KR20020024018A - Stacker Crane and AGV applied a Speedometer and Running-Distance counter - Google Patents
Stacker Crane and AGV applied a Speedometer and Running-Distance counter Download PDFInfo
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- KR20020024018A KR20020024018A KR1020020000864A KR20020000864A KR20020024018A KR 20020024018 A KR20020024018 A KR 20020024018A KR 1020020000864 A KR1020020000864 A KR 1020020000864A KR 20020000864 A KR20020000864 A KR 20020000864A KR 20020024018 A KR20020024018 A KR 20020024018A
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- 238000007689 inspection Methods 0.000 claims abstract description 9
- 230000032683 aging Effects 0.000 abstract 1
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- 230000001186 cumulative effect Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002431 foraging effect Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P1/00—Details of instruments
- G01P1/12—Recording devices
- G01P1/122—Speed recorders
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- 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
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67763—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
- H01L21/67769—Storage means
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Abstract
속도계 및 운행거리 계수기를 스태커 크레인(Stacker Crane)과 무인차(AGV)에Speedometers and mileage counters on Stacker Cranes and AGVs
적용하여 개발한 시스템으로서 지금까지는 기계의 성능을 표시하는 기준으로서It is a system developed and applied so far as a standard for indicating the performance of the machine.
사용했던 최고속도 산출은 단순 물동량 처리결과를 보고 판단을 했으며 설비의The maximum speed calculation used was judged by the result of the simple traffic volume treatment.
정기점검 또한 일정기간별로 정하여 관리하여 왔으나 이는 비합리적인 방법으로Periodic inspections have also been established and managed at regular intervals.
완벽한 설비점검 주기와 성능 판단의 기준이 될 수가 없었다. 그러나 기계의 성능을 표시하는 최고속도는 속도계를 부착하므로서 해결되며 설비의 노후화는 운행실적에 따라서 일차 비례하므로 이에 적합한 관리 및 점검 기준이 수반되어야 하므로 운행거리에 비례하는 운행 누적 거리계를 부착하므로서 이러한 과제를 해결하게It could not be the basis for a complete facility inspection cycle and performance judgment. However, the maximum speed that displays the performance of the machine is solved by attaching a speedometer, and since the aging of the equipment is primarily proportional to the driving performance, appropriate management and inspection standards must be accompanied. To solve
된다.do.
Description
종래에는 스태커 크레인(Stacker Crane으로서 이하 스태커 크레인으로 명칭)과In the related art, a stacker crane (hereinafter referred to as a stacker crane) and
무인차(무인대차 또는 AGV로서 이하 무인차로 명칭)의 운행상황으로 controlControl the operation of unmanned vehicles (unmanned vehicles or AGVs as unmanned vehicles below)
panel에 표시하는 내용은 입출고 지점의 번지와 상태표시 그리고 에러 발생시The display on the panel displays the address and status of the entry and exit points and when an error occurs.
스태커 크레인과 무인차가 인식 가능한 에러 내용이 전부였다.The stacker crane and driverless car were all error content.
그외 표시가 불가능한 에러는 제어반에서 감지하지 못한 경우이다.Other non-displayable errors are those that are not detected by the control panel.
그러나 갈수록 스태커 크레인과 무인차의 운행속도가 빨라지고 성능이 향상되고But as time goes by, the stacker crane and driverless cars get faster,
있기때문에 성능향상에 따른 개선된 부가기능이 필요하다. 많은 물량을 처리할려면 에러를 최대한 줄이고 효율을 올릴수 밖에 없기 때문에 운행속도가 빨라지고As such, there is a need for improved add-ons as performance increases. In order to handle a large quantity of goods, the driving speed is increased because the error can be minimized and the efficiency can be increased.
성능이 앞서야 한다.Performance should be ahead
기계의 성능을 표시하는 1차적인 방법은 최고속도이다. 그리고 자동화창고에서The primary way to indicate the performance of a machine is at top speed. And in an automated warehouse
시스템의 처리능력을 평가하는 방법중 하나로서 시스템 전체적으로 병목이 없이One of the methods of evaluating the processing power of a system.
흘러가야 되지만 무엇보다도 개별의 기계에서 제성능이 나와야 한다.It must flow, but above all, the performance must come from the individual machine.
