JPH022793B2 - - 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. Automatically transports the suspended object to the target position and stops it without twisting the wires, etc. on which the suspended object is hung, or causing the suspended object to sway laterally, and by reducing back and forth swings in the traveling direction. The present invention relates to a control device for a suspended transport device (positioning).

[Prior art]

An example of a conventional hanging type conveyance device will be described with reference to FIG.
Wheels 13c run on wheels a, and 13c is a variable speed motor for driving the wheels, and these constitute the trolley section 13.
14a is a drum for winding up and lowering the wire;
4b is a sheave, 14c is a hook attached to one end of the 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, and the suspended object 15 is There is a risk that the wire 14d suspending it may be twisted. Further, when traveling on a running portion (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 stud 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, 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 part. After the start, the number of pulses corresponding to the amount of movement of the suspended object is accumulated, and an analog signal corresponding to this integrated value, a slow speed setting signal, and a pulse corresponding to the amount of movement of the suspended object are generated. The number is converted into an analog signal corresponding to the frequency and the signal obtained by differentiation is added. After accelerating with this added signal and reaching the specified speed, the suspended object is calculated from the integrated value before the target position. The number of pulses corresponding to the amount of movement is subtracted, and the analog signal corresponding to this subtracted value, the slow speed setting signal, and the number of pulses corresponding to the amount of movement of the suspended object are converted by the analog signal corresponding to the frequency. The signals obtained by differentiation are added together, and the speed is controlled using a trapezoidal or triangular wave-like speed pattern that gradually decelerates and stops after reaching a very low speed using this added signal to reduce back-and-forth runout in the running direction. The object of the present invention is to provide a control device for a suspended transport device that is extremely compact.

[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, 2, 4, and 5.
A guide 16h is attached to the suspended object 15 on the track 16f.
A guide mechanism 16 is connected to the guide mechanism 16 for moving the suspended object 15 along the direction of the object and regulating the degree of freedom of the suspended object 15 in the air. A position detector 3 is provided that sequentially detects a large number of position detectors 1a(1) arranged in parallel and outputs a pulse _S1 , and the suspended object 15 is moved from the initial position of the position detectors. A continuous movement amount detector 4 that detects the amount of movement as a pulse train _S3 or a pulse oscillator 18 that outputs a pulse train corresponding to the amount of movement of the suspended object 15, and a count value of the output pulses of the position detector 3 (current position signal S ₅ b of B ₁ (position detection object number value of target position), signal S ₅ a of A ₁ , destination number setting value (number value of position detection object at target position), and both signals
A ₁ = B ₁ , A ₁ > B ₁ based on the comparison result of S ₅ a and S ₅ b
and a destination discrimination circuit 5 which outputs each signal S ₄ a to S ₄ c where A ₁ < B ₁ , and a signal S ₄ a where A ₁ = B ₁ of this destination discrimination circuit 5 and a start signal S ₂ are inputted. A driving command circuit 7 that outputs a driving command signal S ₆ when A ₁ ≠ B ₁ and prohibits operation when A ₁ = B ₁ , and outputs an acceleration command signal S ₇ by inputting the output of this driving command circuit 7. The acceleration command circuit 8 inputs the signals S ₅ a, S ₅ b, S ₄ b, and S ₄ c of A ₁ , B ₁ , A ₁ >B ₁ , A ₁ <B ₁ to generate a deceleration command signal. A deceleration command circuit 6 that outputs S ₈ and the operation command signal S ₆ are input to output a slow speed setting signal, and after the start, the output of the continuous movement amount detector 4 or pulse oscillator 18 is set to the acceleration stop setting value. When the acceleration stop setting value is reached, the integration operation is stopped using the acceleration command signal _S7 until the acceleration stop setting value is reached, and the integration value accumulated during acceleration is applied to the deceleration command signal S until the deceleration completion setting value is reached. ₈ , and converts the analog signal corresponding to this integrated value or subtracted value, the slow speed setting signal, and the output of the continuous movement amount detector 4 or pulse oscillator 18 into an analog signal corresponding to the frequency and differentiates it. A speed pattern generation circuit 9 that outputs a signal that is the sum of the obtained signal and inputs it to the variable speed motor control device 12 of the suspended transport device 2, and a signal that is an integrated value or a 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 both signals match to prohibit the operation of the acceleration command circuit 8; The signal S ₁₀ and the deceleration completion setting signal A ₄ are compared, and when both signals match, the deceleration completion signal S ₁₂ is outputted to prohibit the subtraction operation of the speed pattern generation circuit 9 and to control the operation of the deceleration command circuit 6. A deceleration completion detection circuit 11 that prohibits deceleration is provided.

