CN1880192A - Article transport apparatus and a method of operating the apparatus - Google Patents
Article transport apparatus and a method of operating the apparatus Download PDFInfo
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- CN1880192A CN1880192A CNA2006100936695A CN200610093669A CN1880192A CN 1880192 A CN1880192 A CN 1880192A CN A2006100936695 A CNA2006100936695 A CN A2006100936695A CN 200610093669 A CN200610093669 A CN 200610093669A CN 1880192 A CN1880192 A CN 1880192A
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Abstract
An article transporting apparatus, according to one preferred embodiment, includes: a plurality of movable bodies for transporting articles, the movable bodies being movable between a plurality of article transfer locations; and an operation controlling section for controlling the plurality of movable bodies so that the movable bodies effect article transporting operations in accordance with an article transport request information; wherein the operation controlling section selects a movable body from the group of movable bodies for an article transporting operation, based on an operation condition configured to cause each of the movable bodies to have a different past operation history such that a timing for replacing a replaceable part for one movable body is different from replacement timings for other movable bodies.
Description
Technical field
The present invention relates to a kind of article carrying apparatus and method of operating thereof, particularly relate to following article carrying apparatus, this device is provided with strides a plurality of article transfers position and moves freely a plurality of article delivery moving bodys, and be provided with the running control mechanism, this running control mechanism is controlled the action of aforementioned a plurality of moving bodys, to carry out requiring corresponding to article delivery the article delivery action of information.
Background technology
In above-mentioned such article carrying apparatus, a plurality of article delivery are striden a plurality of article transfers position with each of moving body and are moved and can carry out the article delivery action, can effectively use a plurality of moving bodys to carry out article delivery, thereby realize the raising of traffic capacity.
In addition, there is following article carrying apparatus, wherein, two moving bodys move on same track, the running control mechanism according to article delivery require whole two moving bodys of Information Selection or wherein a moving body carry out article delivery and handle (No. 2857836 communique of reference example such as Japanese Patent) as the moving body that carries out the article delivery action.
In the article carrying apparatus of the document, on moving body, have instrumentations (field-replaceable unit) such as the sensor that consumes along with carrying out article delivery action or drg.These instrumentations consume along with use, so must change before its end-of-life.Therefore, for example set for,, then arrive the replacing opportunity of this instrumentation, carry out the replacing of instrumentation thus if the period of service of instrumentation reaches setting-up time.Changing under the situation of instrumentation, the moving body with this instrumentation is being moved to dodge position etc. to be located, making this moving body no longer carry out the article delivery action, and carry out the replacing operation of instrumentation.
In the article carrying apparatus of above-mentioned document, the running control mechanism only will whole two moving bodys according to article delivery requirement information or wherein one be chosen as and carry out the moving body that article delivery is moved, carrying out article delivery handles, so the action real result of two moving bodys is identical, promptly to carry out the number of times of article delivery action identical or the like for two moving bodys.
In this case, the period of service of two moving bodys instrumentation (field-replaceable unit) separately is identical, so the replacing of two moving bodys instrumentation separately is identical opportunity.Therefore, temporarily interrupt under the state of article delivery, carry out the replacing operation of the instrumentation of two moving bodys making two moving bodys all not carry out the article delivery action.
But the difference according to the equipment of various articles required feedway requires to continue all the time to carry out article delivery under the situation of not interrupting article delivery sometimes, thereby said apparatus possibly can't satisfy such requirement.
In addition, difference according to circumstances, the replacing of a plurality of moving bodys instrumentation separately opportunity may be different, can cause the replacing operation trouble of instrumentation like this.Therefore, wish that sometimes the replacing of a plurality of moving bodys instrumentation separately is identical opportunity.
Summary of the invention
The present invention is conceived to the problems referred to above point just and makes, and an one purpose is to provide a kind of can either continue to carry out article delivery all the time, can carry out the article carrying apparatus of the replacing operation of instrumentation to a plurality of moving bodys again.
In order to reach this purpose, article carrying apparatus of the present invention possesses:
A plurality of article delivery moving bodys are striden a plurality of article transfers position and are moved freely;
The running control mechanism is controlled the action of described a plurality of moving bodys, carrying out requiring the article delivery of information to handle corresponding to article delivery,
Described running control mechanism, based on different and make the first different operating condition of action real result in order to make described a plurality of moving body field-replaceable unit separately change opportunity, in described a plurality of moving bodys, select to carry out the moving body of article delivery action, carry out described article delivery and handle.
According to this structure, even reaching field-replaceable unit, the part of a plurality of moving bodys changes opportunity, do not reach the moving body that field-replaceable unit is changed opportunity owing to exist, so also can when a part of moving body carries out the replacing operation of field-replaceable unit, make other moving bodys carry out the article delivery action.Thereby can provide a kind of article carrying apparatus that can continue to carry out article delivery all the time.
Another object of the present invention is to provide a kind of a plurality of moving bodys instrumentation separately that can make to change the article carrying apparatus that operation is oversimplified.
In order to reach this purpose, article carrying apparatus of the present invention possesses:
A plurality of article delivery moving bodys move freely on the single track of striding a plurality of article transfers position;
The running control mechanism is controlled the action of described a plurality of moving bodys, carrying out requiring the article delivery of information to handle corresponding to article delivery,
Described running control mechanism, based on identical and make the second substantially the same operating condition of action real result in order to make described a plurality of moving body field-replaceable unit separately change opportunity, the moving body of selecting to carry out the article delivery action in described a plurality of moving bodys carries out described article delivery processing, and, make based on described second operating condition and non-selected moving body moves to following article delivery with outside the moving range, described article delivery moving range is that described selecteed moving body is to carry out article delivery to move the scope that moves.
According to this structure, can make a plurality of moving bodys field-replaceable unit separately change operation and carry out together, can realize the simplification of a plurality of moving bodys field-replaceable unit replacing operation separately.And, when selecteed moving body is mobile in orbit, can not be subjected to the obstruction of unselected moving body, can carry out article delivery expeditiously.
Description of drawings
Fig. 1 is the block diagram of article collecting apparatus.
Fig. 2 is the lateral plan of stakcer crane.
Fig. 3 is the block diagram of article ingathering.
Fig. 4 is the diagram of circuit of the control action of expression running control mechanism.
Fig. 5 is the figure that represents to put in storage simultaneously the action of stakcer crane when handling.
Fig. 6 is the figure that the action of stakcer crane when handling is put in expression first separately in storage.
Fig. 7 is the figure that the action of stakcer crane when handling is put in expression second separately in storage.
The figure of the action of stakcer crane when Fig. 8 is expression outbound simultaneously processing.
The figure of the action of stakcer crane when Fig. 9 is expression first independent outbound processing.
The figure of the action of stakcer crane when Figure 10 is expression second independent outbound processing.
Figure 11 is the diagram of circuit of the control action of the running control mechanism in expression second embodiment.
Figure 12 is the approximate vertical view of the article collecting apparatus in another embodiment.
The specific embodiment
With reference to the accompanying drawings, the embodiment that article carrying apparatus of the present invention is applied to article collecting apparatus is described.
