JPS6127809A - Control of rotary shelf - Google Patents
Control of rotary shelfInfo
- Publication number
- JPS6127809A JPS6127809A JP14841884A JP14841884A JPS6127809A JP S6127809 A JPS6127809 A JP S6127809A JP 14841884 A JP14841884 A JP 14841884A JP 14841884 A JP14841884 A JP 14841884A JP S6127809 A JPS6127809 A JP S6127809A
- Authority
- JP
- Japan
- Prior art keywords
- tray
- fixed point
- count value
- load
- pulse count
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 claims description 13
- 238000012546 transfer Methods 0.000 abstract description 17
- 238000004904 shortening Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 40
- 238000012937 correction Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
- B65G1/133—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like the circuit being confined in a horizontal plane
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、無端状に連なる多数の荷支持具（＋−レー等
）を水平又は垂直の無端状経路に於いて回動させ得るよ
うにした回転棚に於いて、荷移載ステーションに対して
任意の荷支持具（トレー等）を自動的に呼び出すための
回転棚制御方法に関するものである。Detailed Description of the Invention (Industrial Application Field) The present invention provides a method for rotating a large number of endlessly connected load supports (+-rays, etc.) in a horizontal or vertical endless path. The present invention relates to a carousel control method for automatically calling an arbitrary load support (tray, etc.) to a load transfer station in a carousel.
（従来の技術及びその問題点）
前記のような回転棚に於ける従来の制御方法は、前記荷
移載ステーションを通過する荷支持具をカウンターで計
数し、その計数値と呼び出すべき荷支持具阻とが一致し
たとき、荷支持具を停止させるような方法であった。こ
のような制御方法では、特定の荷支持具を荷移載ステー
ションに自動的に呼び出すことは出来てもその停止精度
が非常に低いので、荷移載作業を手作業で行う場合には
何隻問題はないが、自動荷移載装置を利用して荷移載作
業の自動化を図る場合には、安全で確実な荷移載作業を
行うことが出来ない欠点があった。(Prior Art and its Problems) The conventional control method for the above-mentioned carousel is to count the load supports passing through the load transfer station using a counter, and calculate the counted value and the load support to be called. The method was such that the load support was stopped when the load was met. With this type of control method, although it is possible to automatically call a specific load support to the load transfer station, the accuracy of stopping it is very low, so if the load transfer work is carried out manually, it is difficult to Although there is no problem, when attempting to automate the load transfer operation using an automatic load transfer device, there is a drawback that the load transfer operation cannot be carried out safely and reliably.
（問題点を解決するための手段）
本発明は上記のような従来の制御方法に於ける問題点を
解決することを目的とするものであって、その特徴は、
無端状に連なる多数の荷支持具を無端状経路に於いて回
動させ得るようにした回転棚に於いて、前記無端状に連
なる荷支持具列の特定箇所に原点を設定し、前記荷支持
具の回動に連動して発信されるパルスを正転時には加算
し逆転時には減算することにより前記原点から一方向に
関する距離をパルス計数値として計測する距離計測手段
を設け、前記各荷支持具には被検出定点を設定すると共
に、当該各定点を前記無端状経路の特定位置に於いて検
出する定点検出器を設け、前記荷支持具を学習移動させ
て、前記定点検出器が各定点を検出したときの前記距離
計測手段に於けるパルス計数値を学習絶対番地として各
荷支持具Ｎｏ．に対応させて予め記憶せしめておき、実
働時には、呼び出すべき荷支持具Ｎｏ．に対応する前記
学習絶対番地と、前記距離計測手段に於けるパルス計数
値との差に基づいて荷支持具の停止制御を行う点にある
。(Means for Solving the Problems) The present invention aims to solve the problems in the conventional control method as described above, and its features are as follows:
In a rotary shelf capable of rotating a large number of load supports connected in an endless manner in an endless path, an origin is set at a specific location of the row of load supports connected in an endless manner, and the load support A distance measuring means is provided for measuring the distance in one direction from the origin as a pulse count value by adding pulses transmitted in conjunction with the rotation of the tool during forward rotation and subtracting it during reverse rotation, In addition to setting fixed points to be detected, a fixed point detector is provided to detect each fixed point at a specific position on the endless path, and the load supporting device is moved by learning so that the fixed point detector detects each fixed point. The pulse count value in the distance measuring means at that time is used as the learned absolute address for each load support No. The load support device number to be called up is stored in advance in correspondence with the load support device number during actual operation. The load supporting device is controlled to stop based on the difference between the learned absolute address corresponding to the learned absolute address and the pulse count value in the distance measuring means.
（実施例）
以下に本発明の一実施例を添付の例示図に基づいて説明
する。(Example) An example of the present invention will be described below based on the attached illustrative drawings.
