JPS6351202A - Lifting control method for crane lifting carriage or the like - Google Patents

Abstract

PURPOSE:To improve operation efficiency, by making a lifting gear go up or down at high speed to the extent of a position short of the specified distance from a destinational stop position, while decelerating it at low speed afterward, and making it so as to be stopped at the destinational stop position after making it go up or down at low speed as far as the requisite minimal distance (time). CONSTITUTION:At the side of a lifting path 2a of a lifting gear 6, a detected member is set up at each stop position, and at the side of this lifting gear 6, there is provided with a detector which detects the detected member. And, the low speed lifting time Tx required to the extent of reaching a destinational stop position from a point of time from deceleration from high to low speed should be set in advance. Then, high speed lifting control time Td between a decelerating position short of a distance as far as being equivalent to the said time Tx from the set destinational stop position and a stop position short of one spot from the said destinational stop position is operated. And, before the elapse of the said control time Td, the lifting gear is made to go up or down at high speed, and after the elapse, it is decelerated. Thus, efficiency of lifting operation is improvable.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention relates to a lifting path with stopping positions set at appropriate intervals, such as a lifting carriage in an in/out lane used in an automated warehouse. 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 that the lifting device moves up and down at high speed until it reaches a certain distance from the set destination stop position, and then slows down when it reaches a deceleration point. switching,
Although the pattern is to move up and down at a low speed to the destination stop position and then stop, the problem in control is the method of setting 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 required distance due to the stop position pinch. 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 and used as the current address of the lifting device, and this is used as the destination stop position. A one-type pulse encoder has also been put into practical use, in which the deceleration point is set when the difference between the two reaches a certain value compared to the destination address corresponding to the destination address, but the pulse encoder and its associated mechanical and electrical components are The disadvantage is that the cost is high because it is necessary.

(Means for Solving the Problems) The present invention proposes a lifting control method capable of solving 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. The required low-speed lifting time Tx is set in advance, and the distance between the deceleration value IG that is a distance corresponding to the time Tx from the set destination stop position and the stop position that is one position before the destination stop position is set. A high-speed lifting control time Td is calculated, and 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 detected member for high-speed cut commands is provided that continues from the first to the second stop position to an appropriate intermediate position, and a detector for detecting the detected member at each stop position and a high-speed cut command are provided on the lifting device side. A detector for detecting the member to be detected for the cant command is provided, and an interval H between the stop position at the end of the path and the position P at which the detection signal of the member to be detected for the high-speed cut command rises is provided in advance.
Calculate the time Tx required for low-speed movement in step 1 and the time required for low-speed movement from the stop position at the end of the path to reach each stop position. The control time Td is obtained by multiplying the data D obtained by subtracting the required time Tx from the time required for the section to the stop position by the speed ratio of low speed to high speed, and when the lifting device is in actual operation, the control time Td is determined. After passing the position 1ffi, the moving device is moved at high speed until the control time Td has elapsed;
The point is that the speed 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, but the present invention is also effective when the lifting section of the lifting device exceeds one section of the stopping position. A method for controlling elevation is also proposed.

The feature of this third invention is that the required time Tx during low-speed movement in the section H3 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 cut command rises;
The time required for low-speed movement Ty in the section H2 between this position P and the second stop position, the time required for low-speed movement from the stop position at the end of the route to each stop position, and the said section High speed between starting from one end of H2 and reaching the other end (
Calculate the required time Tz during hyperactivity, and then subtract the required time Tx from the required time for the section between the start and stop position of the lifting device and the next destination stop position to obtain data D°. The control time Td' is obtained by multiplying the TZ/Ty, and when the elevating device is in actual operation, after the starting body starts from the normal position, the moving device is moved at high speed until the control time Td' elapses, and the control is performed. The point is to decelerate to a low speed when time Td' has elapsed.