As shown in Figure 1, this article collecting apparatus comprises article storing frame 2 and uses the stakcer crane 4 of moving body as article delivery, this article storing frame 2 has a plurality of incorporating sections 1 of arranging in length and breadth, and this stakcer crane 4 is at this article storing frame 2 and go out warehouse-in articles conveyed B between the article support 3.
Described article storing frame 2 stands to the along continuous straight runs devices spaced apart and is provided with the many double-type pillars 5 in front and back, on double-type pillar 5 before and after each, disposes to devices spaced apart the mounting support 6 that a plurality of along continuous straight runs extend along the vertical direction.
Form an incorporating section 1 by the double-type mounting support 6 of the double-type pillar 5 in front and back and the left and right sides, this incorporating section 1 is provided with a plurality of in length and breadth with arranging.
Described article storing frame 2 is provided with two with article with going out Inbound mode devices spaced apart toward each other, go out warehouse-in with article support 3 with the adjacent position of article storing frame 2 along continuous straight runs, locate as side of article storing frame 2 etc., with toward each other mode devices spaced apart be provided with two.
Each of a plurality of incorporating sections 1 in the described article storing frame 2 and go out warehouse-in with each of article support 3 constitutes article transfer position.
Between two article storing framves 2, be provided with the horizontal direction gamut of striding article storing frame 2 on the ground and go out warehouse-in with article support 3, as the rail 7 of advancing of track, the side guide rail 8 that is provided with the horizontal direction gamut of striding article storing frame 2 and goes out warehouse-in usefulness article support 3 up.And stakcer crane 4 is arranged to, parallel motion on the rail 7 of advancing in by guide rail 8 guiding.
Going out on the end of warehouse-in with article support 3 sides in the both ends of the described rail 7 of advancing is provided with the ground controller 9 of the running of management stakcer crane 4, and information is taken in these ground controller 9 management, as taken in which article etc. in which incorporating section 1.
Described stakcer crane 4 is provided with two with the state of parallel motion on the same rail 7 of advancing.As shown in Figure 2, each of two stakcer cranes 4 comprises: follow that rail 7 is into advanced and freely the chassis 10 of advancing of parallel motion, with respect to this advance chassis 10 liftings freely bay-lift 11 and be arranged at shifting apparatus 12 (for example V shape shifting apparatus) on this bay-lift 11.
Stakcer crane 4 constitutes, by the parallel motion of the chassis 10 of advancing, the lifting action of bay-lift 11 and the move loading action of shifting apparatus 12, carry out being arranged in warehouse-in is received into the incorporating section 1 of article storing frame 2 with the article B on the article support 3 warehouse-in action, perhaps will be accommodated in article B in the incorporating section 1 of article storing frame 2 and be fetched into out warehouse-in with the action of the outbound on the article support 3.
In addition, as shown in Figure 1,, be provided with the objective table 13 of two mounting article B with the state of arranging along the parallel motion direction of stakcer crane 4 as going out warehouse-in article support 3.Like this, go out warehouse-in, arrange along the parallel motion direction by making two stakcer cranes 4 with article support 3, and can by the shifting apparatus 12 that is equipped with separately and objective table 13 between transfer article B.
In this embodiment, the warehouse-in that is positioned in two stakcer cranes 4 is made as the first stakcer crane 4a with the stakcer crane of article support 3 one sides, the stakcer crane that will be positioned at article storing frame 2 one sides is made as the second stakcer crane 4b.
The objective table away from article storing frame 2 one sides in two objective tables 13 is made as the first objective table 13a, will be made as the second objective table 13b near the objective table of article storing frame 2 one sides.
The first stakcer crane 4a carries out article delivery between the first objective table 13a and article storing frame 2, the second stakcer crane 4b carries out article delivery between the second objective table 13b and article storing frame 2.
Uprightly on the described chassis 10 of advancing be provided with descending operation and guide and support bay-lift 11 mono-lifting columns 14 freely, the upright position of establishing of this lifting column 14 is the opposition side of another stakcer crane 4 sides of living on the parallel motion direction of stakcer crane 4.
Described bay-lift 11 is being supported with chain 15 suspentions by lifting, this lifting with chain 15 around hanging on induction sprocket 17 and the induction sprocket 18, and link to each other with the reel 19 of an end that is equipped in the chassis 10 of advancing, this induction sprocket 17 is arranged on the upper frame 16 that is directed along guide rail 8, and this induction sprocket 18 is arranged on the lower side of lifting column 14.
And, drive reel 19 rotatings by lifting with electro-motor 20, and carry out unwinding operation and the operating winding of lifting with chain 15 with converter type, utilize this operation to make bay-lift 11 lifting actions.
On described bay-lift 11, be provided with the lifting rotary encoder 22 that detects the lifting position of bay-lift 11 in the lift path.
For this lifting rotary encoder 22, although omitted detailed icon, but use on the S. A. of rotary encoder 22 in lifting, the sprocket wheel that is meshed with chain that above-below direction along lifting column 14 lays is installed, lifting by bay-lift 11, sprocket wheel rotation detects the distance of bay-lift 11 from the reference position lifting that is set in the lift path bottom, thereby detects the lifting position of bay-lift 11.
In addition, be provided with former and later two wheels 24 of advancing on the rail 7 of advancing freely on the chassis 10 of advancing, parallel motion direction one distolateral wheel in two wheels 24 constitutes the drive wheel 24a that advances and drive with electro-motor 25 by converter type, and another distolateral wheel of parallel motion direction constitutes idle running flower wheel 24b freely.
Drive the positive and negative rotation of drive wheel 24a by advancing with electro-motor 25, thereby make chassis 10 parallel motions of advancing.
The described chassis 10 of advancing is provided with the advancing of advanced positions of detecting the chassis 10 of advancing on the travel path and uses rotary encoder 23.
Advance with rotary encoder 23 for this, although omitted detailed icon, but on the S. A. of advancing, be equipped with and follow the sprocket wheel that chain that rail 7 into lays is meshed with rotary encoder 23, parallel motion by the chassis 10 of advancing, the sprocket wheel rotation, detect the chassis 10 of advancing from the distance of the reference position parallel motion that is set in rail 7 one ends of advancing, thereby detect the advanced positions of the chassis 10 of advancing.
As shown in Figure 3, on each platform of two stakcer cranes 4, be provided with the crane controller 26 of the running of control stakcer crane 4.In this Fig. 3, the crane controller 26 that is arranged at the first stakcer crane 4a is made as the first crane controller 26A, and the crane controller 26 that will be arranged at the second stakcer crane 4b is made as the second crane controller 26B.
To the detection information and the detection information of advancing with rotary encoder 23 of crane controller 26 input liftings with rotary encoder 22.
The first crane controller 26A is identical structure with the second crane controller 26B.
Crane controller 26 carries out the conveying action of article, promptly, control the parallel motion and bay-lift 11 lifting actions of the chassis 10 of advancing, so that shifting apparatus 12 move to each corresponding side article transfer positions of a plurality of incorporating sections 1 and with go out warehouse-in and go out to put in storage on the side article transfer position with article support 3 is corresponding, and the move loading action of control shifting apparatus 12 makes shifting apparatus 12 carry out article transfer with going out to put in storage with article support 3 with respect to incorporating section 1 with going out to put in storage on the side article transfer position in frame side article transfer position.
