JP2000289811A - Automatic carrying system - Google Patents
Automatic carrying systemInfo
- Publication number
- JP2000289811A JP2000289811A JP11095792A JP9579299A JP2000289811A JP 2000289811 A JP2000289811 A JP 2000289811A JP 11095792 A JP11095792 A JP 11095792A JP 9579299 A JP9579299 A JP 9579299A JP 2000289811 A JP2000289811 A JP 2000289811A
- Authority
- JP
- Japan
- Prior art keywords
- transfer
- control device
- transport
- carrying vehicle
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012546 transfer Methods 0.000 claims abstract description 232
- 208000033748 Device issues Diseases 0.000 claims description 5
- 238000004904 shortening Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 abstract description 14
- 230000032258 transport Effects 0.000 description 100
- 238000004891 communication Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、移載装置を有する
自動搬送システムに係り、特に被搬送物の搬送時間短縮
することを目的として工場内で運用される自動搬送シス
テムに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic transfer system having a transfer device, and more particularly to an automatic transfer system operated in a factory for the purpose of shortening the transfer time of a transferred object.
【０００２】[0002]
【従来の技術】従来、移載装置が被搬送物を搬送車に積
み卸しする場合、搬送車が移載可能になるまで待って搬
送制御装置の指示で搬送していた。このため、被搬送物
は、移載装置による搬送車への積み卸しで待ち時間が生
じていた。2. Description of the Related Art Conventionally, when a transfer device unloads a transported object onto and from a transport vehicle, the transport device waits until the transport vehicle can be transferred, and transports the transported vehicle according to an instruction from a transport control device. For this reason, a waiting time has been caused for the transported object to be unloaded from the transfer vehicle by the transfer device.
【０００３】[0003]
【発明が解決しようとする課題】移載装置が搬送する場
合の一連の動作の内、搬送車が移載できる状態になる前
に予め動作可能である動作を移載準備と定義し説明す
る。搬送制御装置が搬送車制御装置に搬送を指示した場
合、搬送車は目的位置に到着後、搬送制御装置に完了を
報告する。すなわち、搬送制御装置は、搬送車が停止す
るまで積みの搬送車が停止したのか、卸しの搬送車が停
止したのか判断できない。このため、搬送制御装置は、
搬送車の搬送完了を待たないと移載装置への指示が出せ
ず、移載装置は移載準備ができないという問題点があっ
た。Among the series of operations in the case where the transfer device conveys, the operation which can be operated before the transfer vehicle can be transferred is defined as transfer preparation and will be described. When the transfer control device instructs the transfer control device to transfer, after the transfer vehicle arrives at the target position, the transfer control device reports completion to the transfer control device. That is, the transport control device cannot determine whether the stacked transport vehicle has stopped or the wholesale transport vehicle has stopped until the transport vehicle stops. For this reason, the transport control device
There is a problem in that an instruction to the transfer device cannot be issued until the transfer of the transfer vehicle is completed, and the transfer device cannot prepare for transfer.
【０００４】本発明は、上記従来の自動搬送システムの
有する問題点を解決し、移載装置に移載準備をさせるこ
とにより、被搬送物の搬送時間を短くする自動搬送シス
テムを提供することを目的とする。An object of the present invention is to provide an automatic transfer system which solves the above-mentioned problems of the conventional automatic transfer system and which makes the transfer device prepare for transfer, thereby shortening the transfer time of the transferred object. Aim.
