JP2002006952A - Goods conveyance facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a goods conveyance facility with improve conveyance efficiency. SOLUTION: The present invention comprises a plurality of self-travelling bogies 3 which, guided by a rail 1, run on their own and convey goods, and a goods transfer system which is arranged along the rail 1 and transfers goods to the self-travelling bogies 3 (a stocking conveyor unit 4 and shipping conveyance unit 5 in a goods depository J and carrying-out conveyor unit 7 and bringing-in conveyor unit 8 in a goods handling yard K). It also comprises a controller which sets a plurality of patterns of goods transfer positions arranging each self-propelled bogie 3 before starting goods conveyance and lays each self-travelling bogies 3 at the goods transfer position, according to the pattern selected from the above patterns. This configuration which selects a pattern of the goods transfer position to locate each self-travelling bogie 3 enables a pattern to be selected according to conveyance conditions at the starting time of conveyance work, improving conveyance efficiency.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plurality of self-propelled trolleys, which are guided by a traveling route, run on their own, and convey loads, respectively.
The present invention relates to a load transfer facility provided with a plurality of load transfer positions (stations and the like) that are arranged along a traveling route and transfer loads with the self-propelled carriage.

[0002]

2. Description of the Related Art Conventionally, in a load transporting facility, each self-propelled vehicle waits at a preset station position before the self-propelled vehicle starts transporting a load between stations (before operation).

[0003]

However, as described above, when the station where the self-propelled vehicle is standing by is fixed, when the operation starts, the station where the load transfer request is generated is on standby. Is far from
The time required for the self-propelled vehicle to travel to the station where the load transfer request has occurred is a loss time, and the transfer efficiency is reduced.

[0004] Therefore, an object of the present invention is to provide a load transfer facility with improved transfer efficiency.

[0005]

In order to achieve the above-mentioned object, according to the first aspect of the present invention, a plurality of self-propelled vehicles which are guided by a traveling route and self-propelled and transport respective loads are provided. A traveling vehicle, and a load transporting facility having a plurality of load transfer positions arranged along the traveling route and performing the transfer of the load with the self-propelled vehicle, wherein the load transfer position for arranging each self-propelled vehicle. A plurality of patterns are set, and a controller is provided for arranging each self-propelled vehicle at a load transfer position in accordance with a pattern selected from the patterns.

According to the above configuration, each self-propelled vehicle is arranged at the load transfer position in accordance with a pattern selected from a plurality of patterns of the load transfer positions at which the self-propelled vehicles are arranged. Since the pattern can be selected, a pattern having the highest transfer efficiency at the start of operation can be selected.

According to a second aspect of the present invention, in the first aspect of the present invention, it is set whether to automatically or manually select a pattern of a load transfer position at which each self-propelled truck is arranged. A first selection means and a second selection means for selecting one pattern from a preset pattern are provided, and the controller is selected by the second selection means when manual is selected by the first selection means. Each self-propelled trolley is arranged at the load transfer position according to the pattern, and when the automatic is selected by the first selection means, each self-propelled trolley is arranged at the load transfer position according to a pattern determined at a preset time. It is characterized by doing.

With the above arrangement, when manual operation is selected by the first selecting means, each self-propelled vehicle is arranged at the load transfer position in accordance with the pattern selected by the second selecting means, and automatic operation is performed by the first selecting means. When selected, each self-propelled trolley is arranged at the load transfer position according to a pattern determined at a preset time.

The invention according to claim 3 is the invention according to claim 1 or 2, wherein the pattern is:
The present invention is characterized in that a loading pattern for arranging each self-propelled vehicle at a load transfer position at which a load is stored and a retrieval pattern at which each self-propelled vehicle is disposed at a load transfer position at which a load is discharged are set.

[0010] With the above configuration, it is possible to select the storage pattern when the storage is mainly performed from the transfer start information, and to select the storage pattern when the storage is mainly performed.

[0011] The invention described in claim 4 is the above-mentioned claim 1-
The controller according to any one of claims 3 to 5, wherein when the self-propelled vehicles are arranged in accordance with the selected pattern, the controller requests a load to be transferred from a load transfer position where no self-propelled vehicles are arranged. Is confirmed, a command to transfer the load in accordance with the transfer request from the load transfer position is output to the self-propelled vehicle located closest to and upstream of the load transfer position.

According to the above configuration, after the start of operation, when a request for transporting a load is confirmed from a load transfer position where no self-propelled vehicle is arranged, the self-propelled vehicle closest to and upstream of the load transfer position is selected. Then, a command to transfer the load according to the transfer request is output from the load transfer position to the self-propelled vehicle.

