JPH0977210A - Automatic transfer equipment - Google Patents

Abstract

(57) [Summary] [Problem] In conventional equipment, when a self-propelled carrier truck for carrying is started to drive, another self-propelled carrier truck starts to run, so that the other self-propelled carrier truck stops. Even when the next load is transferred from the existing area, it is started, resulting in poor work efficiency. SOLUTION: A control device (VTC) 32 for controlling the operation of a plurality of self-propelled carrier vehicles 2, a VTC 32, and each self-propelled carrier vehicle 2.
Communication devices 36 and 48 for transmitting data between the mobile carriers 1 and optical transmission devices 67 and 68 for transmitting data between the mobile carriers 2 are provided to detect the distance traveled from a predetermined position on each mobile carrier 1. The distance detecting means and the traveling distance detected by the distance detecting means are transmitted by the communication device 48, and the difference between the traveling distance of the self-propelled transport vehicle one vehicle ahead and the traveling distance of the self is subtracted, and the distance is less than or equal to a predetermined distance. In this case, the control device 2 that sends an eviction signal to the self-propelled transport vehicle one unit forward via the optical transmission device 67.
A is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic transport facility for transporting a load between a plurality of areas along a fixed route by a plurality of self-propelled transport vehicles traveling on a fixed route.

[0002]

2. Description of the Related Art An example of the structure of the above automatic transfer facility will be described with reference to FIG. The equipment shown in FIG. 9 is an equipment configured to carry a load between eight conveyor devices 1 by means of five self-propelled carriages 2.

The self-propelled carrier 2 has means for placing and transferring a load on its upper surface, moves along a fixed path 3 and transfers the load to and from the conveyor device 1. Further, the conveyor device 1 is provided with a control device 1A, and the self-propelled carriage 2 is provided with a control device 2A.

A control device 1A for the eight conveyor devices 1
And the control device 2A of the five self-propelled carriages 2 is integrated by the integrated control device 4, and the integrated control device 4 uses the communication device (not shown) to control the control device 1A of the eight conveyor devices 1 and the five control devices 1A. It is connected to the control device 2A of the self-propelled carrier 2 and is also connected to a host computer (not shown) of the equipment.

With the above-mentioned configuration, the centralized control device 4 causes the host computer to transfer the load data (the transfer source conveyor device →
When the data of the destination conveyor device is input, the vacant (no load is loaded) self-propelled carrier truck 2 closest to the carrier source conveyor device 1 is determined, and the above-mentioned transport is performed to the control device 2A of the self-propelled carrier truck 2. When data is transmitted and when the self-propelled carrier 2 arrives at the conveyor device of the carrier, a transfer command is transmitted to the transfer means of the conveyor unit 1 and the self-propelled carrier 2 and onto the self-propelled carrier 1. Load transfer and self-propelled carrier 2
Upon arrival at the destination conveyor device 1, the transfer instruction is transmitted to the transfer device of the conveyor device 1 and the self-propelled carriage 2 to transfer the load onto the conveyor device 1.

When the empty self-propelled transport carriages 2 are started to travel, the position of each self-propelled transport carriage 2 is confirmed, and the empty self-propelled transport carriage 2 is driven out so that the empty self-propelled transport carriages 2 can travel. Is created and the travel command is transmitted to each self-propelled carrier 2.

[0007]

However, in the conventional equipment, due to the eviction schedule of the integrated control device 4, when the empty self-propelled carriage 2 starts to travel, the other self-propelled carriage 2
When the next load is transferred from the conveyor device 1 in which the other self-propelled carrier truck 2 is stopped because the traveling of the other self-propelled carrier truck 2 is started, the vehicle is started and the next self-propelled carrier truck 2 is started. There was a problem that the load could not be conveyed until the arrival of the item, resulting in a decrease in work efficiency.

Further, all the control data are integrated control unit 4
Therefore, if a problem occurs in the integrated control device 4, the load cannot be transported and the entire facility stops. Further, when an abnormality occurs in order for the worker not to reduce the operating rate, the worker needs to finish the recovery work as quickly as possible, which is a heavy burden.

[0009] Therefore, an object of the present invention is to provide an automatic transfer facility which can improve the overall operation rate and reliability.

