JPH022792B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a suspended transport device such as a hoist with a trolley or a crane for suspending and transporting a suspended object (transported object), and is particularly applicable to a hook. Control of a suspended transport device that automatically transports and stops (positions) a suspended object to a target position without twisting the wires, etc. on which the suspended object is suspended, or causing the suspended object to sway sideways. Regarding equipment.

[Prior Art] An example of a conventional hanging conveyance device will be described with reference to FIG. 1. 13 _a is an I-shaped beam fixed to a ceiling-side fixing part, and 13 _b is this I-shaped bead 13 _a.
The wheels 13 _c that run on the wheels are variable speed motors for driving the wheels, and these constitute the trolley section 13 . 1
4 _a is a drum for winding up and lowering the wire; 14 _b
14c is a sheep, and _14c is a hook attached to one end of a wire _14d , and these constitute the hoist section 14.
15 is a suspended object suspended from the hook _14c .

In such a conventional device, the trolley section 1
Hydraulic and pneumatic hoses and cables are suspended from the 3rd class to the suspended object 1
5. For example, when the suspended object 15 is tied to a bolt tensioner, when the suspended object 15 is raised or lowered by the hoist 14, the weight and bending force of the hose or cable is applied to the suspended object 15, causing the suspended object 15 to There is a risk that the wire _14d suspending the wire may be twisted. Furthermore, when traveling on a traveling path (I-shaped beam) _13a that is curved with a certain radius of curvature, the suspended object 15 swings outward due to centrifugal force, causing sideways vibration. Furthermore, when subjected to external disturbances such as earthquakes, both torsion and lateral vibration may occur. Under such circumstances, when attempting to transport the suspended object 15 to the target position and stop it (positioning), for example, a bolt tensioner may be used to pull one of the many stud bolts arranged side by side on the floor-side fixing part. When attempting to position the bolt above the target stud bolt, twisting and lateral vibration become a hindrance, making accurate positioning difficult.

Furthermore, when the suspended object 15 is suspended and transported,
The trolley part 13 tends to swing back and forth in the running direction, and not only does a running phase shift occur between the trolley part 13 and the suspended object 15, but also a shift in the amount of movement occurs due to elongation of the wire _14d , etc. If the position is detected using this method, there is a drawback that the positioning accuracy of the suspended object 15 decreases.

[Purpose of the invention]

The present invention was made in order to improve the above-mentioned drawbacks, and the present invention connects a suspended object with a guide mechanism that rolls along a guide on a track to increase the degree of freedom of the suspended object in the air. This control prevents twisting and lateral vibration, and the guide mechanism is equipped with a position detector for the suspended object to prevent it from being affected by misalignment with the trolley. After accelerating to a specified speed, it gradually decelerates before the target position, and then controls the speed with a trapezoidal or triangular wave-like speed pattern that slows down to a very low speed and then stops, thereby reducing back-and-forth vibration in the running direction. It is an object of the present invention to provide a control device for a suspended conveyance device.

[Structure of the invention]

The present invention achieves the above-mentioned objects in a hanging type transportation device 2 for suspending and transporting a suspended object 15, as shown in FIGS. 1 and 2 and 4 and 5.
A guide mechanism 16 is connected to the suspended object 15 and rolls along a guide 16 _h on a track 16 _f to regulate the degree of freedom of the suspended object 15 in the air.
6 is a position detector 3 that sequentially detects a large number of position detectors 1 _a 1 arranged along the guide 16 _h and outputs a pulse S ₁ in order to stop the suspended object 15 at a target position. A continuous movement amount detector 4 detects the amount of movement of the suspended object 15 from the initial position of the detected object as a pulse train _S3 or outputs a pulse train corresponding to the amount of movement of the suspended object 15. The pulse oscillator 18, the count value of the output pulses of the position detector 3 (the position sensing object number value at the current position) _B1 , the signal _S5b , and the destination number setting value (the position sensing object number value at the target position) A ₁ signal S _5a and both signals
A ₁ = B ₁ , A ₁ > B ₁ based on the comparison result of S _5a and S _5b
and a destination discrimination circuit 5 which outputs each signal S _4a to _{S 4c} where A ₁ <B ₁ , and a signal S _4a where A ₁ =B ₁ of this destination discrimination circuit 5 and a start signal S ₂ are input to determine that A ₁ ≠ A driving command circuit 7 that outputs a driving command signal S ₆ when B ₁ and prohibits operation when A ₁ = B ₁ , and an acceleration command that inputs the output of this driving command circuit 7 and outputs an acceleration command signal S ₇ A deceleration command that inputs the circuit 8 and the signals S _5a , S _5b , S _4b , and S _4c of A ₁ , B ₁ , A ₁ >B ₁ , A ₁ <B ₁ and outputs a deceleration command signal S ₈ A circuit 6 and the operation command signal S ₆ are inputted to output a slow speed setting signal, and after the start, the output of the continuous movement amount detector 4 or the pulse oscillator 18 is controlled to the acceleration command signal S until the acceleration stop setting value is reached. ₇ , and when the acceleration stop setting value is reached, the integration operation is stopped, and the integrated value accumulated during acceleration is subtracted by the deceleration command signal _S8 until the deceleration completion setting value is reached, and this integration is performed. a speed pattern generation circuit 9 that outputs a signal that is the sum of the signal corresponding to the value or the subtracted value and the slow speed setting signal and inputs the signal to the variable speed motor control device 12 of the suspended conveyance device 2; and this speed pattern generation circuit 9. The signal _S10 corresponding to the integrated value or subtraction value of is compared with the setting signal _A3 corresponding to the acceleration stop position, and when both signals match, the acceleration stop signal _S11 is output and the operation of the acceleration command circuit 8 is prohibited. Acceleration stop command circuit 10
and the setting signal A ₄ corresponding to the above signal S ₁₀ and zero speed.
When both signals match, the deceleration completion signal is generated.
A deceleration completion detection circuit 11 is provided which outputs _S12 to inhibit the subtraction operation of the speed pattern generation circuit 9 and also inhibits the operation of the deceleration command circuit 6.