[0013] The invention described in claim 5 is the above-mentioned claim 1-
The invention according to claim 4, wherein the controller has a function of forming a pattern in which a load transfer position where a request for transporting a load is frequently performed is selected at a predetermined time. It is assumed that.

According to the above configuration, the controller can form a pattern in which a load transfer position at which a load transfer request is frequently performed is selected at predetermined times, and these patterns are set and selected at the time. By doing so, the self-propelled trolley is arranged at the load transfer position where the load is frequently requested to be transferred at each time, thereby improving the transfer efficiency.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a layout diagram of a load transport facility in an embodiment of the present invention, and FIG. 2 is a configuration diagram of a main part of the load transport facility.

1 and 2, reference numeral 1 denotes a pair of running rails (an example of a running route) installed in a loop on a floor 2, and reference numeral 3 denotes one guided by the running rail 1 in one direction indicated by an arrow. It is a four-wheeled self-propelled trolley that runs and transports loads. A plurality of self-propelled trolleys 3 are provided.

The traveling rail 1 transports a load from the loading and unloading conveyor devices 4 and 5 of the load storage facility J, a plurality of unloading conveyor devices 7 for transporting the load to the loading and unloading site K, and a loading and unloading site K. Conveyor systems 8
It is laid along.

The loading conveyor device 4 and the discharging conveyor device 5 of the load storage facility J, and the unloading conveyor device 7 and the loading conveyor device 8 of the loading / unloading place K constitute a "load transfer position".

Each of the self-propelled vehicles 3 is guided by the traveling rail 1 to take out the load.
Alternatively, it travels by itself to the carry-in conveyor device 8 and when it arrives, it scoops up the load from the outgoing conveyor device 5 or the carry-in conveyor device 8, then travels by itself to the incoming conveyor device 4 or the carry-out conveyor device 7 of the transfer destination for unloading and arrives. Then, it has a function of unloading the goods to the receiving conveyor device 4 or the unloading conveyor device 7.

The self-propelled carriage 3 is, as shown in FIGS.
A vehicle body 11 and a load transfer / loading device (for example, a roller conveyor or a chain conveyor) 12 mounted on the vehicle body 11
And two revolving driven wheel devices 13 attached to the lower part of the vehicle body 11 for supporting the vehicle body 11 on one of the traveling rails 1.
And two turning / sliding types that support the vehicle body 11 with respect to the other running rail 1, can follow the bent shape of the running rail 1, and can move (slide freely) in and out of the turning type driven wheel device 13. A drive wheel device 14 is provided.

As shown in FIG. 5, the vehicle body 11 has a right frame 21 for supporting two revolving driven wheel devices 13 so as to be revolvable about a vertical axis, and two revolving / sliding driving wheel devices 14.
The left frame 22 which is rotatable about the vertical axis and movably in the left-right direction (the direction toward and away from the turning driven wheel device 13), and the right and left ends of the right frame 21 and the left frame 22 are fixed. Front and rear frames 23 and 24 and these two frames
Box 2 fixed on frame formed by 1, 22, 23, 24
5, the load transfer / loading device 12 is installed in the box 25.

Each of the revolving driven wheel devices 13 includes a revolving structure 31 that is rotatable about the vertical axis with respect to the right frame 21.
A bracket 32 connected to the lower surface side of the revolving structure 31 and having a pair of legs corresponding to the side surfaces of the traveling rail 1, an axle 33 provided at the center of both legs of the bracket 32, and an axle 33 And four guide rollers (guides) that are provided at the front, rear, left and right ends of both legs of the bracket 32 and that come into contact with both side surfaces of the traveling rail 1. Example of device) 35
With the four guide rollers 35, the revolving unit 31 is rotated around the vertical axis via the bracket 32 in accordance with the bending of the traveling rail 1, so that the idle wheel 34 is connected to the traveling rail 1. The idler wheels 34 can be moved on the traveling rail 1 without falling off.

Each turning / sliding type driving wheel device 14
Is a revolving body 41 that is rotatable about the vertical axis with respect to the left frame 22 and is movable in the left-right direction.
A bracket 42 connected to the lower surface of the bracket 41 and having a pair of legs corresponding to the side surfaces of the traveling rail 1;
Axle 43 provided at the center of both legs of
A drive wheel 44 supported by the axle 43, a motor 45 having a drive shaft connected to a rotation shaft of the drive wheel 44, and a lower and front and left and right ends of both legs of the bracket 42 are provided on the traveling rail 1 respectively. 4 which can contact freely on both sides of
And a revolving unit around the center of the vertical axis via the bracket 42 corresponding to the bending of the traveling rail 1 by the four guide rollers 46.
When the swivel body 41 moves left and right via the bracket 42 corresponding to the width between the pair of traveling rails 1, the drive wheels 44 travel on the traveling rail 1 without derailing. In addition, the self-propelled carriage 3 can be guided by the traveling rail 1 and run when the driving wheels 44 are rotated by the driving of the motor 45.

