JP2000229707A - Travel gear for movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify equipment setup work and improve operating efficiency. SOLUTION: In this travel gear of a movable body MB wherein a travel driving means MD for traveling and driving the movable boy at the travel speed commanded by a travel control means is installed in the movable body MB reciprocatively moving within the setting range, while the travel control means MD is constituted so as to perform the speed command of a setting decelerating pattern to the travel driving means MD in time of stopping the movable body MB, it is provided with a velocity sensitive means VS detecting a speed of the movable body MB, and the travel control means MD executes an emergency stopping process making the movable body MB into an emergency stop when velocity in the movable body MB has come to be higher than the velocity to be specified by a setting upper limit decelerating pattern being set up to be higher than the setting decelerating pattern, on the basis of detection information of the velocity sensitive means VS.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a moving body which reciprocates within a set range, provided with traveling driving means for driving the moving body at a traveling speed instructed by traveling control means. The present invention relates to a traveling device for a moving body configured to give a speed command of a set deceleration pattern to the traveling drive means when stopping the moving body.

[0002]

2. Description of the Related Art In such a traveling apparatus for a moving body, a traveling drive means drives the traveling body at a traveling speed instructed by the traveling control means, and when the moving body is stopped, the traveling control means uses a predetermined deceleration pattern. Although a speed command is issued, the moving body may not run at the running speed commanded by the running control means for various reasons such as erroneous detection of the running speed. When the moving body reciprocates in the set range, if the above-described problem occurs near the end of the moving range, the moving body collides with the end of the moving range at a high speed, and the moving body is damaged. There is also a risk of receiving it. Therefore, conventionally, a detection plate for forcibly decelerating or stopping the traveling driving means is installed at the end of the moving range of the moving body, and when the detection plate is detected from the moving body side, the detection plate is forcibly forced. A configuration for performing a stop or the like is considered.

[0003]

However, in the above-mentioned conventional configuration, the above-described detection plate and the like are required, and the installation work of the equipment becomes complicated, and the above-mentioned detection plate is moved within the moving range of the moving body. Due to the fact that the moving body is installed near the end of the moving range, the moving body may be decelerated more than necessary and reduce the operation efficiency of the equipment. The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible to simplify installation work of equipment and improve the operation efficiency of equipment.

[0004]

According to the first aspect of the present invention, when the moving body is stopped, the traveling control means instructs the traveling speed of the set deceleration pattern to the traveling driving means to move the moving body. The body is decelerated to a stop. In this case, the upper limit of the speed of the moving body is set higher than the set deceleration pattern based on the detection information of the speed detecting means for detecting the speed of the moving body. When the speed becomes higher than the speed specified by the deceleration pattern, an emergency stop process for urgently stopping the moving body is executed. In other words, whether or not deceleration is accurately performed based on the set deceleration pattern is monitored by the upper limit deceleration pattern, so that speed monitoring is continuously performed with appropriate criteria from the start to the end of deceleration. Deceleration control can be stably performed. Therefore, it is not always necessary to install the above-described detection plate at the end of the moving range of the moving body, and it has become possible to simplify the installation work of the equipment and improve the operation efficiency of the equipment.

[0005] In addition, by providing the configuration according to the second aspect, when the moving body is stopped, the traveling control means includes:
The traveling speed in the set deceleration pattern is instructed to the traveling drive means to decelerate and stop the moving body. In this case, the speed of the moving body is determined based on the detection information of the speed detecting means for detecting the speed of the moving body. Is higher than the speed specified by the set upper limit deceleration pattern set higher than the set deceleration pattern, and the set lower limit deceleration pattern set to be lower than the set deceleration pattern. When the speed becomes lower than the speed specified in the above, an emergency stop process for urgently stopping the moving body is executed.
That is, whether or not the vehicle is accurately decelerated based on the set deceleration pattern is monitored by the upper limit deceleration pattern and the lower limit deceleration pattern. Since the speed is monitored based on an appropriate criterion, the deceleration control of the moving body can be performed more stably.

In addition, with the configuration of the third aspect, the speed detecting means detects the moving amount per set time from the detection signal of the rotary encoder to detect the speed of the moving body. In the case of detecting the speed of the moving body in this way, if the rotary encoder slips or the like occurs, an error occurs in the detected speed. Therefore, a detection plate having a set length is installed near the end of the moving range of the moving body along the moving direction of the moving body, and while the detection sensor provided on the moving body is detecting the detection plate. When the moving amount of the moving body obtained by the detection signal of the rotary encoder in the above is out of the set allowable range, it is determined that the rotary encoder is abnormal and the speed of the moving body is properly detected by the rotary encoder. It is determined whether or not. Therefore, the speed control of the moving object based on the detection signal of the rotary encoder can be accurately performed.

