JP3379673B2 - Slant operation control device for transfer equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a skew operation control device for conveying equipment, which conveys a conveying material with a predetermined angle of inclination and conveys the conveyed material with a predetermined inclination. The present invention relates to a skew operation control device for transport equipment that transports at a return angle to eliminate skew.

[0002]

2. Description of the Related Art FIG. 17 is a block diagram of a conventional skew feeding control device for a conveyor, which is composed of a conveyor device having six conveyors. 17A is a diagram of the traveling state of the conveyor viewed from the side, and FIG. 17B is a diagram of the traveling state of the conveyor viewed from above and a configuration diagram of the control system.

In the figure, reference numeral 1a denotes a pre-conveying material, which shows a bar-shaped member such as a steel bar before being conveyed. Reference numeral 1b denotes a conveyed material, which is a state after the conveyed material. 2-1-2
-6 is a conveying device, that is, a six-way conveyor. Reference numeral 3 is a skew operation control device, and 4 is a ratio correction setting device, which multiplies the inputs by predetermined coefficients (k ₁ , k ₂ , ..., K ₆ ). Reference numeral 5 is a speed reference setting device.

Further, S ₀ is a predetermined traveling distance of the conveyor 2-1 for obtaining the desired skew angle θ of the conveyed material 1b after conveyance, and S ₆ is the conveyor 2-1 (one of the outer conveyors) is S.
₀ mileage conveyor when traveling 2-6 (other outer conveyor), S ₆₁ in the S ₀ -S _6, the conveyor 2-1
Represents the difference in mileage between the vehicle and 2-6. CV1 to CV6 are the speeds of the respective conveyors, and CVn represents the general value of that speed.

Next, the operation will be described. Transport material is shown in Figure 1.
6 (a) is conveyed by another conveyor from above, is placed on the traveling conveyors 2-1 to 2-6, and the pre-conveyance conveying material 1
The oblique traveling is started from the position a. After the conveyance, the conveying material 1b has a skew angle θ and is conveyed at that angle.

Although not shown in the figure, there is a conveyor which is installed next to this conveyor with a predetermined gap for performing a skewing operation. This conveyor receives the skewed conveying material, and the conveying material has the same skewing angle. Return to the original at the skew angle and transport. The role of the predetermined gap between the above conveyors is to use this gap to drop the defective conveyed material determined in another process, or to drop the conveyed material from this gap without temporarily performing skew operation. Then, a sample of the transport material is collected.

The speed of each conveyor during the conveyance of the pre-conveyance material 1 depends on the set value of the speed reference setting device 5 and the coefficient (k ₁ , k ₂ ,
It is decided by k ₆ ). For transporting the transport distance S _0, to give a skew angle theta, to determine each coefficient of each conveyor relative to the speed CV1 conveyor 2-1.

Here, k _n is (1 = k ₁ > k ₂ > k ₃ >
..> k ₆ ), where n = 1 to 6 and the coefficient is determined as follows from the interval between the conveyors and the skew angle θ. Ratio k _n = S _n / S ₀ (where n = 1 to 6) Therefore, the speeds of the respective conveyors are ratio-distributed and operated using this coefficient k _n .

[0009]

As described above, the conventional skew operation control device for the conveyance equipment has the reference conveyor speed CV1.
Is set as a fixed speed, and the speed of each conveyor is determined by the ratio of the transport distance S _n of each conveyor.
Could not be secured.

This is because when each conveyor receives the conveying material, all the conveyors are traveling at a constant predetermined speed, in this case, CV1. From this point, each conveyor is decelerated to obtain the skew angle, and the constant speed is reduced. When the conveying material is skewed at a certain value and skewed at a predetermined angle θ, it is necessary to return the speed to the original speed and operate. However, at the time of deceleration / acceleration, the speed reference value is simply a coefficient k.
Since it is only distributed by _n, it becomes equal to or larger than the desired skew angle. The conveyed material may be damaged due to contact with the conveyer during the conveyance, and when the conveyed material has a desired skew angle or more, the conveyed material is more likely to be damaged. Further, when returning at a predetermined return angle, it is necessary to return extra. If the adjustment is performed so that the skew angle is not more than the skew angle, the desired skew angle θ cannot be obtained, and the conveyed material may fall into the gap between the conveyors.

An object of the present invention is to provide a skew operation control device for transport equipment which can secure a desired skew angle or a desired return skew angle at a predetermined transport distance.

[0012]

[Means for Solving the Problems]

(1) A skew operation control device for a transportation facility according to the present invention,
Conveying materials on a plurality of conveyors that run in parallel along the traveling direction, in a skew operation control device of a conveying facility that conveys at a desired skew angle or a predetermined return skew angle, wherein the transport material is The distance difference between the two outer conveyors for obtaining the desired skew angle or the predetermined return skew angle is obtained from the distance difference therebetween, and the reference speed pattern corresponding to the traveling time is derived based on the distance difference. Reference speed pattern determining means and ratio distribution means for deriving the speed pattern of each conveyor by ratio-distributing the reference speed pattern according to the arrangement of each conveyor, and operating according to the speed pattern of each conveyor. It is designed to be controlled.