As described above, the two drive wheels 44 are structured so that they can be turned and slidable (they can be moved in the distance direction with respect to the idler wheels 34), and the positioning is performed by the two idler wheels 34, so that a curve is obtained. The traveling of the self-propelled carriage 3 in the section is smoothly performed without any trouble, and the main body 11 is prevented from swinging in the left and right direction. Further, the load on the motor 45 of the drive wheel 44 is reduced, and the configuration of the idle wheel 34 and the drive wheel 44 can be simplified as compared with the case where positioning is performed by the drive wheel 44.

A current collecting rail 51 is laid on the outer side surface of one of the running rails 1 along the running direction along the entire length, and a current collector 52 is provided outside the bracket 32 of one of the revolving driven wheel devices 13. The power is supplied to the self-propelled trolley 3 from the current collecting rail 51 via the current collector 52.

A feeder line 54 is laid on the outer side surface of the other traveling rail 1 along the traveling direction along the traveling direction, and approaches the feeder line 54 outside the bracket 42 of the turning / sliding type driving wheel device 14. Wireless modem 55 is installed.

A frame 2 is provided below the box 25 of the body 11.
A control box 57 and a power box 58 are fixed in a frame formed by 1, 22, 23, and 24 and in an empty space of the two motors 45.

As a sensor, a transfer section detector 61 comprising a photoelectric switch for detecting the presence or absence of a load on the load transfer / loading device 12 and a fixed position of the load on the box 25, and a bumper for detecting a rear-end collision A switch 62 is provided, and an encoder 63 for detecting the number of rotations of the motor 45 is provided on a drive shaft of one motor 45.

Further, an optical sensor transmitter 65 and a receiver 66 are provided as data transmitting / receiving means for transmitting / receiving data between the front and rear self-propelled vehicles 3. For the optical sensor transmitter 65 and the receiver 66, a flat plate 67 also serving as a blocking member for blocking light from leaking downward is provided below the box 25 of the vehicle body 11 and at the front and rear center positions. The optical sensor transmitter 65 and the receiver 66 are flat
Mounted on 67. The mounting position of the optical sensor transmitter 65 and the receiver 66 is set between the upper surface level and the lower surface level of the traveling rail 1.

As shown in FIGS. 1, 2 and 4,
An HP (origin) 70A formed of a magnet is provided at one point on the side surface of the running rail 1 in the straight section, and the origin 32 is provided on the bracket 32 of the other revolving driven wheel device 13 of the self-propelled carriage 3.
An origin detector 70 including a magnetic sensor for detecting 70A is provided.

FIG. 6 shows a control block of the self-propelled carriage 3.
In FIG. 6, reference numeral 71 denotes a ground controller (ground control means;
A selection signal of a connected operation panel 80 (details will be described later),
A load transfer request signal from each delivery conveyor device 5 or carry-in conveyor device 8 and a feedback signal for each self-propelled vehicle 3 from a ground modem 72, which will be described later, such as a current position (travel distance or address) signal and the presence or absence of a load. A signal is input to make a judgment, and control is performed for each self-propelled vehicle 3 to control the transfer of the load between the load transfer positions.

The ground controller 71 transmits a signal to and from the self-propelled trolley 3 over the entire length of the self-propelled trolley 3 along the traveling direction of the self-propelled trolley 3 on the traveling rail 1 which is a path as an antenna with a ground modem 72 corresponding to a transceiver. Via the feeder line 54.

The main body controller 73 of the self-propelled carriage 3 transmits signals to and from the ground controller 71 via the wireless modem 55 installed close to and facing the feeder line 54. Further, the above-mentioned sensors and communication devices, that is, the transfer unit detector 61, the bumper switch 62, the encoder 63, the optical sensor transmitter 65, the receiver 66, and the origin detector 70 are connected to the main body controller 73. And a signal from a communication device and a control signal from the ground controller 71 input from the wireless modem 55, and is switched by the traveling motor 45 or the changeover switch 77 via the inverter 76 and the changeover switch 77 to transfer and load the cargo. Transfer motor 78 of the loading device 12
To control the traveling of the self-propelled truck 3 and the transfer control of the load by the self-propelled truck 3.