【０００５】[0005]
【課題を解決するための手段】上記目的を達成するた
め、本発明の自動搬送システムは、ループ軌道上を同一
方向に周回し、被搬送物を自動搬送する複数の搬送車
と、該搬送車の位置及び速度を制御する搬送車制御装置
と、被搬送物を保管する自動倉庫と、自動倉庫と搬送車
の間で被搬送物の移載を行う移載装置と、搬送車制御装
置と自動倉庫と移載装置とを制御する搬送制御装置とを
備えた自動搬送システムにおいて、前記搬送車制御装置
が移載装置に指示を行なうことにより搬送制御装置の指
示を簡略化するとともに、該搬送車制御装置が、搬送車
が停止する前に移載装置に搬送指示を出すことにより、
被搬送物の搬送待ち時間を短くしたことを特徴とする。In order to achieve the above object, an automatic transport system according to the present invention comprises a plurality of transport vehicles for automatically transporting an object to be transported around a loop orbit in the same direction, and the transport vehicles. A transport vehicle control device that controls the position and speed of the vehicle; an automatic warehouse that stores the transported objects; a transfer device that transports the transported objects between the automatic warehouse and the transport vehicle; In an automatic transfer system including a transfer control device that controls a warehouse and a transfer device, the transfer vehicle control device instructs the transfer device to simplify instructions of the transfer control device, The control device issues a transfer instruction to the transfer device before the transfer vehicle stops,
It is characterized in that the transfer waiting time of the transferred object is shortened.
【０００６】本発明の自動搬送システムにおいては、搬
送車として、走行している位置の検出手段及び搬送車制
御装置と通信する手段を具備した搬送車を用いる。そし
て、移載装置の移載準備に必要となる時間を、搬送車が
走行する距離に換算し、軌道上の移載点から手前側に移
載タイミング報告点として定義する。搬送車制御装置
は、搬送車がこの位置を通過した時点で移載装置に搬送
指令を出す。これにより、移載動作のうち搬送車が停止
する前に予め移載準備動作し、搬送車が移載可能となる
と同時に積み卸しすることで搬送時間を短くすることが
できる。すなわち、本発明の自動搬送システムでは、搬
送車の搬送時間と、移載装置の搬送時間の重複搬送時
間、つまり移載装置が準備動作をしている搬送時間分だ
け被搬送物の搬送時間を短くすることができる。In the automatic transport system of the present invention, a transport vehicle having a means for detecting a traveling position and a means for communicating with a transport vehicle control device is used as the transport vehicle. Then, the time required for the transfer preparation of the transfer device is converted into the distance traveled by the carrier, and is defined as a transfer timing report point from the transfer point on the track to the near side. The transfer vehicle control device issues a transfer command to the transfer device when the transfer vehicle passes this position. Accordingly, the transfer preparation operation is performed in advance before the transport vehicle stops during the transfer operation, and the transport time can be shortened by loading and unloading the transport vehicle simultaneously. In other words, in the automatic transfer system of the present invention, the transfer time of the transfer vehicle and the transfer time of the transfer device overlapped transfer time, that is, the transfer time of the transferred object by the transfer time during which the transfer device is performing the preparation operation. Can be shorter.
【０００７】[0007]
【発明の実施の形態】以下、本発明の自動搬送システム
の実施の形態を図面に基づいて説明する。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of an automatic transfer system according to the present invention.
【０００８】本発明の自動搬送システムの一実施例の構
成を図１に示す。自動搬送システムは、搬送車制御装置
２、移載装置のない複数の搬送車３、搬送車の軌道４、
搬送車が被搬送物７を積み卸しするために停止する移載
点５、自動倉庫６、搬送車３と自動倉庫６の間で被搬送
物７を移載する移載装置８（図３参照）及びこの自動搬
送システム全体を統括する搬送制御装置１から構成され
ている。FIG. 1 shows the configuration of an embodiment of the automatic transport system according to the present invention. The automatic transport system includes a transport vehicle control device 2, a plurality of transport vehicles 3 without a transfer device, a transport vehicle track 4,
A transfer point 5 where the transport vehicle stops to unload and transfer the transported objects 7, an automatic warehouse 6, and a transfer device 8 that transports the transported objects 7 between the transport vehicle 3 and the automatic warehouse 6 (see FIG. 3). ) And a transfer control device 1 for controlling the entire automatic transfer system.