(2) Further, the reference speed pattern determining means is a distance between the two conveyors, which occurs when one of the outer conveyors travels at a predetermined speed and the other travels at a speed changed from the predetermined speed and returned to the predetermined speed. The reference speed pattern is derived so that the difference becomes a distance difference for obtaining a desired skew angle or a predetermined return skew angle.

(3) Also, the skew operation control of the transport equipment for transporting the transport material on a plurality of conveyors traveling in parallel along the traveling direction at a desired skew angle or a predetermined return skew angle. The apparatus has a start mode in which the conveyor is started from a stopped state to a predetermined speed, and a convey mode in which the conveyor is shifted from a predetermined speed to return to the predetermined speed, and in the start mode, the desired slope is set. The distance difference between the two outer conveyors for obtaining the row angle or the predetermined backward skew angle is obtained, and the first reference speed pattern corresponding to the traveling time is derived based on the distance difference. A first reference speed pattern determining means and a first speed reference pattern for each conveyor, which is proportionally distributed according to the arrangement of the respective conveyors to derive a speed pattern for each conveyor.
The ratio distribution means, and the operation control according to the speed pattern of each of the conveyors, in the transport mode, each of the outer conveyors to obtain the desired skew angle or a predetermined return skew angle. A second reference speed pattern determining means for deriving a distance difference between the two from a predetermined travel distance and deriving a second reference speed pattern corresponding to the traveling time on the basis of the distance difference, and the above according to the arrangement of the conveyors. A second ratio allocating means for allocating a ratio of the second reference speed pattern to derive the speed pattern of each of the conveyors, according to the speed pattern of each of the conveyors derived by the second ratio allocating means. The operation is controlled.

(4) The reference speed pattern determining means of (2) and the second reference speed pattern determining means of (3) travel on one outer conveyor at a predetermined speed and the other outer conveyor. Is decelerated from the predetermined speed by a constant deceleration, traveled at a decelerated constant speed, then accelerated by a constant acceleration and returned to the predetermined speed. Means for setting the acceleration time / deceleration time and the constant speed during the deceleration so as to obtain the distance difference for obtaining the return skew angle, and obtaining the traveling time of the constant speed during the deceleration to derive the reference speed pattern. It is what

(5) Further, the first reference speed pattern determining means of the above (3) accelerates one of the outer conveyors from a stopped state to travel at a predetermined speed, and drives the other of the outer conveyors from a stopped state from the one conveyor. Derive the reference speed pattern so that the difference in distance between the two conveyors that occurs when the vehicle is accelerated at a slower speed and travels at the predetermined speed is the distance difference for obtaining the desired skew angle or the predetermined return skew angle. It is a means to do.

(6) Further, the first reference speed pattern determining means of the above (3) accelerates one outer conveyor from a stopped state at a constant acceleration to travel at a predetermined speed, and the other outer conveyor to the above. The first conveyor is accelerated at a constant acceleration smaller than the constant acceleration of one conveyor for the same time as the acceleration time of the one conveyor, and then the vehicle is driven at a constant speed, and then the second acceleration is performed at a constant acceleration. Acceleration time of the first step and the second step, so that the distance difference between the two conveyors that occurs when traveling at a predetermined speed is the distance difference for obtaining a desired skew angle or a predetermined return skew angle, and This is a means for setting a constant speed after the first-stage acceleration, obtaining the traveling time of the constant speed, and deriving a reference speed pattern.

[0018]

[Action]

(1) In the skew feeding operation control device of the transport facility according to the present invention, the reference speed pattern determining means causes the transport material to perform a predetermined traveling of each of the outer conveyors to obtain a desired skew angle or a predetermined return skew angle. The distance difference between the two is obtained from the distance, and the reference speed pattern corresponding to the traveling time is derived based on the distance difference, and the ratio distribution means distributes the reference speed pattern according to the arrangement of the conveyors to distribute the reference speed pattern. The speed pattern of the conveyor is derived, and the operation is controlled according to the derived speed pattern of each conveyor.

(2) Further, the reference speed pattern determining means is a distance between the two conveyors, which occurs when one of the outer conveyors travels at a predetermined speed and the other travels at a speed changed from the predetermined speed and returned to the predetermined speed. The reference speed pattern is derived so that the difference becomes a distance difference for obtaining a desired skew angle or a predetermined return skew angle.