FIG. 7 shows a control block diagram of the main body controller 73. The main body controller 73 is a general control unit 81
And the inverter based on the command (driving destination) of the general control unit 81
A traveling control unit 82 that controls the traveling of the self-propelled carriage 3 by driving the traveling motor 45 through 76 and a transfer motor 78 of the load transfer / loading device 12 based on a command from the general control unit 81. It is configured by a transfer control unit 83 that drives and executes load transfer (scooping / unloading of loads).

The overall control unit 81 is controlled by the ground controller 71 to control the ground modem 72, the feeder line 54, and the wireless modem.
The transfer data input through 55 (the outgoing conveyor device 5 or the carry-in conveyor device 8 that has issued the load transfer request is set as the "load picking station" of the transfer source, and the transfer conveyor device 7 of the transfer destination of the transfer request is set. Or storage conveyor device 4
Is output to the travel control unit 82 and the transfer control unit 83 on the basis of the data set in the “loading station” at the destination to control the entire self-propelled vehicle 3. Command the travel destination to the travel control unit 82, input an arrival signal to the travel destination from the travel control unit 82, and instruct the transfer control unit 83 to scoop or unload the load, and perform transfer control. A transfer end signal is input from the unit 83.

When inputting the transport data, the general control unit 81 first outputs the "load picking station" to the travel control unit 82 as a travel destination, and when an arrival signal to the travel destination is input, the general control unit 81 performs transfer control. When a load scooping command is input to the unit 83 and a transfer end signal is input, the end of the load scooping is transmitted to the ground controller 71 via the wireless modem 55, the feeder line 54, and the ground modem 72. Subsequently, the "load unloading station" is output to the travel control unit 82 as a travel destination, and when an arrival signal to the travel destination is input, a load unloading command is issued to the transfer control unit 83, and a transfer end signal is input. Wireless modem 5 to end transport
5. The signal is transmitted to the ground controller 71 via the feeder line 54 and the ground modem 72.

The running control unit 82 will be described in detail. In FIG. 7, reference numeral 91 denotes a counter which is reset by an origin detection signal of an origin detector 70 and counts pulses output from the encoder 63. The count value of the counter 91 is input to a traveling distance calculation unit 92, and In the distance calculation unit 92, the driving shaft of the motor 45, that is, the cumulative rotation speed of the driving wheel 44 is obtained, and the running distance Mf from the origin 70A is measured based on the cumulative rotation speed of the driving wheel 44. The traveling distance Mf is output to the traveling control unit 93 (details will be described later), output to the following self-propelled trolley 3 via the optical sensor transmitter 65, and further transmitted to the wireless modem 55, the feeder line 54, and the ground modem 72. Is transmitted to the ground controller 71, and the current traveling position is fed back to the ground controller 71.

Reference numeral 94 denotes the origin 70A of each storage conveyor 4 in advance.
From the origin 70A of each unloading conveyor device 5, the distance from the origin 70A of each unloading conveyor device 7, and the distance from the origin 70A of each importing conveyor device 8. The value setting unit 95 is controlled by the general control unit 81 to select [the incoming conveyor device 4, the outgoing conveyor device 5, the outgoing conveyor device 7, or the incoming conveyor device 8].
Enter the destination consisting of the data (number) of
The memory 94 is searched based on the data (number) of the travel destination, and a travel target value Ms consisting of a distance from the origin 70A of the travel destination is set. The travel target value Ms is determined by the travel control unit 93.
Output to

The travel control unit 93 has a moving speed v
And the distance traveled by the self-propelled trolley 3 from the moving speed v to the speed 0, that is, the distance Q required for stopping, is set, and the own travel distance Mf is fed back with the travel target value Ms as the target value While outputting the rotation speed command value to the inverter 76. That is, when the difference between the travel target value Ms and the travel distance Mf is equal to or greater than the distance Q, a rotation speed command value corresponding to the moving speed v is output. Then, the rotation speed command value 0 is output. In addition, the traveling distance of the self-propelled vehicle 3 in front inputted via the optical sensor receiver 66 is compared with the traveling distance Mf of the vehicle, and
When the distance from the self-propelled vehicle 3 in front becomes shorter than a predetermined distance, the rotation speed command value is reduced to decelerate. When the travel target value Ms and the travel distance Mf match, that is, when the vehicle arrives at the destination conveyor 5 at the travel destination, an arrival signal is output to the overall control unit 81. The distance Q required for the stop is given by equation (1)
Required by “a” is a preset acceleration / deceleration of the self-propelled carriage 3.

Q = v ² / (2a) (1) When controlling the traveling motor 45, the inverter 76 controls the rotation speed of the traveling motor 45 based on the rotation speed command value input from the main controller 73. Is executed, and when the rotation speed command value is changed, the rotation speed is changed by the preset acceleration / deceleration a of the self-propelled vehicle 3.