[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 from a wire 14d.

A set of two holder support members 16a are fixed horizontally in a direction perpendicular to the traveling direction on the side and right sides of the body of the bolt tensioner 15, respectively.
A cylindrical slide holder 16a is vertically attached to each of the two sets of holder support members 16a, and a main shaft 16c is mounted vertically through a bearing (not shown) in the hollow part of the left and right slide holders 16b. It is penetrated so that it can move and rotate freely.

For example, U-shaped wheel pivot parts 16d are attached to the lower ends of the left and right main shafts 16c, respectively, and between the upper inner surfaces of both plates of the U-shaped wheel pivot parts 16d on the left and right sides, there is a floor side fixing part. The wheels 1 roll on the track 16f of the track installation part 16e attached to the side surface of the wheel 17.
6g is supported. In addition, the lower inner surfaces of both plates of the left and right U-shaped wheel pivot parts 16d have left and right sides, respectively.
Both sides of the right track 16f are used as guides 16h, and a contact tracing portion 16i is provided facing these guides 16h with a slight gap therebetween.

Each of the above members 16a to 16i is a bolt tensioner 1.
A guide mechanism 16 is configured to restrict the degree of freedom of the robot 5 in the air.

Numerous stud bolts (and nuts) 1 are arranged on the floor-side fixing part 17 along the guide 16h, and 1a is a position detector arranged on the track installation part 16e corresponding to the center of these stud bolts 1. The same number of stud bolts are provided in the body.
(See FIG. 1d) Reference numeral 3 designates a position detector for detecting this position detector 1a, such as a stud bolt detector, which is attached to the outer surface of the lower part of one plate of the U-shaped wheel pivot 16d. This stud bolt detector 3 detects the position of the stud bolt 1 by detecting the position detecting body 1a, 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 4a, and is fixed to the wheel pivot 16d via a mounting seat 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 to the left and right sides of the top of the bolt tensioner 15, respectively, in the running direction. The track 16f 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 16f, also serving as guides.

An optical sensor is used as the stud bolt detector 3, and its emitter 3a and receiver 3b are connected to two adjacent
The stud bolts 1 are attached oppositely to both plates of the wheel pivot portion 16d so that light can be transmitted and received between the stud bolts 1. (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 example 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 it crosses the position detector 1a or the stud bolt 1 (position detector). 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
A stud number counter 5c inputs the output _S1 of the stud bolt, counts the number of stud bolts, and outputs a signal (current position signal) _S5b of the number _B1 , and a stud number counter 5c that sets the destination number and outputs the signal of the destination number _A1 ( a destination number setter 5a that outputs a target position signal) S ₅ a, and a current number signal S ₅ b
Input destination number signal S ₅ a and compare A ₁ = B ₁ signal
It consists of a digital converter 5b that outputs S ₄ a, A ₁ >B ₁ signal S ₄ b, A ₁ <B ₁ signal S ₄ c.

6 is a deceleration command circuit, which connects the signal S ₅ a of destination number A ₁ and
Input A ₁ > B ₁ signal S ₄ b or A ₁ < B ₁ signal S ₄ c
Subtract or add the specified value C from the value of A ₁ , A ₂ =
An adder/subtractor 6a that outputs a signal of A ₁ +C or A ₁ -C is inputted with its output signal A ₂ and a signal of current number B ₁ , and when both signals match, a match signal A ₂ = B ₁
A digital comparator 6b that outputs the output of the digital comparator 6b, a hold circuit 6c that inputs the output thereof and outputs the deceleration command signal _S8 , and a hold circuit 6c that inputs the deceleration completion signal _S12 and resets the hold circuit 6c by its output.
It consists of a NOT circuit 6d.