[0010]

In order to achieve the above-mentioned object, the automatic carrier equipment of the present invention is provided with a plurality of self-propelled carrier trucks which travel on a certain route to transfer loads between a plurality of areas along a certain route. An automatic transport facility for transporting, comprising a control device for controlling the operation of the plurality of self-propelled transport carriages, and transmitting data between the control device and each self-propelled transport carriage to the control device and each self-propelled transport carriage. A data transmission means for performing the above is provided, and each self-propelled carriage is provided with a distance detection means for detecting a traveling distance from a predetermined position, and the traveling distance detected by the distance detection means is transmitted by the data transmission means to forward one vehicle. The difference between the mileage received from the self-propelled carriage and the self-distance is subtracted, and when the distance is less than a predetermined distance, a drive-out signal is transmitted to the self-propelled carriage ahead by one via the data transmission means, and the data is transmitted. The control means is provided which, when the transmission means receives an eviction signal from the self-propelled carriage behind the vehicle, transmits the movement permission / inhibition signal to the control device by the data transmission means and starts the forward movement by the movement permission signal of the control device. It is characterized by.

Here, the data transmission means is formed by, for example, a wireless device or an optical transmission device, and the control device and the control means for the self-propelled carriage are formed by a computer. The distance detecting means detects a pulse encoder connected to a traveling motor for driving the self-propelled carriage, a counter for counting pulses of the pulse encoder, a base point position, and resets the counter by the detection signal. It is formed of a photoelectric switch that converts the count value of the counter into a travel distance from the base point position.

With the above-described structure, each self-propelled carrier truck transmits the traveling distance detected by the distance detection means by the data transmission means, and each self-propelled carrier truck receives the traveling distance received from the front self-propelled carrier truck. The difference between the distance and the own traveling distance is subtracted, and when the distance is less than a predetermined distance, an evacuation signal is transmitted to the self-propelled carrier truck ahead by one via the data transmission means, and the self-propelled one behind by the data transmission means. When the drive-out signal is received from the carrier vehicle, the data transmission means transmits a movement permission / prohibition signal to the control device, and the movement start signal is started by the movement permission signal of the control device. Therefore, when the distance from the self-propelled carrier truck in front is shortened to the above-mentioned predetermined distance, it is driven out for the first time, and as a result, unnecessary movement of the self-propelled carrier truck is reduced.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. The same components as those of the conventional example shown in FIG. 9 are designated by the same reference numerals and the description thereof will be omitted.

FIG. 8 is a layout view of automatic transportation equipment showing an embodiment of the present invention. Each of the conveyor devices 1 is provided with a control device (hereinafter, referred to as COS) 31, and the self-propelled carriage 2 is provided with a control device (hereinafter, referred to as VTC) 32. Further, a communication cable 33 is laid across the COS 31 and VTC 32, and the COS 31 and VTC 32 are connected via the communication cable 33 and a communication device (not shown), and the CSMA / CD system is basically used as a bus access system. The adopted bus type LAN is formed. An equipment controller (hereinafter referred to as RTS) 34 that manages the transportation of goods and the entry / exit of goods is connected to the communication cable 33, and the RTS 34, VTC 32, and 8 COSs are connected using this LAN.
Data is exchanged between 31.

The control configuration of the self-propelled carriage 2 will be described with reference to FIG. From the traveling motor 42 that is connected to and drives the driving wheels 41, the driver 43 of the traveling motor 42, the pulse encoder 44 that is connected to the traveling motor 42, and the end plate fixed to the predetermined position shown in FIG. A first photoelectric switch 46 for detecting the formed base point 35 and the pulse encoder 44.
Counts the pulses output from the first photoelectric switch
A counter 47 that is reset by the base point detection signal of 46,
A wireless communication device 48 and its antenna 49 for transmitting data to and from the VTC 32 and other self-propelled carriages 2, a roller conveyor 50 for transferring and placing a load, and a forward and reverse drive of the roller conveyor 50. The transfer motor 51, the driver 52 of the transfer motor 51, the second photoelectric switch 53 for detecting the tape (not shown) attached to the floor and showing the fixed path 3, and the direction of the traveling wheel 40. According to the detection signal of the traveling direction changing motor 54 and the second photoelectric switch 53
The traveling direction changing motor 54 is driven forward and backward to drive the self-propelled carriage 2.
55 for moving the vehicle along a fixed path, a third photoelectric switch 56 for confirming the loading of the load on the roller conveyor 50,
A fourth photoelectric switch 57 for confirming the carry-out of the load from the roller conveyor 50, an optical transmission device 67 for transmitting an ejection signal to be described later to the self-propelled transport carriage 2 in front of one, and a self-propelled transport carriage 2 for one rear. And an optical transmission device 68 for receiving a drive-out signal described later from FIG.
It is composed of A.