In addition, with the configuration according to the fourth aspect of the present invention, the traveling control means can determine whether the moving object is detected based on the time during which the detection sensor of the moving object is detecting the plate to be detected during traveling of the moving object. When the speed of the body is higher than the set upper limit speed, the mobile body is emergency stopped. In other words, using the plate to be detected and the detection sensor provided for confirming the normal operation of the rotary encoder, it is possible to monitor the emergency speed near the end of the moving range of the moving object, thereby effectively utilizing the equipment. On the other hand, speed control of the moving object can be made more reliable.

[0008]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a traveling apparatus for moving objects according to the present invention, which is applied to a stacker crane provided in an article storage facility. FIG.
As shown in the figure, the article storage facility FS includes two storage shelves A installed at intervals so that the article taking-out directions face each other, and a work passage B formed between the storage shelves A. An automatic traveling stacker crane C is provided, and in each storage shelf A, a number of article storage sections D are vertically arranged in multiple stages and side by side.

In the work passage B, a traveling rail 1 is installed along the longitudinal direction of the storage shelf A. In an article carrying-in / out section E installed at one end of the work passage B, a loading / unloading command is sent to the stacker crane C. An input controller E1 and a pair of loading tables E2 sandwiching the traveling rail 1 are provided, and the stacker crane C moves the traveling rail 1 based on a loading / unloading command.
, And is configured as a loading / unloading transport vehicle that carries out the loading / unloading of the articles F placed on the pallet P between the loading table E2 and the article storage section D.

As shown in FIG. 2, the stacker crane C includes a traveling vehicle body 2 traveling along a traveling rail 1.
A lifting platform 3 and a pair of front and rear lifting masts 4 for guiding and supporting the lifting platform 3 so that the lifting platform 3 can be freely moved are provided. The lifting platform 3 is provided with a fork device 5 for transferring articles.
The elevating platform 3 is suspended and supported by an elevating chain 8 connected to both left and right sides thereof. The elevating chain 8 includes a guide sprocket 9 provided on the upper frame 7 and a guide sprocket provided on one of the elevating masts 4. And a take-up drum 11 mounted on one end of the traveling vehicle body 2
It is connected to. Then, the take-up drum 11 is connected to an electric motor M1 for lifting and lowering which is a so-called inverter type motor.
The lifting and lowering table 3 is configured to be driven up and down by driving and rotating the lifting and lowering chain 8 in the forward and reverse directions.

Although not shown in FIG. 2 and the like, the elevation position of the elevation table 3 is connected to the rotating shaft of the winding drum 11 and a drive-side rotary encoder 18 for detecting the amount of rotation thereof; It is managed on the basis of the detection information from the lift table side rotary encoder 19 attached to the table 3. As shown in FIG. 3, the lift encoder side rotary encoder 19 has a sprocket 19a attached to its rotary shaft.
Is meshed with a chain 20 laid on one side of the lifting mast 4 in the vertical direction. The sprocket 19a rotates with the lifting and lowering of the lifting pedestal 3, and detects the vertical movement of the lifting pedestal 3. As shown in FIG. 4, the detection information of the drive-side rotary encoder 18 and the lift-table rotary encoder 19 is input to the lift control unit 30 of the crane control device CC.

As shown in FIG. 3, the traveling body 2 has two front and rear wheels 12 which can travel on the traveling rail 1 and a traveling rail 1 which regulates the position of the traveling rail 1 relative to the traveling rail 1 in the lateral direction of the vehicle body. A lower position regulating roller 13 provided at a pair of left and right and a pair of left and right to be engaged, and a traveling drive device 14 including a traveling electric motor M2 which is a so-called inverter type motor are provided. The upper frame 7 has a pair of left and right upper position regulating rollers 1 that sandwich the guide rail 6 from the left and right and roll around the vertical axis along the side surface of the stacker crane C as the stacker crane C travels.
7 are provided at front and rear ends in the traveling direction. Then, one of the two wheels 12 at one end in the vehicle longitudinal direction is
Propulsion drive wheel 12 driven by traveling drive device 14
a, the wheel at the other end in the vehicle longitudinal direction is configured as a freely rotatable driven wheel 12b, and the stacker crane C is provided with an upper position regulating roller 1 provided on the upper frame 7.
While being prevented from falling down at 7, it is configured to be able to self-travel along the traveling rail 1 by being driven by the traveling driving device 14.