[Configuration of Example]

Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1a is a configuration explanatory diagram showing an example of a suspended conveyance device according to the present invention, FIG. 1b is a view taken along the line - - of FIG. 1a, and FIG. 1c is a front view of the main parts thereof.
FIG. 1d is also an explanatory diagram of the position detection relationship of the suspended object.

In FIG. 1, 13 is a trolley part, and 14 is a hoist part, which constitute a hanging type transport device 2 for transporting a suspended object, such as a bolt tensioner 15, by suspending it by a wire _14d .

A set of two holder support members _16a are fixed horizontally in a direction perpendicular to the running direction on the left and right sides of the body of the bolt tensioner 15, respectively.
Cylindrical slide holders 16 _b are vertically attached to these two sets of holder support members 16 _a , respectively.
The hollow parts of the left and right slide holders _16b are connected to the main shaft 1 through bearings (not shown), respectively.
6 _c is penetrated so that it can move vertically and freely rotate.

For example, U-shaped wheel pivots 16 _d are attached to the lower ends of the left and right main shafts 16 _c , respectively, and a floor is installed between the upper inner surfaces of both plates of the left and right U-shaped wheel pivots 16 _d . Wheels 16 rolling on the track 16 _f of the track installation part 16 _e attached to the side surface of the side fixed part 17
_g is pivoted. In addition, on the lower inner surfaces of both plates of the left and right U-shaped wheel portions 16 _d , there are contacts facing these guides 16 _h with a small interval, with both sides of the left and right tracks 16 _f serving as guides 16 _h . A tracing section _16i is provided.

Each of the above members 16a _{to 16i} is attached to the bolt tensioner 15.
It constitutes a guide mechanism 16 that restricts the degree of freedom in the air.

1 is a large number of stud bolts (and nuts) arranged on the floor-side fixing part 17 along the guide 16 _h , and 1 _a is arranged on the track installation part 16 _e corresponding to the center of these stud bolts 1. The number of position detectors provided is the same as the number of stud bolts. (See Figure 1d) 3 is a position detector that detects this position detector _1a ;
For example, it is a stud bolt detector, and is attached to the outer surface of the lower part of one plate of the U-shaped wheel pivot portion 16d. This stud bolt detector 3 is a position detector 1
The position of the stud bolt 1 is detected by detecting _a , and in this case, a proximity switch is used.

A continuous movement amount detector 4 is connected to the shaft of the wheel _16g via a coupling ring _4a , and is fixed to the wheel pivot _16d via a mounting frame _4b . As this continuous movement amount detector 4, for example, a rotary encoder can be used.

Fig. 2a is a configuration explanatory diagram showing another example of the hanging type transportation device according to the present invention, Fig. 2b is a view taken along the line - - of Fig. 2a, and Fig. 2c is a front view of the main parts thereof. ,
FIG. 2d is also an explanatory diagram of the position detection relationship of the suspended object.

In this example, holder support members _16a are fixed horizontally in the running direction to the left and right sides of the top of the bolt tensioner 15, respectively. The track 16 _f is formed parallel to the upper surface of the floor-side fixing part 17, and a large number of stud bolts 1 are arranged in a row on the floor-side fixing part 17 between the two tracks 16 _f , also serving as guides. There is.

An optical sensor is used as the stud bolt detector 3, and its emitter _3a and receiver _3b are opposed to both plates of the wheel pivot _16d so that light can be transmitted and received between two adjacent stud bolts 1. installed. (See FIG. 2d) In this example, the stud bolt 1 serves as a position detector.

FIG. 4 is a connection diagram showing the basic configuration of a control device according to the present invention, and FIG. 5 is a connection diagram showing the configuration of an embodiment of the control device according to the present invention.