(3) Further, there are a starting mode for starting the conveyor from a stopped state to a predetermined speed, and a carrying mode for shifting the conveyor from the predetermined speed to return to the predetermined speed. In the starting mode, The reference speed pattern determining means of No. 1 determines the distance difference between the two outer conveyors in order to obtain a desired skew angle or a predetermined return skew angle, and the travel time is calculated based on this distance difference. And a first ratio distribution means ratio-distributes the first reference speed pattern according to the arrangement of the conveyors to derive a speed pattern of the conveyors. The respective conveyors are operated and controlled according to the speed pattern, and in the carrying mode, the second reference speed pattern determining means causes a desired skew angle or a predetermined backward skew angle. The distance difference between the two outside conveyors is obtained from the predetermined traveling distances of the two outer conveyors, the second reference speed pattern corresponding to the traveling time is derived based on the distance difference, and the second ratio allocating means determines the above. The second reference speed pattern is proportionally distributed according to the arrangement of the respective conveyors to derive the speed pattern of the respective conveyors.
The operation is controlled in accordance with the speed pattern of each of the above-mentioned conveyors derived by the ratio distribution means.

(4) Further, the reference speed pattern determining means of (2) and the second reference speed pattern determining means of (3) run on one outer conveyor at a predetermined speed and the other outer conveyor. Is decelerated from the predetermined speed by a constant deceleration, traveled at a decelerated constant speed, then accelerated by a constant acceleration and returned to the predetermined speed. The acceleration time / deceleration time and the constant speed during the deceleration are set so that the distance difference for obtaining the return skew angle is obtained, and the traveling time of the constant speed during the deceleration is obtained to derive the reference speed pattern.

(5) Further, the first reference speed pattern determining means of the above (3) accelerates one of the outer conveyors from a stopped state to travel at a predetermined speed, and drives the other conveyor from a stopped state from the one conveyor. Derive the reference speed pattern so that the difference in distance between the two conveyors that occurs when the vehicle is accelerated at a slower speed and travels at the predetermined speed is the distance difference for obtaining the desired skew angle or the predetermined return skew angle. To do.

(6) Further, the first reference speed pattern determining means in (3) above accelerates one outer conveyor from a stopped state at a constant acceleration and travels at a predetermined speed, while the other outer conveyor is moved to a predetermined speed. The first conveyor is accelerated at a constant acceleration smaller than the constant acceleration of one conveyor for the same time as the acceleration time of the one conveyor, and then the vehicle is driven at a constant speed, and then the second acceleration is performed at a constant acceleration. Acceleration time of the first step and the second step, so that the distance difference between the two conveyors that occurs when traveling at a predetermined speed is the distance difference for obtaining a desired skew angle or a predetermined return skew angle, and The constant speed after the first-stage acceleration is set, the traveling time of the constant speed is obtained, and the reference speed pattern is derived.

[0024]

【Example】

Example 1. Embodiment 1 of the present invention will be described below with reference to the drawings. In FIG. 1, 1a is a pre-conveying material, 1b is a post-conveying material, 2 is a conveying device (conveyor), 3 is a skew operation control device, and 5 is a speed reference setting device, which generates a speed reference V ₀ . An angle reference speed pattern generator 6 generates a predetermined reference speed pattern Vθ corresponding to the operating time. Reference numeral 7 is a ratio correction setter, which is a coefficient (1 = k ₆₁ > k ₅₁ > k ₄₁ > k ₃₁
> K ₂₁ > k ₁₁ = 0), and the reference speed pattern Vθ is multiplied by these coefficients. 10 is an adder.
FIG. 2 shows the reference speed pattern of the angle reference speed pattern generator 6 and the speed pattern of each conveyor.

Next, the operation will be described. The speed of each conveyor during the transportation of the material is the speed reference of the speed reference setting device 5, the speed pattern of the angle reference speed pattern generator 6,
It is determined by the coefficient K _n1 of the ratio correction setter 7. At this time, the speed pattern of the angle reference speed pattern generator 6 takes into consideration the transport distance during acceleration / deceleration.

In the speed pattern of FIG. 2, the constant decelerated speed V _L and the acceleration time t ₀ and the deceleration time t ₀ are usually determined by the transport device, so the outer conveyor 2
The time t _L for operating at the speed V _L is made variable in accordance with the transport distance difference S ₆₁ between -1 and 2-6.

The reference speed pattern Vθ of the angle reference speed pattern generator 6 is multiplied by the coefficient k _n1 of the speed reference setting device 5 to correct the ratio, and the output becomes the speed pattern of each conveyor, and the operation control of each conveyor is performed. To do. The ratio correction for distributing the speed of each conveyor is K _n1 = L _n / L, and since K _n1 = K ₆₁ = 1 for the conveyor 2-6, Vθ = CV 6 and the reference speed pattern of FIG. 2 is obtained. Further, since the conveyor 2-1 has K _n1 = 0, C
V1 = V ₀ become.