What need be illustrated is that frame side article transfer position is respectively to use target stop position definite position with the target stop position with advancing by lifting with going out to put in storage side article transfer position.Go out to put in storage side article transfer position and be at each of two objective tables 13 to determine, be set with lifting at each of two objective tables 13 and use the target stop position with advancing with the target stop position.And frame side article transfer position is to determine at each of a plurality of incorporating sections 1, is set with lifting at each of a plurality of incorporating sections 1 and uses the target stop position with the target stop position with advancing.
Crane controller 26 comprises the control part 26a that advances, lifting control part 26b, transfer control part 26c etc., this control part 26a control of advancing parallel motion of chassis 10 of advancing is used the target stop position so that the chassis 10 of advancing moves to advancing of appointment according to the detection information with rotary encoder 23 of advancing; This lifting control part 26b control bay-lift 11 lifting actions are so that bay-lift 11 moves to the lifting target stop position of appointment with the detection information of rotary encoder 22 according to lifting; The move loading action of this transfer control part 26c control shifting apparatus 12 is to carry out the article transfer with respect to incorporating section 1 and objective table 13.
The control of advancing according to the described control part 26a that advances, following control is advanced with the action of electro-motor 25: making advances starts working and makes the chassis 10 beginning parallel motions of advancing with electro-motor 25, when by advance with the advanced positions of the rotary encoder 23 detected chassis 10 of advancing arrive appointment advance with the target stop position time, making advances stops action, brakes with electro-motor 25, the chassis 10 of advancing is stopped at advance and uses the target stop position.
Lifting control according to described lifting control part 26b, following control lifting is with the action of electro-motor 20: lifting is started working with electro-motor 20 and make bay-lift 11 beginning lifting actions, when using the target stop position with the lifting of rotary encoder 22 detected bay-lift 11 lifting positions arrival appointments by lifting, make lifting stop action, brake, make bay-lift 11 stop at lifting target stop position with electro-motor 20.
The move loading action of following control shifting apparatus 12 is controlled in transfer according to described transfer control part 26c: make 12 actions of V shape shifting apparatus and furcula is gone out to take up article B or to unload article B, then, fork is retreated.
Between described crane controller 26 and ground controller 9, can freely transmit various information, the various instructions of these two crane controllers, 26 outputs of the 9 couples first crane controller 26A of ground controller and the second crane controller 26B.
The lifting control that crane controller 26 is realized based on the control of carrying out from the instruction of ground controller 9 realizing by the control part 26a that advances of advancing, by lifting control part 26b and by the transfer control that transfer control part 26c realizes is carried out article delivery thus and is moved.
Like this, the running control mechanism H of the action of many stakcer cranes 4 of control comprises ground controller 9 and two crane controllers 26.In this manual, controller or control setup have the communication circuit of microprocessor, memory device, time meter, necessity etc., also have the software that is used for execution algorithm with described in detail below.Controller or control setup are originally as known technology.Running control mechanism H also can be made of control setups such as ground controllers.
Running control mechanism H, all carry out the accumulative total of action frequency when making stakcer crane 4 carry out the article delivery action at every turn, thereby two stakcer cranes 4 are moved the management of real result respectively, promptly, the action real result that in fact makes stakcer crane 4 actions is managed.
In addition, for the action real result, be not limited only to carry out the number of times of article delivery action, can also to opening time of for example stakcer crane 4 or parallel motion apart from etc. add up, also can be at least one the function in the aggregate-value of aggregate-value, parallel motion distance of number of times, opening time.At the action real result is to carry out when stakcer crane 4 being assigned the instruction of article delivery action, all this number of times being recorded in the memory device under the situation of number of times of article delivery action.Equally, the opening time of article delivery action or the aggregate-value of parallel motion distance are recorded in the memory device.
Described running control mechanism H requires information according to article delivery, with whole two stakcer cranes 4 or wherein one be elected to be the stakcer crane 4 that carries out article delivery action, carry out article delivery and handle.
When running control mechanism H is elected to be the stakcer crane 4 that carries out the article delivery action with one in two stakcer cranes 4, based in order to make many stakcer cranes 4 instrumentation (field-replaceable unit) replacing opportunitys separately inequality and make action real result real result change inequality operating condition, in two stakcer cranes 4, select the article delivery action, carry out article delivery and handle.
Described real result change is the target ratio of two stakcer cranes 4 action real result separately with operating condition.In the present embodiment, the first action real result Q1 of the first stakcer crane 4a and the second target ratio that moves real result Q2 of the second stakcer crane 4b are set at Q1: Q2=25: 24.
Action real result Q1, the Q2 of two stakcer cranes 4 of described running control mechanism H management, the action of two stakcer cranes 4 of control is so that the ratio of the action real result of many stakcer cranes 4 (Q1: Q2) reach target than (25: 24).
Like this, running control mechanism H requires information and real result change operating condition according to article delivery, selects to put in storage simultaneously processings, first warehouse-in is handled separately, second warehouse-in is handled, outbound is simultaneously handled separately, a certain in the first independent outbound processing, the second independent outbound processing.
It is the article delivery processing that whole two stakcer cranes 4 all is elected to be the stakcer crane that carries out the article delivery action that processing of described warehouse-in simultaneously and outbound are simultaneously handled.
The described first independent warehouse-in is handled and the first independent outbound processing is the article delivery processing that the first stakcer crane 4a in two stakcer cranes 4 is elected to be the stakcer crane that carries out the article delivery action.
The described second independent warehouse-in is handled and the second independent outbound processing is the article delivery processing that the second stakcer crane 4b in two stakcer cranes 4 is elected to be the stakcer crane that carries out the article delivery action.
According to the diagram of circuit of Fig. 4, described running control mechanism H based on which kind of processing that article delivery requires information and real result change to carry out in a plurality of processing with operating condition is described.
When article delivery required information requirements to carry out the warehouse-in of a plurality of article B, described running control mechanism H selected to put in storage simultaneously processing (step 1,2).
When article delivery required information requirements to carry out the warehouse-in of an article B, described running control mechanism H judged that first target action real result P1 (=Q1 * 24/25) that the first action real result Q1 of the first stakcer crane 4a multiplied each other with ratio (24/25) corresponding to the target ratio and obtain is whether less than the second action real result Q2 (step 3,4) of the second stakcer crane 4b.When first target action real result P1 moves real result Q2 less than second, running control mechanism H selects to carry out first and puts processing (step 5) separately in storage, when first target action real result P1 is second action real result Q2 when above, running control mechanism H select to carry out second separately warehouse-in handle (step 6).
When article delivery required the outbound of a plurality of article B of information requirements, described running control mechanism H selected to carry out the while outbound and handles (step 7,8).
When article delivery required information requirements to carry out the outbound of an article B, described running control mechanism H judged that first target action real result P1 (=Q1 * 24/25) that the first action real result Q1 of the first stakcer crane 4a multiplied each other with ratio (24/25) corresponding to the target ratio and obtain is whether less than the second action real result Q2 (step 9,10) of the second stakcer crane 4b.When first target action real result P1 moves real result Q2 less than second, running control mechanism H selects to carry out the first independent outbound and handles (step 11, when first target action real result P1 is second action real result Q2 when above, running control mechanism H selects to carry out the second independent outbound processing (step 12).