7 is an operation command circuit, which includes a NOT element 7c which inputs the A ₁ = B ₁ signal S ₄ a 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 the output of the AND element 7a and outputs an operation command signal _S6 , and is reset by the _A1 = _B1 signal.

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

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 9f which inputs the pulse train of the continuous movement amount detector 4 or the pulse oscillator 18, and this
The output of AND element 9f is input, and the acceleration command signal S ₇
The output of AND element 9f (pulse train corresponding to the movement amount) is integrated while inputting S8, that is, until the acceleration stop setting value is reached, and while the deceleration command signal _S8 is inputting, that is, the deceleration stop setting value is reached. a counter 9a that subtracts the integrated value accumulated during acceleration up to 1000, and a digital-to-analog (D/A) converter 9b that converts the output of this counter 9a into an analog signal;
A frequency-voltage (F/V) converter 9k inputs the output of the continuous movement amount detector 4 or the pulse oscillator 18 and converts it into an analog signal (voltage) corresponding to the frequency, and the output of this converter 9k is input and differentiated. A differentiator 9l, an attenuator 9m which inputs the output of this differentiator 9l, attenuates it to a required magnitude and outputs it, and syncs the output of the D/A converter 9b, the output of the slow speed setting device 9d, and the output of this attenuator 9m. An adder 9c that inputs polarities and adds them to output a speed signal _S9 having a trapezoidal or triangular acceleration/deceleration pattern, and the output of the continuous movement amount detector 4 or pulse oscillator 18 are connected to one input terminal of an AND element 9f. Changeover switch (relay) 9 for switching input to
g, and an operating switch 9i for operating the changeover switch 9g in response to an acceleration command signal _S7 ;
A changeover switch (relay) 9h that is activated by the transport command signal _S6 to switch and input the output of the slow speed setting device 9d to the adder 9c, and the _A1 > _B1 signal.
A changeover switch (relay) 9e for inputting the output S ₉ of the adder 9c to the forward rotation side or reverse rotation side of the variable speed motor control device 12, which is switched by S ₄ b, and the acceleration stop signal S ₁₁ to the counter 9a for deceleration. It consists of a changeover switch 9j for switching input as a command signal.

FIG. 6 is a connection diagram showing a specific example of the differentiator 9l in this speed pattern generation circuit 9. _Q1 ,
_Q2 is an operational amplifier, _R1 to _R4 are resistors, and C is a capacitor.

Figure 7 is a connection diagram showing a specific example of the attenuator 9m, and the attenuator is a variable resistor VR.
is used.

Note that a molded package type converter is used as the F/V converter 9k.

10 is an acceleration stop command circuit, and an acceleration stop setting device 1
0b, its acceleration stop setting signal A ₃ and counter 9
Output of a S ₁₀ (continuous movement amount integrated value or subtracted value B ₃ )
A digital comparator 10 inputs and compares the signals, and outputs a match signal A ₃ =B ₃ when both signals match.
a, and a hold circuit 10c which inputs the output of this comparator 10a, outputs an acceleration stop signal _S11 , and is reset by the 0 level of the operation command signal _S6 .
It becomes more.

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 (continuous movement amount integrated value or subtraction value _B3 ) of the counter 9a,
A digital comparator 11a that outputs a match signal A ₄ =B ₃ when both signals match, and the match signal
AND element 1 that inputs A ₄ = B ₃ and operation command signal S ₆
1c, and a hold circuit 11d which receives the AND output thereof, outputs a deceleration completion signal _S12 , and is reset by the 0 level of the operation command signal _S6 .

Reference numeral 12 denotes a variable speed motor control device which inputs the output _S9 of the adder 9c into 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. It is composed of a 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, the bolt tensioner 15 of the hanging conveyance device is attached to the stud bolt number 1 shown in the third figure.
This position is assumed to be the origin (initial position) of the control position, and the bolt tensioning machine 15 is transported from this position to a target position, for example, the n-th stud bolt position. In this case, the destination number setting device 5a sets the destination number A ₁ =
Set n.