【０００９】搬送制御装置１は、自動搬送システム全体
の装置を用いて、被搬送物を搬送する順序を決め、各搬
送装置ごとの指示・完了を制御する機能と制御装置との
通信機能とを具備している。The transport control device 1 determines the order in which the objects to be transported are transported by using the devices of the entire automatic transport system, and has a function of controlling the instruction and completion of each transport device and a function of communicating with the control device. I have it.
【００１０】搬送車制御装置２は、搬送制御装置１及び
搬送車３との搬送指示・完了を送受信する通信機能を具
備している。軌道４側の装置により、搬送車の動作を制
御する。また、移載装置動作開始タイミングを検出する
機能を有している。The carrier control device 2 has a communication function of transmitting and receiving a transfer instruction / completion with the carrier control device 1 and the carrier 3. The operation of the carrier is controlled by the device on the track 4 side. Further, it has a function of detecting a transfer device operation start timing.
【００１１】搬送車３は、搬送車制御装置２からの搬送
指示をうけて被搬送物７を搬送する。搬送車制御装置２
との通信機能を具備するとともに、走行位置を把握する
ための装置を具備している。また、搬送車３が走行する
軌道４は自由に構成することが可能である。本実施例で
は搬送車３の移動を制御するための装置を具備してい
る。The transport vehicle 3 transports the transported object 7 in response to a transport instruction from the transport vehicle control device 2. Car control device 2
And a device for ascertaining the traveling position. Further, the track 4 on which the carrier 3 travels can be freely configured. In this embodiment, a device for controlling the movement of the carrier 3 is provided.
【００１２】移載点（Ａ，Ｂ，Ｃ，Ｄ）５は、被搬送物
７を積み卸しする位置である。移載位置は軌道４上に自
由に配置可能である。なお、自動倉庫６から搬送車３へ
の搬送は搬出、搬送車から自動倉庫への搬送は搬入と呼
ぶ。The transfer points (A, B, C, D) 5 are positions where the conveyed articles 7 are unloaded. The transfer position can be freely arranged on the track 4. The transfer from the automatic warehouse 6 to the transport vehicle 3 is referred to as unloading, and the transport from the transport vehicle to the automatic warehouse is referred to as import.
【００１３】自動倉庫６は、被搬送物７を保管する倉庫
であり、搬送車３と被搬送物７を取り合いできる位置に
自由に設置することが可能である。搬送制御装置との搬
送指示・完了を送受信する通信機能、被搬送物保管用の
棚と被搬送物を搬送するスタッカクレーン６１を具備し
ている。また、この自動倉庫６は、搬送車３との取り合
い点に移載装置８を具備し、さらに補助移載点９を有し
ている。The automatic warehouse 6 is a warehouse for storing the transported objects 7 and can be freely installed at a position where the transport vehicle 3 and the transported objects 7 can be engaged. It has a communication function for transmitting and receiving a transfer instruction / completion with the transfer control device, a shelf for storing the transferred object, and a stacker crane 61 for transferring the transferred object. The automatic warehouse 6 includes a transfer device 8 at a point where the automatic warehouse 6 is connected to the transport vehicle 3, and further has an auxiliary transfer point 9.
【００１４】スタッカクレーン６１は、自動倉庫６内
で、被搬送物７を移動させるための搬送装置であり、自
動倉庫制御装置との間で搬送指示・完了を送受信する通
信機能を具備している。The stacker crane 61 is a transfer device for moving the article 7 in the automatic warehouse 6, and has a communication function of transmitting and receiving a transfer instruction / completion with the automatic warehouse control device. .
【００１５】移載装置８は、被搬送物７を搬送車３から
補助移載点９にフォーク８１を用いて積み卸しする。通
信Ｔや動作の制御を行なう制御装置と、実際に被搬送物
７を移動させる装置とからなる。移載位置８は軌道４上
に自由に配置することが可能である。The transfer device 8 unloads the transferred object 7 from the transfer vehicle 3 to the auxiliary transfer point 9 using a fork 81. It comprises a control device for controlling the communication T and the operation, and a device for actually moving the transferred object 7. The transfer position 8 can be freely arranged on the track 4.
