Suspension type crane equipment and its learning device

Abstract

The invention provides hang type carrying equipment and a learning device which can do load and unload work safely and correctly. In hang type carrying equipment, a work hand which makes a held work elevate in a hung-down state and can rise and fall is installed on the adjustable position in horizontal two-dimensional directions to a conveying travel body. The work W can be loaded up and down by the work hand between a plurality of supporting bases for transferring work arranged below the running route of the conveying travel body. The position adjusting amount for work lifting and the position adjusting amount for work falling are set every supporting base for transferring work. When the work hand is fallen from the conveying travel body stopping at fixed stopping positions SP1 to the supporting bases for transferring work, the positional adjustment is performed in horizontal two-dimensional directions of the work hand by only the position adjusting amount set to the supporting bases for transferring work according to the work lifting work or the work falling work.

Description

technical field [0001] The present invention relates to a suspension transport facility and a learning device that can be used flexibly when learning the operating conditions of the suspension transport facility in advance. Background technique [0002] As the suspension transport equipment in the past, as disclosed in Japanese Patent Application Publication No. 349280 / 1999, the following suspension transport equipment is disclosed. The lifting and lowering workpiece manipulator is set on the traveling body for transportation in a manner that can adjust the position along the horizontal two-dimensional direction. Through the above-mentioned workpiece manipulator, multiple workpieces under the walking path of the traveling body for transportation Workpieces are loaded and unloaded between transfer support tables. However, in such suspension transport equipment, even in accordance with the error in the installation position accuracy of each workpiece transfer support, it is p...

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Problems solved by technology

[0004] The workpiece manipulator in this kind of suspension transportation equipment is suspended from the transporting walking body through a plurality of belts that can be rolled up and unrolled respectively, even if it is an unloaded workpiece that falls to the workpiece clamping level during the workpiece lifting operation. When the manipulator is in a horizontal state, the workpiece manipulator (including the entire workpiece) in the workpiece clamping state lowered to the workpiece lowering level during the workpiece lowering operation is inclined due to the following various reasons. The relationship between the position of the center of gravity of the workpiece, the error of the elongation of each belt of the suspending workpiece manipulator caused by the weight of the workpiece, and the manufacturing accuracy of the clamped part of the processed workpiece is low (not the clamped part of each workpiece There is an error in the accuracy of the workpiece, but it is common to all the workpieces, such as the case where the clamped part is uniformly inclined, etc.), such an inclination of the workpiece manipulator results in a horizontal two-dimensional view of the workpiece manipulator when viewed from the workpiece transfer support. In this way, it is impossible to accurately lower the workpiece onto the workpiece transfer support table during the workpiece lowering operation only by adjusting the position of the workpiece manipulator by the same amount during the workpiece lifting operation and the workpiece lowering operation. specified position

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