JPH0653559B2 - Crane device operation control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention has two cranes traveling on the same rail, and these two cranes each receive a destination signal when the destination signal is input. A method for controlling the operating state of a crane device, such as a so-called overhead traveling crane device, configured to automatically move to the position indicated by and to perform a predetermined operation automatically, in particular, improve the operating efficiency of the crane device. Regarding the method that can be done.

[Conventional technology]

Conventionally, in the overhead traveling crane device having the above-described configuration, usually, when both cranes approach a predetermined distance L, both cranes are brought to an emergency stop to collide with each other by using an optical or ultrasonic approach detector. The operation method of the crane device is used to prevent such damage.

[Problems to be solved by the invention]

Conventionally, since the operating method of the crane device is configured as described above, when both cranes approach the distance L, both cranes stop together, and therefore, the operator performs the state of work performed by the crane device. In consideration of this, both cranes are manually moved as appropriate so that the distance between both cranes exceeds L so that both cranes restart automatic operation. In this case, the time during which both cranes are stopped However, the conventional method for operating the crane device constructed as described above has a problem that the operating efficiency of the device is deteriorated.

It is an object of the present invention to improve the operating efficiency of a crane device by causing almost no time for both cranes to stop together.

[Means for solving problems]

In order to solve the above problems, according to the present invention, two cranes are installed so as to travel on the same rail, and each of the cranes detects its own current position on the rail and A position detector that outputs a detected position signal according to the result is provided, and the crane is activated when a destination signal is input to each of the cranes, and is activated to move to a destination position corresponding to the destination signal on the rail and stop. In the crane device provided with the function to perform, a first procedure of setting one of the two cranes as a first crane having a higher movement priority than the other, and a step of the first crane after the first procedure A second step of setting the ends of the rails to the origin of a distance representing the positions of the cranes on the rails, and the other end of the crane detected by the position detector after the second step. A third procedure for comparing the magnitude of a value obtained by subtracting a predetermined value from the value of the current position of the crane with the value of the normal destination position of the first crane based on the destination command signal input to the crane device; After three steps, the first
The fourth procedure for comparing the magnitude of the value obtained by adding the predetermined value to the value of the normal destination position of the crane and the value of the normal destination position of the other crane based on the destination command signal; and the third procedure.
The destination of each of the two cranes so that the two cranes operate in a predetermined manner for each of the four convenient states obtained by combining the two comparison results in each of the procedure and the fourth procedure. Fifth signal input
A method of controlling the operation of the crane apparatus according to a series of procedures, wherein the third procedure to the fifth procedure are operation procedures executed each time the destination command signal is input to the crane apparatus. In addition, the operation control method of the crane device is configured such that the predetermined value is the shortest distance between the two cranes that is determined so that the two cranes do not come into contact with each other.

[Action]

With the above configuration, by appropriately setting the operation mode of both cranes to be performed in the fifth procedure, it is possible to prevent collision between both cranes and to prevent both cranes from stopping for almost no time. Therefore, the operating efficiency of the crane device is improved.