As shown in FIG. 3, the traveling position of the traveling vehicle body 2 is managed based on detection information of a vehicle-side rotary encoder 21 attached to the traveling vehicle body 2. The body-side rotary encoder 21 has a sprocket 21a attached to its rotating shaft meshed with a chain 22 laid along the traveling rail 1, and the sprocket 21a rotates as the traveling body 2 travels. , The traveling movement of the traveling vehicle body 2 is detected. As shown in FIG. 4, the detection information of the vehicle body side rotary encoder 21 is input to the traveling control unit 31 of the crane control device CC. In order to control the traveling of the traveling vehicle 2, the traveling vehicle 2 is provided with a photo-interrupter-type detection sensor 24 for detecting a detection target plate 23 installed on the ground side, in addition to the above-described vehicle-body-side rotary encoder 21. Provided. The detected plate 23 is located near the end of the moving range of the traveling vehicle body 2, specifically, as shown in FIG. 1, near the end on the loading table E2 side, and although not shown, the presence of the loading table E2 is not shown. It is located both on the side and near the opposite end.

Next, the lifting control of the lift 3 and the traveling control of the traveling vehicle body 2 by the crane control device CC will be described. In response to the transfer command from the controller E1, the crane control device CC causes the traveling control unit 31 to position the traveling vehicle body 2 at the designated traveling position, and the elevating control unit 30 sets the elevating platform 3 to the designated elevating position. And the transfer control unit 32 causes the fork device 5 to move in and out, so that the transfer of the articles F and the transfer of the articles F between the article storage units D and the like are performed.

The traveling control of the traveling vehicle body 2 by the traveling control unit 31 will be schematically described with reference to FIG. 5 which is a flowchart showing a part of the control of the traveling control unit 31.
When receiving the transport command from the controller E1, the traveling control unit 31 sets the stop position and the deceleration start position for controlling the deceleration of the traveling vehicle body 2 at a position immediately before the stop position in accordance with the position of the designated article storage unit D or the like. The travel is started after setting (step # 1). Hereinafter, the section from the deceleration start position to the stop position is referred to as a “deceleration range” for convenience. After the start of traveling, the traveling position of the traveling vehicle body 2 obtained by counting the pulses output from the vehicle-body-side rotary encoder 21 by the built-in first counter 26 is the above-mentioned “deceleration range”.
Is reached (Step # 10), the speed according to the “set deceleration pattern” stored in the memory 25 of the travel control unit 31 is instructed to the travel electric motor M2 (Step # 1).
1).

The "set speed pattern" is a curve shown in FIG. 7, and the relationship between the speed and the traveling position is stored in the memory 25. The memory 25 stores a “set upper limit deceleration pattern” and a “set lower limit deceleration pattern” shown in FIG. 7 in addition to the “set speed pattern”. The traveling control unit 31 obtains the speed of the traveling vehicle body 2 from the number of output pulses of the vehicle body-side rotary encoder 21 per set time, and the speed is determined as the “set upper limit deceleration pattern” and the “set upper limit deceleration pattern” at the traveling position at that time. Is within the allowable range (step # 1).
2) If not within the permissible range, the traveling vehicle body 2 is emergency-stopped by applying a brake (not shown) (step # 13). Therefore, a speed detecting means VS for detecting the speed of the traveling vehicle body 2 is provided with the vehicle-side rotary encoder 21 which is a rotary encoder for detecting the moving amount of the traveling vehicle body 2 and the traveling control unit 31. When the traveling body 2 is decelerated within the allowable range and the traveling position reaches the "stop position", the brake is operated to stop the traveling body 2 (steps # 14 and # 15).

In addition to the deceleration control based on the "set deceleration pattern" and the like, the travel control unit 31 also detects the detection target plate 23 by the detection sensor 24 provided on the traveling vehicle body 2 so that the vehicle body rotary encoder 21 Is confirmed and the traveling speed of the traveling vehicle body 2 is confirmed, and if necessary, the traveling vehicle body 2 is emergency stopped. Specifically, the traveling vehicle body 2 moves toward the end of its moving range, and the detection sensor 24
Detects the start end of the detected plate 23 (step #
2) A second counter 27 different from the first counter 26 for determining the traveling position of the traveling vehicle body 2 starts counting output pulses of the vehicle-body-side rotary encoder 21 and measures time by a built-in timer 28. Is started (steps # 3 and # 4).