The instrumentation of described stakcer crane 4 (field-replaceable unit) is various sensors or drg etc., along with carrying out uses such as article delivery action and consume.
Described running control mechanism H is according to real result change operating condition, in two stakcer cranes 4, select the article delivery action, carry out the article delivery processing, thereby the ratio of the second action real result Q2 of the first action real result Q1 of the first stakcer crane 4a and the second stakcer crane 4b is Q1: Q2=25: 24.Therefore, the instrumentation period of service that can make the second stakcer crane 4b is shorter than the instrumentation period of service of the first stakcer crane 4a, correspondingly can suppress the consumption of the instrumentation that caused by the article delivery action.
In the present embodiment, for the first long stakcer crane 4a of the period of service of instrumentation, set for, if the period of service of its instrumentation reaches setting-up time, then reach the replacing opportunity of instrumentation, for example, the replacing of the instrumentation of the first stakcer crane 4a is set at every replacing in 24 months once opportunity.
Relative with it, can make the replacing of the instrumentation of the second short stakcer crane 4b of the period of service of instrumentation be later than the first stakcer crane 4a opportunity.
In addition, decide according to each instrumentation such as various sensors or drg replacing opportunity of instrumentation, can make a plurality of instrumentations replacing opportunitys separately different between the first stakcer crane 4a and the second stakcer crane 4b.
Like this, the replacing of the instrumentation among the replacing opportunity by making instrumentation among the first stakcer crane 4a and the second stakcer crane 4b is different opportunity, arrived at the first stakcer crane 4a under the situation on replacing opportunity of instrumentation, even the first stakcer crane 4a is carried out the replacing operation of instrumentation, the second stakcer crane 4b also can carry out the article delivery action.Otherwise, having arrived at the second stakcer crane 4b under the situation on replacing opportunity of instrumentation, the first stakcer crane 4a can carry out the article delivery action.
Under the situation of changing instrumentation, if in the process of article delivery action, then after finishing this article delivery action, stakcer crane 4 is moved to dodge the position, carry out the replacing operation of instrumentation.Omitted diagram although dodge the position, it is configured in the two-end part of rail 7 of advancing, so that be in the outside of stakcer crane 4 for the scope of articles conveyed and parallel motion.
In addition, if the replacing of the instrumentation among the first stakcer crane 4a is made as every replacing in 24 months once opportunity, because Q1: Q2=25: 24, so late one month replacing opportunity that can make instrumentation among the second stakcer crane 4b than the first stakcer crane 4a.If will tackle the instrumentation maintenance that instrumentation overhauls is made as every 1 monthly repair once opportunity, then can make the replacing of the instrumentation among the second stakcer crane 4b consistent opportunity opportunity, the replacing of the instrumentation of the maintenance of instrumentation and the second stakcer crane 4b is carried out simultaneously with the maintenance of instrumentation.
Below according to Fig. 5～Figure 10 to warehouse-in simultaneously handle, first warehouse-in is handled, second warehouse-in is handled, outbound is simultaneously handled, the first independent outbound is handled separately separately, the action of two stakcer cranes 4 describes in the second independent outbound processing.
Fig. 5～Figure 10 is the lateral plan that omits the part of article collecting apparatus, goes out warehouse-in and is positioned at left end with article support 3, and article storing frame 2 is positioned at this and goes out the right side of warehouse-in with article support 3.
At first, according to Fig. 5 the action of warehouse-in processing is simultaneously described.This is put in storage simultaneously and handles is to make the first stakcer crane 4a and these two stakcer cranes 4 of the second stakcer crane 4b all carry out article delivery to move the processing of putting in storage.
Put in storage simultaneously when handling carrying out this, equal mounting article B on the first objective table 13a and the second objective table 13b makes the article B mounting that should be received into article storing frame 2 inboards among two article B to the second objective table 13b.
First crane controller 26A and the second crane controller 26B in second stakcer crane 4b of described ground controller 9 in the first stakcer crane 4a assigns the warehouse-in instruction.
To the instruction of warehouse-in that the first crane controller 26A assigns is to be used for making the article B that is positioned on the first objective table 13a to be received into the instruction of incorporating section 1, specifies and going out to put in storage side article transfer position, reach corresponding to the relevant lifting in the frame side article transfer position of the incorporating section 1 that should take in article B with the target stop position with advance and use the target stop position corresponding to the first objective table 13a.
To the instruction of warehouse-in that the second crane controller 26B assigns is to be used for making the article B that is positioned on the second objective table 13b to be received into the instruction of incorporating section 1, specifies and going out to put in storage side article transfer position, reach corresponding to the relevant lifting in the frame side article transfer position of the incorporating section 1 that should take in article B with the target stop position with advance and use the target stop position corresponding to the second objective table 13b.
In addition, on the parallel motion direction of stakcer crane 4, just should take in the incorporating section 1 of article B and warehouse-in instruction that the warehouse-in instruction comparison second crane controller 26B that the first crane controller 26A is assigned assigns is more close goes out warehouse-in with article support 3.
The first crane controller 26A and the second crane controller 26B though it is different with the incorporating section 1 that should take in article B to receive the objective table 13 of article B, carry out identical processing basically.
In the first crane controller 26A, at first, carry out by the control of advancing of the control part 23a realization of advancing, by the lifting control of lifting control part 23b realization and the transfer control that realizes by transfer control part 23c, so that as shown in phantom in FIG., make the first stakcer crane 4a access the article B that is positioned on the first objective table 13a.Next, carry out by the control of advancing of the control part 23a realization of advancing, by the lifting control of lifting control part 23b realization and the transfer control that realizes by transfer control part 23c, so that shown in solid line among the figure, the first stakcer crane 4a is received into this article B that accesses in the incorporating section 1 that should take in.
In the second crane controller 26B, carry out by the control of advancing of the control part 23a realization of advancing, by the lifting control of lifting control part 23b realization and the transfer control that realizes by transfer control part 23c, so that access the article B of mounting on the second objective table 13b by the second stakcer crane 4b like that at first as shown in phantom in FIG., then shown in solid line among the figure, by the second stakcer crane 4b this article B that accesses is received in the incorporating section 1 that should take in like that.
According to Fig. 6 the first warehouse-in processing separately is described below.This first separately warehouse-in handle, make to be positioned at the storehouse of coming in and going out in two stakcer cranes 4 with the stakcer crane 4 of article support 3 sides, promptly the first stakcer crane 4a carries out article delivery and moves, thereby put processing in storage.
Described ground controller 9 is assigned the warehouse-in instruction to the first crane controller 26A, and assigns standby command or expulsion instruction to the second crane controller 26B.
Standby command is to be used to make the instruction of the second stakcer crane 4b in the original place standby.
Expulsion instruction is to make the second stakcer crane 4b move to article delivery with the instruction outside the moving range W, and this article delivery moving range W refers to the first stakcer crane 4a and carries out the scope that the article delivery action is moved.According to this expulsion instruction, specify advance with the target stop position, be the position of following incorporating section 1, described incorporating section 1 be positioned at outside the article delivery usefulness moving range W, on position nearest on the horizontal direction away from the first stakcer crane 4a.