The means for determining the reference speed pattern will be described in detail with reference to FIG. The conveyor 2-1 travels at a predetermined speed V ₀ , and the conveyor 2-6 travels at a speed pattern of CV6 = Vθ. Therefore, the area of the shaded portion, which is the integrated value of the speed difference between both conveyors, becomes the predetermined distance difference S ₆₁ . This S ₆₁
Is represented by formula (1). _{S 61 = [(V 0 -V} L) × t 0/2] × 2 + (V 0 -V L) × t L1 = [(V 0 -V L) × t 0] + (V 0 -V L) × t _L1 --- (1)

In many cases, S ₆₁ , V ₀ and t ₀ are determined by the equipment. When the deceleration speed V _L is set, the operating time t _L1 at the speed V _L can be obtained from the equation (1). _{t L1 = [S 61 / (} V 0 -V L)] - t 0 --- (2) Therefore, to derive a reference speed pattern specific speed and time is inserted into the reference speed pattern of FIG. 2 You can

The ratio correction setting unit 7 corrects the ratio of the reference speed pattern to each conveyor, derives the speed pattern of each conveyor shown in FIG. 2, and operates at this speed pattern.

In the above-described manner, the operation control can be performed in consideration of the acceleration and the deceleration, so that the traveling distance difference S ₆₁ can be accurately obtained and the conveying material can be conveyed at the desired skew angle θ. You can Therefore, there is an effect that the conveying material can be smoothly supplied to the lower process.

Example 2. In Example 1, among the formula (1),
Although V ₀ , V _L , and t ₀ are set and t _L1 corresponding to S ₆₁ is obtained as in equation (2), the equations (1) to (3) are changed to
The reference speed pattern may be determined by setting t _L1 and deriving V _L. In _{V L = [(t 0 +} t L1) V 0 -S 61] / (t 0 + t L1) --- (3) which is 2, so that varying the level of V _L.

In the first embodiment, the equation (1) is changed to S ₆₁ = f
(T _L1 ), and t _L1 is obtained.
And a _{S 61 = f (V L)} , was determined to V _L, S ₆₁ = f
( _VL , t _L1 ) and _VL , t _L1 as a function, this V
_L and t _L1 may be obtained.

Example 3. In the first embodiment, the case where the conveyor is traveling at a predetermined speed and the operation control is performed so as to obtain the desired skew angle when the speed conveying material is being conveyed was described, but in this embodiment, the conveyor is stopped. However, this is also applied to the case where the pre-conveyance material 1a is started from a stop.

FIG. 3 is a block diagram of this embodiment. As shown in FIG. 3, the angle reference velocity pattern generator 8 for the stopped material is provided, and the angle reference velocity pattern generator 6 during conveyance is provided.
By switching to, it is possible to cope with both during / stopped conveyance of the conveyed material.

At this time, the reference speed pattern of each conveyor in the stopped conveying material is as shown in FIG. V _L , t ₁ , t ₀
Is determined by the apparatus, so t _L2 is made variable in accordance with the difference in transport distance in S ₆₁ . The reference speed pattern Vθ1 of the stopped material is the speed CV6 of the conveyor 2-6. In this case, the speed reference of the speed reference setter 5 is not a constant value of V ₀ , but a reference speed pattern having an accelerating portion until reaching V ₀ like CV ₁ in FIG.

Therefore, the shaded area in FIG. 4 is the difference in transport distance S _61.
Becomes The ratio correction for allocating the speed of each conveyor is K _n1 = L _n / L, and CV6 = Vθ1 is multiplied by the ratio correction value K _n1 to obtain the speed pattern of each conveyor, and operation is performed in this pattern.

The means for determining the reference speed pattern will be described in detail with reference to FIG. The conveyor 2-1 has a reference speed pattern C.
The conveyor 2-6 travels at a speed pattern of Vθ1. Therefore, the area of the shaded portion, which is the integrated value of the speed difference between both conveyors, becomes the predetermined distance difference S ₆₁ . This S
₆₁ is represented by equation (4).

S ₆₁ = [((V ₀ −V _L ) × t ₁ ) / 2] + [((V ₀ −V _L ) × t ₀ ) / 2] + [(V ₀ −V _L ) × t _L2 ] --- (4) S ₆₁ , V ₀ , _VL and t ₀ are often determined by the equipment, and the operating time t _L2 at the speed _VL is calculated from the equation (4).
Is required. _{t L2 = [S 61 - (} (V 0 -V L) × t 1) / 2] + [((V 0 -V L) × t 0) / 2] / (V 0 -V L) --- (5) Therefore, it is possible to determine the reference speed pattern in which the specific speed / time is inserted in the reference speed pattern of FIG.

In the above-described manner, even when the conveying material in the stopped state is started to obtain a desired skew angle, the operation control taking into consideration the acceleration and the deceleration can be performed. _{Since 61} is accurately obtained, the conveying material can be conveyed at a desired skew angle θ.

Example 4. In the third embodiment, among formula (4),
Although V ₀ , V _L , and t ₀ are set and t _L2 corresponding to S ₆₁ is obtained as in Expression (5), the expressions (4) to (6) are changed to
The reference speed pattern may be determined by setting t _L2 and deriving V _L. In _{V L = [V 0 × (} t 1 + 2t L2 + t 0) -2S 61] / (t 1 + 2t L2 + t 0) --- (6) which is 4, so that varying the level of V _L .