【００１６】補助移載点９は、移載装置８と自動倉庫６
のスタッカクレーン６１の被搬送物７の受け渡し位置で
ある。図３に示すように、搬入（搬送車３から自動倉庫
６への搬送）用と搬出（自動倉庫６から搬送車３への搬
送）用と別々に用意することも可能であり、２個所以
上、何個所用意しても自由である。３個所目以降は、搬
入搬出兼用としてもよい。The auxiliary transfer point 9 is located between the transfer device 8 and the automatic warehouse 6
Is the transfer position of the transported object 7 of the stacker crane 61. As shown in FIG. 3, it is also possible to prepare separately for carry-in (transportation from the transport vehicle 3 to the automatic warehouse 6) and for unloading (transportation from the automatic warehouse 6 to the transport vehicle 3). Any number of places are free. The third and subsequent locations may be used for both loading and unloading.
【００１７】ところで、従来の自動搬送システムでは、
図２に示すように、最初に搬送制御装置１が上位装置０
からの搬送指示を受け、個々の搬送装置に分解して順番
に搬送指示し、各搬送装置の完了を以って上位装置に完
了を返していた。このため、搬送制御装置１の配下に各
搬送装置を置いていた。Incidentally, in the conventional automatic transfer system,
As shown in FIG. 2, first, the transport control device 1
Receiving the transfer instruction from the transfer device, disassembling the transfer device into individual transfer devices, sequentially giving the transfer instruction, and returning the completion to each of the transfer devices to the host device. For this reason, each transport device has been placed under the transport control device 1.
【００１８】従来例において、搬送制御装置１が上位装
置０からの被搬送物７に対する搬送指示を受けた場合の
被搬送物７の軌跡を図３に、搬送指示シーケンスを図４
に示す。すなわち、従来の方式では、各搬送装置に指示
を出すのは搬送制御装置である。したがって、次のよう
な搬送指示シーケンスで被搬送物７を搬送していた。In the conventional example, FIG. 3 shows the trajectory of the transferred object 7 when the transfer control device 1 receives a transfer instruction for the transferred object 7 from the host device 0, and FIG.
Shown in That is, in the conventional method, it is the transfer control device that issues an instruction to each transfer device. Therefore, the transported object 7 has been transported in the following transport instruction sequence.
【００１９】搬送制御装置１から、搬送車制御装置２
に被搬送物７を搬送可能な搬送車３を搬送元（自動倉庫
６２）の移載点５に搬送指示（迎車）。 搬送車制御装置２から、搬送制御装置１に搬送（迎
車）完了報告。 搬送制御装置１から移載装置８に、被搬送物７を搬出
用補助移載点９から搬送車３への搬送（搬出）指示。 移載装置８から搬送制御装置１に搬送（搬出）完了報
告。 搬送制御装置１から搬送車制御装置２に、搬送車３を
搬送先（自動倉庫６３）の移載点５に搬送指示。 搬送車制御装置２から、搬送制御装置１に搬送完了報
告。 搬送制御装置１から移載装置８に、被搬送物７を搬送
車３から自動倉庫６３の搬入用補助移載点９への搬送
（搬入）指示。 移載装置８から搬送制御装置１に搬送（搬入）完了報
告。自動倉庫６３の欄への搬送が完了した場合、搬送制
御装置１は、上位装置０に対して、被搬送物７の搬送完
了を返していた。From the transport control device 1 to the transport vehicle control device 2
The transfer instruction (transfer) for the transfer vehicle 3 capable of transferring the transferred object 7 to the transfer point 5 of the transfer source (automatic warehouse 62). The transport control device 2 reports to the transport control device 1 the completion of transfer (pick-up). An instruction from the transfer control device 1 to the transfer device 8 to transfer (unload) the transferred object 7 from the unloading auxiliary transfer point 9 to the transfer vehicle 3. A transfer (unloading) completion report from the transfer device 8 to the transfer control device 1. The transfer control device 1 instructs the transfer vehicle control device 2 to transfer the transfer vehicle 3 to the transfer point 5 of the transfer destination (the automatic warehouse 63). The transfer control unit 2 reports the transfer completion to the transfer control unit 1. An instruction to transfer (load) the transferred object 7 from the transfer vehicle 3 to the transfer auxiliary transfer point 9 of the automatic warehouse 63 from the transfer control device 1 to the transfer device 8. A transfer (load) completion report from the transfer device 8 to the transfer control device 1. When the transfer to the column of the automatic warehouse 63 is completed, the transfer control device 1 has returned to the host device 0 that the transfer of the transferred object 7 has been completed.