〔Example〕

FIG. 1 is a block diagram of an example of a crane device to which the present invention is applied. In the figure, X and Y are both cranes that are installed so as to travel on the same rail 2, and each of these cranes detects its own current position on the rail 2 and detects the detected position according to this detection result. Position detectors 1 _x and 1 _y that output signals A _x and A _y are provided, respectively. Here, the signals A _x and A _y have the left end O _{l of the} rail 2 as the origin,
Signals corresponding to the distances L _x and L _y from the origin to the detectors 1 _x and 1 _y , respectively. In this case, the crane X is located closer to the origin O ₁ than the crane Y. Further, in this case, the cranes X and Y are activated when the destination signals G _x and G _y are input, and move to the respective destination positions that match the respective values of the signals G _x and G _y on the rail 2. Then, the function of stopping the work and then performing the work in a predetermined manner is given.
3 is a mode setting unit capable of performing a mode switching setting between an X priority mode in which the crane X has a work priority over the crane Y and a Y priority mode in which a crane Y has a priority work over the crane X. When this setting unit 3 is set to the X priority mode, the mode setting signal M _x is output,
When the Y priority mode is set, the mode setting signal M _y is output. Further, 4 is a signal in a state where the detected position signal A _x is output when the signal M _x is inputted a signal A _x directly as the current position signal A ₁ in a state that is entered, the signal A _x is input When M _y is input, a subtraction of Z−L _x is performed, and a signal A ₂ corresponding to the result of this subtraction is output as a current position signal in the same manner as A _1.
Outputs the detected position signal A _y signal M _x while being inputted is inputted a signal A _y directly as the current position signal A _2, the signal M _y in a state in which the signal A _y is input When the signal is input, Z- _Ly is subtracted, and a signal A ₁ corresponding to the result of the subtraction is output as a current position signal. The detected position signal conversion unit, where Z is the total length of the rail 2. Converter 4,
Since each of 5 is configured as described above, when the mode setting unit 3 is set to the X priority mode, the detectors measured from the conversion units 4 and 5 with the left end O _{1 of the} rail 2 as the origin.
A ₁ and A ₂ corresponding to the current positions of 1 _x and 1 _y will be output, and when the mode setting unit 3 is set to the Y priority mode, the converters 4 and 5 are connected to the rail 2 respectively. The signals A ₂ and A ₁ corresponding to the current positions of the detectors 1 _x and 1 _y measured with the right end _Or as the origin are output. Hereinafter, the respective values of the signals A ₁ and A ₂ are represented by A ₁ and A ₂ , respectively, and A ₁ and A ₂ may be referred to as current positions.

Reference numeral 6 denotes a destination command signal for instructing the crane device 20 including the cranes X and Y, the mode setting unit 3 of the rail 2 and a portion to be described later, for the proper destination positions of the cranes X and Y.
B _x, in the destination command unit for inputting the B _y, signal B _x, B _y is the distance Lb _x to normal destination position of each crane as measured from the left end O _l of the rail 2, respectively, signals corresponding to each of Lb _y Is. 7 outputs the signal B _x mode setting signal M _x while being inputted is inputted a signal B _x as a destination as a signal B _1, signals
If the signal M _y is input while B _x is being input, Z−
A destination command signal converter that subtracts Lb _x and outputs a signal B ₂ according to the result of the subtraction as a destination signal.
When outputs a signal B _y when the signal M _x is input in a state that is the input signal B _y as it is the destination signal B _2, the signal B _y signal M _y is input in a state that is entered in Z-Lb _y subtraction of performing destination command signal converting section that outputs a signal B ₁ in accordance with the subtraction result as a destination signal, the destination instruction unit 6 is predetermined signal B _x, B _y, respectively It is configured to output automatically according to the program. Hereinafter, the values of the destination positions of the cranes X and Y represented by the signals B ₁ and B ₂ are represented by B ₁ and B ₂ , respectively, and B ₁ and B ₂ may be referred to as regular destination positions.

Reference numeral 9 is a setting signal 11a corresponding to the current position signals A ₁ and A ₂ output by the conversion unit 4, destination signals B ₁ and B ₂ output from the conversion unit 7, and the set value α output from the α setting unit 11. And the setting signal 12a corresponding to the set value β output from the β setting unit 12 and the mode setting signals M _x and M _y are input, and the signal processing unit 10 performs the signal processing described below, and 10 is the conversion unit. Signal output by 5
A ₂ , A ₁ , the signals B ₂ , B ₁ output from the conversion unit 8, and the setting signal 1
And 1a and 12a, and a mode setting signal M _x and M _y are input, the signal processing unit for performing signal processing to be described below, the setting unit 11 is set so as not to both cranes X, Y contacts Further, the shortest distance α between the both cranes is configured to be set, and the setting unit 12 is configured to set a constant value β satisfying the condition of βα. Further, in this case, the signal processing units 9 and 10 can mutually exchange the above-mentioned input signals A ₂ and B ₂ to them, and further, the escape destination signal C ₂ and the stop signal described later. S is also configured to be able to be exchanged with each other. The crane device 20 is composed of the respective parts shown in FIG. 1 except the destination command part 6.