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 5b compares the signal with number B ₁ (=number 1) and the signal with destination number A ₁ =n, and outputs the result of the magnitude comparison as A ₁
Output as =B ₁ signal, A ₁ >B ₁ signal, A ₁ <B ₁ signal.

NOT element 7c of operation command circuit 7 is A ₁ = B ₁ signal
When S ₄ a is input, the output becomes 0 level, and A ₁ =
When the B ₁ signal S ₄ a is not input, the output becomes 1 level (in the present invention, all logic is treated as positive logic), so when the above comparison result is A ₁ > B ₁ and A ₁ ≠ B ₁ , NOT The output of element 7c is at 1 level.

The two inputs of the AND element 7a are the start signal S ₂
Since the output of AND element 7c is inputted and both become 1 level, the output of AND element 7a also becomes 1 level, and is inputted to hold circuit 7b. The hold circuit 7b is in a set waiting state because the output of the NOT element 7c is at 1 level. Therefore, AND element 7
When the output of a is 1 level, the hold circuit 7b sets the output to 1 level, and the output of NOT element 7c is 0.
The output is held at 1 level until it is reset at 1 level, and is output as the operation command signal _S6 .

This operation command signal S ₆ is generated by the speed pattern generation circuit 9
The changeover switch 9h is switched, and the slow speed setting signal (analog voltage signal) set by the slow speed setting device 9d is input to the adder 9c. The adder 9c outputs a slow speed setting signal, and this signal is sent to the motor control amplifier 12 via the changeover switch 9e, which is switched to the forward rotation side by the A ₁ >B ₁ signal of the digital converter 5b of the destination determination circuit 5. is input to the trolley section 1.
The variable speed motor 13c of No. 3 rotates at a low speed, and the output of the tachometer generator 13d is input as a feedback signal to the motor control amplifier 12 to form a closed loop for motor control. The trolley part 13, ie the suspended transport device 2, therefore begins to move 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, a force in the running direction is transmitted to the main shaft 16c via the holder support member 16a and the slide holder 16b, and the wheel 16g rotates, so the wheel pivot Guide mechanism 16 consisting of branch 16d etc.
will move together with the bolt tensioner 15 on the 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, the AND element 9f directly inputs the pulse train _S3 to the counter 9a. input.

On the other hand, the driving command signal S ₆ is output from the acceleration command circuit 8.
input to AND element 8a, at this time acceleration stop signal
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 AND element 8a
The output also becomes 1 level and is inputted to the up count terminal of the counter 9a as the acceleration command signal _S7 .

Also, the deceleration completion signal _S12 is at 0 level and the counter 9
Since the reset terminal a is at 0 level, the counter 9a starts counting the output pulse train of the AND element 9f (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, and this integrated value is input to the D/A converter circuit 9b and converted into an analog signal.

The adder 9c uses this analog signal and the slow speed setting device 9.
The outputs of d 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 step-like as shown in the circle in Figure 3 d because digital quantities are converted to analog quantities, but the resolution is sufficiently small. Because of this, the hanging transport device does not operate in a step-like manner.

The digital converter 10a of the acceleration stop command circuit 10 inputs and compares the output of the counter 9a (continuous movement amount integrated value) and the output _A3 of the acceleration stop setting device 10b, and when both signals match, a match signal _A3 =
_B3 is output and input to the hold circuit 10c.
Operation command signal S ₆ is at level 1 and hold circuit 10c
Since the reset terminal of is at 1 level, the hold circuit 10c sets the output to 1 level by inputting the match signal A ₃ =B ₃ and holds the output at 1 level until the reset terminal goes to 0 level and is reset. , is output as an acceleration stop signal _S11 .