Further, in the third embodiment, the equation (4) is changed to S ₆₁ = f
(T _L2 ), and t _L2 is obtained.
And a _{S 61 = f (V L)} , was determined to V _L, S ₆₁ = f
( _VL , t _L2 ) and _VL , t _L2 as a function, this V
_L and t _L2 may be obtained.

Example 5. In Examples 1 to 4, the case where the conveying material is skewed while being conveyed or stopped is described. However, when performing the skew return for eliminating the skew of the conveyed conveying material, The fifth embodiment is applied.

FIG. 5 is a diagram showing the construction thereof, in which a ratio correction setting device 9 for obliquely returning the skewed conveying material is provided, and the coefficient k is set for each of them.
₁₂ , k ₂₂ , k ₃₂ , k ₄₂ , k ₅₂ , k ₆₂ , and 1 = k ₁₂ >
Let k ₂₂ > k ₃₂ > k ₄₂ > k ₅₂ > k ₆₂ = 0. By switching the ratio correction setting device 9 to the ratio correction setting device 7 for skewing, it is possible to cope with skew return of the conveyed material. The speed pattern at this time is shown in FIG.

Since V _L and t ₀ are determined by the device,
Variable t _L according to the transport distance in S ₆₁ . The reference speed pattern of the angle reference speed pattern generator 6 is the speed pattern of the conveyor 2-1 and has a value of CV _n (n = 1). The speed of the conveyor 2-6 is CV6 and K _n2.
Since = 0, CV ₆ = V ₀ . Further, the skew return ratio correction is k _n2 = L−L _n / L. Therefore,
The conveyor speed is opposite to that of the first embodiment, the speed of the conveyor 2-6 is the fastest, and the speed of the conveyor 2-1 is the slowest.

Since FIG. 6 has the same shape as FIG. 2, the control operation is performed only by reversing the speed of the conveyor, and the difference in transport distance S _61.
Are the same. Therefore, the expressions (1) to (3) shown in the first and second embodiments can be applied.

Example 6. In the fifth embodiment, the skew return when the transport material is being conveyed has been described, but in this embodiment, the conveyor is stopped and the pre-transport transport material 1a is activated from the stop to a predetermined return skew angle. It is applied when doing.

FIG. 7 is a block diagram of this embodiment. As shown in FIG. 7, a combination of an angle reference velocity pattern generator 8 and a ratio correction setting device 9 for a material being stopped can handle both conveyance and stop of the conveyed material.

The reference speed pattern of the angle reference speed pattern generator 8 in the stopped material is shown in FIG. V _L , t ₁ ,
Since t ₀ is determined by the apparatus, t _L2 is made variable according to the difference in transport distance in S ₆₁ . The reference speed pattern Vθ1 of the stopped material is the speed CV1 of the conveyor 2-1. In this case, the speed reference of the speed reference setter 5 is also V ₀
8 is not a constant value, but becomes a reference speed pattern having an accelerating portion until reaching V ₀ like CV6 in FIG.

Therefore, the hatched portion in FIG. 8 indicates the difference in transport distance S _61.
Becomes The skew return ratio correction for distributing the speed of each conveyor is k _n2 = L−L _n / L, and each conveyor is operated by multiplying CV1 = Vθ1 by the ratio correction value K _n1 .

Thus, the conveyor speed is opposite to that of the third embodiment, and the speed of the conveyor 2-6 is the highest,
The speed of 1 is the slowest.

Since FIG. 8 has the same shape as FIG. 4, the control operation is performed only by reversing the conveyor speed and the difference in transport distance S _61.
Are the same. Therefore, the expressions (4) to (6) shown in the third and fourth embodiments can be applied.

Example 7. In this embodiment, the conveyor is not decelerated as in the above-described embodiments, but the conveyor is accelerated to cause a predetermined difference in transport distance.

FIG. 9 is a diagram showing the reference speed pattern.
The speed CV1 of the conveyor 2-1 is constant velocity V _0,
The speed CN6 of the conveyor 2-6 has a convex pattern as shown in the figure. This is vertically symmetrical with the concave pattern in FIG. The transport distance difference S ₆₁ is the area of the shaded area,
It becomes like Formula (7).

S ₆₁ = [((V _H −V ₀ ) × t ₀ ) / 2] × 2 + (V _H −V ₀ ) × t _{H 1} = (V _H −V ₀ ) × (t ₀ + t _{H 1} ) − -(7) Since V _H , V ₀ , and t ₀ are determined by the device, t _H1 is made variable according to the difference in transport distance in S ₆₁ .

The operating time t _H1 at the speed V _H can be obtained from the equation (7). _{t H1 = [S 61 / (} V H -V 0)] - t 0 --- (8) Therefore, determining a reference speed pattern specific speed and time is inserted into the reference speed pattern in FIG. 9 You can

Although the speed pattern of each conveyor in this case is not shown in FIG. 9, the coefficient (k ₁₂ ,
k ₂₂ , k ₃₂ , k ₄₂ , k ₅₂ , k ₆₂ ). The block diagram of the skew operation control device is the same as that of FIG. 1 of the first embodiment.