The communication device 48 constantly transmits a count value from the base point input from the counter 47, that is, a mileage from the base point with a predetermined dolly number, informing of the current position, and one unit forward. The mileage of the self-propelled transport trolley 2 having the dolly number is received and output, and the load transfer data (data of the load transport source / transport destination) from the VTC 32 is received and output.

The VTC 32 includes a communication device 36 and an antenna 37.
The current position of each self-propelled carrier 2 received by the device is stored, whether the load is being transported or not, and the self-propelled carrier 2 being transported is stored.
It stores the transfer data of the cargo. And new RT
When the load transfer data is input from S34, the stored current position of each self-propelled carrier 2 is searched and five self-propelled carrier 2 are searched.
Then, the self-propelled carrier 2 which is the closest empty carrier and is closest to the conveyor device 1 of the transport source is determined, and the load transfer data is output to the self-propelled carrier 2 via the communication device 36 and the data is stored. When the transport completion signal is input from the self-propelled transporting vehicle 2, the transport completion signal is output to the RTS 34 and the data is updated. When a movement permission / prohibition signal, which will be described later, is input from the self-propelled conveyance vehicle 2, it is confirmed whether the conveyance is completed, and if the conveyance is completed, a movement permission signal is output.

As shown in FIG. 2, the control device 2A of the self-propelled carriage 2 has a drive-out signal from the drive-out control unit 66, which will be described later, the current traveling distance data S detected by the counter 47, and a control unit 1 which will be described later. The distance data Y with respect to the self-propelled carriage 2 in front of the table is input, and the traveling control unit 61 that controls the traveling driver 43 and the load confirmation detection signals of the third and fourth photoelectric switches 56 and 57 are input, Transfer controller that controls the transfer driver 52
62, a memory 63 for storing the load transfer data received by the communication device 48, and a counter 47 based on the traveling distance data of the self-propelled carriage 2 one unit ahead received by the communication device 48.
The current mileage data detected by is subtracted to obtain the distance data Y with respect to the self-propelled carriage 2 ahead by one, and the subtracter 64 for outputting to the travel control unit 61 and the transfer of the load stored in the memory 63. A general-purpose control unit 65 that controls the traveling control unit 61 and the transfer control unit 62 according to the mounting data, and an ejection control unit that inputs an ejection request signal from the optical transmission device 68 and outputs an ejection signal to the traveling control unit 61. Formed from 66.

The procedure of the integrated control unit 65 will be described with reference to the flowcharts of FIGS. First, it is confirmed whether or not the cargo transfer data is stored in the memory 63 (step-
1) If confirmed, a destination command including data of the conveyor device 1 of the transport source (travel distance of the conveyor device 1 from the base point) is output to the travel controller 61 (step-2).

Then, when an arrival signal to the carrier is input from the traveling control unit 61 (step-3), an OK signal for loading is output to the VTC 32 via the communication device 48 (step-
4), the movement lock signal for prohibiting the movement of the self-propelled carriage 2 output to the traveling control unit 61 is turned on (step-5),
Further, a carry-in command signal is output to the transfer control unit 62 (step-6).

When a transfer completion signal is input from the transfer control unit 62 (step-7), the movement lock signal to the travel control unit 61 is turned off (step-8), and the data of the conveyor device 1 at the destination is transferred. A destination command consisting of (travel distance of the conveyor device 1 from the base point) is output to the travel control unit 61 (step-9).

Then, when an arrival signal to the destination is input from the traveling control unit 61 (step-10), a cargo carry-out permission signal is output to the VTC 32 via the communication device 48 (step-
11), The movement lock signal to the traveling control unit 61 is turned on (step-12).