【００２０】ここで、移載装置８の動作について、図５
の動作イメージと図６の動作モデルを用いて説明する。
移載装置８は、昇降軸、出入軸、旋回軸の３軸を持つ装
置である。移載装置８は、ｚ軸方向に昇降動作、ｚ軸を
中心としてｘ又はｙ方向に出入動作、ｚ軸を中心として
旋回動作することで、フォーク８１上に被搬送物７を乗
せて、補助移載点９と搬送車３の間で被搬送物７を搬送
する。Here, the operation of the transfer device 8 will be described with reference to FIG.
The operation will be described with reference to the operation image of FIG.
The transfer device 8 is a device having three axes: a vertical axis, an input / output axis, and a pivot axis. The transfer device 8 lifts and lowers the conveyed object 7 on the fork 81 by moving up and down in the z-axis direction, moving in and out in the x or y direction around the z-axis, and turning around the z-axis. The transferred object 7 is transferred between the transfer point 9 and the transfer vehicle 3.
【００２１】図７に、移載装置８の搬送タイムチャート
を示す。移載装置８は、搬送指示を受けると次の順序で
一連の動作を行なって停止する。 旋回軸：最後に停止した位置から搬送元の位置に旋回 出入軸：出 昇降軸：昇 出入軸：入 旋回軸：搬送先の位置に旋回 出入軸：出 昇降軸：降 出入軸：入FIG. 7 shows a transport time chart of the transfer device 8. Upon receiving the transfer instruction, the transfer device 8 performs a series of operations in the following order and stops. Swivel axis: Swivel from the last stopped position to the position of the transport origin In / out axis: Out Elevating axis: Up / Down In / out axis: On Swivel axis: Swivel to the destination position Out / in axis: Out Up / down axis: Down In / out axis: In
【００２２】従来、被搬送物７を搬送車３に積み卸しす
る場合、搬送車３が搬送完了後、移載装置８は、搬送制
御装置１の指示で一連の搬送動作をしていた。ここで、
移載装置８は、搬入時の搬送車３から補助移載点に搬送
する場合、搬送車３が移載可能となるまでに予め旋回
し、搬送車３に向いた状態まで移載準備できる（図７
（注１）参照）。また、移載装置は、搬出時の補助移載
点から搬送車に搬送する場合、搬送車が移載可能となる
までに予め被搬送物７を積み、搬送車に向いた状態まで
移載準備できる（図７（注２）参照）。Conventionally, when loading and unloading the transported object 7 to and from the transport vehicle 3, the transfer device 8 performs a series of transport operations according to an instruction from the transport control device 1 after the transport vehicle 3 has been transported. here,
When the transfer device 8 is transported from the transport vehicle 3 at the time of loading to the auxiliary transfer point, the transport device 8 turns beforehand so that the transport vehicle 3 can be transferred, and can prepare for transfer to a state facing the transport vehicle 3 ( FIG.
(See Note 1). In addition, when the transfer device is transported from the auxiliary transfer point at the time of unloading to the transport vehicle, the transported objects 7 are loaded in advance before the transport vehicle can be transferred, and the transfer preparation is performed until the transport vehicle is turned to the transport vehicle. Yes (see Figure 7 (Note 2)).
