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Lifting device and controlling method thereof

A control method and tally technology, applied in storage devices, electrical program control, program control in sequence/logic controllers, etc., can solve interference, cannot correctly predict the timing of the sliding fork, and it is difficult to predict the internal state of the tally device and other problems, to achieve the effect of small rigidity, shortened tally time, and simple control

Active Publication Date: 2011-09-07
KEIO UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] ・It is not possible to accurately predict the moment when the sliding fork, etc. touches the object,
[0005] There are various uncertain factors in the sliding fork and the lifting table, and they are affected by disturbances, so it is difficult to guess the correct internal state of the tally device, etc.,

Method used

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  • Lifting device and controlling method thereof
  • Lifting device and controlling method thereof
  • Lifting device and controlling method thereof

Examples

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Embodiment Construction

[0047] Preferred examples for carrying out the present invention are shown below.

[0048] (Example)

[0049] exist Figure 1 to Figure 9 In , the embodiment and its characteristics are shown by taking the control of the lifting table 4 in the stacking crane 2 as an example. In each figure, the lifting table 4 is guided by the column 6 to lift, and a linear scale 8 is arranged on the column 6 along the height direction, and the height position x0 of the lifting table 4 is read by the linear sensor 10 arranged on the lifting table 4 . Furthermore, the elevating platform 4 is suspended by a suspending member 12 such as a timing belt, a wire, or a rope, and is raised and lowered by an elevating motor 22 together with a counterweight (not shown). The lifting motor 22 is controlled by a feedback controller 16 and a feedforward controller 18 , and a switch 20 is used to switch to use a certain controller. switch is via Figure 4 In the speed graph of the solid line in , the init...

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PUM

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Abstract

A tally device for measuring the acceleration of a slide fork front end and the height of a lift device, and ensuring the state amount of a system which comprises a lift device, a slide fork and a weight to be X, and ensuring the inferring value of the front end acceleration of the slide fork as well as the position of the lift device to be y, and ensuring the error between the inferring values is (r-y), and ensuring a kalman filter to be L and control input to be U, and ensuring matrix to be A, B, C, D, and ensuring variable plus vector to be K. To infer x and y by means of dX / dt = AX + BU +L(r-y); y = CX + DU; u = KX. In beginning, to increase the buffer weight to the slide fork and later to increase the position weight to the lift device, which reduces the librate of the slide fork when tally.

Description

technical field [0001] The present invention relates to a sorting device for tallying goods by moving up and down an article support unit, and particularly relates to vibration damping control during tallying. Background technique [0002] In transport vehicles such as stacking cranes, unmanned transport vehicles, and rail trolleys, it can be rationalized by combining a freely advancing and retreating arm such as a sliding fork or a articulated arm (scara arm) with a lifting platform or an elevator. goods. In addition, in the overhead crane, the chucks of the lifting table clamp the articles and raise them to perform tallying. In any of these cases, it is required to suppress the vibration of the articles during tallying. If the vibration can be suppressed, it has the following advantages: it can reduce the force applied to the article during tallying, shorten the waiting time until the vibration disappears, and improve the height accuracy during tallying. Take tally of h...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B65G1/04G05B19/04G02F1/1333
CPCB66C13/06B66C13/18
Inventor 吉田和夫村上武
Owner KEIO UNIV
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