When the detection sensor 24 detects the end of the detected plate 23 (step # 5), the second counter 27
(Steps # 6 and # 7), and the count value of the second counter 27 is compared with a count value preset according to the length of the plate 23 to be detected or by learning. Then, when it is determined that the difference between the two is not within the allowable range and an abnormality has occurred in the vehicle body side rotary encoder 21 (step # 8), or the time value of the timer 28 is shorter than a preset time value. When it is determined that the abnormality is faster than the "set upper limit speed" (step # 8), the brake is operated to stop the traveling vehicle body 2 in an emergency (step # 9). Note that the installation position of the detected plate 23 is such that when the traveling vehicle body 2 passes through the detected plate 23 at the normal maximum speed and the emergency stop is performed as described above, the traveling vehicle body 2 The distance is set so that the vehicle can be decelerated to such an extent that damage to the traveling vehicle body 2 does not cause a problem even if it collides with the end of the vehicle.

Next, the lifting control unit 3 of the crane control unit CC
0, the elevation control unit 30
This will be schematically described with reference to FIG. 6 which is a flowchart showing a part of the control of FIG. When receiving the transport command from the controller E1, the elevating control unit 30 instructs the designated article storage unit D
The deceleration start position for controlling the deceleration of the traveling vehicle body 2 is set at a stop position and a position immediately before the stop position in accordance with the elevating position, and the ascent / descent is started (step # 20). Note that, similarly to the above-described travel control, a section from the deceleration start position to the stop position is hereinafter referred to as a “deceleration range” for convenience. After the start of the ascending and descending, when the traveling position of the ascending and descending platform 3 obtained by counting the pulse output from the drive-side rotary encoder 18 by the built-in third counter 35 reaches the above-mentioned "deceleration range" (step # 21), The speed according to the “set deceleration pattern” stored in the memory 36 of the elevation control unit 30 is instructed to the elevation electric motor M1 (step # 22).

Although this "set speed pattern" has a different rate of reduction in speed with respect to a specific ascending / descending position (running position), its shape is the same as that in the case of FIG. 7 in the above-described running control. The memory 36 stores the same "set upper limit deceleration pattern" and "set lower limit deceleration pattern" as shown in FIG.
The elevating control unit 30 obtains the speed of the elevating table 3 from the number of output pulses of the drive-side rotary encoder 18 per set time counted by the third counter 35, and controls the fourth counter 37 built in the elevating control unit 30. The speed of the lift 3 is also determined from the number of output pulses of the lift rotary encoder 19 per set time to count. The speed determined by the drive rotary encoder 18 and the speed determined by the lift rotary encoder 19 are: In any case, it is confirmed whether or not the current position is within an allowable range between the "set upper limit deceleration pattern" and the "set upper limit deceleration pattern" (step # 23). If it is not within the allowable range, the brake (not shown) is operated to stop the elevator 3 in an emergency (step # 24). Therefore, the drive rotary encoder 18, the lift rotary encoder 19, and the lift control unit 30 are provided.
Speed detecting means VS for detecting the speed of the vehicle.
When the lift 3 is decelerated within the above-mentioned allowable range and the lift position (running position) reaches the "stop position", the brake is actuated to stop the lift 3 (steps # 25 and # 2).
6).

The crane control device CC repeats the above-described traveling control, lifting / lowering control, and transfer control by the transfer control unit 32, and performs the loading / unloading of the articles F instructed by the controller E1. Therefore, the traveling control unit 31 uses the traveling vehicle body 2 of the stacker crane C as the
B functions as travel control means MC that issues a speed command of a set deceleration pattern to the travel electric motor M2, which is travel drive means MD that drives travel B.
The lifting platform 3 of the stacker crane C serves as a moving body MB, and functions as travel control means MC for issuing a speed command of a set deceleration pattern to a lifting / lowering electric motor M1, which is a travel driving means MD for traveling and driving the movable body MB. .