In FIGS. 4 and 5, reference numeral 3 denotes the stud bolt detector described above, which outputs one pulse every time the position detector 1 _a or the stud bolt 1 (position detector) is crossed. In the case of the stud bolt detector 3 shown in FIG. 2, it seems that the output pulse is not output when it crosses the center of one stud bolt 1 as shown in FIG. 3b, but there is no problem. That is, in the case where the positioning object is the embodiment, it is the bolt tensioner 15,
Since the optical sensor is placed at a position where the optical sensor outputs an output when the bolt tensioner 15 has a relative positional relationship with the stud bolt 1 that allows positioning, the stud is functionally activated at the same timing as in FIG. 3b. It can be assumed that the volt detector 3 outputs the output.

5 is a destination determination circuit, and stud bolt detector 3
The stud number counter 5c inputs the output _S1 of the stud bolt, counts the stud bolt number, and outputs the signal (current position signal) _S5b of that number _B1 , and the stud number counter _5c that sets the destination number and outputs the signal of the destination number _A1 ( The destination number setter _5a outputs the target position signal) _S5a , and the number signal _S5b and destination number signal _S5a are input and compared, _A1 = _B1 signal _S4a ,
It consists of a digital comparator _5b that outputs the A ₁ >B ₁ signal S _4b and the A ₁ <B ₁ signal S _4c .

FIG. 6 is a connection diagram showing a specific example of this destination determination circuit 5, and shows a case where the numbers 1 to 9 of stud bolts 1 are specified. Destination number setter 5 _a
consists of switches SW ₁ to SW ₄ and diodes D ₁ to _{D 4} . A digital comparator IC is used as the digital comparator _5b , and a BCD up/down counter IC is used as the stud number counter _5c .
is used. The NOT element _5d , the resistor R, and the capacitor c constitute an initial reset circuit of the counter IC.

6 is a deceleration command circuit, and the signal _S5 a of destination number _A1
and A ₁ > B ₁ signal S _4b or A ₁ < B ₁ signal S _4c , subtract or add the specified value C from the value of A ₁ , and A ₂
The adder/subtractor _{6 a} outputs the signal =A ₁ +C or A ₁ -C, and its output signal A ₂ and the signal number B ₁ are input, and when both signals match, the match signal A ₂ = B ₁ is output. a digital comparator _6b that inputs its output and outputs a deceleration command signal _{S8 ,} and a NOT circuit 6 that inputs a deceleration completion signal _S12 and resets the hold circuit _6c with its output.
It consists of _d .

FIG. 7 is a connection diagram showing a specific example of this deceleration command circuit 6. A 4-bit arithmetic logic unit is used as the adder/subtractor _6a , and a digital comparator IC is used as the digital comparator _6b .
is used. The hold circuit _6c is composed of an AND element and an OR element as shown in FIG.

7 is an operation command circuit which includes a NOT element _7c which inputs the A ₁ = B ₁ signal S _4a and outputs the A ₁ ≠ B ₁ signal, and its output (A ₁ ≠ B ₁ signal) and the start signal S ₂ . It consists of an AND element _7a as an input, and a hold circuit _7b which receives this output as an input, outputs an operation command signal _S6 , and is reset by the _A1 = _B1 signal. Hold circuit 7 _b
The one shown in FIG. 8 can be used.

8 is an acceleration command circuit, which includes a NOT element _8b which inputs the acceleration stop signal _S11 , its output and the operation command signal.
It consists of an AND element _8a which receives _S6 as input and outputs acceleration command signal _S7 .

Reference numeral 4 denotes the above-mentioned continuous movement amount detector, which detects and outputs the movement amount of the bolt tensioner 15 as a pulse train _S3 with a very narrow pitch as shown in FIG. 3c. 18
is a pulse oscillator that outputs a pulse train corresponding to the amount of movement of the bolt tensioner 15.

9 is a speed pattern generation circuit, which generates a driving command signal S ₆
and an AND element 9 _f which inputs the pulse train of the continuous movement amount detector 4 or the pulse oscillator 18, and this
The output of AND element 9 _f is input, and while the acceleration command signal _S7 is being input, that is, until the acceleration stop setting value is reached.
A counter 9 that integrates the output of the AND element 9 _f (pulse train corresponding to the amount of movement) and subtracts the integrated value accumulated during acceleration while the deceleration command signal _S8 is being input, that is, until the deceleration stop setting value is reached. _a , a digital-to-analog (D/A) converter circuit 9 _b that converts the output of the counter 9 _a into an analog signal,
An adder _9c inputs the output of the converter circuit 9b and the output of the slow speed setting device _9d and outputs a trapezoidal or triangular acceleration/deceleration pattern speed signal _S9 , and a continuous movement amount _detector 4 or pulse A changeover switch (relay) _9g for switching and inputting the output of the oscillator 18 to one input terminal of an AND element _9f , and an operation switch _9i for operating the changeover switch _9g in response to an acceleration command signal _S7 . and transportation command signal
A changeover switch (relay) _9h is activated by _S6 to switch and input the output of the slow speed setting device _9d to one input terminal of the adder _9c , and the _A1 > _B1 signal _S4b is activated. It _consists of a changeover switch (relay) _{9e for inputting the output S9 of the adder 9c to} the forward rotation side or reverse rotation side of the variable speed motor control device 12.

