JP2003036117A - Calculation method for conveyance time of work and work conveyance system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a conveyance vehicle reach an arrival point in a short time while taking the movement of other conveyance vehicles into consideration when a movement route of a conveyance device making the conveyance vehicles move on network conveyance paths. SOLUTION: As for each route candidate, the stroke time when a conveyance path constituting the route is passed through and the turning time when a branch device is passed through are found (steps S103, S104). Then an ideal arrival time is found (step S107) by summing up stroke times and turning times up to each branch device and an actual arrival time is found (S108) by further adding a total standby time up to there. The difference between the found actual arrival time and a reservation cancel time of a branch device is found as the standby time at the branch device and added to the total standby time. Thus, the total stroke time, total turning time, and total standby time up to the end of each route candidate are found and then totaled to find a conveyance time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer time calculation method and a work transfer system, and more particularly to a work transfer time calculation method and a work transfer in a mesh transfer path in which transfer paths, relay paths and stations are arranged in a mesh. Regarding the system.

[0002]

2. Description of the Related Art If a processing machine can be arranged at an arbitrary position in a factory having manufacturing facilities, the utilization rate of the site can be increased as compared with the case where the processing machines are arranged in a line.

In this case, a net-like transfer path is formed between the processing machines, and the transfer vehicle transfers the work through the transfer path.

In general, a plurality of transport vehicles are prepared, and each transport vehicle moves along a route stored by itself or receives a route command from another control device.

[0005]

However, in the above-mentioned prior art, there is no suitable method for determining which of the moving routes can reach the destination in the shortest time.

That is, even if the number of routes is narrowed down to some extent, the geometrically shortest route is not always the shortest time, considering the competition with other transport vehicles on the route, Although it may be faster to make a detour in consideration of waiting for another transport vehicle to pass, there is no suitable selection method for determining which of the route candidates should be selected.

The present invention has been made in consideration of such a problem, and the transfer vehicle is short to the arrival point in consideration of the movement of other transfer vehicles in the moving path of the transfer vehicle in the mesh transfer path. An object of the present invention is to provide a work transfer time calculation method and a work transfer system that can be reached in time.

[0008]

A method for calculating a transfer time of a work according to the present invention is a method for calculating a transfer time of a work of a transfer device in a mesh path including a plurality of transfer paths and a relay path to which the transfer paths are connected. In the method, a path from a starting point to a destination on the mesh path is stored as a row of the transfer path and / or the relay path, and a transfer time required for the transfer device to pass through the transfer path and the relay path is stored. First to seek
A second step of obtaining a waiting time for the transfer device to wait on the transfer path and the relay path, and a third step of calculating the transfer time of the path by summing the passing time and the waiting time. It is characterized by having.

By doing so, it is possible to calculate the transfer time in consideration of the movement of other transport vehicles in the moving route of the transport vehicle on the mesh road.

In this case, the reservation time for each of the transfer path and / or the relay path is compared with the arrival time at which the transfer device arrives at the transfer path and / or the relay path, and the reservation time is reached. When the time is larger than the time, the difference may be the waiting time, and when the reservation time is smaller than the arrival time, the waiting time may be 0.

The arrival time may be obtained by summing the passing time and the waiting time before that for each of the transfer path and / or the relay path.

The passing time may be composed of a travel time for the transfer device to move along the transfer path and a turning time for changing the traveling direction along the relay path.

The stroke time may be obtained by using at least one of a distance, a velocity, an acceleration and a deceleration in the transfer path as a variable.

The turning time may be obtained by using at least one of a turning angle, an angular velocity, an angular acceleration or an angular deceleration on the relay road as a variable.

Further, the transfer time may be obtained for a plurality of the paths, the path having the shortest transfer time may be selected, and the transfer device may be moved.

By doing so, the transport vehicle can reach the arrival point in a short time.