This acceleration stop signal _S11 indicates that the acceleration command circuit 8 is NOT
Since the input to element 8b and the output of this NOT element 8b are at 0 level, the output of AND element 8a is also 0.
level, the acceleration command signal of level 1 disappears, and the counter 9a is released from the up-count mode and stops the integration operation. In this way, in the initial state, the conveying device 2, bolt tensioner 15, and guide mechanism 16 (hereinafter referred to as the conveying device 2, etc.) start moving at the initial speed V ₀ (see Fig. 3) given by the slow speed setting device 9d.
As a result, the rotary encoder, which is the continuous movement amount detector 4, starts rotating, and by integrating its output pulses, the speed is gradually increased, and the number of integrated pulses is specified. Therefore, 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 9 via the AND element 9f.
a, and gradually increase the speed by integrating pulses corresponding to the amount of movement, and by specifying the number of integrated pulses in the same way as above, the speed can be increased. It can be stopped. 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 _A1 < _B1 signal _S4c Enter to subtract or add the specified value C from the value of _A1 . 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 shown in FIG. 3, deceleration starts from the (n-2)th position, so C=2. The method of determining this specified value C is important.

The acceleration stop command circuit 10 compares the output (integrated number of pulses) B ₃ of the counter 9a and the number of pulses of the value A ₃ set by the acceleration stop setting device 10b, and determines that A ₃ =B ₃
When , the totalizing operation of the counter 9a is stopped,
It acts to increase the speed from V ₀ to Vc and stop at Vc. In other words, the speed increases from V0 to Vc by integrating the number of pulses of the value _A3 set by the acceleration/stop setting device _10b , so even if the speed decreases from Vc to _V0 , the acceleration is stopped. All that is required is for the transport device 2, etc. to move by the number of pulses set by the setting device 10b, and to obtain the number of pulses corresponding to the amount of movement from the continuous movement detector 4. That is, the number of pulses accumulated by the counter 9a during acceleration may be subtracted during deceleration. Therefore, the value of C is the stud bolt interval with the smallest span that exceeds the moving 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 _V0 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 converter 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 inputs it to the hold circuit 6c. . The hold circuit 6c has a reset terminal of 0.
It is reset at the level. At this time, the deceleration completion signal _S12 is at 0 level, so the NOT element 6d
The output is at level 1. Therefore, A ₂ =
The hold circuit 6c inputting the _B1 signal outputs 1
level and output as 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 9j, so the counter 9a calculates the cumulative number of pulses it has been holding from C pulses before the target stud bolt number n. It is decreased by the output pulse of the continuous movement 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 by 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 V. becomes ₀ .

The digital converter 11a of the deceleration completion detection circuit 11 is connected to the output _B3 of the counter 9a and the zero setter 11.
The output of counter 9a (digital value zero signal) _A4 is input and compared, and when the output value of counter 9a becomes zero and both input values match, a match signal _A4 = _B3 is output.
This output A ₄ =B ₃ and the 1-level driving command signal S ₆ are input to the AND element 11c, and its output becomes 1-level. The hold circuit 11d has a reset terminal of 0.
It shall be reset when the level is reached. The hold circuit 11d is not reset because the 1-level operation command signal _S6 is currently input to the reset terminal, and the hold circuit 11d is not reset to the 1 level of the AND element 11c.
Input the level and keep the output as 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 and held in the reset state. Also, the deceleration completion signal
_S12 is also input to the reset terminal of the hold circuit 6c of the deceleration command circuit 6 via the NOT element 6d to reset the hold circuit 6c. Hold circuit 6
c 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 5c that was counting the output pulses of the stud bolt detector 3 becomes n, and the output value of the destination number setting device 5a
Since A ₁ =n matches, the digital converter 5b outputs a matching signal A ₁ =B ₁ (S ₄ a).

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 hold circuit 7b resets the hold circuit 7b by setting the terminal to 0 level and resetting the hold circuit _7b . Release it and set the output to 0 level.

When the output of the hold circuit 7b becomes 0 level, the hold circuit 1 of the acceleration stop command circuit 10
Hold circuit 1 of 0c and deceleration completion detection circuit 11
1d are both reset, and the output of the AND element 9f of the speed pattern generation circuit 9 becomes 0 level and no pulse is given to the counter 9a, regardless of the state of other inputs, and the changeover switch 9h is set to the slow speed setting device. The connection between adder 9d and adder 9c is also switched to the disconnected side.

By changing this changeover switch 9h, slow speed
Since the output of the slow speed setting device 9d which was giving _V0 is cut off, the conveying 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 wave 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 value 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.