Note that the acceleration stop signal _S11 may be input as a deceleration command signal to the counter _9a via the changeover switch _9j .

FIG. 9 is a connection diagram showing a specific example of this speed pattern generation circuit 9.

A BCD up/down counter IC is used as the counter _9a . The D/A converter circuit _9b includes a current output type D/A converter _9b1 , an operational amplifier _9b2 , resistors _R3 and _R4 , and a capacitor _C2 . The adder _9c includes an operational amplifier _9c1 and resistors _R5 to _R7 . Also, the fine speed setting device _9d is a variable resistor.
It uses VR.

10 is an acceleration stop command circuit, and an acceleration stop setting device 1
0 _b , its acceleration stop setting signal A ₃ and the output S ₁₀ of counter 9 _a (continuous movement amount integrated value B ₃ ) are input and compared, and when both signals match, a match signal A ₃ =B ₃ is output. It consists of a digital comparator _10a and a hold circuit _10c which inputs the output of the comparator _10a , outputs an acceleration stop signal _S11 , and is reset by the 0 level of the operation command signal _S6 .

FIG. 10 is a connection diagram showing a specific example of this acceleration/stop command circuit 10.

A digital comparator IC can be used as the digital comparator _10a , and the one shown in FIG. 8 can be used as the hold circuit _10c . The acceleration/stop setting device _10b includes switches _SW5 to _SW8 and diodes _D5 to _D8 .

11 is a deceleration completion detection circuit, which outputs a deceleration completion setting signal.
Input and compare the zero setter _11b that sets _A4 , its deceleration completion setting signal _A4 , and the output _S10 of the counter _9a (continuous movement amount integrated value _B3 ), and when both signals match, a match signal is sent. A digital comparator _11a that outputs A ₄ = B ₃ , an AND element 11 _c that inputs the coincidence signal A ₄ = B ₃ and the operation command signal S ₆ , and outputs a deceleration completion signal S ₁₂ using the AND output as input. The hold circuit _11d is reset by the 0 level of the driving command signal _S6 .

FIG. 11 is a connection diagram showing a specific example of this deceleration completion detection circuit 11.

A digital comparator IC is used as the digital comparator _11a , and the one shown in FIG. 8 is used as the hold circuit _11d . Zero setter 11
_b is one input terminal of digital comparator _11a
It consists of a circuit that connects all A0 to A3 to 0 level.

12 is a variable speed motor control device which inputs the output _S9 of the adder _9c to the forward or reverse rotation side to rotate the variable speed motor _13c in the forward or reverse direction and controls its speed according to a speed pattern; For example, it is constituted by a motor control amplifier and includes a feedback circuit using a tachometer generator _13d .

[Effect of the embodiment]

Next, its effect will be explained. Now, in the initial state, it is assumed that the bolt tensioner 15 of the hanging conveyance device is located at a location corresponding to stud bolt number 1 shown in the third diagram, and this position is taken as the origin (initial position) of the control position. It is assumed that the bolt tensioner 15 is then transported to a target position, for example, the n-th stud bolt position. In this case, the destination number setter 5
Destination number A ₁ =n is set by a.

Stud bolt detector 3 detects the initial position,
From this, pulse _S1 is output. The stud number counter _5c receives this output pulse _S1 and counts the stud bolt number (No. 1). The digital comparator 5 _b compares the signal with this number B ₁ = (No. 1) and the signal with destination number A ₁ = n, and calculates the magnitude comparison result as A ₁ = B ₁ signal, A ₁ > B ₁ signal, A ₁ < B Output as ₁ signal.

NOT element 7 _c of operation command circuit 7 is A ₁ = B ₁ signal
When S _4a is input, the output becomes 0 level, and A ₁ =
When the B ₁ signal S _4o is not input, the output is 1 level (in the present invention, all logic is treated as positive logic)
Therefore, when the above comparison result shows that A ₁ >B ₁ and A ₁ ≠B ₁ , the output of NOT element _7c becomes 1 level.

The two inputs of AND element 7 _a are the start signal S ₂ and
Since the output of NOT element _7c is input and both become 1 level, the output of AND element _7a also becomes 1 level,
Input to hold circuit _7b . Hold circuit 7 _b is
Since the output of NOT element _7c is at level 1, it is in a set waiting state. Therefore, the output of AND element _7a is 1
When it is at level, the hold circuit _7b sets the output to 1 level, holds the output at 1 level until the output of NOT element _7c goes to 0 level and is reset, and outputs it as the operation command signal _S6 .