The control box 57 includes a main controller
The power box 58 accommodates an inverter 76, a changeover switch 77, and a power supply device (not shown) connected to the current collector 52 and supplying power to the devices in the self-propelled trolley 1.

As shown in FIG. 8, the operation panel 80 includes an operation mode in which each self-propelled vehicle 3 carries out a load transfer operation and a standby mode in which each self-propelled vehicle 3 is placed at a predetermined load transfer position and waits. Operation / standby selection switch 97
And a first selection switch 98 (an example of a first selection unit) for setting whether to automatically or manually select a pattern of a load transfer position at which each of the self-propelled trolleys 3 is arranged. Second selection switch for selecting one pattern
99 (an example of a second selecting means) and an automatic pattern reset switch 100 for automatically resetting the pattern are provided. The above-mentioned preset pattern includes a storage pattern in which each of the self-propelled vehicles 3 stands by at the position of the carry-in conveyor device 8 of the loading / unloading place K as shown in FIG. 1, and a loading of each of the self-propelled vehicles 3 as shown in FIG. There is a leaving pattern at the position of the leaving conveyor device 5 of the storage facility J, and the like, and the second selection switch 99 selects one of the entering pattern and the leaving pattern.

FIG. 9 shows a control block diagram of the ground controller 71. The ground controller 71 is a general control unit 101
(Details will be described later). Self-propelled trolley control units 102-1 to 102- which are provided corresponding to the respective self-propelled trolleys 3 and control the self-propelled trolley 3 based on the transport data set by the general control unit 101.
n (n is the number of the self-propelled carriages 3), a connection unit 103 with the operation panel 80, and a pattern setting unit 104 (details will be described later).
And a first memory 105 in which data of the above-mentioned incoming and outgoing patterns (data of a load transfer position where each self-propelled vehicle 3 is arranged) is stored in advance, each of the incoming and outgoing conveyor devices 4, the outgoing conveyor device 5, and the outgoing conveyor It comprises a second memory 106 in which data of the distance from the origin 70A of each of the device 7 and the carry-in conveyor device 8 is stored, and a clock unit 107 having a clock function.

When the operation / standby selection switch 97 selects “operation”, the connection unit 103 sets the operation mode and outputs the operation mode to the overall control unit 101, and the operation / standby selection switch 97 selects “standby”. Then, it sets the standby mode. In this standby mode, when "automatic" is selected by the first selection switch 98 of the operation panel 80, the automatic mode is set and output to the overall control unit 101, and "manual" is selected by the first selection switch 98. To set the manual mode. In the manual mode, when the “receiving pattern” is selected by the second selection switch 99, the receiving pattern mode is output to the overall control unit 101, and when the “receiving pattern” is selected by the second selecting switch 99, The delivery pattern mode is output to the overall control unit 101. The automatic mode is a mode in which each self-propelled trolley 3 is arranged at a load transfer position according to a pattern determined at a preset time.

Each of the self-propelled trolley controllers 102-1 to 102-n sends the corresponding self-propelled trolley 3 from the current origin 70A via the wireless modem 55, the feeder line 54, and the ground modem 72 from the corresponding self-propelled trolley 3. The data of the mileage (current position) and the presence / absence of a load are input, and each self-propelled bogie control unit 102-1 to 101-1
02-n outputs the transport data to the corresponding self-propelled trolley 3 via the ground modem 72, the feeder line 54, and the wireless modem 55, and inputs a transfer end signal from the corresponding self-propelled trolley 3, and then the overall control is performed. Output to control section 101.

As shown in FIG. 10, the first memory 105 stores the carry-in conveyors 8 (A to D) as the arrangement positions of the self-propelled vehicles 3 (numbers) in the storage pattern mode.
Is set (see FIG. 1), and the exit conveyor devices 5 (A to D) are set as the arrangement positions of the self-propelled vehicles 3 (numbers) in the entrance pattern mode (see FIG. 12). Further, patterns at time 8:00 and time 13:00 are set as the arrangement positions of the self-propelled vehicles 3 (numbers to) in the automatic mode. At time 8, the carry-in conveyor devices 8 (A to D) are set as the arrangement positions of the self-propelled vehicles 3 (numbers). At time 13, the delivery conveyor devices 5 (numbers) are set as the arrangement positions of the self-propelled vehicles 3 (numbers). A to D) are set.