그러한 각각의 기계의 능력 발휘여부도 처리능력 즉 최고속도이다.The performance of each such machine is also the processing capacity, or maximum speed.
또한 효율적인 기계관리를 위해서는 기계의 운행상황을 파악할 수 있어야 한다.In addition, for efficient machine management, it is necessary to understand the operating status of the machine.
운행상황을 파악할려면 에러 발생으로 운행이 정지된 시간, 운행횟수, 대기시간, 총운행거리, 일일 운행거리, 최고속도, 평균속도를 알고 있어야 한다.To understand the operating situation, it is necessary to know the time when the operation stopped due to an error, the frequency of operation, the waiting time, the total distance, the daily distance, the maximum speed, and the average speed.
그래야만 상세한 기계의 이력관리를 할 수 있다.Only then can the history of the detailed machine be managed.
이러한 기계관리 기준은 바로 운행거리이다.This machine management standard is the distance traveled.
종래에는 스태커 크레인과 무인차에는 주행중에 현재의 속도와 운행거리를 알 수 있는 방법이 없었으므로 기계의 성능테스터시에 단순히 물동량 처리여부로 기계의 성능을 판단해 왔으나 이는 어디까지나 이론적인 계산 방법에 지나지 않는다.In the past, stacker cranes and unmanned vehicles had no way of knowing the current speed and distance while driving. Therefore, the performance of the machine was judged simply by handling the amount of water during the performance tester. It is not too much.
그리고 정기정검 또한 단순히 일정기간으로 정하여 정기점검을 해왔으나 이 또한 비합리적인 방법이다. 이에 본 발명은 상기와 같은 문제점을 해결하기 위한 것으로 기본원리는 자동차의 속도계와 거리계수기와 같지만 스태커 크레인과 무인차의 특성에 맞게 기계의 성능확인 및 이력을 손쉽게 관리할 수 있도록 고안한 장치이다. 즉 현재속도외에 최고속도,평균속도,운행시간,운행횟수,대기시간을 알 수 있도록 설계했으며 누적운행 거리계 또한 기계의 이력관리 및 정기정검을 목적으로서 일정거리 운행후에 자동으로 부품의 교체시기 주유시기를 알려 주도록 고안한 시스템이다. 특히 운행상황 관리를 위해 누적운행 거리 계수기와 주행,승강의 속도표시를 위한 주행/승강용 속도계를 설명한 것으로 기존의 자동차와는 달리 스태커 크레인과 무인차의 속도계는 주행과 승강구동부에 엔코드(Encoder)를 부착하여(또는 인버터에 부착된 엔코드 출력을 사용하는 방법) 펄스수를 계산하여 진행된 거리를 산출해 내는 기술이다. 상세한 설명은 도 1에서 처럼 엔코드에서 나온 펄스는 Control panel안에 있는 Main Board에서 이를 받아서 연산하여 출력하게 된다.In addition, regular inspections have been carried out for regular inspections by simply setting a certain period of time, but this is also an unreasonable method. Accordingly, the present invention is to solve the above problems, the basic principle is the same as the speedometer and distance counter of the car, but is designed to easily manage the performance check and history of the machine according to the characteristics of the stacker crane and driverless cars. In other words, it is designed to know the maximum speed, average speed, running time, frequency of operation, and waiting time in addition to the current speed, and the cumulative traveling distance meter is also used to automatically replace parts after a certain distance for the purpose of history management and regular inspection of the machine. It is a system designed to inform. In particular, it explains the cumulative traveling distance counter and the driving / elevating speedometer for displaying the speed of driving and elevating for the management of driving situation. ), Or using the encoder output attached to the inverter to calculate the number of pulses to calculate the distance traveled. Detailed description is that as shown in Figure 1, the pulse from the encoder is received by the main board in the control panel and calculated and output.