This operation command signal S ₆ is generated by the speed pattern generation circuit 9
changeover switch _9h , and input the slow speed setting signal (analog voltage signal) set by the slow speed setting device _9d to the adder _9c . The adder _9c outputs a slow speed setting signal, and this signal is used to control the motor via the changeover switch _9e , which is switched to the forward rotation side by the _A1 > _B1 signal of the digital comparator _5b of the destination discrimination circuit 5. The variable speed motor _13c of the trolley section 13 rotates at low speed, and the output of the tachometer generator _13d is input to the motor control amplifier 1.
2 as a feedback signal to form a closed loop for motor control. Therefore, trolley part 1
3, that is, the suspended transport device 2 starts moving at an initial velocity of V ₀ on the vertical axis of the velocity pattern of FIG. 3a.

When the suspended conveyance device 2 moves and the suspended bolt tensioner 15 moves, force in the running direction is transmitted to the main shaft 16 _d via the holder support member 16 _a and the slide holder 16 _b , causing the wheel 16 _g to rotate. , a wheel pivot _16d, etc., the guide mechanism 16 moves together with the bolt tensioner 15 on a track _16f .

The continuous movement amount detector 4 detects this movement amount and outputs a pulse train _S3 corresponding to the movement amount.
The operation command signal _S6 is generated by the speed pattern generation circuit 9.
Since it is input to the AND element _9f as 1 level, when the output pulse train _S3 of the continuous movement amount detector 4 is input to the AND element _9f via the changeover switch _9g ,
AND element 9 _f is the pulse train S ₃ as it is in the counter 9
Enter _a .

On the other hand, the driving command signal S ₆ is output from the acceleration command circuit 8.
The acceleration stop signal is input to AND element 8 _a .
Since _S11 remains at 0 level, the output of NOT element _8b is at 1 level, and the two inputs of _AND element 8a are both at 1 level, so the output of AND element _8a is also at 1 level, and the acceleration It is input as a command signal _S7 to the up count terminal of the counter _9a .

Also, the deceleration completion signal _S12 is at 0 level and the counter _9a
Since the reset terminal of is at 0 level, counter 9
_a starts counting the output pulse train of the AND element 9 _f (the output pulse train of the continuous movement amount detector 4). In this way, the counter _9a integrates the output pulse train of the continuous movement amount detector 4 in the up-count mode,
This integrated value is input to the D/A converter circuit _9b and converted into an analog signal.

Adder 9 _c uses this analog signal and slow speed setting device 9 _d
The outputs of are added as inputs to generate and output a speed signal with an upward slope to the right at the left end of the speed pattern in FIG. 3a. The details of the output waveform are microscopically shaped like steps as shown in the circle in Figure 3 d because the digital quantity is converted into an analog quantity, but the resolution is sufficiently small. Because of this, the hanging transport device does not operate in a step-like manner.

The digital comparator _10a of the acceleration stop command circuit 10 is the output of the counter _9a (continuous movement amount integrated value)
and the output A ₃ of the acceleration/stop setting device 10 _b are input and compared, and when both signals match, a match signal A ₃ =B ₃ is output and input to the hold circuit 10 _c . Since the operation command signal _S6 is at level 1 and the reset terminal of hold circuit _10c is at level 0, hold circuit _{10c is}
sets the output to 1 level by inputting the match signal A ₃ =B ₃ , holds the output at 1 level until the reset terminal goes to 0 level and is reset, and outputs it as the acceleration stop signal S ₁₁ .

This acceleration stop signal _S11 is NOT of the acceleration command circuit 8.
input to element 8 _b , and the output of this NOT element 8 _b is 0
level, the output of AND element _8a also becomes 0 level, and the 1 level acceleration command signal disappears.
Counter _9a is released from up-count mode and stops integrating.

In this way, in the initial _state , the transport device 2, bolt tensioner ₁₅ and guide mechanism 16 (hereinafter the transport device 2
etc.) begins to move, and as a result, the rotary encoder, which is the continuous movement amount detector 4, begins to rotate, and the speed gradually increases by integrating its output pulses. By specifying the number, it is possible to stop the increase in speed, and it is possible to create a correspondence between speed and distance traveled during acceleration. (See Figure 3.) This relationship uses a pulse oscillator 18 instead of the continuous movement amount detector 4, and the output pulses are sent to the counter 9.
This can also be achieved by inputting to _a . In this case, when the switch _9i is closed, the selector switch _9g is switched to the pulse oscillator 18 side by the 1-level acceleration command signal _S7 , and the output pulse of the pulse oscillator 18 is sent to the counter 9a via the AND element _{9f .}
The speed is gradually increased by inputting pulses corresponding to the amount of movement, and stopping the speed increase by specifying the cumulative number of pulses in the same way as above. It is something that can be done. When this pulse oscillator 18 is used, it has the advantage that by changing its frequency, the angle of acceleration slope of the velocity pattern shown in FIG. 3a can be arbitrarily adjusted in accordance with the inertial load of the system.

After the acceleration is stopped, the counter _9a does not perform an integration operation, so the transport device 2 and the like travel at a constant speed _Vc shown in the center of FIG. 3a. Next, the operation of starting deceleration and stopping at the target position when the transport device 2 etc. reaches the deceleration start position before the target position will be described.