Next, the configuration and operation of each of the signal processing units 9 and 10 will be described first.
This will be described with reference to the drawings and FIG. That is, as shown, a second processing unit 9b to become the operating state the first processor 9a and the signal M _y of the signal processing unit 9 will be the operation state mode setting signal M _x is input is input The signal processing unit 10 is composed of a third processing unit 10a that is _activated when the setting signal M _x is input, and a fourth processing unit 10b that is activated when the signal M _y is input. There is. So first,
Each detected position signal A _x to the conversion unit 4, 5, A _y, respectively destination instruction signal is input and the conversion unit 7, 8 B _x, in a state where B _y is input, the mode setting portion 3 X priority mode And the setting signal M _x is output from the setter, the converters 4 and 5 output the current position signals A ₁ and A ₂ , respectively, and the converters 7 and 8 output the destination signal B ₁ respectively. , B ₂ is output, and at the same time, the processing units 9a and 10a are activated. However, these signals A ₁ , A ₂ , B ₁ and B ₂ are
As will be described below, the signals are used to control the respective positions of the cranes X and Y thereafter, and each value of these signals represents the distance from the rail end portion O _l described above. Therefore, when the signal M _x is output from the setting unit 3, the rail end O ₁ on the side of the crane X is set as the origin of the distance representing the position of the cranes X and Y on the rail 2.

By the input of the signal M _x , the processing units 9a, 1
When 0a enters the operating state, the processing unit 9a first receives the signals A ₂ and α input to the signal processing unit 9 via the signal processing unit 10.
Using the signal 11a output from the setting unit 11, (A _a −α)
Of the signal B ₁ is compared with the value B ₁ of the signal B ₁ , and then (B ₁ + α) is added, and the addition result and the signal processing unit 10 perform signal processing. The magnitude comparison with the value B ₂ of the signal B ₂ input to the unit 9 is performed. Then, a mode described below which is predetermined for each of the four states of P, Q, M, and N shown in FIG. 2 obtained by combining the former comparison result and the latter comparison result Then, the processing units 9a and 10a operate so that both the X and Y cranes operate, and the processing unit 9a outputs the signal B _{1 which} is input to the crane X as the destination signal G _x. Further, the signals B ₂ and C ₂ are output from the processing unit 10a, and these signals are input to the crane Y as the destination signal G _y .

Next, the operation of the processing units 9a and 10a for causing the X and Y cranes to perform the operation operation in a predetermined mode for each of the above-mentioned four states of P, Q, M, and N will be described.

(1) Case of state P In this case, the signal B ₁ is output from the processing unit 9a as the destination signal G _x and the signal B ₂ is output from the processing unit 10a as the destination signal G _y at substantially the same time. , Y is the operation of almost simultaneously after starting, the distance Lb _x measured from the left end O _l of the rail 2, respectively, and stops by moving each of normal to the destination position B _1, B ₂ of Lb _y. It is then clear that in this case both cranes will not collide.

(2) Case of state Q In this case, the processing unit 9a outputs the signal B ₁ to the X crane, but there is no signal output from the processing unit 10a to the Y crane. Therefore, with the Y crane continuing to stop, the X crane measured B ₁ from the left end O _{1 of the} rail 2.
Therefore, the X-Y crane does not collide with each other.

(3) Case of state M In this case, the signal B ₂ is first output as the destination signal G _y from the processing unit 10a, so that the Y crane first moves to the position B ₂ measured from the left end O _{1 of the} rail 2. And stop. Then, when the crane Y stops, the stop signal S is sent from the crane.
There Since crane Y is configured to be outputted to the processing section 10a, the stop signal S crane Y reaches the position B ₂ is input to the processing unit 9a through the processing unit 10a, processing unit 9a Outputs the signal B ₁ as the destination signal G _{x when the} signal S is input. Therefore, the crane X eventually reaches the regular destination position B ₁ without colliding with the crane Y and executes the work in a predetermined manner.