第１図に於いて、１は回転棚であって、駆動チェノ２に
よって無端状に連結された多数のトレー３を備えている
。前記駆動チェノ２は、インバーター４によって速度制
御される電動ａＳによって正逆任意の方向に駆動される
。６は前記電動機５に連動連結されたパルスエンコーダ
ーであって、発信されるパルスが、回転棚１が正転する
ときには加算動作し逆転するときには減算動作する加減
算カウンター７により計数され、コンピューター８に入
力される。９はＤ／Ａ変換器であって、前記コンピュー
ター８からの速度制御用デジタル信号をアナログ信号に
変換して前記インバーター４に供給する。１０は定点検
出器、１１は原点検出器であって、これら両検出器１０
．１１の検出信号は前記コンピューター８に入力される
。In FIG. 1, reference numeral 1 denotes a rotating shelf, which is equipped with a large number of trays 3 connected endlessly by a driving chino 2. As shown in FIG. The drive chino 2 is driven in any forward or reverse direction by an electric aS whose speed is controlled by an inverter 4. Reference numeral 6 denotes a pulse encoder that is interlocked with the electric motor 5, and the emitted pulses are counted by an addition/subtraction counter 7 that adds when the rotary shelf 1 rotates in the forward direction and subtracts when it rotates in the reverse direction, and inputs the pulses to the computer 8. be done. Reference numeral 9 denotes a D/A converter, which converts the speed control digital signal from the computer 8 into an analog signal and supplies it to the inverter 4. 10 is a fixed point detector, 11 is an origin detector, and both of these detectors 10
．． 11 detection signals are input to the computer 8.
第２図に示すように、全てのトレー３には夫々前記定点
検出器１０によって検出される定点用被検出板１２が付
設され、原点トレー３ａとなる隘１トレーには、前記定
点用被検出板１２の他に前記原点検出器１１によって検
出される原点用被検出板１３が付設されている。前記定
点用被検・山板１２は全て同一長さで、トレー移動方向
と平行に付設され、トレー正転方向端縁が止杆時定点１
２ａとなり、トレー逆転方向端縁が逆行時定点１２ｂと
なっている。又、前記原点用被検出板１３は原点トレー
３ａに於ける定点用被検出板１２に対して前後両方向に
突出する長さを有する。As shown in FIG. 2, all the trays 3 are each provided with a fixed point detection plate 12 that is detected by the fixed point detector 10, and the first tray serving as the origin tray 3a has the fixed point detection plate 12, which is detected by the fixed point detector 10. In addition to the plate 12, an origin detection plate 13, which is detected by the origin detector 11, is attached. The fixed point inspection plate 12 has the same length and is attached parallel to the tray movement direction, and the edge in the normal rotation direction of the tray is at the fixed point 1 when the rod stops.
2a, and the edge of the tray in the reverse direction is a fixed point 12b at the time of reverse movement. The origin detection plate 13 has a length that projects in both front and rear directions with respect to the fixed point detection plate 12 in the origin tray 3a.
上記の回転棚に於いて、実働作業に先立って次の学習作
業を行う。Prior to actual work, the following learning work will be performed on the above-mentioned rotating shelf.
即ち電動機５により駆動チェノ２を介して回転棚１を回
動させると、第３図に示すように各トレー３ａ、３が検
出器１０を設置した検出位置１４を通過するとき、各ト
レー３ａ、３の定点用被検出板１２が定点検出器１０に
よって順次検出され、陽１トレーである原点トレー３ａ
が検出位置１４を通過するとき、当該トレー３３の原点
用被検出板１３が原点検出器１１によって検−出される
。That is, when the rotary shelf 1 is rotated by the electric motor 5 via the driving chino 2, as shown in FIG. The fixed point detection plates 12 of 3 are sequentially detected by the fixed point detector 10, and the origin tray 3a, which is the positive 1 tray, is detected in sequence by the fixed point detector 10.
When the tray 33 passes through the detection position 14, the origin detection plate 13 of the tray 33 is detected by the origin detector 11.
又、前記定点検出器１０の検出信号は、電動機５によっ
て駆動されるパルスエンコーダー６の発信パルスが加減
算カウンター７によって計数されるのと同様に、回転棚
１の正転時、には加算、逆転時には減算するコンピュー
ター８のトレー計数機能によって計数される。Further, the detection signal of the fixed point detector 10 is added and reversed when the rotary shelf 1 rotates in the normal direction, just as the pulses sent from the pulse encoder 6 driven by the electric motor 5 are counted by the addition/subtraction counter 7. It is counted by the tray counting function of the computer 8, which sometimes subtracts.
尚、加減１γカウンター７に於いてパルス計数値が最大
値からゼロに又はこの逆にリセットされる時期、及びコ
ンピューター８のトレー計数機能に於いてトレー計数値
が最大値からｌに又はこの逆にリセットされる時期は、
原点トレー３３が検出位置１４を通過することにより原
点検出器１１がＯＮした状態で定点検出器１０が当該原
点トレー３ａの止杆時定点１２ａを検出したとき（正転
時は定点検出器１０の検出信号の立ち上がり時、逆転時
は同検出信号の立ち下がり時）である。この結果、加減
算カウンター７のパルス計数値は、原点トレー３ａの止
杆時定点１２ａからの距離に基づいて回転棚１の全周に
わたって付与された絶対番地に相当し、検出位置１４に
対応する箇所の絶対番地を表す。又、コンピューター８
に於けるトレー計数値は、原点トレー３ａｔ−１１＆Ｌ
ｌとして各トレー３ａ、３に順番に付与されたトレー隘
に相当し、検出位置１４を通過するトレー３ａ、３のト
レー隘を表すことになる。In addition, when the pulse count value is reset from the maximum value to zero in the addition/subtraction 1γ counter 7 or vice versa, and when the tray count value is reset from the maximum value to l or vice versa in the tray counting function of the computer 8. The time to reset is
When the fixed point detector 10 detects the stop time fixed point 12a of the origin tray 3a with the origin detector 11 turned on as the origin tray 33 passes the detection position 14 (during forward rotation, the fixed point detector 10 At the rising edge of the detection signal, and at the time of reverse rotation, at the falling edge of the same detection signal). As a result, the pulse count value of the addition/subtraction counter 7 corresponds to an absolute address assigned over the entire circumference of the rotary shelf 1 based on the distance from the fixed stop time point 12a of the origin tray 3a, and corresponds to the location corresponding to the detection position 14. represents the absolute address of Also, computer 8
The tray count value in is the origin tray 3at-11&L
1 corresponds to the tray depth applied to each tray 3a, 3 in order, and represents the tray depth of the trays 3a, 3 passing through the detection position 14.