The adder/subtractor 6a of the deceleration command circuit ₆ is the output _A1 of the destination number setter _5a of the destination discrimination circuit 5 and the output of the digital comparator _{5b A1} > _B1 signal _S4b or
A ₁ <B ₁ Input signal S _4c to subtract or add specified value C from the value of A ₁ . Here, the specified value C is a value that determines how many bolts before the n-th stud bolt, which is the stop target, to start deceleration. In the example in Figure 3, n
-Since deceleration starts from the second position, C=2. The method of determining this specified value C is important.

The acceleration stop command circuit 10 compares the output (integrated pulse number) B ₃ of the counter 9 _a with the pulse number of the value A ₃ set by the acceleration stop setting device 10 _b , and determines that A ₃ =B ₃
When , the totalizing operation of counter _9a is stopped,
It acts to increase the speed from V _p to V _c and stop at V _c . In other words, the speed increases from V _p to V _c by integrating the number of pulses of the value A ₃ set by the acceleration/stop setting device 10 _b , so when the speed decreases from V _c to V _p In this case, it is sufficient to move the transporting device 2 etc. by the number of pulses set by the acceleration/stop setting device _10b and obtain pulses from the continuous movement amount detector 4. That is, it is sufficient to subtract the number of pulses accumulated by the counter _9a during acceleration during deceleration. Therefore, the value of C is the stud bolt interval with the smallest span that exceeds the travel distance corresponding to the setting value of the acceleration/stop setting device _10b . It should be noted here that for the purpose of shortening the travel time, it is desirable to determine the setting value of the acceleration/stop setting device _10b so that the travel distance at the slow speed _Vp is as short as possible.

Depending on the value of C determined in this way, the adder/subtractor _6a outputs A ₂ =A ₁ +C or A ₂ =A ₁
- Outputs C. The digital comparator _6b inputs and compares this _A2 output with the _B1 output of the stud number counter _5c , and when both signals match, it outputs a match signal _A2 = _B1 signal and sends it to the hold circuit _6c. input. The hold circuit _6c has a reset terminal reset to 0 level. At this time, the deceleration completion signal _S12 is at 0 level, so the output of NOT element _6d is at 1 level. Therefore, the hold circuit _6c to which the _A2 = _B1 signal is input holds the output at 1 level and outputs it as the deceleration command signal _S8 .

This deceleration command signal _S8 is input to the down-count mode terminal of the counter _9a via the changeover switch _9i , so the counter _9a calculates the accumulated value from C positions before the target stud bolt number n. The number of pulses is decreased by the output pulses of the continuous movement amount detector 4 or the pulse oscillator 18. The speed pattern at this time is shown by the slope at the right end of the speed pattern in FIG. 3a.

When the integrated value of the counter _9a becomes zero due to subtraction, the output of the D/A converter _9b also becomes zero, so
The output of the adder _9c becomes only the output of the slow speed setting device _9d , and the speed of the transport device 2, etc. becomes _V0 .

The digital comparator _11a of the deceleration completion detection circuit 11 inputs and compares the output _B3 of the counter _9a and _the output (digital value zero signal) _A4 of the zero setter 11b.
When the output value of the counter 9 _a becomes zero and both input values match, a match signal A ₄ =B ₃ is output. This output A ₄ =B ₃ and the 1-level driving command signal S ₆ are input to the AND element 11 _c , and its output becomes 1-level.
It is assumed that the hold circuit _11d is reset when the reset terminal is at 0 level. Hold circuit 1
_1d is not reset because the 1 level operation command signal _S6 is currently input to the reset terminal, and the hold circuit _11d inputs the 1 level of the AND element _11c and holds the output at 1 level. Output as deceleration completion signal _S12 .

This deceleration completion signal _S12 is input to the reset terminal of the counter _9a (the counter _9a is reset by a 1 level input), and the counter _9a is reset.
Hold in reset state. Also, deceleration completion signal S ₁₂
is also input to the reset terminal of the hold circuit _6c of the deceleration command circuit 6 via the NOT element _6d , thereby resetting the hold circuit _6c . The hold circuit _6c cancels the 1 level deceleration command signal _S8 and sets the output to 0 level.

After this, the transport device 2 etc. moves at a slow speed of V ₀ and reaches the nth target stud bolt position (target position).
, the output value of the stud number counter 5 _c that was counting the output pulses of the stud bolt detector 3 becomes n, and the output value of the destination number setter 5 _a
Since A ₁ =n matches, the digital comparator _5b outputs a match signal A ₁ =B ₁ (S _4a ).

This coincidence signal A ₁ = B ₁ is NOT of the operation command circuit 7.
Since it is input to element _7c , the output of NOT element _7c becomes 0 level, and the reset terminal of hold circuit _7b is set to 0 level to reset hold circuit _7b , so hold circuit _7b operates at 1 level. Release the command signal _S6 and set the output to 0 level.