(Embodiment) An embodiment of the present invention will be described below based on the attached illustrative drawings. In FIG. It travels guided by upper and lower guide rails 3.4 arranged along the line. This crane 1 is equipped with an elevating carriage 6 equipped with a load transfer fork 5, and a cargo receiving area installed adjacent to the home position at one end of the crane travel path is used to carry each load on a platform 7 and a shelf 2. It is possible to carry out loading and unloading work between the storage section 2a and the storage section 2a. Reference numeral 8 denotes a traveling drive device for the crane 10, which is composed of drive wheels 9, a motor 10 for driving the wheels, a braking means, and the like. Reference numeral 11 denotes an elevating and lowering drive device for the elevating carriage 6, and 12 represents an egress/retreat drive device for the fork 5.

Stop positions are set on the elevating path of the elevating carriage 6 in the crane 1, corresponding to the cargo 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 and refining gears, and beside the elevating route of the elevating and descending car and the lever 6, there is a horizontally convex detection plate 1 at each of the stopping positions.
3 is attached, and furthermore, high-speed cut command cams 14a and 14b that continue from the upper and lower end stop positions (level 1 and level 6) of the lifting path to a predetermined position P before the second stop position (level 2 and level 5) is attached. On the other hand, as shown in FIG. 2, the elevator shaft 6 includes detectors 15 to 17 for detecting the detected plate 13, the cam 14a,
A detector 18 for detecting 14b is attached.

Among the detectors 15 to 17, the highest detector 15 and the lowest detector 16 are located at the central protrusion 13 of the detection plate 13.
a, and the central detection 11s17 detects the base 13b of the detection plate 13, and when the elevating carriage 6 is at the lower fixed position for scooping up cargo at each stop position, the above-mentioned The detector 1617 is configured to turn on when the detector 1.5.17 is 0IJL and the elevator carriage 6 is in the upper position for unloading at each stop position. Further, when the elevating carriage 6 moves up and down toward the end of the elevating path, the detector 18 detects the high-speed cut command cams +4a, 14b and the high-speed cut detection signal 18a rises. The distance to the stop position (level 1 and level 6) is
It is equal to the minimum low-speed lifting path length necessary to safely stop the lifting carriage 6 at the stop position at the end of the path.

The calculation, storage and control means 19 shown in FIG.
16a, 18a, and the detectors 15 and 17 are both 011, the lower localization i! output from the AND gate 20! The detection signal 20a, the upper fixed position detection signal 21a output from the NO gate 21 when both the detectors 16 and 17 are turned on, the clock pulse 22 supplied from the clock pulse transmission means, the destination command 23, and the above-mentioned The current speed value 24 and the like supplied from the carriage lift drive device 11 are inputted, and a control signal 25 for controlling the carriage lift drive device 11 is output based on these inputs.

Next, a learning method will be explained.Here, the high and low speeds of the lifting carriage 6 are calculated, stored, and
The clock pulses 22 are preset and stored in the control means 19, and are emitted at a rate of, for example, one pulse per 20 stickers, and are counted as a time count value. Further, the lower fixed position detection signal 20a and the upper fixed position detection signal 2
The current position of the elevating carriage 6 on the elevating route is detected by counting 1a by adding 1a when the carriage is ascending and subtracting when the carriage is descending.

[Learning l]

+11 First, the carriage 6 is raised at a preset low speed from the descending origin (lower fixed position of level 1) to the rising origin (upper fixed position of level 6), and counting of clock pulses 22 is started from the start of rising. As shown in FIG. 3, the time count values Di, Dt at the rising and falling of the detection signal 15a of the lower position detector 15 and the rising and falling of the detection signal 16a of the upper W+jl output 16 The time count values Ut+ and Utt are measured and stored, and the interval H from the descending origin (lower localization W of level 1) to the upper end position P of the high-speed cut command cam 14a
1 as the time required to move up and down at low speed, the time-runt value Tx when the high-speed cut detection signal 18a of the detector 18 that was detecting the high-speed cut command cam 14a falls.
Measure and memorize.

(2) From each time count value Dt, , Di, (D
t+ + D tg) + 'l to find the lower fixed position median time Dct at the stop position of each level, and from each time count value tJL, , Ut mushroom, (LJ
tl+Utg)+2 to find the upper fixed position median time Uct at the stop position of each level and store it.