When the carry-out OK signal is input from the VTC 32 (step -13), a carry-out command signal is output to the transfer controller 62 (step -14). Then, the transfer control unit 62
Therefore, when the carry-out completion signal is input (step-15), the movement lock signal to the traveling control unit 61 is turned off (step-15).
16), VTC32 the signal of the completion of the transportation of the cargo through the communication device 48.
To (step-17), erase the load transfer data in the memory 63 (step-18), and end.

Next, the control operation of the eviction control unit 66 will be described with reference to the flowchart of FIG. When a drive-out request signal is input from the self-propelled carriage 2 one unit behind via the optical transmission device 68 (step-1), a movement permission / inhibition signal is output to the VTC 32 via the communication device 48 (step-2) for communication. When a movement permission signal is input from the device 48 (step-
3), the drive-out signal is output to the traveling control unit 61 (step-4), and the process ends.

Next, the control operation of the traveling control unit 61 will be described with reference to the flowchart of FIG. First, it is confirmed whether the eviction signal is input from the eviction control unit 66 (step-1). When the input is confirmed, it is confirmed whether or not the movement lock signal of the overall control unit 65 is turned on (step-2). If not, a forward signal is output to the driver 43 (step-3).

If no eviction signal is input in step-1 or if the movement lock signal is off in step-2, it is confirmed whether destination data has been input (flag D = 1) ( Step-4), if not confirmed, it is confirmed whether or not the destination instruction is input (Step-5), and when the destination instruction is confirmed, the data of the conveyor device 1 at the destination (travel distance X of the conveyor device 1 from the base point). Is stored (step-6), and the flag D is turned on (D = 1) (step-7).

In step-4, when D = 1 or after step-7, it is confirmed whether or not the current traveling distance S input from the counter 47 and the traveling distance X of the conveyor device 1 from the stored base point match. (Step-8), and when they match, a stop signal is output to the driver 43 (step-
9) and outputs an arrival signal to the overall control unit 65 (step-1
0), the flag D is reset (step-11), and the stored destination data is erased (step-12). Step-
If they do not coincide with each other in step 8, it is confirmed whether or not the distance Y to the self-propelled carriage 2 in front of the vehicle is a predetermined distance α or more (step -13). If it is less than the above, the drive-out signal is output to the self-propelled carriage 2 ahead by one via the optical transmission device 67 (step -14), and the stop signal is output to the driver 43 (step -15).

Next, the control operation of the transfer control unit 62 will be described with reference to the flowchart of FIG. First, it is confirmed whether the carry-in command signal has been input from the central control unit 65 (whether the flag I = 1) (step-1). If not confirmed, it is confirmed whether the carry-in command has been inputted (step-2). When the carry-in command is confirmed, the flag I is turned on (I = 1) (step-3). If the carry-in command is not input in step-2, it is confirmed whether the carry-out command signal has been input from the central control unit 65 (flag J = 1) (step-
4) If it is not confirmed, it is confirmed whether the carry-out command is input (step-5), and when the carry-out command is confirmed, the flag J is turned on (J = 1) (step-6).

If the flag I = 1 in step-1, or after step-3, the photoelectric switch for confirming carry-in
Check if 56 is on (step-7). If not, output a forward rotation signal to driver 52 (step-).
8) If it is ON, a stop signal is output to the driver 52 (step-9), a carry-in completion signal is output to the overall control unit 65 (step-10), and the flag I is reset (step-11).

When the flag J = 1 in step-4 or after step-6, the photoelectric switch for carrying out confirmation is carried out.
Check if 57 is off (step-12). If not, output a reverse rotation signal to driver 52 (step-1).
3) If it is off, a stop signal is output to the driver 52 (step-14), a carry-out completion signal is output to the overall control unit 65 (step-15), and the flag J is reset (step-16).

With the above-described structure, when the VTC 32 inputs the load carrying data via the communication device 48, the data is stored in the memory 63, and the running control section 61 first runs to the position of the carrying source conveyor device 1 according to this data. Upon arrival, the transfer control unit 62 drives the roller conveyor 50 to carry in a load, and then the traveling control unit 61 travels to the position of the conveyor device 1 of the transport destination according to the data. The roller conveyor 50 is driven to discharge the load.