When the output of hold circuit _7b becomes 0 level, acceleration stop command circuit 10 hold circuit 10
_c and the hold circuit 11 _d of the deceleration completion detection circuit 11
are both reset, and the output of the AND element _9f of the speed pattern generation circuit 9 becomes 0 level regardless of the state of other inputs, and no pulse is given to the counter _9a , and the changeover switch _9h is set to the slow speed mode. Switch to the side that disconnects the setting device 9 _d and adder 9 _c .

By switching this changeover switch _9f , the output of the slow speed setting device _9d , which was giving the slow speed V ₀ , is cut off.
The transport device 2 etc. will stop at the target stud bolt position according to the speed pattern shown in FIG. 3a.

The above explanation deals with control using a trapezoidal speed pattern, but this is impossible in principle unless the deceleration start position is at a position corresponding to the stud bolt. Therefore, for example, if you want to move to the next stud bolt position, move from number 1 to number 2 in Figure 3a.
As shown by the dotted line, the speed pattern must be triangular wave-like, unlike the trapezoidal speed pattern described above. Generation of such a triangular speed pattern can be achieved simply by switching the changeover switch _9j in the speed pattern generation circuit 9 of FIG. 5 to the input side of the acceleration stop signal _S11 .

In this case, if the output value _A3 of the acceleration stop setting device of the acceleration stop command circuit 10 is set to a value slightly smaller than 1/2 of one stud bolt interval,
Acceleration is completed at that position and deceleration is started at the same time, and the operation of each part is the same as when using a trapezoidal wave speed pattern.

In this way, the trapezoidal or triangular waveform speed pattern shown in FIG.

Although the operation of the hoist section 14 has not been included in the explanation so far, the hoist section 14 is connected to the trolley section 1.
It is sufficient to perform simple operations of raising and lowering in a manner not shown before the robot 3 starts moving and at the time it finishes moving according to the speed pattern shown in FIG. 3a. At this time, although the limits for raising and lowering are not shown, the main shaft 16 _c of the guide mechanism 16 and the slide holder 1
This can be done using a signal from a proximity switch or the like installed to detect the relative position with respect to _6b . By doing so, there is an advantage that the hoist section 14 itself does not need to have a lifting position detection function.

Next, the operation of the guide mechanism 16 will be described. The guide mechanism 16 moves together with the bolt tensioner 15,
In this case, since lateral movement is restricted by the guide 16 _h and the contact tracing portion 16 _i , straight-line traveling,
Regardless of when traveling on a curve, twisting of the suspension wire and lateral vibration of the bolt tensioner 15 can be prevented.

Note that the present invention is not limited to the case where a bolt tensioning machine is suspended and transported to a target stud bolt position, but can be widely applied to cases where a suspended object is suspended and transported to a target position. be.

Generally, as can be easily understood from Fig. 1c, the positioning of a suspended object is performed using a number of position detectors _1a and a position detector 3, and the target position is determined by detecting the position of one of them. Determined as the position of body 1 _a ,
By setting the control device to the configuration shown in FIG. 4, the suspended object can be suspended and transported to a target position.

〔Effect of the invention〕

As is clear from the detailed explanation above, according to the present invention, the suspended object 15 has a guide mechanism that allows the suspended object 15 to roll on the track 16 _f along the guide 16 _h (which may also serve as a position detection object). 16 are connected, the degree of freedom of the suspended object 15 in the air can be restricted by the guide mechanism 16, and it is possible to prevent twisting of the hanging wire and lateral vibration of the suspended object 15, Since the position detector 3 of the suspended object 15 is provided in the guide mechanism 16, the suspended object 15 and the trolley part 13 are
A trapezoidal or triangular type that is not affected by positional deviation between Since the speed is controlled according to the wave-like speed pattern, it is possible to reduce the back-and-forth vibration in the running direction, and to reduce the amount of movement caused by a running phase shift between the suspended object 15 and the trolley part 13, wire elongation, etc. Even if a shift occurs, the suspended object 15
positioning accuracy can be increased.

[Brief explanation of drawings]