そこで回転棚１を正転させ、定点検出器１０が各トレー
３の止杆時定点１２ａを検出したときの加減算カウンタ
ー７のパルス計数値、即ち各トレー３ａ、３の止杆時定
点１２ａに対応する絶対番地ＩＡ、２Ａ、３Ａ、・・・
・・・を、第４図の測定テーブルに示すようにそのとき
のトレー計数値（トレー１ｌｈｌ、２，３．・・・・・
・）と対応させて、コンピューター８のメモリーに於い
て記憶せしめる。更に加減算カウンター７がゼロ復帰せ
しめられる直前の加減算カウンター７の最大パルス計数
値を、回転棚１の全周距離に対応する最大絶対番地とし
て記憶せしめると共に、同時期の最大トレー計数値を最
大トレー数として記憶せしめる。Therefore, the rotary shelf 1 is rotated in the normal direction, and the pulse count value of the addition/subtraction counter 7 when the fixed point detector 10 detects the stop time fixed point 12a of each tray 3 corresponds to the stop time fixed point 12a of each tray 3a, 3. Absolute addresses IA, 2A, 3A,...
..., as shown in the measurement table of Fig. 4, the tray count values at that time (tray 1lhl, 2, 3...
) and stored in the memory of the computer 8. Further, the maximum pulse count value of the addition/subtraction counter 7 immediately before the addition/subtraction counter 7 is reset to zero is stored as the maximum absolute address corresponding to the entire circumferential distance of the rotary shelf 1, and the maximum tray count value for the same period is stored as the maximum tray number. be remembered as
次に回転棚１を逆転させ、加減算カウンター７とコンピ
ュ−ター８のトレー計数機能を減算動作に切り替え°ζ
、定点検出器１０が各トレー３の逆行時定点１２１）を
検出したときの加減算カウンター７のパルス計数値、即
ち各トレー３ａ、３の逆行時定点１２ｂに対応する絶対
番地Ｉ Ｂ、’ ２ Ｂ。Next, the rotating shelf 1 is reversed and the tray counting functions of the addition/subtraction counter 7 and computer 8 are switched to subtraction operation°ζ
, the pulse count value of the addition/subtraction counter 7 when the fixed point detector 10 detects the retrograde time fixed point 121) of each tray 3, that is, the absolute address I B,' 2 B corresponding to the retrograde time fixed point 12b of each tray 3a, 3. .
３Ｂ、・・・・・・を、第４図の測定テーブルに示すよ
うにそのときのトレー計数値（トレーＩｌ＆１１． ２
． ３、・・・・・・）と対応させて、コンピューター
８のメモリーに於いて記憶せしめる。更に、第５図に示
すように各トレー３ａ、３に於ける定点検出時の加減算
カウンター７のパルス計数値（絶対番地）の誤差許容範
囲±α（例えば±２０）を設定記憶せしめる。3B, ......, the tray count value at that time (tray Il & 11.2) as shown in the measurement table of Figure 4.
．． 3,...) and stored in the memory of the computer 8. Furthermore, as shown in FIG. 5, an error tolerance range ±α (for example, ±20) of the pulse count value (absolute address) of the addition/subtraction counter 7 at the time of fixed point detection in each tray 3a, 3 is set and stored.
上記の学習作業が完了した後、実働作業のために回転棚
１を回動させたときには、第６図のフローチャートに示
す制御を前記コンピューター８に於いて行う。After the above learning work is completed, when the rotating shelf 1 is rotated for actual work, the computer 8 performs the control shown in the flowchart of FIG.
即ち、１つのトレー３ａ又は３が検出位置１４を通過し
た後、次に検出位置１４に接近するトレーの学習絶対番
地の内、正転時には止杆時絶対番地を、逆転時には逆行
時絶対番地を、記憶している第４図の測定テーブルより
検索し、同様に記憶すしている誤差許容範囲±αに基づ
いて正常針１（＋範囲を演算せしめる。第４図の測定テ
ーブルに基づいて具体的に説明すると、例えば正転時に
於いて、トレー計数値が２であるとき、即ちトレー阻２
のトレー３が検出位置１４を通過したときは、トレー計
数値＋１のトレーＮｎ３に関する止杆時絶対番地３Ａの
数値６２０を検索し、この数値と誤差許容範囲±２０と
に基づき６２０±２０を演算して正常計数範囲６００〜
６４０を求め、これを一時記憶せしめる。That is, after one tray 3a or 3 passes the detection position 14, among the learning absolute addresses of the next tray approaching the detection position 14, the absolute address at stop when rotating forward is used, and the absolute address when moving backward when rotating is used. , search from the memorized measurement table of Fig. 4, and calculate the normal needle 1 (+ range) based on the error tolerance range ±α similarly memorized. To explain, for example, when the tray count value is 2 during forward rotation, that is, the tray block is 2.