When the distance Y to the front self-propelled transport vehicle 2 becomes less than the predetermined distance α during the above traveling, an ejection signal is output to the front self-propelled transport vehicle 2 to temporarily stop, and the distance exceeds the distance α. When it becomes, it starts to move forward.

When a drive-out signal is input from the rear self-propelled carriage 2, the VTC 32 is asked whether or not it can be moved, and when movement is permitted, it moves forward except during the transfer of the load (movement locked state).

In this way, when the distance Y to the front self-propelled transport carriage 2 is shortened to less than the predetermined distance α, it is driven out for the first time. It can be reduced and the work efficiency can be improved.

Further, even when a trouble occurs in the RTS 34 which manages the entire equipment, the transportation by the self-propelled carrier 2 can be continued, avoiding the stoppage of the equipment, thereby improving the reliability. It is possible to improve the overall operation rate and reduce the burden on workers.

In the above-mentioned embodiment, the sending and receiving of the eviction signal is performed using the optical transmission devices 67 and 68, but it is also possible to use the communication device 48.

[0037]

As described above, according to the present invention, each self-propelled carrier truck subtracts the difference between the travel distance received from the self-propelled carrier truck ahead by one and the self-travel carrier truck to obtain the following distance. In this case, when an eviction signal is transmitted to the self-propelled carrier truck ahead by one via the data transmission means, and when the eviction signal is received by the self-propelled carrier truck behind by one by the data transmission means,
By receiving the movement permission of the control device and starting the forward movement, when the distance between the self-propelled transport carriages is reduced to the predetermined distance, it is driven out for the first time, and as a result, wasteful movement of the self-propelled transport carriages can be reduced, Work efficiency can be improved,
Therefore, the overall operating rate can be improved.

[Brief description of the drawings]

FIG. 1 is a functional block diagram of essential parts of an automatic transfer facility showing an embodiment of the present invention.

FIG. 2 is a functional block diagram of a control device of the automatic transfer facility.

FIG. 3 is a flowchart illustrating a procedure of a centralized control unit of the control device of the automatic transport facility.

FIG. 4 is a flowchart illustrating a procedure of a centralized control unit of the control device of the automatic transport facility.

FIG. 5 is a flowchart illustrating a procedure of a drive-out control unit of the control device of the automatic transport facility.

FIG. 6 is a flowchart illustrating a control operation of a traveling control unit of the control device of the automatic transport facility.

FIG. 7 is a flowchart illustrating a control operation of a transfer control unit of the control device of the automatic transport facility.

FIG. 8 is a layout view of the automatic transfer facility.

FIG. 9 is a layout view of a conventional automatic transfer facility.

[Explanation of symbols]

 1 Conveyor device 2 Self-propelled carrier vehicle 2A Control device for self-propelled carrier vehicle 3 Fixed route 31 Controller (COS) 32 Controller (VTC) 33 Communication cable 34 Facility controller (RTS) 35 Base point 36, 48 Communication device (data transmission) Means) 37, 49 Antenna 42 Traveling motor 43 Driver 44 Pulse encoder 46, 53, 56, 57 Photoelectric switch 47 Counter 50 Roller conveyor (transfer means) 51 Transfer motor 52 Driver 67, 68 Optical transmission device (data transmission) means)

Claims (1)

[Claims] 1. An automatic transport facility for transporting a load between a plurality of areas along a certain route by a plurality of self-propelled transport vehicles traveling on a certain route, and controlling the operation of the plurality of self-propelled transport vehicles. The control device and each self-propelled transport carriage are provided with a data transmission means for transmitting data between the control device and each self-propelled transport carriage, and each self-propelled transport carriage is provided with a travel distance from a predetermined position. A distance detecting means for detecting is provided, the traveling distance detected by the distance detecting means is transmitted by the data transmitting means, and the difference between the traveling distance received from the self-propelled carriage one vehicle ahead and the traveling distance of itself is subtracted, When the distance is equal to or less than a predetermined distance, an evacuation signal is transmitted to the self-propelled carrier truck ahead by one via the data transmission unit, and when the expelled signal is received from the self-propelled carrier truck behind by one by the data transmission unit, An automatic carrier facility comprising: a control means for transmitting a movement permission / prohibition signal to the control device by a data transmission means, and for starting a forward movement by a movement permission signal of the control device.