As a modified example of this embodiment, t _H1 is set, and V _H is set as shown in the equation (9) according to the difference in transport distance in S _61.
May be varied to derive the reference speed pattern. V _H = [S ₆₁ / (t ₀ + t _H1 )] + V ₀ --- (9)

Example 8. In this embodiment, as shown in FIG. 10, the traveling is started from the stopped conveying material, and the reference speed pattern is convex. Transport distance difference S ₆₁
Is as in equation (10).

S ₆₁ = [(V _H × t ₁ ) / 2] + (V _H × t _{H 2} ) + (V ₀ × t ₀ ) + [((V _H −V ₀ ) × t ₀ ) / 2] _{- [(V 0 × (t} 1 + t H2 + t 0)) / 2] = [((V H -V 0) × t 1) + ((2V H -V 0) × t H2) + (V H × t ₀ )] / 2 --- (10)

Since V _H , V ₀ , t ₁ and t ₀ are determined by the apparatus, t _H2 is made variable in accordance with the difference in transport distance in S ₆₁ . The operating time t _H1 at the speed V _H is obtained from the equation (7) by the equation (11), and t _H2 = [2S ₆₁ − ((V _H −V ₀ ) × t ₁ ) + (V _H × t ₀ )]. _{/ (2V H -V 0) ---} (11) Therefore, it is possible to determine a reference speed pattern specific speed and time is inserted into the reference speed pattern in FIG.

Although the speed pattern of each conveyor in this case is not shown in FIG. 10, the ratio distribution is made by the coefficients (k ₁₂ , k ₂₂ , k ₃₂ , k ₄₂ , k ₅₂ , k ₆₂ ) as in the third embodiment. To be done. Further, the configuration diagram of the skew operation control device is the same as that of FIG. 3 of the third embodiment, but the conveyor 2-1 is slower and the conveyor 2-6 is faster, so that the position of the transported material 1b after transportation is increased. Is reversed.

As a modified example of this embodiment, t _H2 is set, and V is set according to the transport distance difference of S ₆₁ as shown in equation (12).
_The reference speed pattern may be derived by changing _H. V _H = [2S ₆₁ + V ₀ × (t ₁ + t _H2 )] / (t ₁ + t _H2 + t ₀ )-(12)

Example 9. In this embodiment, as shown in FIG. 11, the reference speed pattern is composed of only the deceleration portion and the acceleration portion, and the portion of constant deceleration speed as shown in FIG. 2 is eliminated in the decelerated state. The transport distance difference S _{61 in} this case is represented by Expression (13).

S ₆₁ = [(V ₀ −V _L ) × (t ₃ + t ₄ )] / 2 −−− (13) Here, normally, t ₃ = t ₄ , so S ₆₁ = (V _{0 -V L) × t 3 --- (} 14) V L, V 0, so is determined by the device, in accordance with the conveying distance difference S _61, the t ₃ variable.

From the equation (14), the operating time t ₃ at the speed V _L
There Motomari by formula _{(15), t 3 = S} 61 / (V 0 -V L) --- (15) Thus, the reference speed pattern specific speed and time is inserted into the reference speed pattern in FIG. 11 You can decide.

As a modified example of this embodiment, t ₃ is set, and V is set as shown in the equation (16) according to the difference in transport distance in S _61.
The reference speed pattern may be derived by changing _{L. V L = V 0 - (S} 61 / t 3) --- (16)

Example 10. In this embodiment, as shown in FIG. 12, the traveling is started from the stopped conveying material, and the part of constant deceleration speed in FIG. 4 is eliminated. The transport distance difference S ₆₁ is as shown in Expression (17).

S ₆₁ = (V ₀ × t ₅ ) / 2 −− (17) Since V ₀ is determined by the device, t ₅ is made variable in accordance with the transport distance difference of S ₆₁ . From equation (17), t ₅ is obtained by equation (18). t ₅ = 2S ₆₁ / V _0- (18) Therefore, it is possible to determine the reference speed pattern in which the specific speed / time is inserted in the reference speed pattern of FIG. 12.

Example 11. In this embodiment, the reference speed pattern is composed of acceleration and deceleration as shown in FIG. 13, and the constant speed t _H portion in the accelerated state as shown in FIG. 9 is eliminated. The transport distance difference S _{61 in} this case is expressed by equation (19).

S ₆₁ = [(V _H −V ₀ ) × (t ₃ + t ₄ )] / 2 −−− (19) Here, normally, t ₃ = t ₄ , so S ₆₁ = (V _H -V ₀ ) × t _3- (20) V _H and V ₀ are determined by the apparatus, so t ₃ is made variable according to the transport distance difference of S ₆₁ .

From the equation (20), the operating time t ₃ is calculated by the equation (21).
In _{Motomari, t 3 = S 61 / (} V H -V 0) --- (21) Therefore, it is possible to determine a reference speed pattern specific speed and time is inserted into the reference speed pattern in FIG. 13 .