In the above operation mode, when the general control unit 101 receives a load transfer request signal from the delivery conveyor device 5 or the carry-in conveyor device 8, the general control unit 101 searches the memory 106 and inputs the transfer request signal. 5 or the distance from the origin 70A of the carry-in conveyor device 8 is obtained, and based on this distance and the data of the current traveling distance of each self-propelled bogie 3 and the presence or absence of a load stored in each self-propelled bogie controller 102-1 to 102-n,
The delivery conveyor device 5 or the carry-in conveyor device 8 is allocated for the "self-propelled carriage 3 capable of carrying a load" located near and upstream of the delivery conveyor device 5 or the carry-in conveyor device 8, and the delivery conveyor device 5 or the carry-in conveyor device 8 is assigned. The transfer data from the transfer request of the conveyor device 8 (the outgoing conveyor device 5 or the carry-in conveyor device 8 that issued the load transfer request is set as the “load picking station” of the transfer source, and the receiving conveyor device of the transfer destination of the transfer request is set. 4) or the unloading conveyor device 7 forms the data set in the “load unloading station” of the transfer destination) and sets the transfer data in the control unit 102 of the self-propelled vehicle to which the transfer data is assigned. When the self-propelled trucks 3 are arranged according to the selected entry / exit pattern or when the self-propelled trucks 3 are arranged in accordance with the selected loading / unloading pattern, when a transfer request of a load is confirmed from a load transfer position where the self-propelled trucks 3 are not arranged, the load is determined. A command to convey a load in accordance with the conveyance request is output from the load transfer position to the self-propelled carriage 3 located closest and upstream to the transfer position.

When the body controller 73 of each self-propelled carriage 3 inputs the transfer data from the corresponding control unit 102, it first self-propells to the delivery conveyor device 5 or the carry-in conveyor device 8 of the transfer source for scooping the load according to the transfer data. When the vehicle arrives, the load is picked up by the delivery conveyor device 5 or the carry-in conveyor device 8 and a signal indicating that there is a load is output to the control unit 102. Then, the vehicle travels to the storage conveyor device 4 or the carry-out conveyor device 7 of the transfer destination for unloading the cargo. When it arrives, it unloads the cargo to the storage conveyor device 4 or the unloading conveyor device 7, and outputs a no-load signal and a transport end signal to the control unit 102.

The operation of the integrated control unit 101 in the standby mode (before the transfer operation by the self-propelled trolley 3 is started) will be described with reference to the flowchart of FIG.

First, it is checked whether the mode input from the operation pattern connection unit 103 is the "entry pattern mode", the "delivery pattern mode", or the "automatic mode" (step-1). "Storage pattern mode" When the mode is the storage pattern mode, the first memory 105 is searched in the storage pattern mode to find a load transfer position at which each self-propelled vehicle 3 is arranged (step-2), and control of each self-propelled vehicle is performed. The transfer data including the transfer position is output to the unit 102 (step-3).

For example, the carry-in conveyor device 8 (A) is determined as the arrangement position of the self-propelled carriage 3 (number), and the carry-in conveyor device 8 (A) is set as the transfer source as a transfer source “load picking station”. Is formed (there is no data of the transport destination), and is set in the first self-propelled carriage control unit 102-1.

As a result, as shown in FIG.
(A to D) self-run and wait. "Dispatch pattern mode" When the mode is the retrieval pattern mode, the first memory 105 is searched according to the retrieval pattern mode to find a load transfer position at which each of the self-propelled trolleys 3 is arranged (step-4). The transfer data including the transfer position is output to the unit 102 (step-5).

For example, the delivery conveyor device 5 (A) is determined as the position of the self-propelled carriage 3 (number), and the delivery conveyor device 5 (A) is assumed to be the transfer source "load picking station" as the transfer data. Is formed (there is no data of the transport destination), and is set in the first self-propelled carriage control unit 102-1.

Thus, as shown in FIG. 12, each of the self-propelled trolleys 3 (numbers) travels by itself to the delivery conveyor devices 5 (A to D) and stands by. "Automatic mode" When the mode is the automatic mode, the first memory 105 is searched in the automatic mode to find a load transfer position at which each self-propelled trolley 3 is arranged at each time (step-6). The load transfer position where the cart 3 is placed is stored (step-7).

Next, the current time input from the clock unit 107,
It is confirmed whether or not the stored first time (8:00 in FIG. 10) coincides (step-8). If the time coincides, each self-propelled vehicle according to the load transfer position at which each self-propelled vehicle 3 is arranged at 8:00. The transfer data including the transfer position is output to the control unit 102 (step-9). Since the mode at 8:00 is the same as the storage pattern, at 8:00, each of the self-propelled vehicles 3 (numbers 1 to 8) is loaded into the carry-in conveyor device 8 as shown in FIG.
(A to D) self-run and wait.