When the tray 3 passes the detection position 14, search for the numerical value 620 of the absolute address 3A at the time of stop for the tray Nn3 with the tray count value + 1, and calculate 620±20 based on this numerical value and the error tolerance range ±20. The normal counting range is 600~
Find 640 and temporarily store it.
回転棚１が回転して次のトレー阻３のトレー３が検出位
置１４に到達し、当該トレー３の止杆時定点１２ａを定
点検出器１０が検出すれば、そのときの加減算カウンタ
ー７のパルス計数値が前記トレー陽３について求めた正
常計数範囲６００〜６４０にあるか否かをチェックし、
前記パルス計数値が正常計数範囲６００〜６４０内にあ
れば、例えばパルス計数値が６１６であれば、当該パル
ス計数値６１６をトレー尚３について記憶されている止
杆時絶対番地３Ａの数値６２０に置換すると同時に、ト
レー計数値を２から３にカウントアンプさせる。若し、
前記パルス計数値が前記正常計数範囲内にない場合は、
異常（カウン、トミス）として適当な処理、例えば回転
棚１を初期状態までリターンさせた後リトライさゼたり
、非常停止させる等の処理を行わせる。When the rotary shelf 1 rotates and the tray 3 of the next tray holder 3 reaches the detection position 14, and the fixed point detector 10 detects the stop time fixed point 12a of the tray 3, the pulse of the addition/subtraction counter 7 at that time Checking whether the count value is within the normal count range of 600 to 640 determined for the tray positive 3,
If the pulse count value is within the normal count range 600 to 640, for example, if the pulse count value is 616, the pulse count value 616 is set to the value 620 of the absolute stop address 3A stored for tray 3. At the same time as the replacement, the tray count value is increased from 2 to 3. If,
If the pulse count value is not within the normal count range,
As an abnormality (count, tomise), appropriate processing is performed, such as returning the rotating shelf 1 to its initial state and then retrying or making an emergency stop.
上記のように学習絶対番地に置換されたパルス計数値は
、それ以後の回転棚１の正転により当該置換された数値
から通常通り歩進するが、このパルス計数値を学習絶対
番地に置換し且つトレー計数値を歩進させたならば、次
のトレー隘４について上記のように°正常計数範囲を演
算し、この数値９１０〜９５０を、前記トレーＩｌ＆Ｌ
３について演算し一時記憶せしめてあった正常計数範囲
６００〜６４０と置換する。そして回転棚１が回転して
次のトレー患４のトレー３が検出位置１４に到達し、当
該トレー３の止杆時定点１２ａを定点検出器１０が検出
すれば、そのときの加減算カウンター７のパルス計数値
が前記トレー階４について求めた正常計数範囲９１０〜
９５０にあるか否かをチェックし、前記パルス計数値が
正常計数範囲９１０〜９５０内にあれば、例、えばパル
ス計数値が９３５であれば、当該パルス計数値９３５を
トレー阻４について記憶されている止杆時絶対番地４へ
の数値９３０に置換すると同時に、トレー計数値を３か
ら４にカウントアツプさせる。以下、回転棚１が目標停
止位置で停止セしめられるまで同様の制御を行わせる。The pulse count value that has been replaced with the learned absolute address as described above advances normally from the replaced value due to the forward rotation of the rotary shelf 1, but this pulse count value is replaced with the learned absolute address. In addition, once the tray count value has been incremented, the normal count range is calculated for the next tray number 4 as described above, and this value 910 to 950 is applied to the tray Il&L.
3 is replaced with the normal count range 600 to 640 which was temporarily stored. Then, when the rotating shelf 1 rotates and the tray 3 of the next tray 4 reaches the detection position 14, and the fixed point detector 10 detects the stop time fixed point 12a of the tray 3, the addition/subtraction counter 7 at that time The pulse count value is within the normal count range 910 determined for the tray floor 4.
If the pulse count value is within the normal count range 910 to 950, for example, if the pulse count value is 935, the pulse count value 935 is stored for the tray block 4. At the same time, the tray count value is incremented from 3 to 4. Thereafter, similar control is performed until the rotating shelf 1 is stopped at the target stop position.
このような制御によって、パルスエンコーダー６のパル
スを計数する加減算カウンター７のパルス計数値は、回
転棚１の正転により第７図に示すように変化することに
なる。By such control, the pulse count value of the addition/subtraction counter 7 that counts the pulses of the pulse encoder 6 changes as shown in FIG. 7 as the rotary shelf 1 rotates forward.
回転棚１を逆転させたときは、トレー計数値が例えば６
であるとき、即ちトレー阻６のトレー３が検出位置１４
を通過したとき、トレー計数値−１のトレーＮＱ５に関
する逆行時絶対番地５Ｂの数値１３２０を検索し、この
数値と誤差許容範囲±２０とに基づき１３２０±２０を
演算して正常計数範囲１３００〜１３４０を求め、これ
を一時記憶せしめる。When rotating shelf 1 is reversed, the tray count value is, for example, 6.
, that is, the tray 3 of the tray block 6 is at the detection position 14
, search for the numerical value 1320 at absolute address 5B at the time of retrograde movement regarding tray NQ5 with tray count value -1, calculate 1320±20 based on this numerical value and the error tolerance range ±20, and calculate the normal counting range 1300 to 1340. Find this and temporarily memorize it.