As a modified example of this embodiment, t ₃ is set, and V is set according to the equation (22) in accordance with the difference in the transport distance in S _61.
The reference speed pattern may be derived by changing _H. V _H = (S ₆₁ / t ₃ ) + V ₀ --- (22)

Example 12 In this embodiment, as shown in FIG. 14, the traveling is started from the stopped conveying material, and the reference speed pattern is convex. Transport distance difference S
₆₁ becomes like Formula (23).

S ₆₁ = [(V _H × t ₁ ) / 2] + [((V _H −V ₀ ) × t ₅ ) / 2] + (V ₀ × t ₅ ) − [V ₀ × (t ₁ × t ₅ )] = [(V _H × t ₁ ) / 2] + [((V _H −V ₀ ) × t ₅ ) / 2] − (V ₀ × t ₁ ) −−− (23)

Since V _H , V ₀ , and t ₀ are determined by the apparatus, t _H2 is made variable in accordance with the difference in transport distance in S ₆₁ . From equation (23), t ₅ is obtained by equation (24), and t ₅ = [2S ₆₁ − (V _H −2V ₀ ) × t ₁ ] / (V _H −V ₀ ) −− (24) Therefore, FIG. It is possible to determine a reference speed pattern in which a specific speed / time is inserted in the reference speed pattern of.

As a modified example of this embodiment, t ₅ is set, and _V is set as shown in equation (25) according to the difference in the transport distance in S _61.
The reference speed pattern may be derived by changing _H. V _H = [2S ₆₁ + V ₀ × (2t ₁ + t ₅ )] / (t ₁ + t ₅ ) −− (25)

Example 13. In the above embodiment, examples of generating various reference speed patterns are shown in FIGS. 2, 4, and so on, but they can be applied to other shapes. For example, although the acceleration time and the deceleration time are set to the same time t ₀ in FIG. 2 of the first embodiment, they may not be the same time. In addition, the pattern in which V _{L is set} to zero in FIG. 2 may be used.

As another example, the acceleration times of the conveyor 2-1 and the conveyor 2-6 are set to the same time t ₁ in FIG. 4 of the third embodiment, but they may not be the same time. Also in FIG. 4, the pattern may be such that V _L is zero.

Example 14. A reference speed pattern as shown in FIG. 15 may be used in which the concave reference speed pattern of FIG. 2 and the convex reference speed pattern of FIG. 9 are combined. That is, one of the outer conveyors is decelerated from the normal traveling speed V ₀ and the other is accelerated from V ₀ to obtain the traveling distance difference S ₆₁ . V _L, V _H, since t ₀ is determined by the equipment, t _S by the traveling distance difference S ₆₁
Can be calculated to derive the reference speed pattern.

In the example of FIG. 15, the shape is vertically symmetrical, but other shapes may be used. By doing so, the conveying material can be quickly set to the desired skew angle θ.

Example 15 This embodiment is shown in FIG.
This drawing is a curve of the bent portion of the reference speed pattern in FIG. 2 of the first embodiment. By doing so, it is possible to prevent the conveyor material from being damaged by the conveyor without giving a shock to the conveyed material at the speed change point when accelerating or decelerating.

This can be applied to all velocity patterns in the above embodiment. Further, as one of the curves, a pattern such as a half wave of a sine wave may be used. In this case, the calculation of the transport distance difference S ₆₁ is more complicated than that in the above-described embodiment, but since the calculation is usually performed by software using a CPU and the CPU capability is improved, it is complicated. The calculation can also be performed quickly.

[0084]

As described above, according to the present invention, it is possible to secure a desired skewing angle or a predetermined return skewing angle for the conveying material at a predetermined conveying distance, and to smoothly supply the conveying material to the lower process. There is an effect that can be done.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a skew operation control device for a transportation facility according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a velocity pattern according to the first embodiment of the present invention.

FIG. 3 is a configuration diagram of a skew operation control device for a transportation facility according to a third embodiment of the present invention.

FIG. 4 is a diagram showing a velocity pattern according to a third embodiment of the present invention.

FIG. 5 is a configuration diagram of a skew operation control device for a transportation facility according to a fifth embodiment of the present invention.

FIG. 6 is a diagram showing a speed pattern according to a fifth embodiment of the present invention.

FIG. 7 is a configuration diagram of a skew operation control device for a transportation facility according to a sixth embodiment of the present invention.

FIG. 8 is a diagram showing a velocity pattern according to a sixth embodiment of the present invention.

FIG. 9 is a diagram showing a velocity pattern according to Example 7 of the invention.

FIG. 10 is a diagram showing a velocity pattern according to Example 8 of the invention.

FIG. 11 is a diagram showing a velocity pattern according to Example 9 of the invention.

FIG. 12 is a diagram showing a velocity pattern according to Example 10 of the invention.

FIG. 13 is a diagram showing a velocity pattern according to Example 11 of the invention.