Subsequently, it is confirmed whether or not the current time matches the stored second time (13:00 in FIG. 10) (step-
10) When the times match, the control unit 102 of each self-propelled trolley according to the load transfer position where each self-propelled trolley 3 is arranged at 13:00.
Then, the transfer data including the transfer position is output (step-11). Since the mode at 13:00 is the same as the exit pattern, at 13:00, as shown in FIG.
(Numbers ~) are the outgoing conveyor devices 8 (A
To D) and wait by itself.

As described above, when the manual mode is selected before the load transport operation is performed by the self-propelled vehicle 3, a pattern is selected from a plurality of patterns of the load transfer positions where the respective self-propelled vehicles 3 are arranged. By doing so, the worker can select a pattern with the highest transfer efficiency in consideration of the transfer operation at the start of the transfer operation (operation start). For example, at the start of the transfer operation, a loading pattern is selected when the transfer is started from the loading conveyor device 8 of the loading / unloading place K, and a delivery pattern is selected when the transfer is started from the discharge conveyor device 5 of the load storage facility J. Thereby, the time for the self-propelled carriage 3 to move to scoop the load at the start of the work can be eliminated, and the transport efficiency can be improved.

Further, when the automatic mode is selected, when only warehousing is performed at a time, for example, in the morning, at 8:00, the self-propelled carriages 3 are arranged at the positions of the respective conveyors 8 as shown in FIG. For example, when only leaving the warehouse in the afternoon, at 13:00, as shown in FIG.
The transfer efficiency can be improved by arranging the.

The operation of the pattern setting section 104 will be described with reference to the flowcharts of FIGS. First, as shown in FIG. 13, when it is confirmed that the operation mode has been set according to the mode input from the operation panel connection unit 103 (step-1), the time input from the clock unit 107 is confirmed, and It is checked whether it is the start time (step 2). If confirmed, it is stored as a morning transfer operation (step-3). If not confirmed, a transfer operation in the afternoon is stored (step-4).

Next, N for counting the number of data to be stored is set to 0 (N = 0) (step-5), and it is determined whether or not a load transfer request has been input from the outgoing conveyor device 5 or the incoming conveyor device 8. Confirm (step-6). When the load transfer request is confirmed, the data (numbers A to D) of the unloading conveyor device 5 or the carry-in conveyor device 8 that generated the load transfer request is stored (Step-7), and 1 is set to the number N of the stored data. It is added (step-8), and it is confirmed whether the number N of data matches n (same as the number of the self-propelled vehicles 3) (step-9). If confirmed, the process ends. If not confirmed, the process returns to step-6 to continue collecting data.

As a result, from the start of the transfer operation in the morning or from the start of the transfer operation in the afternoon, the same number n of the outgoing conveyor units 5 or the carry-in conveyor units 8 as the number of the self-propelled vehicles 3 for which the load transfer request has been issued. Morning data or afternoon data is stored. The above steps are performed daily.

As shown in FIG. 14, when the operation signal of the automatic pattern reset switch 100 is confirmed from the operation panel 80 (step-1), the stored morning data and afternoon data are totaled. (Step-2),
At the start of the transfer operation in the morning and the start of the transfer operation in the afternoon, each of the n outgoing conveyor devices 5 for which there were many load transfer requests
Or, select the carry-in conveyor device 8 (step-3),
A pattern at 8:00 in the morning and a pattern at 13:00 in the afternoon are formed, with the selected n outgoing conveyor devices 5 or carry-in conveyor devices 8 as standby positions for the self-propelled carriage 3 (step-4). Is reset in the first memory 105 (step-5).

As described above, the delivery conveyor device 5 or the carry-in conveyor device 8, which frequently generates a load transfer request at the start of the transfer work in the morning and afternoon, is determined according to the number n of the self-propelled vehicles 3 and the pattern is set. In the automatic mode, the self-propelled trolley 3 is arranged according to these patterns before the start of the transfer work in the morning and afternoon and is made to stand by, so that the ratio of the self-propelled trolley 3 moving to scoop the load at the start of the work is reduced. And the transfer efficiency can be improved.

In the present embodiment, two patterns that can be manually selected are the incoming pattern and the outgoing pattern, but other patterns can be set and selected from these patterns. Further, the pattern switching at the automatic time is set to 8:00 and 13:00, but is not limited to this, and the pattern may be switched at another time. In addition, although the pattern is switched at the time, the pattern may be switched at predetermined time intervals, for example, every five hours.