Next, the operation of the guide mechanism 16 will be described. The guide mechanism 16 moves the bolt tensioner 15 together,
In this case, since lateral movement is restricted by the guide 6h and the contact tracing portion 16i, 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.

However, in the above-mentioned control device, in order to make it difficult to deflect in the destination direction, measures have been taken to make the speed pattern into a trapezoidal waveform or a triangular waveform, but in actual operation results, the target speed pattern output shown in Figure 3a is As shown by the solid line waveform in FIG. 3e, the waveform oscillates back and forth in the running direction, albeit with a small amplitude.

That is, even if the transport device 2 starts moving, the bolt tensioner 15 and the guide mechanism 16 do not start moving immediately due to inertia, so the starting point is as shown at the left end of the actual speed pattern waveform shown by the solid line in FIG. 3e. It finally begins to move (rise) later than that.

In this way, the bolt tensioner 15 and the guide mechanism 16, which started moving later than the transport device 2, gain momentum, and conversely reach a faster speed than the transport device 2, overtaking the transport device 2, and now move the transport device 2. It begins to swing back as a fulcrum, and if this cycle is repeated, the swing will not stop.

In this way, runout occurs back and forth in the running direction,
When the stud bolt detector 3 swings back exactly in the stud bolt detection section as shown in FIG. The stud bolt was detected twice when it swung in the previous minute, resulting in false detection. In addition, due to the deflection, the output pulses of the continuous movement detector 4 or the pulse oscillator 18 are outputted for the sections RO to C in FIG. 8a, so that the deceleration waveform of the speed pattern is changed to Instead of achieving the target speed pattern shown by the dashed-dotted line, the waveform becomes such that deceleration is completed earlier as shown by the solid line, and as a result, the distance traveled at slow speed becomes longer and the time required to reach the target position becomes longer. become longer. Also, the continuous movement amount detector 4 or the pulse oscillator 18
The output of is a pulse train with a coarse time density (long pulse interval) at low speeds, and a pulse train with a dense time density (short pulse intervals) at high speeds. The speed pattern becomes a waveform speed pattern as shown by the solid line, and the speed of the variable speed motor 13c is controlled by this speed pattern, so the controllability is poor and the positioning accuracy of the bolt tensioner 15 should be satisfied. I can't.

Therefore, in the present invention, even though it is unavoidable that the bolt tensioner 15 and the guide mechanism 16 start moving later than the transport device 2 due to inertia, the bolt tensioner 15 and the guide mechanism 16 cannot be moved unless the transport device 2 is overtaken by the bolt tensioner 15 and the guide mechanism 16. Focusing on the fact that the phenomenon of the machine 15 and the guide mechanism 16 swinging back in the opposite direction does not occur, an F/V is applied to the input side of the adder 9c of the speed pattern generation circuit 9.
Converter 9k, differentiator 9l and attenuator 9m
The above-mentioned swing back is controlled by adding a steady rest circuit, and its operation is as described below.

The bolt tensioner 15 and guide mechanism 16 are shown in FIG. 9c.
As shown in , when the movement starts later than the transport device 2 and a delay occurs, the frequency of the output pulse train of the continuous movement amount detector 4 or the pulse oscillator 18 changes, and this pulse train is input to the F/V converter 9k and converted into an analog signal. Convert to (voltage). The analog signal has an analog quantity similar to the solid line waveform shown in FIG. 9c. The output of this F/V converter 9k is input to a differentiator 9l and differentiated, thereby outputting a differentiated signal as shown in FIG. 9b. That is, when the analog signal is upward to the right in FIG. 9c, a differential signal of (+) polarity is output, and when it is downward to the right, a differential signal of (-) polarity is output. The output of this differentiator 9l is input to an attenuator 9m, attenuated to a signal of an appropriate magnitude, and inputted to an adder 9c together with the output of the D/A converter 9b and the output of the slow speed setting device 9d. A signal having a modified speed pattern as shown in FIG. 9a is output.