回転棚１が回転して次のトレー南５のトレー３が検出位
置１４に到達し、当該トレー３の逆行時定点１２１＋を
定点検出器１０が検出すれば、そのときの加減算カウン
ター７のパルス計数値が前記トレーＮｏ、５について求
めた正常計数範囲１３００〜１３４０にあるか否かをチ
ェックし、前記パルス計数値が正常計数範囲１３００〜
１３４０内にあれば、例えばパルス計数値が１３１２で
あれば、当該パルス計数値１３１２をトレー陽５につい
て記憶されている逆行時絶対番地５Ｂの数値１３２０に
置換すると同時に、トレー計数値を６から５にカウント
ダウンさせる。When the rotating shelf 1 rotates and the tray 3 of the next tray south 5 reaches the detection position 14, and the fixed point detector 10 detects the retrograde time fixed point 121+ of the tray 3, the pulse counter of the addition/subtraction counter 7 at that time It is checked whether the numerical value is within the normal counting range 1300 to 1340 determined for the tray No. 5, and the pulse count value is within the normal counting range 1300 to 1340.
If the pulse count value is within 1340, for example, if the pulse count value is 1312, the pulse count value 1312 is replaced with the value 1320 of absolute address 5B at the time of retrograde stored for tray positive 5, and at the same time the tray count value is changed from 6 to 5. count down.
尚、定点検出器１０がＯＮするまで待って、そのときの
パルス計数値を正常計数範囲と照合させたが、パルス計
数値が前記正常範囲内にあるときに定点検出器１０がＯ
Ｎするか否かをチェックし、ＯＮした場合には正常とし
て前記のようにパルス計数値を学習絶対番地に置換させ
るように制御しても良い。Incidentally, we waited until the fixed point detector 10 turned ON and compared the pulse count value at that time with the normal count range, but when the pulse count value was within the normal range, the fixed point detector 10 turned ON.
It is also possible to check whether the pulse count is turned on, and if it is turned on, it is considered normal and the pulse count value is replaced with the learned absolute address as described above.
回転棚１の回転により加減算カウンター７のパルス計数
値が上記のように補正されるが、任意のトレー魚のトレ
ー３を検出位置１４に呼び出す制御方法を第８図のフロ
ーチャートに基づいて説明すると、呼び出すべきトレー
隘の設定により、回転棚１の回転させるべき方向が決定
される。即ち、検出位置１４に位置する現在トレーＮｌ
１（そのときのトレー計数値）と呼び出しトレー阻（設
定値）との差と、最大トレー数（記憶値）÷２との比較
から、呼び出しトレー隘のトレー３を正転にょっ量検出
位置１４に呼び出す場合の移動距離と、逆転によって呼
び出す場合の移動距離との内、短い方を選択せしめる。The pulse count value of the addition/subtraction counter 7 is corrected as described above by the rotation of the rotating shelf 1.The control method for calling the tray 3 of an arbitrary tray fish to the detection position 14 will be explained based on the flowchart of FIG. The direction in which the rotating shelf 1 should be rotated is determined by the setting of the desired tray position. That is, the current tray Nl located at the detection position 14
By comparing the difference between 1 (tray count value at that time) and the calling tray limit (setting value) and the maximum number of trays (memorized value) ÷ 2, move tray 3 next to the calling tray to the normal rotation capacity detection position. The shorter one is selected between the moving distance when calling 14 and the moving distance when calling by reversing.
次に第４図の測定テーブルから呼び出しトレー陽に対応
する止杆時絶対番地Ａと逆行時絶対番地Ｂとを検索し、
その両者から（Ａ＋Ｂ）÷２を演算して、定点用被検出
板１２の両端間中央位置（トレー３の移動方向の中央位
置）に関する絶対番地、即ち停止目標値Ｃを求める。例
えば第４図の測定テーブルによれば、トレー陽５のトレ
ー３の停止目標値は、その止杆時絶対番地５Ａが１２４
０、逆行時絶対番地５Ｂが１３２０であるから、（１２
４０＋１３２０）÷２＝１２８０となる。このようにし
て求めた停止目標値Ｃは当該トレー呼び出し作業が完了
するまで記憶せしめておく。Next, from the measurement table of FIG. 4, search the absolute address A at the time of stop and the absolute address B at the time of reverse movement, which correspond to the calling tray positive.
By calculating (A+B)÷2 from both of them, the absolute address regarding the center position between both ends of the fixed point detection plate 12 (the center position in the moving direction of the tray 3), that is, the stop target value C is obtained. For example, according to the measurement table in FIG. 4, the target stop value for tray 3 of tray positive 5 is that the absolute address 5A at the time of stopping is 124.
0, since the absolute address 5B at the time of backward movement is 1320, (12
40+1320)÷2=1280. The stop target value C obtained in this manner is stored until the tray calling operation is completed.