【００２３】ところが、従来では、搬送制御装置１は、
搬送車３が停止するまで積みの搬送車３が停止したの
か、卸しの搬送車３が停止したのか判断できない。この
ため、搬送制御装置は、搬送車の搬送完了を待たないと
移載装置への指示が出せず、移載装置は移載準備ができ
なかった。However, conventionally, the transport control device 1
Until the transport vehicle 3 stops, it cannot be determined whether the loading transport vehicle 3 has stopped or the wholesale transport vehicle 3 has stopped. For this reason, the transfer control device cannot give an instruction to the transfer device until the transfer of the transfer vehicle is completed, and the transfer device cannot prepare for transfer.
【００２４】そこで、移載装置の移載準備に必要となる
時間を、搬送車が走行する距離に換算し、軌道上の移載
点から手前側に移載タイミング報告点１０として定義
し、センサを設置する。搬送車制御装置は、搬送車がこ
の位置を通過した時点で移載装置に搬送指令を出す。移
載タイミング報告点１０は、搬送車３が停止して搬送物
を積み卸しする場合、移載装置８側にその移載開始タイ
ミングを知らせる位置である。例えば、移載装置８が移
載準備を完了する時点までを逆算した搬送車の位置とす
る。Therefore, the time required for the transfer preparation of the transfer device is converted into the distance traveled by the carrier, and is defined as a transfer timing report point 10 from the transfer point on the track to the near side, and is defined by a sensor. Is installed. The transfer vehicle control device issues a transfer command to the transfer device when the transfer vehicle passes this position. The transfer timing report point 10 is a position for notifying the transfer device 8 of the transfer start timing when the transporting vehicle 3 stops and unloads the transported goods. For example, the position of the transport vehicle calculated up to the time when the transfer device 8 completes the transfer preparation is set as the position of the transport vehicle.
【００２５】これにより、移載動作のうち搬送車３が停
止する前に予め移載準備動作し、搬送車３が移載可能と
なると同時に積み卸しすることで搬送時間を短くする。In this way, during the transfer operation, the transfer preparation operation is performed before the transport vehicle 3 stops, and the transport time is shortened by loading and unloading the transport vehicle 3 at the same time that the transport vehicle 3 can be transferred.
【００２６】例えば、図７の（注２）の時間をｔ秒とし
て、搬送車３が積み卸し可能となる時点からｔ秒分時間
を測り、搬送車が通過する地点を移載タイミング報告点
１０とする（図８参照）。これにより、図９に示すよう
に、搬送車３の搬送時間と、移載装置８の搬送時間の重
複搬送時間、すなわち、移載装置が準備動作をしている
搬送時間分、被搬送物７の搬送時間を短くすることがで
きる。For example, assuming that the time of (Note 2) in FIG. 7 is t seconds, the time is measured for t seconds from the time when the carrier 3 can be unloaded, and the point at which the carrier passes is referred to as a transfer timing reporting point 10. (See FIG. 8). As a result, as shown in FIG. 9, the transport time of the transport vehicle 3 and the transport time of the transfer device 8 overlap each other, that is, the transport time during which the transfer device performs the preparation operation, Can be shortened.
【００２７】しかし、指示の伝達経路が複雑になると、
制御装置間の通信や処理による遅れが発生する。また、
この場合、移載装置８と搬送車３は同時に動作すること
となるが、移載装置８は、最後に停止した位置により旋
回時間が異なるため、準備に必要となる時間が異なる等
の要因により移載可能となるタイミングに誤差が生じる
可能性がある。However, when the transmission path of the instruction becomes complicated,
A delay occurs due to communication and processing between the control devices. Also,
In this case, the transfer device 8 and the transport vehicle 3 operate at the same time. However, since the transfer device 8 has a different turning time depending on the position where the transfer device 8 was last stopped, the time required for preparation differs, for example. There is a possibility that an error occurs in the timing at which the transfer becomes possible.
【００２８】被搬送物７と搬送装置８を最適のタイミン
グで動作できるようにするには、搬送車３が、積み卸し
可能な状態になったことを移載装置８に知らせる必要が
ある。In order for the transported object 7 and the transport device 8 to be able to operate at the optimal timing, it is necessary to inform the transfer device 8 that the transport vehicle 3 is ready to be unloaded.