+31 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 as shown in FIG. The time count value j+ at the time when the detection signal 16a of the upper position detector 16 rises when passing through the level 3, and the time count value j+ at the time when the detection signal 16a of the upper position detector 16 rises when passing the next stop position of level 3. Time count at the time (itz
Measure and memorize and calculate 1;=1+ to level 3 and 4.
Find D at the time T during the high-speed descent.

Then, as shown in FIG. 3, the time TL required for slow ascent in the same section is calculated from the data obtained by the learning Il+, and from this TMj and TL, the speed ratio T of low speed to high speed during high speed descent is determined. /'rt, is calculated and stored. 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 elevator carriage 6 is raised at high speed and counting of clock pulses 22 is started at the same time as the start of ascent, and as shown in FIG. Time count values t, I at the time when the detection signal ISa of the lower position detector 15 rises when the speed passes a stop position at a predetermined level where the speed is stabilized, for example, level 3, and the time count value t, I at the time when the detection signal ISa of the lower position detector 15 rises, and the next level 4 Detection signal 1 of the bottom position detector 15 of the cloth passing through the stop position of
Measure and memorize the time count value [, ゛] at the time when 5a rises, calculate b + - t, l, and level 3.4
The required time T0 for high-speed ascent between

Then, as shown in Fig. 3, the required time TL' for the gate speed increase in the same section is calculated from the data obtained in the learning (1), and from this TNt+ and TL', the time required for the high speed increase is calculated. The speed ratio Tl1ll/TL' of low speed to high speed is calculated and stored.

[Learning 2] Next, a learning method for control of lifting and lowering between levels will be explained.

(1) As shown in Figure 6, the lifting carriage 6 stopped at the lower measurement position at the stop position of level 2 is started and lowered from a low speed, and after a certain period of time, it is accelerated at a constant acceleration to a predetermined high speed. The detector 18 is then 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 determined during high-speed vertical movement starting from one end and reaching the other end in the section Hz between the lower measurement position at the stop position of level 2 and the position P where the high-speed cut detection signal 18a is output. The required time.

(2) Lowering origin (lower measurement position of level 1) and the above position P
The required time Tx (
From the lower fixed position median time 2 Dct of level 2 obtained by (2) of learning 1), the required time Ty for moving up and down the section old at low speed is determined by 2Dct-TX is calculated and stored.

Next, the control method during actual operation will be explained.
is based on the lifting direction command, start command, acceleration stop command, deceleration start command, deceleration stop command, and stop braking command supplied to the carriage lifting drive device 11 as a control signal 25 from the calculation/storage/control means 19. By controlling the carry and lift drive device 11, it moves up and down in a predetermined pattern to the destination stop position set by the destination command 23 and stops. Further, the acceleration stop command and the deceleration stop command are output based on a comparison calculation between the current speed value 24 supplied from the carriage lifting/lowering drive device 11 and a preset speed value.

[Control method 1] +a+the calculation/storage/control means 19 receives the destination command 23
When receiving the upper and lower fixed position detection signals 20a.

Carriage 6 given by addition/subtraction calculation of 21a
The current address (number of stop positions at each level x 2) is compared with the set destination stop position address (same as above), and the ascending and descending direction of the carriage 6 is determined by determining the size of both addresses. Of course, the current address of the carrier 6 and the set destination stop position address are learned based on the upper and lower fixed position median times Uc at the stop positions of each level stored in (2).
The vertical direction of the carriage 6 can also be determined by converting into t+ and Dct and determining the size.

(As shown in FIG. 7, the case will be explained by taking as an example the case in which the carriage 6 is lowered from the lower measurement position of level 4 to the lower measurement position of level 2.
The carriage lifting drive device 11 is operated by the lifting direction command and start command supplied by the control signal 25 to 1, and the lifting carriage 6, which had been stopped at the measurement position below level 4, starts at a low speed and at a constant speed after starting. It is accelerated to a high speed at time t, and is caused to move downward toward level 2 at high speed.