In other words, the bolt tensioner 15 and the guide mechanism 1
6 suddenly accelerates at the beginning, this sudden acceleration increases the frequency of the output pulse train of the continuous movement amount detector 4 or the pulse oscillator 18, and the frequency of this output pulse example is converted into an analog signal by the F/V converter 9k. This analog signal is differentiated by a differentiator 9l, and its (+) polarity differential output (9th
By inputting the first waveform in FIG. 9B to the adder 9c together with the other two signals through the attenuator 9m, the signal (the first waveform in FIG. This signal increases the speed of the variable speed motor 13c to cause the conveying device 2 to travel faster than the target speed pattern. As a result, the bolt tensioner 15 and the guide mechanism 16 are less likely to swing back.

If the sudden acceleration is too large and swinging back is unavoidable, the output of the differentiator 9l becomes a differential output of (-) polarity (see Figure 9b), and this differential output of (-) polarity is sent to the attenuator 9m. By inputting the signal to the adder 9c along with the other two signals via the adder 9c, the transport device 2 is caused to run slower than the speed of the target speed pattern. As a result, the bolt tensioner 15 and the guide mechanism 16 are less likely to swing back significantly.

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, the control of raising and lowering is not shown, but the main shaft 16c of the guide mechanism 16 and the slide holder 1
This may 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.

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 the suspended object is performed using a number of position detectors 1a and position detectors 3, and the target position is determined by one of the position detectors 1a and 3. By setting the position as 1a and setting the control device to the configuration shown in FIG. 4, the suspended object can be suspended and transported to the target position.

〔Effect of the invention〕

As is clear from the detailed explanation above, according to the present invention, the suspended object 15 is guided along the track 16f by the guide 16h.
Since the guide mechanism 16 that rolls along the (which may also serve as a position detecting body) is connected, the degree of freedom of the suspended object 15 in the air can be restricted by this guide mechanism 16, and the suspended object 15 can be suspended. Twisting of the wires and lateral vibration of the suspended object 15 can be prevented.

The position detector 3 of the suspended object 15 is attached to the guide mechanism 16.
Since the suspended object 15 and the trolley part 13 are provided,
It is not affected by positional misalignment. That is, it is not affected by a traveling phase shift between the suspended object 15 and the trolley section 13 or a shift in the amount of movement due to wire elongation or the like.

It starts at a slow speed using the slow speed setting signal, and after the start, the number of pulses corresponding to the amount of movement of the suspended object 15 is accumulated, and an analog signal corresponding to this accumulated value, a slow speed setting signal, and the suspended object are 15
The number of pulses corresponding to the amount of movement of is converted to an analog signal corresponding to the frequency and the signal obtained by differentiation is added. After accelerating with this added signal and reaching the specified speed, the integration is performed before the target position. The number of pulses corresponding to the amount of movement of the suspended object 15 is subtracted from the value, and the analog signal corresponding to this subtracted value, the slow speed setting signal, and the number of pulses corresponding to the amount of movement of the suspended object 15 are obtained. The signal obtained by converting it to an analog signal corresponding to the frequency and differentiating it is added, and the added signal gradually decelerates, and then follows a trapezoidal or triangular wave-like speed pattern that gradually slows down and stops after reaching a slow speed. Since the speed is controlled, the longitudinal vibration in the running direction can be extremely reduced.

Therefore, the position detector 1a (1) due to deflection (see Fig. 8a) in the detection section of the position detector 1a(1)
It is possible to avoid the false detection of the number of lines in (1), and the waveform allows the deceleration waveform to complete deceleration at an early stage due to swing-back (see Figure 8b).
Therefore, the distance traveled at slow speed does not become long, and it is possible to avoid an increase in the time required to travel to the target position.

Due to the above effects, the variable speed motor 13c
The speed controllability of the suspended object 15 can be improved, and the positioning accuracy of the suspended object 15 can be made satisfactory.