Described ground controller 9 by with crane controller 26 between the communicate by letter current location of managing the first stakcer crane 4a and the current location of the second stakcer crane 4b, and the position of the incorporating section 1 of taking in based on the specified article B of reply warehouse-in instruction, set the article delivery moving range W that the first stakcer crane 4a moves in order to carry out the article delivery action.Then, if shown in solid line among the figure, the current location of the second stakcer crane 4b is used outside the moving range W in article delivery, then ground controller 9 is assigned standby command, if as shown in phantom in FIG., the current location of the second stakcer crane 4b is then assigned the expulsion instruction within article delivery is with W in the moving range.
In the first crane controller 26A, carry out by the control of advancing of the control part 23a realization of advancing, by the lifting control of lifting control part 23b realization and the transfer control that realizes by transfer control part 23c, so that access the article B of mounting on the first objective table 13a by the first stakcer crane 4a at first as shown in phantom in FIG., shown in solid line among the figure, this article B that accesses is received in the incorporating section 1 that should take in then by the first stakcer crane 4a.
The second crane controller 26B, when receiving standby command, shown in solid line among the figure, do not carry out making the second stakcer crane 4b in the original place standby by the control of advancing of the control part 23a realization of advancing, by the lifting control of lifting control part 23b realization and by the transfer control that transfer control part 23c realizes.
In addition, the second crane controller 26B, when receiving the expulsion instruction, rise as dotted line position among the figure, carry out the control of advancing by the control part 23a realization of advancing, so that shown in solid line among the figure, the chassis 10 of advancing arrives specified article delivery and uses the target stop position with advancing outside the moving range W.
Like this, running control mechanism H, make the second stakcer crane 4b be moved horizontally to the article delivery of the first stakcer crane 4a with outside the moving range W, the wherein said second stakcer crane 4b be according to real result change with operating condition and non-selected non-selected hoisting crane, and the first stakcer crane 4a is based on the real result change with operating condition and selected selection hoisting crane.
According to Fig. 7 the second warehouse-in processing separately is described below.This second separately warehouse-in handle, make be positioned at the stakcer crane 4 of article storing frame 2 sides in two stakcer cranes 4, promptly the second stakcer crane 4b carries out article delivery and moves, thereby put processing in storage.
Described ground controller 9 is assigned the expulsion instruction that HP uses to the first crane controller 26A, and the second crane controller 26B in the second stakcer crane 4b assigns the warehouse-in instruction.
Instruct according to the expulsion that this HP uses, specify with corresponding to the first objective table 13a go out to put in storage relevant the advancing in side article transfer position target stop position carry out article delivery to move outside the article delivery usefulness moving range W that moves so that the first stakcer crane 4a moves to the second stakcer crane 4b.
In the first crane controller 26A, carry out the control of advancing that realizes by the control part 23a that advances so that advance chassis 10 arrival with go out to put in storage relevant the advancing in side article transfer position target stop position corresponding to the first objective table 13a.
Like this, running control mechanism H, make the first stakcer crane 4a be moved horizontally to the article delivery of the second stakcer crane 4b with outside the moving range W, the wherein said first stakcer crane 4a be according to real result change with operating condition and non-selected non-selected hoisting crane, and the second stakcer crane 4b is based on the real result change with operating condition and selected selection hoisting crane.
In the second crane controller 26B, carry out by the control of advancing of the control part 23a realization of advancing, by the lifting control of lifting control part 23b realization and the transfer control that realizes by transfer control part 23c, so that access the article B of mounting on the second objective table 13b by the second stakcer crane 4b like that at first as shown in phantom in FIG., shown in solid line among the figure, by the second stakcer crane 4b this article B that accesses is received in the incorporating section 1 that should take in like that then.
According to Fig. 8 the processing of outbound simultaneously is described below.This outbound is simultaneously handled, and makes these two stakcer cranes 4 of the first stakcer crane 4a and the second stakcer crane 4b carry out the article delivery action, handles thereby carry out outbound.
Described ground controller 9 is assigned the outbound instruction to the first crane controller 26A and the second crane controller 26B both sides.
The outbound instruction of assigning to the first crane controller 26A is the instruction that the article B that is used for being accommodated in incorporating section 1 is fetched into the first objective table 13a, specify with corresponding to the frame side article transfer position of the incorporating section 1 that should take out article B, reach and go out to put in storage the relevant lifting in side article transfer position with the target stop position with advance and use the target stop position corresponding to the first objective table 13a.
The outbound instruction of assigning to the second crane controller 26B is the instruction that the article B that is used for being accommodated in incorporating section 1 is fetched into the second objective table 13b, specify with corresponding to the frame side article transfer position of the incorporating section 1 that should take out article B, reach and go out to put in storage the relevant lifting in side article transfer position with the target stop position with advance and use the target stop position corresponding to the second objective table 13b.
In addition, on the parallel motion direction of stakcer crane 4, just should take out the incorporating section 1 of article B and outbound instruction that the outbound instruction comparison second crane controller 26B that the first crane controller 26A is assigned assigns is more close goes out warehouse-in with article support 3.
The first crane controller 26A and the second crane controller 26B though it is different to take out the objective table 13 of article B of the incorporating section 1 of article B and this taking-up of transfer, carry out identical processing basically.
In the first crane controller 26A, at first, carry out by the control of advancing of the control part 23a realization of advancing, by the lifting control of lifting control part 23b realization and the transfer control that realizes by transfer control part 23c, so that shown in solid line among the figure, the first stakcer crane 4a takes out the article B that is accommodated in the incorporating section 1.Next, carry out by the control of advancing of the control part 23a realization of advancing, by the lifting control of lifting control part 23b realization and the transfer control that realizes by transfer control part 23c, so that as shown in phantom in FIG., the first stakcer crane 4a with the article B transfer of its taking-up to the first objective table 13a.
In the second crane controller 26B, carry out by the control of advancing of the control part 23a realization of advancing, by the lifting control of lifting control part 23b realization and the transfer control that realizes by transfer control part 23c, so that at first shown in solid line among the figure, like that take out the article B that is accommodated in the different incorporating section 1 of the parallel motion direction that follows chassis 7 into by the second stakcer crane 4b, then as shown in phantom in FIG. the second stakcer crane 4b with the article B transfer of its taking-up to the second objective table 13b.
According to Fig. 9 the first independent outbound processing is described below.This first independent outbound is handled and is made the first stakcer crane 4a carry out the article delivery action, handles thereby carry out outbound.
Described ground controller 9 is assigned the outbound instruction to the first crane controller 26A, and, put processing in storage similarly separately with first, whether the current location according to the second stakcer crane 4b is used within the moving range W in article delivery, comes to assign standby command or expulsion instruction to the second crane controller 26B.
Fig. 9 shows the situation of current location outside article delivery usefulness moving range W of the second stakcer crane 4b.
In the first crane controller 26A, carry out by the control of advancing of the control part 23a realization of advancing, by the lifting control of lifting control part 23b realization and the transfer control that realizes by transfer control part 23c, so that at first shown in solid line among the figure, like that take out the article B that is accommodated in the incorporating section 1 by the first stakcer crane 4a, such as shown in phantom in FIG. then first stakcer crane 4a with the article B transfer of its taking-up to the first objective table 13a.