(C1) This carriage 6, which is moving downward at high speed, continues to descend at high speed from the lower measurement position of level 2, which is the destination stop position, to position G, which is the same distance H1'' before the high-speed cut section H7 shown in No. 10. , if the vehicle is decelerated to a low speed at position G, it will be possible to safely stop at the measurement position below level 2 after descending at a low speed for the minimum necessary distance (time), which is before the 0 destination stop position. The time Td required for high-speed descent from the stop position of level 3 to the deceleration position G is the time Tx required for low-speed ascent and descent in the section H1 from the low-speed ascent and descent time between levels 2 and 3.
It is obtained by multiplying the value data D (the time required to move up and down at low speed in the section between level 3 and deceleration position G) by the speed ratio of low speed to high speed.

In this example, the time count value 3Utz of the upper edge at the lower measurement position of level 3 (see fi+ of learning 1)
Time count value 2Dct at the lower measurement position of level 2
(Refer to Learning 1 (2)) and the time Tx required to go up and down the section ①1 at a low speed to obtain the data D, and add this data D to the speed ratio T of the low speed to the high speed during the high speed descent. The time Td is obtained by multiplying □D/TL (see (3) in Learning 1).

(d+However, the lifting carriage 6 descending at high speed passes the upper edge of the upper fixed position of level 3 and the upper position detector 1
Counting of the clock pulses 22 is started from the time when the detection signal 16a of No. 6 rises, and the high-speed fall is continued until the time count value becomes equal to the time Td, that is, until the time Td has elapsed, and the time count value is When the time 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 as to decelerate from high speed to low speed.

As a result, the elevating carriage 6 descends at low speed to the lower fixed position of level 2, and reaches a predetermined position, for example, lower fixed position detection signal 2.
The carriage elevating drive device 11 is controlled by the control signal 25 so that it is stopped and braked at the time when 0a or the lower position detection signal 15a is output, and the elevating carriage 6 reaches the level at the set destination stop position. It will automatically stop at the lower fixed position of 2.

(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 Instead of the ratio Tl/TL, the speed ratio T□/TL' of the low speed to the high speed during the high speed ascent, which was stored in (4) of learning 1, is used.

[Control method 2] Lifting control between the levels, for example, when lowering the lifting carriage 6 from the lower fixed position of level 4 to the lower fixed position of level 3 as shown in FIG. 8, is performed as follows. be exposed.

+a) The direction of elevation of the elevating carriage 6 is determined in the same manner as flII control method 1. In this case, it will be downward)
Control method l (Similar to C1, the time count value 4Dct at the lower fixed position of level 4, which is the current position of the carriage, to the time count value 3Dct at the lower fixed position of level 3 and the low speed lifting time TX required before stopping) By subtracting the data D' (level 4 lower fixed position and deceleration position W
Find the time required to go up and down the section between G and G at low speed. Then, in learning 2 (time count value 72% memorized in step 11), the time Tz required for high-speed ascending and descending starting from one end and reaching the other end in the section Hz between the lower fixed position of level 2 and position P. , calculate the speed ratio T z / T y from the required time Ty stored in (2) of learning 2, that is, the required time Ty to go up and down the section H8 at low speed, and calculate this speed ratio T z / T y and The time Td' to the deceleration position G is obtained by multiplying the data D'' by the data D''.

(C1 However, the elevating carriage 6, which started in the lower fixed position of level 4 in the downward direction at low speed according to the control signal 25,
According to the set acceleration pattern, it will be accelerated to a high speed in a certain time t and then descended at high speed toward level 3, but at the same time as the elevating carriage 6 starts, it starts counting the clock pulses 22, and the time count value is 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 the time point when the time count value becomes equal to the time Td', that is, the time when the elevating carriage 6 reaches the deceleration position G. 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 carriage lift drive device 11 is controlled by the control signal 25 so that the lift carriage 6 descends at low speed to the lower position of level 3 and is braked to a stop at the predetermined position, and the lift carriage 6 is set. It automatically stops at the lower fixed position of level 3, which is the destination stop position.

Even when the +d1 destination stop position is above the current position of the elevating carriage 6, control can be performed in the same manner as described above.