次の始動操作により電動機５が作動して回転棚１が前記
のように決定された回転方向に回転せしめられるが、こ
こで加速制御と減速停止制御が行われる。加速制御は、
例えばタイマーを使用して一定時間経過毎に速度指令を
＋１する方法によって行うことが出来る。又、減速停止
制御は第９図Ａに示すように、停止目標値Ｃの数値と加
減算カウンター７のパルス計数値（現在番地）との差か
ら演算される残り移動距離が減速停止制御距離Ｅとなっ
た時点から、残り移動距離が一定距＃減少する毎に速度
指令を−１して減速し、残り移動距離が速度指令をＯと
する設定距離Ｅ０となったときに制動する制御方法をと
ることが出来る。The electric motor 5 is actuated by the next starting operation to rotate the rotary shelf 1 in the rotation direction determined as described above, and at this point, acceleration control and deceleration/stop control are performed. Acceleration control is
For example, this can be done by using a timer and incrementing the speed command by 1 every time a certain period of time elapses. In addition, as shown in FIG. 9A, the deceleration and stop control is performed when the remaining travel distance calculated from the difference between the stop target value C and the pulse count value (current address) of the addition/subtraction counter 7 is the deceleration and stop control distance E. From the time when the remaining travel distance decreases by a certain distance #, the speed command is decelerated by -1, and when the remaining travel distance reaches the set distance E0 where the speed command is O, a control method is used to brake. I can do it.
このような減速停止制御によって所定のトレー隘のトレ
ー３が検出位置１４に於いて停止したとき、トレー計数
値（検出位置前のトレー階）と設定された呼び出しトレ
ー陽とが一致しているか否かをチェックし、一致してい
なければ異常として、例えば回転棚１をリターンさせて
初期状態（例えば原点トレー３ａが検出位置１４に停止
する状態）に戻した後に再駆動する、等の処理を行う。When the tray 3 in the predetermined tray column stops at the detection position 14 by such deceleration and stop control, it is checked whether the tray count value (the tray floor before the detection position) matches the set call tray positive. If they do not match, it is determined that there is an abnormality, and processing is performed such as, for example, returning the carousel 1 to its initial state (for example, the state in which the origin tray 3a stops at the detection position 14) and then re-driving it. .
又、加減算カウンター７のパルス計数値（実際の停止番
地）と先に演算され記憶せしめられている停止目標値Ｃ
との差を演算し、当該停止位置誤差が予め設定された許
容範囲内であるか否かをヂエソクする。若し、停止位置
誤差が許容範囲を越えているときは、例えば回転棚１を
１トレ一分リターンさせた後に再駆動する、等の処理を
行う。In addition, the pulse count value of the addition/subtraction counter 7 (actual stop address) and the stop target value C that has been previously calculated and stored.
and determines whether the stop position error is within a preset tolerance range. If the stop position error exceeds the allowable range, processing is performed such as, for example, returning the carousel 1 for one tray and then driving it again.
仮に停止位置誤差が許容範囲内であっても、第９図Ａに
示すように停止位置誤差±Ｘがあるときはその誤差±Ｘ
を、そのときの回転棚回転方向と組み合わせて正転時補
正値又は逆転時補正値として記憶（前回に当該補正値の
記憶があれば、その記憶補正値を更新）し、第９図Ｂに
示すように回転方向が同一の次のトレー呼び出し作業時
に、速度指令を０とする設定距離Ｅ。を前記の記憶補正
値±Ｘによって補正することにより、停止位置誤差をな
くすか又は減少させ得る。Even if the stop position error is within the allowable range, if there is a stop position error ±X as shown in Figure 9A, the error ±X
is combined with the rotational direction of the rotating shelf at that time and stored as a forward rotation correction value or a reverse rotation correction value (if the correction value has been previously stored, the stored correction value is updated), and as shown in FIG. 9B. As shown, the setting distance E is set so that the speed command is set to 0 when the next tray is loaded in the same direction of rotation. By correcting the above-mentioned stored correction value ±X, the stop position error can be eliminated or reduced.
尚、」−記の減速停止制御方法に於いて、速度指令を１
とする設定距離Ｅ、及び速度指令を０とする設定距Ｆｉ
！ＩＥ１１は、その速度指令を１又はＯとするときの加
減算カウンター７のパルス計数値が、停止前、最終のパ
ルス計数値補正（即ち停止直前で加減算カウンター７の
パルス計数値を学習絶対 ′番地に置換する作用）の
影響を受けないように設定するのが望ましい。In addition, in the deceleration and stop control method described in "-", the speed command is set to 1.
Set distance E to set the speed command to 0, and set distance Fi to set the speed command to 0.
! When the speed command is set to 1 or O, the IE11 changes the pulse count value of the addition/subtraction counter 7 to the final pulse count value correction before stopping (that is, the pulse count value of the addition/subtraction counter 7 is set to the learning absolute ' address immediately before stopping). It is desirable to set it so that it is not affected by the effect of substitution.
以上の実施例では、検出器１０．１１を備えた検出位置
１４が呼び出しトレーに対する荷移載ステーションとな
っており、設定された呼び出しトレー階のｌ・レーを前
記検出位置１４に呼び出すように制御し−（いるが、前
記検出位置１４に対して荷移載ステーションを別の位置
に設定しても良い。この場合は荷移載ステーションに呼
び出すべきトレー陽を設定するが、荷移載ステーション
と検出位置１４との間の距離（トレー数）と設定された
呼び出しトレー階とから検出位置１４に呼び出すべきト
レー隘を演算し、この結果に基づいて上記実施例の制御
を行えば良い。又、荷移載ステーションは複数位置に設
定することも可能である。In the above embodiment, the detection position 14 equipped with the detector 10.11 serves as a load transfer station for the call tray, and control is performed so that the L-ray on the set call tray floor is called to the detection position 14. (However, the load transfer station may be set at a different position from the detection position 14. In this case, the tray to be called to the load transfer station is set, but the load transfer station and The number of trays to be called to the detection position 14 may be calculated from the distance (number of trays) to the detection position 14 and the set call tray floor, and the control of the above embodiment may be performed based on this result. Load transfer stations can also be set up at multiple locations.