Main Board는 전용보드 또는 PLC를 사용할 수 도 있으나 어떠한 시스템이든지The main board can use a dedicated board or a PLC, but any system
기본 개념은 동일하다. 발명의 목적은 스태커 크레인 또는 무인차의 주행/승강속도를 ①항상 실시간으로 표시하고 ②누적거리를 계산하여 정해진 거리가 되면 자동으로 소모품 및 오일의 교환시기를 알려주므로서 운행기록장치로 사용할 수 있으며 효율적인 정기점검으로 운행시간을 극대화 할 수 있다. 또한 기계(스태커 크레인 또는 무인차)의 ③성능 TEST시에 최고속도, 운행횟수, 평균속도를 바로 눈으로 즉석에서 확인이 가능하므로 TEST로 인한 시간을 소비할 필요가 전혀 없으며 ④운영자와 공급자간에 물량처리의 기준으로 정할 수 있으므로 일석삼조의 효과를 낼 수 있다. 그러나 종래는 이러한 주행 및 승강속도 그리고 운행 누적거리를 나타낼수 있는 기능이 전혀 없었다. 다만 컨터롤 패널(Control Panel)안에 들어있는 인버터의 출력 주파수를 보고 환산하여 현재의 속도를 계산할 수 밖에 없었으나 이 또한 뚜껑을 열어야 하므로 실제로는 산출이 불가능 하였다. 본 발명은 스태커 크레인(Stacker Crane)과 무인차의 주행 및 승강속도를 Meter/분으로 바로 표시가 가능토록 속도계 및 누적거리 계수기를 아날로그 또는 디지탈로 개발하여 기계의 Control Panel 전면에 부착토록 고안한 것이다. 아날로그 방식은 자동차의 속도계 및 거리계수기 처럼 구동축에서 나온 회전케이블이 돌면서 바늘과 숫자가 움직이도록 되어있고 디지털방식은 전용엔코드 혹은 인버터용으로 부착된 엔코드의 펄스수를 받아들여서 마이크로프로세서가 이를 연산하여 속도 및 운행거리를 숫자로 나타내도록 구성했다.The basic concept is the same. The purpose of the invention is to display the traveling / ascending speed of the stacker crane or driverless vehicle ① at all times in real time and calculate the cumulative distance and notify the timing of the replacement of consumables and oil automatically when the specified distance is reached. Efficient regular inspections can maximize the operating time. In addition, it is possible to immediately check the maximum speed, the number of trips, and the average speed at the time of the performance test of the machine (stacker crane or unmanned vehicle). Since it can be set as a standard of treatment, it can have the effect of three stones. However, in the prior art, there was no function capable of expressing such driving and lifting speeds and running accumulated distances. However, it was inevitable to calculate the current speed by looking at the output frequency of the inverter in the control panel and converting it, but it was also impossible to calculate the current speed because the lid was opened. The present invention is designed to be attached to the front of the control panel of the machine by developing a speedometer and a cumulative distance counter in analog or digital so that the running and lifting speed of the stacker crane and the driverless vehicle can be displayed directly in meters / minute. . The analog method allows the needle and number to move as the rotating cable from the drive shaft rotates, like the speedometer and distance counter of a car. The digital method accepts the pulse number of an encoder attached to a dedicated encoder or inverter and calculates it by a microprocessor. Speed and mileage by numbers.
스태커 크레인과 무인차의 주행속도 표시기능은 현재 달리고 있는 기계의(스태커 크레인과 무인차)의 주행 및 승강속도를 정밀도 0.1mm 에서 실시간으로 표시할 수 있으며 간단한 조작으로 현재속도,최고속도,평균속도,운행시간,운행횟수,대기시간을 나타낼수 있도록 했다. 또한 누적운행거리도 월단위의 운행거리,일일운행거리 표시가 가능하며 상위컴퓨터에서도 각호기별로 쉽게 볼수 있도록 제작되었으며The traveling speed display function of the stacker crane and driverless vehicle can display the running and lifting speed of the currently running machine (stacker crane and driverless vehicle) at a precision of 0.1mm in real time. You can indicate the running time, the number of times, the waiting time. In addition, the cumulative operating distance can be displayed on the monthly mileage, daily mileage, and can be easily viewed by each unit from the upper computer.
정해진 거리가 되면 자동으로 부품별 점검시기 및 교체시기, 주유시기등을 알리도록 했다. 사용자는 CCR 또는 Control Panel에 부착된 얼람(또는 부저)으로 점검 및When the fixed distance is reached, it automatically informs the inspection time, replacement time and oiling time of each part. The user can check and check the alarm (or buzzer) attached to the CCR or Control Panel.