(Operations and Effects of the Invention) As described above, according to the elevating control method of the present invention, the elevating device is moved up and down at high speed to a position a predetermined distance from the destination stop position, and then decelerated to a low speed, and limit distance j
i! It is possible to control the detection target by moving it up and down at a low speed for (time) and then stopping it at the destination stop position, but since it is a time-based control method, the detected member placed at each stop position can be controlled by Even in the basic conventional system that uses a pulse encoder and a detector to detect it, it can be implemented using only a microcomputer and its attached equipment, which are used for control, and a pulse encoder and its attached equipment. Since various parts are not required, costs can be reduced.

Furthermore, as with the one-type pulse encoder, the lifting side iBL is obtained by minimizing the low-speed hoistway M (time) before stopping regardless of the stop position pitch, thereby increasing work efficiency.

In particular, the second part determines the low-speed lifting time before stopping using the detected member for high-speed cut command and a detector to detect this.
According to the invention, it is possible to easily and accurately set the low-speed lifting/lowering time before stopping.

Further, the detected member for high-speed cant 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 determined by multiplying the data D° by the T z /T y, it is possible to ideally control the lifting and lowering of the lifting device between levels.

[Brief explanation of the drawing]

Figure 1 is an elevation view of the automated warehouse, Figure 2 is a block diagram explaining the configuration of the control means, Figures 3 to 6 are illustrations of the learning method, and Figures 7 and 8 are during actual operation. tl+l! 21
It is a figure explaining a method. 1... Lane for entering and exiting the warehouse, 2... Shelf, 11...
- Carriage lift drive device, 13... detection target plate, 14
a, 14b...Cam for high-speed cut 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 fixed position detection signal, 21a... Upper fixed position detection signal, 22...-clock pulse.

Claims (3)

[Claims] (1) A member to be detected is provided at each stop position on the lifting path side of the lifting device, and a detector is provided on the lifting device side to detect the member to be detected at each stop position. A low-speed lifting time Tx required from the point of deceleration to a low speed until reaching the destination stop position is set, and the deceleration position G is moved from the set destination stop position by a distance corresponding to the time Tx before the destination stop position. A high-speed lifting control time Td is calculated from the stop position one position before the position, and when the lifting device is in actual operation, the control time Td is calculated from the stop position one position before the lifting device.
A method for controlling the elevation of a lifting carriage of a crane, etc., characterized in that the moving device is raised and lowered at high speed until the control time Td elapses, and then decelerated 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 placed at each stop position, and a high-speed cut command is issued continuously from the path end stop position to an appropriate intermediate position between the second stop position. A detector for detecting the detected member at each stop position and a detector for detecting the detected member for high-speed cut command are provided on the lifting device side, and The required time Tx during low-speed movement in the section H_1 between the stop position and the position P where the detection signal of the detected member for high-speed cut command rises, and the time required from the stop position at the end of the path to reach each stop position. The time required for low-speed movement is calculated, and the data D obtained by subtracting the required time Tx from the time required for the section between the destination stop position of the elevator and the previous stop position is used to calculate the low speed relative to the high speed. The control time Td is determined by multiplying the speed ratio of
A method for controlling the elevation of a crane's elevating carriage, etc., characterized in that the speed is reduced to a low speed when time d has elapsed. (3) On the elevating path side of the elevating device, a member to be detected is arranged at each stop position, and a detectable member is provided for high-speed cutting commands that continues from the path end stop position to an intermediate position before 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 cut command are provided on the lifting device side, and a detector for detecting the detected member for high-speed cut command is provided on the lifting device side. The required time Tx during low-speed movement in the section H_1 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 movement in the section H_2 between this position P and the second stop position. The time required for movement Ty, the time required for low-speed movement from the stop position at the end of the route to reach each stop position, and the time required for high-speed movement between starting from one end of the section H_2 and reaching the other end. Calculate the time Tz, and then multiply the data D', which is the value obtained by subtracting the required time Tx from the required time for the section between the start and stop position of the lifting device and the next destination stop position, by the Tz/Ty. When the elevating device is in actual operation, the moving device is moved at high speed after starting from the start/stop position until the control time Td' has elapsed, and when the control time Td' has elapsed, the moving device is moved at a low speed. A method for controlling the elevation of a crane's elevating carriage, etc., which is characterized by deceleration.