(4) Case of state N _{1 In} this case, it is not possible to move the crane X to the regular destination position B ₁ indicated by the output signal B ₁ of the conversion unit 7 without taking any measures and without causing a collision between the cranes. It is impossible. Therefore, in this case, the processing unit 9a first uses the signal B ₁ input from the conversion unit 7 and the output signal 12a of the β setting unit 12
The addition of the equation (1) is performed, and the signal C ₂ having the value of C _{2 which is} the addition result is input to the Y crane as the destination signal G _y via the processing unit 10a. Therefore, at this time, the Y crane moves to the destination position C ₂ measured from the left end O _{1 of the} rail 2 and stops, but when this stop is performed, the stop signal S is output from the Y crane, so this signal S Is input to the processing unit 9a via the processing unit 10a. Then, at this time, the processing unit 9a sends the signal B ₁ toward the X crane to the destination signal.
Since it operates to output as G _x , the X crane moves to the destination position B ₁ and stops to perform the work in a predetermined manner. Therefore, the phenomenon that both cranes collide with the movement of the X crane does not occur. In this case, as described above, first, the Y crane is moved to the destination position C ₂ different from the regular destination position B ₂ designated by the destination command signal B _y , and then the X crane is moved to the regular destination position B ₁ . since so as to moved so that achieve collision avoidance between both cranes it can be said that the signal C ₂ as the destination signal G _y is a relief destination signal instructing the temporary relief tip position of the crane Y.

In the above case where the mode setting unit 3 sets the X priority mode, the processing units 9a and 10a operate as described above. Therefore, when both X and Y cranes are likely to collide with each other, the X crane is given priority to move. It is clear that the collision avoidance is achieved by being given. Therefore, in order to output the signal M _x from the setting unit 3 in the crane device 20,
This means that the operation of setting the X crane of the X and Y cranes to the crane having a higher priority of movement than the Y crane is performed.

The above description is intended to involve a mode setting portion 3 X priority mode only one set of signals to the crane device 20 after setting B _x, each operation of the processing unit 9a and 10a takes place if you enter a B _y there was however, the crane device 20, the device for destination command signal B _x, B _y of the processing unit 9a described above each time the set is input, the processing unit 9a so that each operation of 10a is performed, 10a Is configured. Therefore, when the mode setting unit 3 is set to the X priority mode, the Y crane is moved to the regular destination position B ₂ only when the above-mentioned P state or M state occurs.

In the above description, the crane device 20 is set to the X priority mode by the mode setting unit 3 so that the crane X is preferentially worked.
If the mode setting unit 3 is set to the Y priority mode while the detection position signals A _x and A _y are input to and the signals B _x and B _y are input to the conversion units 7 and 8, respectively, since part 3 from the mode setting signal M _y are output, respectively outputs the current position signal A _2, A ₁ from the conversion unit 4, 5, respectively are output destination signals B _2, B ₁ from the conversion unit 7 and 8 At the same time, the processing units 9b and 10b are activated. Therefore, in this case, the end portion O _r of Y crane side of the rail 2 is set to the origin of the distance indicating a position on a crane X, Y of the rail 2.

When the setting unit 3 is set to the Y priority mode, the processing unit 9
b and 10b are activated, in this case, the processing unit 10
Since b operates exactly the same as the processing unit 9a and the processing unit 9b operates exactly the same as the processing unit 10a, when the setting unit 3 is set to the Y priority mode, the above-mentioned P,
The processing unit is configured to cause both the X and Y cranes to perform the operation operation of the above-described mode that is predetermined for each state of Q, M, and N.
As a result, the cranes 9b and 10b will operate, and the crane Y will eventually be given priority over the crane X for work. Since each part of the crane device 20 is configured as described above, even when the setting part 3 is set to the Y priority mode, the destination command signals B _x and B _y are sent to the signal processing parts 9 and 10.
The processing units 9b and 10b repeat the above-described operation each time a group of is input.