【００２９】そこで、本発明の実施例では、搬送車３か
ら移載装置８に移載開始のタイミングを直接知らせるこ
ととし、搬送車制御装置２の配下に移載装置８を置き、
搬送車制御装置２から移載指示を出すことで図１０中の
点線で囲んだ部分の搬送指示シーケンスを簡略化した。
図１１に本実施例での制御構成を、そして図１２に搬送
指示シーケンスを示す。Accordingly, in the embodiment of the present invention, the transfer start timing is directly notified from the transport vehicle 3 to the transfer device 8, and the transfer device 8 is placed under the control of the transport vehicle control device 2.
By issuing a transfer instruction from the transport vehicle control device 2, the transport instruction sequence of a portion surrounded by a dotted line in FIG. 10 is simplified.
FIG. 11 shows a control configuration in this embodiment, and FIG. 12 shows a transport instruction sequence.
【００３０】以上説明したように、本実施例では、図９
の搬送タイムチャートに示すように、被搬送物７をある
自動倉庫の補助移載点からそれ以外の自動倉庫の補助移
載点へ搬送する場合、各搬送装置が重複して動作し、被
搬送物７の停滞を短くするよう搬送するため、被搬送物
７が目的地に到着するまでに要する時間を短くすること
ができる。As described above, in this embodiment, FIG.
As shown in the transfer time chart, when the transferred object 7 is transferred from the auxiliary transfer point of one automatic warehouse to the auxiliary transfer point of the other automatic warehouse, each transfer device operates redundantly, and Since the object 7 is conveyed so as to shorten the stagnation, the time required for the object 7 to reach the destination can be shortened.
【００３１】[0031]
【発明の効果】本発明の自動搬送システムによれば、搬
送車制御装置が移載装置に指示を行なうことから、搬送
制御装置の指示を簡略化するとともに、この搬送車制御
装置が、搬送車が停止する前に移載装置に搬送指示を出
すことから、搬送車の搬送時間と、移載装置の搬送時間
の重複搬送時間、すなわち移載装置が準備動作をしてい
る搬送時間分だけ被搬送物の搬送時間を短くすることが
できる。According to the automatic transport system of the present invention, since the transport control device issues an instruction to the transfer device, the instructions of the transport control device are simplified, and the transport control device is provided with the transport transport device. Since the transfer instruction is issued to the transfer device before stopping the transfer, the transfer time of the transfer vehicle and the transfer time of the transfer device are overlapped, that is, the transfer time during which the transfer device is performing the preparation operation is received. The transport time of the transported object can be shortened.
【図１】自動搬送システムの装置構成を示す平面図であ
る。FIG. 1 is a plan view showing an apparatus configuration of an automatic transport system.
【図２】従来の自動搬送システムの制御構成を示すチャ
ート図である。FIG. 2 is a chart showing a control configuration of a conventional automatic transport system.
【図３】自動搬送システムの搬送時の被搬送物の軌跡を
示す平面図である。FIG. 3 is a plan view showing a trajectory of a transferred object during transfer by the automatic transfer system.
【図４】従来の自動搬送システムの搬送指示シーケンス
を示す図である。FIG. 4 is a diagram showing a transfer instruction sequence of the conventional automatic transfer system.
【図５】移載装置の動作を示す斜視図である。FIG. 5 is a perspective view showing the operation of the transfer device.
【図６】移載装置の動作を示す説明図である。FIG. 6 is an explanatory diagram showing an operation of the transfer device.
【図７】移載装置の動作のタイムチャート図である。FIG. 7 is a time chart of the operation of the transfer device.
【図８】本発明の実施例の自動搬送システムにおいて、
移載タイミング報告をする際の状態を示す平面図であ
る。FIG. 8 shows an automatic transfer system according to an embodiment of the present invention.
It is a top view which shows the state at the time of reporting a transfer timing.