In the second crane controller 26B, when receiving standby command, do not carry out making the second stakcer crane 4b in the original place standby by the control of advancing of the control part 23a realization of advancing, by the lifting control of lifting control part 23b realization and by the transfer control that transfer control part 23c realizes.In addition, in the second crane controller 26B, when receiving the expulsion instruction, carry out, use the target stop position with advancing outside the moving range W so that the chassis 10 of advancing arrives specified article delivery by the control of advancing of control part 23a realization of advancing.Like this, running control mechanism H, make the second stakcer crane 4b be moved horizontally to the article delivery of the first stakcer crane 4a with outside the moving range W, the wherein said second stakcer crane 4b be according to real result change with operating condition and non-selected non-selected hoisting crane, and the first stakcer crane 4a is based on the real result change with operating condition and selected selection hoisting crane.
According to Figure 10 the second independent outbound processing is described below.This second independent outbound is handled, and makes the second stakcer crane 4b carry out the article delivery action, handles thereby carry out outbound.
9 couples first crane controller 26A of described ground controller assign the expulsion instruction that HP uses, and the second crane controller 26B is assigned the outbound instruction.
In the first crane controller 26A, carry out the control of advancing that realizes by the control part 23a that advances so that advance chassis 10 arrival with go out to put in storage relevant the advancing in side article transfer position target stop position corresponding to the first objective table 13a.Like this, make the first stakcer crane 4a be moved horizontally to the article delivery of the second stakcer crane 4b with outside the moving range W, the wherein said first stakcer crane 4a be according to real result change with operating condition and non-selected non-selected hoisting crane, and the second stakcer crane 4b is based on the real result change with operating condition and selected selection hoisting crane.
In the second crane controller 26B, carry out by the control of advancing of the control part 23a realization of advancing, by the lifting control of lifting control part 23b realization and the transfer control that realizes by transfer control part 23c, so that at first take out the article B be accommodated in the incorporating section 1 by the second stakcer crane 4b, then the second stakcer crane 4b with the article B transfer of its taking-up to the first objective table 13a.
The following describes second embodiment of the present invention.
In the present embodiment, the parts identical with first embodiment adopt identical Reference numeral, and its explanation repeats no more.
In the present embodiment, running control mechanism H, a conduct in selecting two stakcer cranes 4 is carried out under the situation of stakcer crane 4 of article delivery action, based on identical and make that the identical real result of action real result is unified use operating condition in order to make two stakcer cranes 4 instrumentation separately change opportunity, the stakcer crane of selecting to carry out the article delivery action in two stakcer cranes 44 carries out the article delivery processing.
And, running control mechanism H constitutes, the action of two stakcer cranes 4 of control, so that moving to the article delivery of selecting stakcer crane 4 to move in order to carry out the article delivery action, non-selected stakcer crane 4 uses outside the moving range, wherein said non-selected stakcer crane 4 is based on the real result unification and uses operating condition and non-selected hoisting crane, and described selection stakcer crane 4 is based on the unified hoisting crane of selecting with operating condition of real result.
Like this, running control mechanism H requires information and real result change operating condition based on article delivery, selects to put in storage simultaneously processings, first warehouse-in is handled separately, second warehouse-in is handled, outbound is simultaneously handled separately, a certain processing in the first independent outbound processing, the second independent outbound processing.
Processing of described warehouse-in simultaneously and outbound are simultaneously handled, and are the article delivery processing that two stakcer cranes 4 all is elected to be the stakcer crane that carries out the article delivery action.
The described first independent warehouse-in is handled and the first independent outbound is handled, and is the article delivery processing that the first stakcer crane 4a in two stakcer cranes 4 is elected to be the stakcer crane that carries out the article delivery action.
The described second independent warehouse-in is handled and the second independent outbound is handled, and is the article delivery processing that the second stakcer crane 4b in two stakcer cranes 4 is elected to be the stakcer crane that carries out the article delivery action.
According to the diagram of circuit of Figure 11, described running control mechanism H based on which kind of processing that article delivery requires information and real result change to carry out in a plurality of processing with operating condition is described.
When article delivery required information requirements to carry out the warehouse-in of a plurality of article B, described running control mechanism H selected to put in storage simultaneously processing (step 1,2).
When article delivery required information requirements to carry out the warehouse-in of an article B, whether the first action real result Q1 that described running control mechanism H judges the first stakcer crane 4a was less than the second action real result Q2 (step 3,4) of the second stakcer crane 4b.Then, when the first action real result Q1 moves real result Q2 less than second, running control mechanism H selects to carry out first and puts processing (step 5) separately in storage, when the first action real result Q1 is second action real result Q2 when above, running control mechanism H select to carry out second separately warehouse-in handle (step 6).
When article delivery required the outbound of a plurality of article B of information requirements, described running control mechanism H selected to carry out the while outbound and handles (step 7,8).
When article delivery required information requirements to carry out the outbound of an article B, whether the first action real result Q1 that described running control mechanism H judges the first stakcer crane 4a was less than the second action real result Q2 (step 9,10) of the second stakcer crane 4b.Then, when the first action real result Q1 moves real result Q2 less than second, running control mechanism H selects to carry out the first independent outbound and handles (step 11), when the first action real result Q1 is second action real result Q2 when above, running control mechanism H selects to carry out the second independent outbound processing (step 12).
The instrumentation of described stakcer crane 4 is various sensors or drg etc., can consume along with use such as article delivery action.
Described running control mechanism H unified selects the article delivery action, carries out article delivery and handle based on real result in two stakcer cranes 4 with operating condition, thereby it is identical to make second of the first action real result Q1 of the first stakcer crane 4a and the second stakcer crane 4b move real result Q2.If set for, the action real result reaches changes the replacing opportunity that has also arrived instrumentation when moving real result, and the replacing of the instrumentation among replacing opportunity that then can make instrumentation among the first stakcer crane 4a and the second stakcer crane 4b is identical opportunity.
Even the second action real result Q2 of the first action real result Q1 of the first stakcer crane 4a and the second stakcer crane 4b is incomplete same, by selecting article delivery to move, carry out the article delivery processing according to real result is unified in two stakcer cranes 4 with operating condition, the consumption degree of the instrumentation of the instrumentation of the first stakcer crane 4a and the second stakcer crane 4b does not have big difference yet.
Therefore, can make at the instrumentation of the first stakcer crane 4a and change opportunity and to change opportunity at the instrumentation of the second stakcer crane 4b identical.
The replacing of instrumentation is set based on each instrumentation such as various sensors or drg opportunity, and for a plurality of instrumentations each, replacing opportunity that can make this instrumentation is identical in the first stakcer crane 4a and the second stakcer crane 4b.
Like this, by making the instrumentation replacing among the first stakcer crane 4a identical opportunity opportunity with the instrumentation replacing among the second stakcer crane 4b, the instrumentation replacing operation of the first stakcer crane 4a and the instrumentation replacing operation of the second stakcer crane 4b are carried out simultaneously, can be realized the simplification of instrumentation replacing operation.