In FIG. 1, since the crane device 20 operates as described above, in this crane device 20, there is almost no time for both cranes X and Y to stop while both cranes stop. It is clearly realized that Therefore, if the operation control method of the crane device as in the crane device 20 is adopted, the operating efficiency of the crane device can be improved.

〔The invention's effect〕

As described above, in the present invention, two cranes are installed so as to travel on the same rail, and each of the cranes detects its own current position on the rail and detects the detected position according to the result. A crane provided with a position detector that outputs a signal, and the crane is provided with a function of starting when a destination signal is input to the crane and moving to a destination position on the rail corresponding to the destination signal and stopping. In the device, the first procedure in which one of the two cranes is set as the first crane having a higher movement priority than the other, and the end of the rail on the side of the first crane is placed on the rails of both cranes after the first procedure. The second procedure of setting the origin of the distance representing the position of the crane, and a value obtained by subtracting a predetermined value from the current position value of the other crane detected by the position detector after the second procedure and the crane. The third procedure of comparing the magnitude of the normal destination position of the first crane based on the destination command signal input to the station and the value of the regular destination position of the first crane after the third procedure are added with the predetermined value. Value and the value of the normal destination position of the other crane based on the destination command signal are compared in size with each other, and four comparison results obtained in each of the third and fourth procedures are combined. A method of controlling the operation of a crane device according to a series of steps including a fifth step of inputting the destination signal to each of the two cranes so that the two cranes operate in a predetermined manner for each state. The third procedure to the fifth procedure are operation procedures executed each time a destination command signal is input to the crane device, and the predetermined value is set so that both cranes do not come into contact with each other. And configure the operation control method of the crane apparatus as is the shortest distance between the crane.

For this reason, with the above-described configuration, by appropriately setting the operation mode of operation of both cranes to be performed in the fifth procedure, it is possible to prevent collision of both cranes and to stop the both cranes during most of the time. Since it can be prevented from occurring, the present invention has an effect of improving the operating efficiency of the crane device.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an example of a crane device to which the present invention is applied, and FIG. 2 is an operation explanatory diagram of a main part in FIG. 1 _x, 1 _y ... position detector, 2 ... rails, 20 ... crane apparatus, A _x, A _y ... detection position signal, B _x, B _y ... destination command signal, B _1, B
₂ , G _x , G _y ... Destination signal, X, Y ... Crane, O _l , O _r ... Crane end.

Claims (1)

[Claims] 1. Two cranes are installed so as to travel on the same rail, and each of the cranes detects its own current position on the rail and outputs a detected position signal corresponding to the result. In a crane device provided with a position detector, and the crane is provided with a function of moving to a destination position according to the destination signal on the rail and stopping when a destination signal is input to the crane, A first procedure in which one of the two cranes is set as a first crane having a higher movement priority than the other, and after the first procedure, an end of the rail on the side of the first crane is attached to the first crane. A second step of setting the origin of the distance representing the position on the rail, and a predetermined value from the value of the current position of the other crane detected by the position detector after the second step A third procedure for comparing the magnitude of the subtracted value and the value of the normal destination position of the first crane based on the destination command signal input to the crane device, and the third procedure after the third procedure Of the fourth procedure for comparing the magnitude of the value of the destination position plus the predetermined value and the value of the regular destination position of the other crane based on the destination command signal, the third procedure and the fourth procedure. Fifth step of inputting the destination signal to each of the two cranes so that the two cranes perform a traveling operation in a predetermined manner for each of the four convenient states obtained by combining the two comparison results. Is a method of controlling the operation of the crane apparatus according to a series of procedures, which is executed every time the destination command signal is input to the crane apparatus. Operation is the procedure and said predetermined value is the operation control method of a crane device which is a shortest distance between the two crane set so as not to the two crane are in contact are.