교체시기를 알 수 있도록 설계되었으나 상세한 정보는(부품의 종류,주유위치) CCR 또는 Control Panel에 부착된 디스플레이 유닛 또는 전광판을 통하여 표시토록It is designed to know the time of replacement, but detailed information (type of component, oiling location) can be displayed on the display unit or display board attached to the CCR or Control Panel.
한다.do.
도 1은 본 발명이 적용되는 스태커 크레인과 무인차에 운행 누적거리 계수기와1 is a stacker crane and an unmanned vehicle running cumulative distance counter to which the present invention is applied
속도계를 도시한 예이다.This is an example of a speedometer.
도 2는 본 발명의 실시예에 따른 전체 구성도이다.2 is an overall configuration diagram according to an embodiment of the present invention.
이하, 도면을 참조하여 상세히 본 발명을 설명한다. 도 2와 같이 전용엔코드 (Encoder)를 주행구동부와 승강구동부에 부착하여 발생되는 펄스를 메인보드로Hereinafter, the present invention will be described in detail with reference to the drawings. As shown in FIG. 2, a pulse generated by attaching a dedicated encoder to the driving drive unit and the lifting drive unit is used as a main board.
보낸다. 만약 벡터인버터나 엔코드가 부착된 인버터를 사용할 경우는 부착된send. If you use a vector inverter or an inverter with an encoder,
엔코드를 그대로 사용해도 관계가 없으므로(단, 1회전에 따른 펄스수를 사전에The encoder can be used as it is, but the number of pulses per one revolution is determined beforehand.
입력해야함) 이경우도 그대로 사용한다. 메인보드에서는 입력된 펄스수를 연산하여 주행속도 표시부, 승강속도 표시부, 주행 누적거리 표시부, 승강 누적거리 표시부, 부품 교환시기 표시부로 각각의 정보를 보낸다. 속도표시부(주행 및 승강 각각)에서는 현재의속도, 일일 최고속도, 평균속도, 운행시간, 운행회수, 대기시간 등을 표시하며 누적거리 표시부(주행 및 승강 각각)에서는 일일 운행거리, 월 운행거리, 총 운행거리를 표시하며 부품 교환시기 표시부에서는 부품별 교환시기, 주유시기등을 사전에 입력된 데이터를 기준으로 알려 준다. 도 1은 주행 거리와 승강 거리계수기, 주행 속도와 승강 속도계를 나타낸 그림이다.It should be used in this case as well. The main board calculates the number of input pulses and sends each piece of information to the travel speed display, the lift speed display, the travel accumulation distance display, the lift accumulation distance display, and the parts replacement time display. The speed display (driving and lifting respectively) displays the current speed, daily maximum speed, average speed, driving time, frequency of operation, waiting time, etc. The cumulative distance display (driving and lifting respectively) shows daily driving distance, monthly driving distance, It displays the total distance traveled and the parts replacement time display shows the replacement time and oiling time for each part based on the data entered in advance. 1 is a diagram illustrating a driving distance and a lift distance counter, a traveling speed and a lift speedometer.