In the work transfer system according to the present invention, a plurality of transfer devices for transferring the work, a plurality of transfer paths for moving or stopping the transfer devices, and carrying in and out of the work from the transfer device. And a plurality of stations provided at relay points of the two or more transfer paths,
A relay path through which the transfer device enters and stops from one of the transfer paths or advances to another transfer path; and a control unit which controls operations of the transfer device, the transfer path, the station, and the relay path. Storing a route from a starting point to a reaching point on a mesh-like road consisting of the transfer path and the relay path as a row of the transfer path and / or the relay path, wherein the transfer device stores the transfer path and the relay path. A passage time calculation unit that obtains a passage time required for passage, a waiting time calculation unit that obtains a standby time when the transfer device waits on the transfer path and the relay path, and a row of the transfer path and / or the relay path And a transfer time summing unit that calculates the transfer time of the path by summing the passing time and the waiting time.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments applied to a work transfer time calculation method and a work transfer system according to the present invention will be described below with reference to FIGS.

As shown in FIG. 1, the work transfer system 10 according to the present embodiment moves a plurality of transfer vehicles (transfer devices) 18 for transferring the work 16 and the transfer vehicles 18 via wires 60. Alternatively, a plurality of transfer paths 20 that can be stopped on the way and a plurality of attachment / detachment devices (stations) 24 through which the work 16 is loaded and unloaded from the transport vehicle 18.
And a processing machine 14 for processing the work 16 by taking the work 16 in and out of the attachment / detachment device 24, and a transfer vehicle 18 which is provided at a relay point or an end of the transfer path 20 and has entered from the transfer path 20, or A branch device (relay path) 22 that can be advanced to another transfer path 20, a plurality of unit controllers 26 that directly control the operations of the transfer vehicle 18, the transfer path 20, the attachment / detachment device 24, and the branch device 22, and a plurality of unit controllers 26. It has a main controller (control unit) 12 that integrates the unit controller 26 and controls the whole.

In the following, "carry-in" is defined as the work of transferring the work 16 from the transfer vehicle 18 to the attachment / detachment device 24, and "carry-out" is defined as the reverse work.

As shown in FIG. 2, there are a plurality of attachment / detachment devices 24, and each of the attachment / detachment devices 24a to 24m is equipped with a processing machine 14 (see FIG. 1) corresponding to the processing step of the work 16. The work 16 includes two types of work 16a and 1
6b (both are not shown), and the processing machine 14 includes both the work 16a and the work 16b which are common to the work machines 14 and the one which performs a dedicated work for either one of them.

The machining process of the work 16 is classified into four processes A, B, C and D in order, and the work 16 is transferred from the charging device 36 to the process A in the charging process. It is sent to the dispensing device 38. The loading device 36 and the dispensing device 38 have a function of loading and unloading the work 16 and transfer the work 16 to and from the transfer vehicle 18 similarly to the mounting / demounting device 24. They shall be treated in the same row.

Detachment devices 24a to 24d in step A, detachment devices 24e to 24g in step B, detachment devices 24h to 24k in step C, and detachment devices 24L to 24 in step D.
m, and the respective attachment / detachment devices 24a to 24m, the charging device 36, and the dispensing device 38 are connected by a transfer path 20 arranged in a mesh. Further, the charging device 36, the dispensing device 38, and the attachment / detachment devices 24 a to 24 m are provided in the middle of the transfer path 20.

The transfer route of the work 16 is, for example, input from the input device 36, and the attachment / detachment device 24b of the process A and the process B are used.
24g of the attaching / detaching device, the attaching / detaching device 24k of the process C, and the attaching / detaching device 24L of the process D are sequentially processed, and then the payout device 38
Paid out from.

There are a plurality of branching devices 22, and the branching device 22
a to 22m are installed at relay points of the transfer path 20, and branching devices 22n to 22v are installed at the ends of the transfer path 20. Further, the transfer path 20 extending from the relay point does not need to intersect at 90 °, and can be set at an arbitrary angle like the branching devices 22i and 22m. Further, the number of the transfer paths 20 extending from the relay point is not limited to four that intersect, and it is possible to install any number such as two or three such as the branching devices 22a and 22m.

Further, the attachment / detachment devices 24a to 24m and the dispensing device 38 are divided into an appropriate number of areas, and the transfer vehicle 18 is assigned to each area. Each transport vehicle 18
Carries in the work 16 only to the attachment / detachment device 24 or the dispensing device 38 for the allocation, and when receiving the work 16 out, it also enters the area on the side of the previous process and avoids the other transfer vehicle 18. At this time, it will enter the adjacent area.