[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. - Linear view, Figure 2c is a front view of its main parts, Figure 2d is also an explanatory diagram of the position detection relationship of a suspended object, and Figure 3 is a case where there is no steady rest circuit in the control device of the present invention. FIG. 4 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, and FIG. Connection diagram showing a specific example,
FIG. 7 is a connection diagram showing a specific example of an attenuator, FIG. 8a is an explanatory diagram of position detection and movement amount detection operations in the case where there is no steady rest circuit in the control device of the present invention, and FIG. 8b is a diagram of the speed pattern. FIG. 9 is an explanatory diagram of the deceleration section, and FIG. 9 is an explanatory diagram of the operation of the control device of the present invention. DESCRIPTION OF SYMBOLS 1... Stud bolt (position detector), 1a... Position detector, 2... Suspended conveyance device, 3... Stud bolt detector (position detector), 4... Continuous movement amount detector, 5... Destination discrimination circuit, 5a... Destination number setter, 5b... Digital converter, 5c... Stud number counter, 6... Deceleration command circuit, 6a... Addition/subtraction device, 6d... Digital converter, 6c... Hold circuit, 6d... NOT element, 7... Operation command circuit,
7a...AND element, 7b...Hold circuit, 7c...
NOT element, 8... acceleration command circuit, 8a... AND element, 8b... NOT element, 9... speed pattern generation circuit, 9a... counter, 9b... D/A converter,
9c...Adder, 9d...Slow speed setting device, 9e, 9g,
9f, 9h...changeover switch, 9f...AND element,
9i...Switch, 9k...F/V converter, 9l
...Differentiator, 9m...Attenuator, 10...Acceleration stop command circuit, 10a...Digital converter, 10
b... Acceleration stop setting device, 10c... Hold circuit, 1
1...Deceleration completion detection circuit, 11a...Digital converter, 11b...Zero setter, 11c...AND element,
11d...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, 16a... Holder support member,
16b...Slide holder, 16c...Main shaft, 16d
...wheel pivot, 16f...track, 16h...guide,
16i... Contact tracing part, 17... Floor side fixing part, 18
...Pulse oscillator.

Claims (1)

[Claims] 1. In a hanging type transportation device 2 that suspends and transports a suspended object 15, the suspended object 15 is rolled on a track 16f along a guide 16h, and the suspended object 15 is free in the air. Guide mechanism 16 that regulates the degree
The guide mechanism 16 sequentially detects a large number of position detecting bodies 1a(1) arranged along the guide 16h to stop the suspended object 15 at the target position, and generates a pulse _S1. A continuous movement amount detector 4 is provided to detect the amount of movement of the suspended object 15 from the initial position detection object position as a pulse train _S3 , or a continuous movement amount detector 4 that detects the amount of movement of the suspended object 15 from the initial position detection object position is provided. A pulse oscillator 18 correspondingly outputs a pulse train.
, the count value of the output pulse of the position detector 3 (the position sensing object number value at the current position), the signal _S5b 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 4} a of A ₁ > B ₁ and A ₁ < B ₁ based on the comparison result of the signal S ₅ a of A 1 and both signals S 5 a and S _{5 b}
A destination discrimination circuit 5 that outputs ~S ₄ c, a signal S ₄ a 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 output
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 S ₇ , and the above-mentioned A ₁ , B ₁
A deceleration command circuit 6 inputs each signal _S5a , _S5b , _{S4b , S4c} of A1>B1, _A1 < _B1 and outputs _a deceleration command signal _S8 ; A signal S ₆ is input and a slow speed setting signal is output, and after the start, the output of the continuous movement amount detector 4 or the pulse oscillator 18 is integrated by the acceleration command signal S ₇ until the acceleration stop setting value is reached. 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 the integrated value corresponding to this integrated value or subtracted value is subtracted. A suspended transport device is produced by outputting a signal that is the sum of an analog signal, the slow speed setting signal, and a signal obtained by converting the output of the continuous movement amount detector 4 into an analog signal corresponding to the frequency and differentiating the signal. A speed pattern generation circuit 9 input to the variable speed motor control device 12 of No. 2
Then, the signal S ₁₀ of the integrated value or subtraction value of this speed pattern generation circuit 9 is compared with the setting signal A ₃ corresponding to the acceleration stop position, and when both signals match, the acceleration stop signal S ₁₁ is outputted and the acceleration is stopped. An acceleration/stop command circuit 10 that prohibits the operation of the command circuit 8, and the above-mentioned signal.
_S10 is compared with the deceleration completion setting signal _A4 , and when both signals match, the deceleration completion signal _S12 is output to prohibit the subtraction operation of the speed pattern generation circuit 9 and to inhibit 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.