발명의 효과는 스태커 크레인과 무인차에 속도계와 운행 누적거리 계수기를 부착하므로서 발생되는 효과는 다음의 4가지로 들수 있다. 1)현재의 주행 및 승강의 속도를 쉽게 알 수 있으므로 현재속도외에 기계의 일일 최고속도, 평균속도, 운행 시간,운행회수,대기시간을 알 수 있으며 속도 피이드백을 받아서 원격제어 정속운전이 가능하다. 2)운행 누적거리는 일일 운행거리, 월 운행거리,총 운행거리를 알 수 있을뿐만 아니라 정해진 거리가 되면 자동으로 부품의 교환 및 주유시기를 알려주므로서(상위컴퓨터 및 단위기계모두다 표시가능) 효율적인 기계 관리로 운행시간을 최대한 늘일수 있다. 즉 자동차의 거리계수기를 기준으로 소모품을 교환하고 노후화의 기준을 삼는것 과 원리는 동일하다. 3)기계의 능력을 평가하는 기준으로서 즉 성능평가시에 최고속도, 평균속도를 바로 눈으로 확인이 가능하므로 성능평가로 인한 시간을 대폭 줄일 수 있다. 그외 발명의 효과는 4)자동화창고(물류창고) 시스템의 시뮬레이션 데이터로서도 사용가능하다. 또한 주행/승강속도는 한번표시를 하고 곧 데이터는 소멸되지만 그 데이터를 보관하고 분석하여 최적의 속도를 낼수The effect of the invention is the following effects can be generated by attaching the speedometer and running cumulative distance counter to the stacker crane and driverless cars. 1) It is easy to know the current driving and lifting speed, so you can know the daily maximum speed, average speed, running time, running frequency, waiting time of the machine in addition to the current speed. . 2) The accumulated running distance not only knows the daily distance, monthly distance, and total distance, but also automatically informs the time of replacement and lubrication when it reaches a certain distance (both upper computer and unit machine can be displayed). Machine management can maximize the running time. That is, the principle is the same as replacing consumables based on the distance counter of a car and setting the standard for aging. 3) As a criterion for evaluating the capability of the machine, that is, the maximum speed and average speed can be checked with the eyes at the time of performance evaluation, and the time due to the performance evaluation can be greatly reduced. In addition, the effects of the invention can be used as simulation data of 4) automated warehouse (logistics warehouse) system. In addition, the driving / ascending speed is displayed once and the data disappears soon, but the optimal speed can be obtained by storing and analyzing the data.
있으므로 상위 컴퓨터로 부터 피드백을 받아서 구간별 정해진 정속도로 운행이Therefore, it receives feedback from the host computer and runs at the fixed speed for each section.
가능하다. 그리고 주행/승강 누적거리계는 지금까지의 기계의 운행거리를 표시하므로 누적거리는 계속 누적되어온 거리를 표시 하지만 일일 운행거리,월운행거리,총누적거리등도 동시에 볼 수가 있다.It is possible. In addition, since the running / elevating distance meter displays the distance of the machine so far, the cumulative distance shows the accumulated distance, but the daily distance, the monthly distance, and the total cumulative distance can be viewed at the same time.
Claims (2)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020020000864A KR20020024018A (en) | 2002-01-08 | 2002-01-08 | Stacker Crane and AGV applied a Speedometer and Running-Distance counter |
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| Application Number | Priority Date | Filing Date | Title |
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| KR1020020000864A KR20020024018A (en) | 2002-01-08 | 2002-01-08 | Stacker Crane and AGV applied a Speedometer and Running-Distance counter |
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| KR20020024018A true KR20020024018A (en) | 2002-03-29 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63106892A (en) * | 1986-10-24 | 1988-05-11 | 富士電機株式会社 | Digital operation recorder |
| US5250761A (en) * | 1989-10-02 | 1993-10-05 | Kabushiki Kaisha Komatsu Seisakusho | Managing system for construction vehicles |
| EP0592166A2 (en) * | 1992-10-05 | 1994-04-13 | Matra Marconi Space UK Limited | A tachograph |
| JPH06150099A (en) * | 1992-11-04 | 1994-05-31 | Iseki & Co Ltd | Data collector for farm machine |
| KR19990018851A (en) * | 1997-08-28 | 1999-03-15 | 김형수 | Automobile driving and status information recording device and control method |
| JP2000207600A (en) * | 1999-01-13 | 2000-07-28 | Junko Nojiri | Travelling state analyzing and recording system for vehicle |
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2002
- 2002-01-08 KR KR1020020000864A patent/KR20020024018A/en not_active Application Discontinuation
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63106892A (en) * | 1986-10-24 | 1988-05-11 | 富士電機株式会社 | Digital operation recorder |
| US5250761A (en) * | 1989-10-02 | 1993-10-05 | Kabushiki Kaisha Komatsu Seisakusho | Managing system for construction vehicles |
| EP0592166A2 (en) * | 1992-10-05 | 1994-04-13 | Matra Marconi Space UK Limited | A tachograph |
| JPH06150099A (en) * | 1992-11-04 | 1994-05-31 | Iseki & Co Ltd | Data collector for farm machine |
| KR19990018851A (en) * | 1997-08-28 | 1999-03-15 | 김형수 | Automobile driving and status information recording device and control method |
| JP2000207600A (en) * | 1999-01-13 | 2000-07-28 | Junko Nojiri | Travelling state analyzing and recording system for vehicle |
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