更に実施例では、目標停止位置に対応する停止目標値を
、当該目標停止位置に関して記憶されている止杆時及び
逆行時雨定点の絶対番地からその都度演算して求めるよ
うに制御したが、各停止位置について予め学習により又
は演算により求めた停止目標値を記憶させておき、停止
位置の設定時に、目標停止位置の停止目標値を検索して
使用するようにすることも出来る。Furthermore, in the embodiment, control is carried out so that the stop target value corresponding to the target stop position is calculated each time from the absolute addresses of the fixed points for stopping and reversing that are stored with respect to the target stopping position. It is also possible to store a stop target value determined in advance by learning or calculation for the position, and to search for and use the stop target value of the target stop position when setting the stop position.
又、実施例では、学習絶対番地に基づいてパルス計数値
を自動的に補正するようにしたが、この制御は本発明の
必須要件ではない。Further, in the embodiment, the pulse count value is automatically corrected based on the learned absolute address, but this control is not an essential requirement of the present invention.
（発明の作用及び効果）
以上のように本発明の制御方法によれば、実働前に荷支
持具（実施例ではトレー３）を学習作業のために回動さ
せ、定点検出器が各荷支持具毎に設定されている定点を
検出したときの距離計測手段（実施例では回転棚駆動用
電動ａ５によって駆動すれるパルスエンコーダー６と加
減算カウンター７とから構成）に於けるパルス旧数値を
学習絶対番地とＵ７て各荷支持具Ｎｏ．に対応させて予
め記憶せしめておき、実働時には、呼び出すべき荷支持
具Ｎｏ．に対応する前記学習絶対番地と、前記距離計測
手段に於けるパルス計数値との差に基づいて荷支持具の
停止制御を行うのであるから、前記距離計測手段に於け
る１パルスピンチに対応する荷支持具の移動距離を充分
に短くしておくことにより、停止制御時の減速及び停止
制御のタイミングを極めて細かく任意に設定することが
出来る。(Operations and Effects of the Invention) As described above, according to the control method of the present invention, the load support (tray 3 in the embodiment) is rotated for learning work before actual operation, and the fixed point detector detects each load support. Absolutely learns the old value of the pulse in the distance measuring means (in the example, it is composed of a pulse encoder 6 driven by the electric A5 for driving the rotating shelf and an addition/subtraction counter 7) when a fixed point set for each tool is detected. Address and U7 are each load support number. The load support device number to be called up is stored in advance in correspondence with the load support device number during actual operation. Since the stop control of the load support is performed based on the difference between the learned absolute address corresponding to the learned absolute address and the pulse count value in the distance measuring means, it corresponds to a one-pulse pinch in the distance measuring means. By keeping the movement distance of the load support sufficiently short, the timing of deceleration and stop control during stop control can be set very precisely and arbitrarily.
従って所定位置（荷移載ステーション）に任意の荷支持
具を呼び出し、極めて高精度に停止させることが出来る
ので、自動荷移載装置を使用しても、安全確実な荷移載
作業を行うことが出来るのである。Therefore, any load support device can be called to a predetermined position (load transfer station) and stopped with extremely high precision, so even if automatic load transfer equipment is used, load transfer work can be carried out safely and reliably. This is possible.
又、適当時期に前記の学習作業を行い、学習絶対番地を
書き替えることにより、例えば駆動チェノの伸び等によ
る影響を解消させることも可能である。Furthermore, by performing the above-mentioned learning work at an appropriate time and rewriting the learning absolute address, it is also possible to eliminate the influence of elongation of the drive chain, for example.
第１図は全体の構成説明図、第２図はトレーの被検出板
と検出器とを示す斜視図、第３図は学習絶対番地と各ト
レーの被検出板との関係の説明図、第４図は学習により
設定記憶される測定テーブルの説明図、第５図は学習絶
対番地、誤差許容範囲、及び定点用被検出板の関係を説
明する図、第６図及び第８図は制御方法を説明するフロ
ーチャート、第７図はパルス計数値の変化を説明するグ
ラフ、第９図は減速停止制御方法を説明するグラフであ
る。
１・・・回転棚、２・・・駆動チェノ、３・・・トレー
（３ａ・・・原点トレー）、５・・・電動機、６・・・
パルスエンコーダー、７・・・加減算カウンター、８・
・・制御用コンピューター、１０・・・定点検出器、１
１・・・原点検出器、１２・・・定点用被検出板、１２
ａ・・・止杆時定点、１２ｂ・・・逆行時定点、１３・
・・原点用被検出板第９図Ａ
ｒFig. 1 is an explanatory diagram of the overall configuration, Fig. 2 is a perspective view showing the detection plate of the tray and the detector, Fig. 3 is an explanatory diagram of the relationship between the learning absolute address and the detection plate of each tray, Figure 4 is an explanatory diagram of a measurement table that is set and stored through learning, Figure 5 is a diagram that explains the relationship between the learned absolute address, error tolerance range, and fixed point detection plate, and Figures 6 and 8 are the control method. 7 is a graph illustrating changes in the pulse count value, and FIG. 9 is a graph illustrating the deceleration and stop control method. DESCRIPTION OF SYMBOLS 1... Rotating shelf, 2... Drive chino, 3... Tray (3a... origin tray), 5... Electric motor, 6...