[Other Embodiments] Hereinafter, other embodiments of the present invention will be listed. In the above embodiment, the moving body 2 of the stacker crane C is used as the moving body MB that reciprocates in the set range.
Although the case where the present invention is applied to the article storage facility FS is illustrated by exemplifying the elevator and the lift 3, the present invention can be applied to control of various moving objects MB such as traveling control of an unmanned carrier. In the above embodiment, the traveling drive means MD for traveling and driving the moving body MB
Although a so-called inverter type motor is illustrated as an example, the traveling drive unit MD itself includes a unit for detecting the traveling speed of the moving body MB, and the speed commanded by the traveling control unit MC and the detected traveling speed are different from each other. Such as having a circuit that performs feedback control so that they match,
The moving body M at the traveling speed commanded by the traveling control means MC
The specific configuration of the traveling drive means MD for driving B can be variously changed.

In the above embodiment, the speed detecting means VS
Detects the speed of the moving body MB from the amount of movement of the moving body MB per set time by counting output pulses of a rotary encoder such as the body-side rotary encoder 21, but a so-called linear encoder along the traveling rail 1. The specific configuration of the speed detecting means VS can be variously changed, for example, by detecting the moving amount of the moving body MB by setting the position. In the above embodiment, when the moving body MB is decelerated, the traveling speed of the moving body MB is monitored by both the “set upper limit deceleration pattern” and the “set lower limit deceleration pattern”. The monitoring may be performed only by the control unit, and when the traveling speed becomes higher than the “set upper limit deceleration pattern” during the deceleration, it may be determined that the abnormality is abnormal. In the above embodiment, the “set deceleration pattern”, the “set upper limit deceleration pattern”, and the “set lower limit deceleration pattern” in FIG. 7 are set as the relationship between the traveling position of the moving body MB and the traveling speed. A “set deceleration pattern” or the like may be set as the relationship between the traveling time and the traveling speed of the body MB.

[Brief description of the drawings]

FIG. 1 is a partially cutaway perspective view of an article storage facility according to an embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of a moving object according to an embodiment of the present invention.

FIG. 3 is an enlarged view of a main part according to the embodiment of the present invention.

FIG. 4 is a block diagram according to an embodiment of the present invention.

FIG. 5 is a flowchart according to the embodiment of the present invention.

FIG. 6 is a flowchart according to the embodiment of the present invention.

FIG. 7 is an explanatory diagram of speed control according to the embodiment of the present invention;

[Explanation of symbols]

 MB Moving body MC Travel control means MD Travel drive means VS Speed detection means 21 Rotary encoder 23 Plate to be detected 24 Detection sensor

 ──────────────────────────────────────────────────続 き Continued on the front page F-term (reference)

Claims (4)

[Claims] 1. A traveling body that reciprocates in a set range is provided with traveling driving means for traveling and driving the moving body at a traveling speed instructed by traveling control means, and the traveling control means stops the moving body. A moving device for a moving body configured to give a speed command of a set deceleration pattern to the traveling driving means when the traveling is performed, provided with speed detecting means for detecting a speed of the moving body, When the speed of the moving body is higher than the speed defined by the set upper limit deceleration pattern set higher than the set deceleration pattern, based on the detection information of the speed detector, And a traveling device for the moving body configured to execute an emergency stop process for urgently stopping the moving body. 2. The vehicle control device according to claim 1, wherein the speed of the moving object is set at a speed lower than the set deceleration pattern based on the detection information of the speed detection unit. The traveling device for a moving body according to claim 1, wherein an emergency stop process for urgently stopping the moving body is executed when the speed of the moving body becomes lower. 3. The speed detecting means includes a rotary encoder for detecting a moving amount of the moving body, and is configured to obtain a speed of the moving body from a moving amount of the moving body per set time. A detection plate having a set length is installed near the end of the moving range of the moving object along a moving direction of the moving object, and the moving object is provided with a detection sensor for detecting the detected plate. The travel control means, when the moving amount of the moving body obtained by the detection signal of the rotary encoder while the detection sensor is detecting the plate to be detected is out of a set allowable range, The traveling device for a moving body according to claim 1 or 2, wherein the encoder is configured to determine that the encoder is abnormal. 4. The traveling control unit according to claim 1, wherein the traveling sensor is configured to determine whether the speed of the moving body is higher than a set upper limit speed based on a time during which the detection sensor is detecting the plate to be detected. The traveling device for a moving body according to claim 3, wherein the traveling apparatus is configured to execute an emergency stop process for urgently stopping the moving body.