【図９】本発明の実施例の搬送指示のタイムチャート図
である。FIG. 9 is a time chart of a transfer instruction according to the embodiment of the present invention.
【図１０】本発明の実施例の搬送指示シーケンスを示す
図である。FIG. 10 is a diagram illustrating a transport instruction sequence according to the embodiment of the present invention.
【図１１】本発明の実施例の制御構成を示すチャート図
である。FIG. 11 is a chart showing a control configuration according to the embodiment of the present invention.
【図１２】本発明の実施例の搬送指示シーケンスの他の
例を示す図である。FIG. 12 is a diagram showing another example of the transport instruction sequence according to the embodiment of the present invention.
１ 搬送制御装置 ２ 搬送車制御装置 ３ 搬送車 ４ 軌道 ５ 移載点（Ａ，Ｂ，Ｃ，Ｄ） ６ 自動倉庫 ７ 被搬送物 ８ 移載装置 ９ 補助移載点 １０ 移載タイミング報告点 REFERENCE SIGNS LIST 1 transfer control device 2 transfer vehicle control device 3 transfer vehicle 4 track 5 transfer point (A, B, C, D) 6 automatic warehouse 7 transferred object 8 transfer device 9 auxiliary transfer point 10 transfer timing report point
Claims (1)
送物を自動搬送する複数の搬送車と、該搬送車の位置及
び速度を制御する搬送車制御装置と、被搬送物を保管す
る自動倉庫と、自動倉庫と搬送車の間で被搬送物の移載
を行う移載装置と、搬送車制御装置と自動倉庫と移載装
置とを制御する搬送制御装置とを備えた自動搬送システ
ムにおいて、前記搬送車制御装置が移載装置に指示を行
なうことにより搬送制御装置の指示を簡略化するととも
に、該搬送車制御装置が、搬送車が停止する前に移載装
置に搬送指示を出すことにより、被搬送物の搬送待ち時
間を短くしたことを特徴とする自動搬送システム。1. A plurality of transport vehicles that orbit around a loop track in the same direction to automatically transport an object to be transported, a vehicle control device that controls the position and speed of the transport vehicle, and store the object to be transported. An automatic transfer system including an automatic warehouse, a transfer device for transferring the transferred object between the automatic warehouse and the transfer vehicle, and a transfer control device for controlling the transfer vehicle control device, the automatic warehouse, and the transfer device. In the above, the carrier control device instructs the transfer device by giving an instruction to the transfer device, and the carrier control device issues a transfer instruction to the transfer device before the carrier stops. An automatic transfer system characterized by shortening the transfer waiting time of the transferred object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11095792A JP2000289811A (en) | 1999-04-02 | 1999-04-02 | Automatic carrying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11095792A JP2000289811A (en) | 1999-04-02 | 1999-04-02 | Automatic carrying system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2000289811A true JP2000289811A (en) | 2000-10-17 |
Family
ID=14147309
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11095792A Pending JP2000289811A (en) | 1999-04-02 | 1999-04-02 | Automatic carrying system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2000289811A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005310112A (en) * | 2004-02-28 | 2005-11-04 | Applied Materials Inc | Method and system for improved operation of carrier handler for substrate |
| JP2012153469A (en) * | 2011-01-25 | 2012-08-16 | Murata Machinery Ltd | Transport vehicle system |
| CN107140391A (en) * | 2017-04-27 | 2017-09-08 | 中国石油天然气集团公司 | A kind of method and system of automatic transport steel pipe |
-
1999
- 1999-04-02 JP JP11095792A patent/JP2000289811A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005310112A (en) * | 2004-02-28 | 2005-11-04 | Applied Materials Inc | Method and system for improved operation of carrier handler for substrate |
| JP2012153469A (en) * | 2011-01-25 | 2012-08-16 | Murata Machinery Ltd | Transport vehicle system |
| CN107140391A (en) * | 2017-04-27 | 2017-09-08 | 中国石油天然气集团公司 | A kind of method and system of automatic transport steel pipe |
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