FIG. 14 is a diagram showing a velocity pattern according to Example 12 of the invention.

FIG. 15 is a diagram showing a velocity pattern according to Example 14 of the invention.

FIG. 16 is a diagram showing a velocity pattern according to Example 15 of the invention.

FIG. 17 is a configuration diagram of a conventional skew operation control device for a transportation facility.

[Explanation of symbols]

1a Transport material before transport, 1b Transport material after transport, 2-1 and 2
-2,2-3,2-4,2-5,2-6 Conveyor (conveyor), 3 Oblique operation controller, 4,7,9 Ratio correction setter, 5 Speed reference setter, 6,8 Angle reference speed pattern generator, 9 Ratio correction setting device, 10 Adder.

Claims (6)

(57) [Claims] 1. A skew operation control device of a transport facility for transporting a transport material on a plurality of conveyors traveling in parallel along a traveling direction at a desired skew angle or a predetermined return skew angle, The above-mentioned conveying material obtains the distance difference between the two outer conveyors to obtain the desired skew angle or the predetermined return skew angle, and obtains the distance difference between the two conveyors, and a standard corresponding to the traveling time based on this distance difference. Reference speed pattern determining means for deriving the speed pattern, and ratio distribution means for deriving the speed pattern of each of the conveyors by distributing the reference speed pattern in proportion to the arrangement of each of the conveyors,
A skew operation control device for a conveyance facility, wherein operation control is performed according to a speed pattern of each of the conveyors. 2. The reference speed pattern determining means according to claim 1, wherein one of the outer conveyors travels at a predetermined speed, and the other of the two conveyors is generated by shifting from the predetermined speed and returning to the predetermined speed. A skew operation control device for a conveyance facility, which is a means for deriving a reference speed pattern so that the distance difference becomes a distance difference for obtaining a desired skew angle or a predetermined return skew angle. 3. A skew operation control device for transport equipment, which transports a transport material on a plurality of conveyors traveling in parallel along a traveling direction at a desired skew angle or a predetermined return skew angle, The conveyor has a start mode in which the conveyor is started from a stopped state to a predetermined speed, and a convey mode in which the conveyor is shifted from a predetermined speed to return to the predetermined speed, and in the start mode, the desired skew angle or A first reference speed pattern corresponding to the travel time is derived based on the distance difference between the two outer conveyors to obtain a predetermined return skew angle, based on the predetermined distance.
And a first ratio distribution unit that distributes the first reference speed pattern in proportion to the arrangement of the conveyors to derive the speed pattern of the conveyors. Operate control according to the speed pattern of the conveyor, in the transfer mode, to determine the distance difference between the predetermined traveling distance of each outer conveyor to obtain the desired skew angle or a predetermined return skew angle, Second reference speed pattern determining means for deriving a second reference speed pattern corresponding to the traveling time based on the distance difference;
The second reference speed pattern is proportionally distributed in accordance with the arrangement of the conveyors, and second ratio distribution means for deriving the speed pattern of the conveyors is provided. A skew operation control device for a conveyance facility, wherein operation control is performed according to a speed pattern of each of the conveyors. 4. The reference speed pattern determining means according to claim 2 and the second reference speed pattern determining means according to claim 3 travel on one outer conveyor at a predetermined speed, and on the other outer conveyor from the predetermined speed. The distance difference between the two conveyors that occurs when the vehicle decelerates at a constant deceleration, travels at a decelerated constant speed, then accelerates at a constant acceleration and returns to the predetermined speed is the desired skew angle or the predetermined return skew angle. The acceleration / deceleration time and the constant speed during the deceleration are set so that the distance difference for obtaining is obtained, and the traveling time of the constant speed during the deceleration is obtained to derive the reference speed pattern. A skew operation control device for a transfer facility. 5. The first reference speed pattern determining means according to claim 3 accelerates one of the outer conveyors from a stopped state to run at a predetermined speed, and drives the other conveyor from a stopped state at a speed lower than that of the one conveyor. A means for deriving the reference speed pattern so that the distance difference between the two conveyors that occurs when the vehicle is accelerated and travels at the predetermined speed is a distance difference for obtaining a desired skew angle or a predetermined return skew angle. A skew operation control device for a transportation facility, which is characterized in that 6. The first reference speed pattern determining means according to claim 3 accelerates one outer conveyor from a stopped state at a constant acceleration to travel at a predetermined speed, and causes the other outer conveyor to travel at a predetermined speed. After accelerating in the first step for the same time as the acceleration time of the one conveyor at a constant acceleration smaller than the constant acceleration, the vehicle travels at a constant speed, and then accelerates in the second step at a constant acceleration and travels at the predetermined speed. So that the difference in distance between the two conveyors that occurs when the above is the difference in distance for obtaining a desired skew angle or a predetermined return skew angle, the acceleration time of the first step and the second step, and the first step A skew operation control device for a conveyance facility, comprising means for setting a constant speed after acceleration and obtaining a traveling time at the constant speed to derive a reference speed pattern.