Pulse encoder, 7...Addition/subtraction counter, 8.
...Control computer, 10...Fixed point detector, 1
1... Origin detector, 12... Fixed point detection plate, 12
a... Stop rod time fixed point, 12b... Reverse time fixed point, 13.
・・Detection plate for origin Fig. 9 A r
Claims (1)
動させ得るようにした回転棚に於いて、前記無端状に連
なる荷支持具列の特定箇所に原点を設定し、前記荷支持
具の回動に連動して発信されるパルスを正転時には加算
し逆転時には減算することにより前記原点から一方向に
関する距離をパルス計数値として計測する距離計測手段
を設け、前記各荷支持具には被検出定点を設定すると共
に、当該各定点を前記無端状経路の特定位置に於いて検
出する定点検出器を設け、前記荷支持具を学習移動させ
て、前記定点検出器が各定点を検出したときの前記距離
計測手段に於けるパルス計数値を学習絶対番地として各
荷支持具Ｎｏ．に対応させて予め記憶せしめておき、実
働時には、呼び出すべき荷支持具Ｎｏ．に対応する前記
学習絶対番地と、前記距離計測手段に於けるパルス計数
値との差に基づいて荷支持具の停止制御を行うことを特
徴とする移動体の制御方法。In a rotary shelf capable of rotating a large number of load supports connected in an endless manner in an endless path, an origin is set at a specific location of the row of load supports connected in an endless manner, and the load support A distance measuring means is provided for measuring the distance in one direction from the origin as a pulse count value by adding pulses transmitted in conjunction with the rotation of the tool during forward rotation and subtracting it during reverse rotation, In addition to setting fixed points to be detected, a fixed point detector is provided to detect each fixed point at a specific position on the endless path, and the load supporting device is moved by learning so that the fixed point detector detects each fixed point. The pulse count value in the distance measuring means at that time is used as the learned absolute address for each load support No. The load support device number to be called up is stored in advance in correspondence with the load support device number during actual operation. A method for controlling a moving body, characterized in that a stop control of a load support is performed based on a difference between the learned absolute address corresponding to the learned absolute address and a pulse count value in the distance measuring means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14841884A JPS6127809A (en) | 1984-07-16 | 1984-07-16 | Control of rotary shelf |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14841884A JPS6127809A (en) | 1984-07-16 | 1984-07-16 | Control of rotary shelf |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6127809A true JPS6127809A (en) | 1986-02-07 |
| JPH0335208B2 JPH0335208B2 (en) | 1991-05-27 |
Family
ID=15452348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14841884A Granted JPS6127809A (en) | 1984-07-16 | 1984-07-16 | Control of rotary shelf |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6127809A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63117808A (en) * | 1986-11-05 | 1988-05-21 | Seibu Electric & Mach Co Ltd | Controller for revolving rack |
| JP2008247487A (en) * | 2008-07-11 | 2008-10-16 | Ezaki Glico Co Ltd | Conical package |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4885992A (en) * | 1972-02-18 | 1973-11-14 | ||
| JPS56104610A (en) * | 1980-01-28 | 1981-08-20 | Anritsu Electric Co Ltd | Rotary shelf apparatus |
-
1984
- 1984-07-16 JP JP14841884A patent/JPS6127809A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4885992A (en) * | 1972-02-18 | 1973-11-14 | ||
| JPS56104610A (en) * | 1980-01-28 | 1981-08-20 | Anritsu Electric Co Ltd | Rotary shelf apparatus |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63117808A (en) * | 1986-11-05 | 1988-05-21 | Seibu Electric & Mach Co Ltd | Controller for revolving rack |
| JP2008247487A (en) * | 2008-07-11 | 2008-10-16 | Ezaki Glico Co Ltd | Conical package |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0335208B2 (en) | 1991-05-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4757458A (en) | Zero point adjusting robot control method | |
| JPS5850362B2 (en) | Positioning method | |
| JPS6127809A (en) | Control of rotary shelf | |
| JPS6127811A (en) | Control of movable body | |
| JPH037563B2 (en) | ||
| JPS6044203B2 (en) | Movement stop control device for transport moving body | |
| JPH04215011A (en) | Absolute position detecting device | |
| JPS6160504A (en) | Travel stop control method of traveling body | |
| EP0215127A1 (en) | Apparatus for detecting machine positions | |
| JPH01187106A (en) | Controlling method for rotary shelves | |
| JPS5889502A (en) | Method of controlling vertical movement and stoppage of ascent/descent carrier of crane | |
| JPS6097109A (en) | Stop control method of moving body | |
| KR0129944B1 (en) | Method and device for controlling position movement of stacker crane | |
| JPS59138511A (en) | Method of controlling travel of stacker crane | |
| JPS6097110A (en) | Stop control method of moving body | |
| JPS6356123B2 (en) | ||
| EP0574931A1 (en) | Device for controlling reverse rotation of motor and method of judging time point where motor is actually rotated in reverse direction | |
| JPS6127810A (en) | Control of rotary shelf | |
| JPS62244806A (en) | Stop and control method for introduction and delivery travel crane | |
| KR100263874B1 (en) | Controlling method of crane fork | |
| JPS6097108A (en) | Stop control method of moving body | |
| JPH0635282B2 (en) | Stacker crane movement speed control method | |
| JPH04371405A (en) | Control for rotary rack device | |
| JPS625845B2 (en) | ||
| JP2001240391A (en) | Elevator for moving body |