Under the situation of changing instrumentation, if in the process of article delivery action, then after finishing this article delivery action, stakcer crane 4 is moved to dodge the position, carry out the replacing operation of instrumentation.Omitted diagram although dodge the position, it is configured in two ends place of the rail 7 of advancing, so that be positioned at the outside of stakcer crane 4 for the scope of articles conveyed and parallel motion.
[other embodiments]
(1) in the above-described embodiment, two stakcer cranes 4 are along same rail 7 parallel motions of advancing, yet, for example also can be provided with as shown in Figure 12 and implement, promptly, be arranged in parallel two and step out warehouse-in with the rails 7 of advancing of article support 3 and article bearing support 2, make two stakcer cranes 4 along different rail 7 parallel motions of advancing.
In the case, the first stakcer crane 4a in left side goes out to put in storage between the article support 3a of usefulness and the first article storing frame 2a first and carries out article delivery in figure, and the second stakcer crane 4b on right side goes out warehouse-in second and carries out article delivery between with the article support 3b and the second article storing frame 2b in figure.In addition, although omitted diagram, be provided with attachment input and output position, first and go out warehouse-in and go out warehouse-in going out to put in storage and use conveyer with article support 3b with article support 3a and second.For example, make the first stakcer crane 4a carry out article delivery action and putting in storage under the situation of processing, this goes out article that warehouse-in will put in storage with conveyer and is transported to first from the input and output position and goes out on the warehouse-in usefulness article support 3a.
(2) in the above-described first embodiment, the real result change is the target ratio of two stakcer cranes 4 action real result separately with operating condition, the stakcer crane 4 that running control mechanism H selects to carry out the article delivery action in two stakcer cranes 4 carries out the article delivery processing, makes the ratio of action real result of two stakcer cranes 4 reach the target ratio.But the real result change can be adopted various conditions with operating condition, for example can adopt following regulation to carry out the condition etc. of the number of times of article delivery action:, to make the second stakcer crane 4b carry out the article delivery action of second set point number different repeatedly with first set point number making after the first stakcer crane 4a carries out the article delivery action of first set point number.
(3) in the above-described first embodiment, the target ratio of the first action real result Q1 of the first stakcer crane 4a and the second action real result Q2 of the second stakcer crane 4b is made as Q1: Q2=25: 24, but the value of target sample than why can suitably change.
(4) set in the above-described embodiment, when the instrumentation period of service of the first stakcer crane 4a reaches setting-up time, reach the replacing opportunity of this instrumentation.Yet, also can suitably be altered to, when the running condition of instrumentation reaches certain situation, reach the replacing opportunity of instrumentation, for example set for, when the instrumentation access times of the first stakcer crane 4a reach set point number, reach the replacing opportunity of this instrumentation.
(5) in the above-described embodiment, running control mechanism H, under one the situation that requires based on article delivery in two stakcer cranes 4 of Information Selection, the stakcer crane 4 of selecting to carry out the article delivery action based on the real result change with operating condition.But, be not limited only to based on one situation in two stakcer cranes 4 of article delivery requirement Information Selection, requiring information based on article delivery and selecting under the situation of whole two stakcer cranes 4, also can select to carry out the stakcer crane 4 of article delivery action with operating condition based on the real result change.
(6) in the above-described embodiment, uprightly on the chassis 10 of advancing be provided with the mono-lifting column 14 that descending operation guided and supported bay-lift 11 freely.But the upright radical that is located at the lifting column 14 on the chassis 10 of advancing can suitably change, the upright respectively lifting column 14 of establishing in both ends of the chassis 10 of advancing that for example can be on the parallel motion direction.
(7) in the above-described embodiment, for the detection of the lifting position of the advanced positions of the chassis 10 of advancing on the travel path or the bay-lift on the lift path 11, being provided with and advancing with rotary encoder 23 or lifting with rotary encoder 22.But, for example also can adopt laser rangefinder to detect the advanced positions or 11 lifting positions of the bay-lift on the lift path of the chassis 10 of advancing on the travel path, can use various sensors.
(8) in the above-described embodiment, show the example that two stakcer cranes 4 are set, but the stakcer crane 4 more than three also can be set.For example under the situation that adopts three stakcer cranes 4, different by the action real result that makes a stakcer crane 4 with the action real result of all the other two stakcer cranes 4, can make the part replacement of this stakcer crane 4 different opportunity opportunity with other part replacement of two.In addition, also can make the action real result of all stakcer cranes 4 all inequality.
(9) in the above-described embodiment, show the example that article carrying apparatus of the present invention is applied to have the article collecting apparatus of many stakcer cranes 4.But, also can be applied in the following article delivery instrumentation, it is provided with track in the mode through a plurality of article transfers position, and have on this track move as many article delivery cars of article delivery with moving body, can be applied to the various equipment that are provided with a plurality of following article delivery with moving body, described article delivery is striden a plurality of article transfers position with moving body and is moved freely.
(10) in the above-described 2nd embodiment, running control mechanism H manages two stakcer cranes 4 action real result Q1, Q2 separately, make that two stakcer cranes 4 action real result Q1, Q2 separately is identical, and, the stakcer crane of selecting to carry out the article delivery action in two stakcer cranes 44 carries out the article delivery processing, so that both action real result Q1, Q2 are identical.But running control mechanism H for example also can alternately be elected to be two stakcer cranes 4 stakcer crane 4 that carries out the article delivery action, and makes two stakcer cranes 4 action real result Q1, Q2 separately identical.
(11) in the above-described 2nd embodiment, running control mechanism H requires one situation in two stakcer cranes 4 of Information Selection based on article delivery under, the stakcer crane 4 of selecting to carry out the article delivery action according to the real result unification with operating condition.But, be not limited only to based on one situation in two stakcer cranes 4 of article delivery requirement Information Selection, requiring based on article delivery under the situation of whole two stakcer cranes 4 of Information Selection, also can select to carry out the stakcer crane 4 of article delivery action with operating condition based on the real result unification.
Claims (16)
1. article carrying apparatus possesses:
A plurality of article delivery moving bodys are striden a plurality of article transfers position and are moved freely;
The running control mechanism is controlled the action of described a plurality of moving bodys, carrying out requiring the article delivery of information to handle corresponding to article delivery,
It is characterized in that, described running control mechanism, based on different and make the first different operating condition of action real result in order to make described a plurality of moving body field-replaceable unit separately change opportunity, in described a plurality of moving bodys, select to carry out the moving body of article delivery action, carry out described article delivery and handle.
2. article carrying apparatus as claimed in claim 1 is characterized in that,
Described first operating condition is the target ratio of described a plurality of moving body action real result separately;
Described running control mechanism is controlled the action of described a plurality of moving bodys, makes the ratio of action real result of described a plurality of moving bodys reach described target ratio.
3. article carrying apparatus as claimed in claim 1 or 2 is characterized in that,
Described running control mechanism requires information based on described article delivery, select all described a plurality of moving bodys or select the part in described a plurality of moving body to carry out described article delivery processing, and, during a part of in selecting described a plurality of moving bodys, the moving body of selecting to carry out the article delivery action based on described first operating condition.