In the present embodiment, the self-propelled carriage 3 can load and transfer only one load, but it is also possible to load and transfer a plurality of loads. At this time, the self-propelled vehicle in a state where a load can be loaded is a self-propelled vehicle in a state where at least one load can be mounted.

[0066]

As described above, according to the present invention, the pattern of the load transfer position where each self-propelled truck is arranged can be selected, so that the pattern can be selected according to the load transfer status at the start of the transfer operation. Can be selected, and the transport efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of an arrangement and a storage pattern of a load transport facility according to an embodiment of the present invention.

FIG. 2 is a configuration diagram of a main part of the same load transport equipment.

FIG. 3 is a side view of a traveling rail and a self-propelled trolley of the same load transport equipment.

FIG. 4 is a cross-sectional view of a traveling rail of the load transport equipment and a front view of a main part of the self-propelled carriage.

FIG. 5 is a partial plan view of the self-propelled carriage of the load transport facility.

FIG. 6 is a control block diagram of a self-propelled carriage of the load transport facility.

FIG. 7 is a block diagram of traveling control of a main body controller of the same load transport facility.

FIG. 8 is a configuration diagram of an operation panel of the same load transport equipment.

FIG. 9 is a block diagram of a ground controller of the load transport facility.

FIG. 10 is an explanatory diagram of a memory of a ground controller of the load transport facility.

FIG. 11 is a flowchart illustrating an operation of an integrated control unit of a ground controller of the same load transport facility.

FIG. 12 is an explanatory diagram of a delivery pattern in the same load transport facility.

FIG. 13 is a flowchart illustrating the operation of a pattern setting unit of the ground controller of the same load transport facility.

FIG. 14 is a flowchart illustrating an operation of a pattern setting unit of the ground controller of the same load transport facility.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling rail 3 Self-propelled trolley 4 Receiving conveyor device (load transfer position) 5 Outgoing conveyor device (load transfer position) 7 Unloading conveyor device (load transfer position) 8 Loading conveyor device (load transfer position) 13 Revolving type Driven wheel device 14 Turning / sliding type drive wheel device 45 Traveling motor 55 Wireless modem 63 Encoder 65 Optical sensor transmitter 66 Optical sensor receiver 70 Origin detector 70A Origin 71 Ground controller 73 Main controller 76 Inverter 80 Operation panel 97 Operation / standby Selection switch 98 First selection switch (an example of first selection means) 99 Second selection switch (an example of second selection means) 100 Automatic pattern reset switch

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F022 LL12 MM08 MM13 MM15 NN24 NN41 NN51 QQ03 QQ12 QQ13 5H301 AA02 AA09 BB05 CC03 DD07 DD08 DD13 DD16 DD17 EE02 FF04 FF11 GG08 GG12 GG19 KK18 KK18 KK18 KK04 KK04

Claims (5)

[Claims] 1. A plurality of self-propelled trucks that are guided by a traveling route and run by themselves and convey respective loads, and a plurality of self-propelled trucks that are arranged along the traveling route and transfer the load to the self-propelled trucks. A load transporting apparatus having a load transfer position, wherein a plurality of patterns of load transfer positions for arranging each self-propelled vehicle are set, and each self-propelled vehicle is moved to the load transfer position according to a pattern selected from these patterns. A load transport facility comprising a controller to be arranged. 2. A first selecting means for setting whether a pattern of a load transfer position where each self-propelled truck is arranged is automatically selected or manually selected, and a first selecting means for selecting one pattern from preset patterns. 2 is provided, and when the manual is selected by the first selecting means, the controller arranges each self-propelled vehicle at the load transfer position in accordance with the pattern selected by the second selecting means.
2. The load transport equipment according to claim 1, wherein when automatic is selected by the selection means, each self-propelled vehicle is arranged at a load transfer position in accordance with a pattern determined at a preset time. 3. A pattern in which a self-propelled vehicle is arranged at a load transfer position where cargo is received and a retrieval pattern where each self-propelled vehicle is arranged at a load transfer position where cargo is unloaded are set. The method according to claim 1 or 2, wherein
Load transport equipment described in 1. 4. When the self-propelled vehicles are arranged according to the selected pattern and the controller confirms a load transfer request from a load transfer position where no self-propelled vehicles are arranged, the controller determines the load transfer position. The load transport equipment according to any one of claims 1 to 3, wherein a command for transporting the load in accordance with the transport request is output from the load transfer position to the self-propelled vehicle located upstream of the load carrier. . 5. The controller according to claim 1, wherein the controller has a function of forming a pattern in which a load transfer position at which a load transfer request is frequently performed is selected at a predetermined time. The load transport equipment according to any one of the above.