The stop position correction control of the movable body is performed within the range of the set time adjustment, and if the movable body does not come to a stop within the predetermined stopping accuracy range within the set number of times, the stop position correction control is performed. If it is terminated and treated as an abnormal stop, even if an overrun or underrun that deviates from the predetermined stopping accuracy range by a relatively large amount occurs, the stopping position of the moving object can be corrected to within the expected accuracy range. However, if an abnormally large overrun or underrun occurs due to an unexpected cause, it is necessary to adjust the stopping position of the moving object to within the expected accuracy range from this abnormal overrun or underrun state. Stop position compensation can be interrupted as an abnormal stop without drastically changing the braking timing for correction, and the influence on subsequent stop control can be kept to a minimum.

In addition, in the embodiment, the movable body is stopped by dynamic braking, but the method of the present invention can also be applied to a movable body that is braked by general mechanical braking means to achieve the intended purpose. Of course, it's a good thing. Further, in the embodiments, individually independent control means or circuits are used, but in reality, a computer can be used in conjunction with the program control method.

[Brief explanation of the drawing]

Figure 1 is a schematic perspective view illustrating the configuration of the rotating rank;
The figure is a plan view showing the relationship between the tray and the detection switch.
4 is a block diagram explaining the present invention in detail, FIG. 5 is a diagram showing the relationship between the detection plate and the photoelectric switch during normal stop, and FIG. 6 is an overrun stop state. Figure 7 is a diagram showing the relationship between the detection plate and the photoelectric switch when correcting the underrun stop state, and Figure 8 is a diagram showing the relationship between the detection plate and the photoelectric switch when correcting the underrun stop state. FIG. 10 is a flowchart explaining the control method. DESCRIPTION OF SYMBOLS 1...Endless chain, 2...Drive gear, 6...Idle gear, 4...Tray, 5...Induction motor, 7.7a...Detected plate (detected part ), 12...
Addition/subtraction counter, 16... Comparison circuit, 19... Drive device, 23.25... Timer switch, 26...
・Stop position checking means, 30...Timer switch setting time adjusting means, PH3-F, PH3-R, PH3-
X...Photoelectric switch (detector). 9 Figure 9 Figure 1O voluntary procedure? City official document (method) 1. Indication of the case Patent Application No. 20661.6 of 1982 2. Name of the invention Method for controlling the stoppage of a mobile object 3. Person making the amendment Relationship with the case Patent applicant address Osaka City, Osaka Prefecture 3-2-11 Gohejima, Nishiyodogawa-ku Name (364) Daifuku Kiko Co., Ltd. Showa Month, Day 5, Subject of amendment (1) No changes to the contents as the entire specification has been engraved).

Claims (1)

[Claims] ■ Among a moving body that is moved along a fixed path and a fixed side,
A detected part is provided on one side and a detector is provided on the other side, and after a set time has elapsed from the time when the detector detects the detected part, the driving of the moving body is released and the brake is applied to move the moving body to a predetermined position. In the stop control method for causing the moving body to stop within a predetermined stopping accuracy range, a means for detecting whether the moving body has stopped within a predetermined stopping accuracy range is used, and when the moving body stops outside the stopping accuracy range. adjusts the set time to shorten or extend the set time by a certain amount of time depending on the overrun or underrun of the moving object, and re-drives the moving object after returning it a predetermined distance, and adjusts the set time after the adjustment. 1. A method for controlling a stop of a moving object, characterized in that the moving object is controlled to stop again by using the . ■The stop position correction control of the movable body with the set time adjustment is performed within the set number of times until the movable body stops within a predetermined stop accuracy range, and within the set number of times, the movable body stops at the predetermined stop. If it is not possible to stop within the accuracy range,
The method according to item 0, characterized in that the stop position correction control is ended and the stop is treated as an abnormal stop.