4. article carrying apparatus as claimed in claim 1 or 2 is characterized in that,
Described a plurality of moving body moves on single track;
Described running control mechanism makes based on described first operating condition and non-selected moving body moves to following article delivery with outside the moving range, and described article delivery moving range is that described selecteed moving body is to carry out article delivery to move the scope that moves.
5. article carrying apparatus possesses:
A plurality of article delivery moving bodys move freely on the single track of striding a plurality of article transfers position;
The running control mechanism is controlled the action of described a plurality of moving bodys, carrying out requiring the article delivery of information to handle corresponding to article delivery,
It is characterized in that, described running control mechanism, based on identical and make the second substantially the same operating condition of action real result in order to make described a plurality of moving body field-replaceable unit separately change opportunity, the moving body of selecting to carry out the article delivery action in described a plurality of moving bodys carries out described article delivery processing, and, make based on described second operating condition and non-selected moving body moves to following article delivery with outside the moving range, described article delivery moving range is that described selecteed moving body is to carry out article delivery to move the scope that moves.
6. article carrying apparatus as claimed in claim 5 is characterized in that,
Described running control mechanism, require information based on described article delivery, select all described a plurality of moving bodys or select the part in described a plurality of moving body to carry out described article delivery processing, and, during a part of in selecting described a plurality of moving bodys, the moving body of selecting to carry out the article delivery action based on described second operating condition.
7. as claim 1 or 5 described article carrying apparatus, it is characterized in that,
Described field-replaceable unit is a certain at least person in drg and the sensor.
8. as claim 1 or 5 described article carrying apparatus, it is characterized in that,
The action real result of specific moving body is based on that some in the aggregate-value of number of times, the aggregate-value of opening time and parallel motion distance that this moving body carries out article delivery action obtain.
9. method that makes article carrying apparatus action, this article carrying apparatus possesses strides a plurality of article transfers position and moves freely a plurality of article delivery with moving body and the running control mechanism of controlling the action of described a plurality of moving bodys, said method comprising the steps of:
Judge described a plurality of moving body action real result separately;
Based on different and make the first different operating condition of described action real result, select to carry out requiring the moving body of the article delivery action of information corresponding to article delivery in order to make described a plurality of moving body field-replaceable unit separately change opportunity;
Making described selecteed moving body carry out described article delivery handles.
10. method as claimed in claim 9 is characterized in that,
Described first operating condition is the target ratio of described a plurality of moving body action real result separately;
The step of described selection moving body is carried out so that the ratio of the action real result of described a plurality of moving bodys reaches the mode of described target ratio.
11. as claim 9 or 10 described methods, it is characterized in that,
When carrying out the step of described selection moving body, described running control mechanism requires information based on described article delivery, select all described a plurality of moving bodys or select a part in described a plurality of moving body, and, during a part of in selecting described a plurality of moving bodys, the moving body of selecting to carry out the article delivery action based on described first operating condition.
12. as claim 9 or 10 described methods, it is characterized in that,
Described a plurality of moving body moves on single track;
Described method is further comprising the steps of:
Make in the step of described selection moving body non-selected moving body move to following article delivery with outside the moving range, described article delivery moving range is that described selecteed moving body is to carry out article delivery to move the scope that moves.
13. method that makes the article carrying apparatus action, this article carrying apparatus possesses on the single track of striding a plurality of article transfers position a plurality of article delivery of moving freely with moving body and the running control mechanism of controlling the action of described a plurality of moving bodys, said method comprising the steps of:
Judge described a plurality of moving body action real result separately;
Based on identical and make the second substantially the same operating condition of described action real result, select to carry out requiring the moving body of the article delivery action of information corresponding to article delivery in order to make described a plurality of moving body field-replaceable unit separately change opportunity;
Making described selecteed moving body carry out described article delivery handles;
Make based on described second operating condition and non-selected moving body moves to following article delivery with outside the moving range, described article delivery moving range is that described selecteed moving body is to carry out article delivery to move the scope that moves.
14. method as claimed in claim 13 is characterized in that,
In the step of described selection moving body, described running control mechanism requires information based on described article delivery, select all described a plurality of moving bodys or select a part in described a plurality of moving body, and, during a part of in selecting described a plurality of moving bodys, the moving body of selecting to carry out the article delivery action based on described second operating condition.
15. as claim 9 or 13 described methods, it is characterized in that,
Described field-replaceable unit is a certain at least person in drg and the sensor.
16. as claim 9 or 13 described methods, it is characterized in that,
The action real result of specific moving body is based on some the obtaining in the aggregate-value of number of times that this moving body carries out article delivery action, the aggregate-value of opening time, parallel motion distance.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
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| JP2005175319A JP4203824B2 (en) | 2005-06-15 | 2005-06-15 | Article conveying device |
| JP2005175319 | 2005-06-15 | ||
| JP2005-175319 | 2005-06-15 | ||
| JP2005179339 | 2005-06-20 | ||
| JP2005179339A JP4203825B2 (en) | 2005-06-20 | 2005-06-20 | Article conveying device |
| JP2005-179339 | 2005-06-20 |
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| CN1880192A true CN1880192A (en) | 2006-12-20 |
| CN1880192B CN1880192B (en) | 2010-12-08 |
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| CN108657761A (en) * | 2018-07-13 | 2018-10-16 | 大连誉洋工业智能有限公司 | access mechanism |
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|---|---|---|---|---|
| CN1105672C (en) * | 2000-10-28 | 2003-04-16 | 云南昆船设计研究院 | Method and apparatus for automatized high-density warehouse |
-
2005
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- 2006-06-14 CN CN2006100936695A patent/CN1880192B/en active Active
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| CN102849386A (en) * | 2012-08-15 | 2013-01-02 | 顾晓烨 | Lift type touch screen intelligent warehouse |
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| CN106044040A (en) * | 2015-04-09 | 2016-10-26 | 株式会社大福 | Article conveying apparatus and maintenance operation method for article conveying apparatus |
| CN106044040B (en) * | 2015-04-09 | 2019-08-23 | 株式会社大福 | The upkeep operation method of article carrying apparatus and article carrying apparatus |
| CN109867109A (en) * | 2019-02-25 | 2019-06-11 | 珠海格力智能装备有限公司 | Method and device for determining working mode of conveying line, storage medium and processor |
| CN109867109B (en) * | 2019-02-25 | 2021-10-08 | 珠海格力智能装备有限公司 | Method and device for determining working mode of conveying line, storage medium and processor |
| CN110789893A (en) * | 2019-10-25 | 2020-02-14 | 金陵科技学院 | Large-batch cargo storage and transportation equipment and transportation method |
| CN110789893B (en) * | 2019-10-25 | 2021-03-19 | 金陵科技学院 | Large-batch cargo storage and transportation equipment and transportation method |
| CN114341024A (en) * | 2020-03-13 | 2022-04-12 | 株式会社日立制作所 | Workpiece loading system and workpiece loading method |
| CN114341024B (en) * | 2020-03-13 | 2023-10-03 | 株式会社日立制作所 | Workpiece loading system and workpiece loading method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1880192B (en) | 2010-12-08 |
| JP2006347682A (en) | 2006-12-28 |
| JP4203824B2 (en) | 2009-01-07 |
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