FIG. 1a is a configuration explanatory diagram showing an example of a suspended conveyance device according to the present invention, FIG. 1b is a view taken along the line - - of FIG. 1a, and FIG. 1c is a front view of the main parts thereof.
FIG. 1d is a diagram illustrating the position detection relationship of a suspended object, FIG. - line arrow view, Fig. 2c is a front view of the main parts, Fig. 2d is also an explanatory diagram of the position detection relationship of the suspended object, Fig. 3 is an explanatory diagram of the operation of the control device of the present invention, Fig. 4 The figure is a connection diagram showing the basic configuration of the control device of the present invention.
FIG. 5 is a connection diagram showing the configuration of an embodiment of the control device of the present invention, FIG. 6 is a connection diagram showing a specific example of the destination determination circuit of the present invention, and FIG. 7 is a specific example of the deceleration command circuit. 8 is a connection diagram showing a specific example of the hold circuit, and FIG. 9 is a connection diagram showing a specific example of the speed pattern generation circuit.
0 is a connection diagram showing a specific example of the acceleration stop command circuit, and FIG. 11 is a connection diagram showing a specific example of the deceleration completion detection circuit. 1... Stud bolt (position detector), 1 _a ... Position detector, 2... Suspended transport device, 3... Stud bolt detector (position detector), 4... Continuous movement amount detector, 5... Destination discrimination circuit , 5 _a ...Destination number setter,
5 _b ...digital comparator, 5 _c ... stud number counter, 6... deceleration command circuit, 6 _a ... adder/subtractor,
6 _b ...Digital comparator, 6 _c ...Hold circuit, 6 _d ...NOT element, 7... Operation command circuit, 7 _a ...
AND element, 7 _b ...Hold circuit, 7 _c ...NOT element, 8... Acceleration command circuit, 8 _a ...AND element, 8 _b ...
NOT element, 9...speed pattern generation circuit, _9a ...counter, _9b ...D/A converter, _9c ...adder,
9 _d ...Fine speed setting device, 9 _e , 9 _g , 9 _j , 9 _h ... changeover switch, 9 _f ... AND element, 9 _i ... switch, 10... acceleration stop command circuit, 10 _o ... digital comparator,
_10b ...acceleration stop setting device, _10c ...hold circuit,
11...Deceleration completion detection circuit, _11a ...Digital comparator, _11b ...Zero setter, _11c ...AND element,
11 _d ... Hold circuit, 12... Motor control amplifier (variable speed motor control device), 13... Trolley section, 1
4... Hoist part, 15... Bolt tensioner (suspended object), 16... Guide mechanism, 16 _a ... Holder support member,
16 _b ...Slide holder, 16 _c ...Main shaft, 16 _d ...
Wheel pivot, 16 _f ...track, 16 _h ...guide, 16 _i
...Contact tracing part, 17... Floor side fixing part, 18... Pulse oscillator.

Claims (1)

[Claims] 1. In a hanging type transport device 2 that suspends and transports a suspended object 15, the suspended object 15 is rolled on a track 16 _f along a guide 16 _h and suspended in the air above the suspended object 15. A guide mechanism 16 is connected to the guide mechanism 16 for regulating the degree of freedom of the suspended object 15, and the guide mechanism 16 is provided with a large number of position detecting bodies _1a arranged in line along the guide _16h in order to stop the suspended object 15 at the target position. A continuous movement amount _{detector 4} or A pulse oscillator 18 that outputs a pulse train in accordance with the amount of movement of the suspended object 15
, the count value of the output pulses of the position detector 3 (the position sensing object number value at the current position), the signal S _5b of _B1 , and the destination number setting value (the position sensing object number value at the target position)
A ₁ = B 1 , each signal S _4a of A ₁ > B ₁ and A ₁ < B ₁ based on the comparison result of the signal _{S 5a} of A 1 and both signals S _5a and _{S 5b}
A destination discrimination circuit 5 that outputs ~S _4c , a signal S _4a of A ₁ = B ₁ of this destination discrimination circuit 5, and a start signal S ₂ are input, and when A ₁ ≠ B _1, a driving command signal S ₆ is output. death
an operation command circuit 7 that prohibits operation when A ₁ = B ₁ ;
An acceleration command circuit 8 which inputs the output of this operation command circuit 7 and outputs an acceleration command signal _S7 , and the above-mentioned A ₁ , B ₁ ,
A deceleration command circuit 6 inputs each signal S _5a , S _5b , S _4b , S _4c of A ₁ >B ₁ , A ₁ <B ₁ and outputs a deceleration command signal S ₈ , and a deceleration command circuit 6 that outputs a deceleration command signal S ₈ . After the start, the output of the continuous movement amount detector 4 or the pulse oscillator 18 is integrated by the acceleration command signal _S7 until it reaches the acceleration stop setting value, and then the acceleration stop setting value is set. When the cumulative value is reached, the cumulative operation is stopped, and the cumulative value accumulated during acceleration is subtracted by the deceleration command signal _S8 until the deceleration completion setting value is reached, and the analog signal corresponding to this cumulative value or the subtracted value is A speed pattern generation circuit 9 that outputs a signal that is the sum of the slow speed setting signals and inputs it to the variable speed motor control device 12 of the suspended conveyance device 2, and a signal corresponding to the integrated value or subtracted value of this speed pattern generation circuit 9. An acceleration stop command circuit 10 that compares S ₁₀ with a setting signal A ₃ corresponding to the acceleration stop position and outputs an acceleration stop signal S ₁₁ when the two signals match to prohibit the operation of the acceleration command circuit 8; S ₁₀
and a setting signal A ₄ corresponding to zero speed, and when both signals match, a deceleration completion signal S ₁₂ is output to prohibit the subtraction operation of the speed pattern generation circuit 9 and also to prevent the operation of the deceleration command circuit 6. A control device for a suspended transport device, comprising a deceleration completion detection circuit 11 that prohibits deceleration.