FIG. 2 shows an example in which four transfer vehicles 18a to 18d are assigned to the transfer vehicle 18a area to the transfer vehicle 18d area. As for the area of the transfer vehicle 18b, the attachment / detachment devices 24f, 2 in the area extending over the steps B and C
The work 16 is carried in to 4 g, 24 j, and 24 k, and the carrying-out work is carried out in the preceding steps, that is, the steps A and B.
Attaching / detaching devices 24a, 24b, 24c, 24d, 24e,
Carry out work from 24f and 24g.

The transfer path 20 and the branching device 2 are also provided.
In the net-like path consisting of 2 and 2, the direction in which the process proceeds is defined as Dx, and the direction perpendicular to the direction Dx is defined as Dy. The position of the branching device 22 is represented as coordinates (x, y) by providing an appropriate reference point, and the transfer path 20 between the branching devices 22 is shown.
The orientation of is represented by the direction Dx or Dy. Further, the one set obliquely like the transfer path 20 connecting the branching device 22i and the branching device 22m has a direction Dz corresponding to the tilt angle.
Is defined and expressed.

As shown in FIG. 3, the attaching / detaching device 24 has a vertically long structure, and a chain / sprocket mechanism 59 is incorporated in rails 58 erected on both sides. The mounting pedestals 54 and 56 having an integrated upper and lower two-stage structure that horizontally protrude from the rail 58 can be moved up and down along the rail 58 by a chain / sprocket mechanism 59, and the mounting pedestals 54 and 56 can be moved by a height sensor (not shown). It is configured to be able to detect the height of. Chain and sprocket mechanism 59
Is a motor 52 connected to the unit controller 26.
It is possible to adjust the height of the mounting tables 54 and 56 by referring to the output value of the height sensor.

The attachment / detachment device 24 and the transfer vehicle 18 are capable of loading and unloading the work 16 between the upper mounting table 54 and the lower mounting table 56 when there is no work 16 on the mounting table 54. It is configured so that it can be loaded and unloaded.

Specifically, the transfer vehicle 18 once retracts the unworked workpiece 16x onto the mounting table 54. When the mounting table 56 is lowered to a height near the processing machine 14 and the processed work 16y processed by the processing machine 14 is mounted on the mounting table 56, the mounting tables 54, 56 are further lowered.
When the mounting table 54 reaches a height near the processing machine 14, it is stopped, and when the unprocessed workpiece 16x is transferred to the processing machine 14, the mounting tables 54, 56 are raised. Then, when the mounting table 56 reaches the height near the transfer vehicle 18, the retracted transfer vehicle 18 moves to the loading position again, and the processed work 16y is loaded from the mounting table 56 onto the transfer vehicle 18.

In this way, the attaching / detaching device 24 and the processing machine 1
The unprocessed work 16x and the processed work 16y can be loaded and unloaded between the vehicle 4 and the transfer vehicle 18.

As shown in FIG. 4, the branching device 22 includes a branching device main body 70, legs 80 projecting obliquely downward from the branching device main body 70 and connected to the transfer path 20, and the branching device main body 70. A swivel portion 78 provided directly below and swiveling horizontally by a motor 82, and a transfer vehicle 1 provided in the swivel portion 78
Roller 74 for pulling in and sending out 8 and roller 74
And a motor 72 for rotating the. Further, the branching device 22 connects the wire 60 of the transfer path 20 to the pulleys 62, 6
The motor 68 is driven via the motor 4, the angle sensor (not shown) that detects the turning angle of the turning portion 78, the position sensor (not shown) that detects the position of the transport vehicle 18, and the like.

The branching device 22 can drive the wire 60 by the motor 68 to move the transfer vehicle 18 detachably fixed to the wire 60. The transfer vehicle 18 moves integrally with the wire 60 by a cam mechanism that bites and fixes the wire 60 during movement. Then, the cam mechanism is automatically released when it reaches the branching device 22, and after the cam mechanism is released, the roller 74 pulls it into the turning portion 78.

When the transfer vehicle 18 reaches the center position of the turning portion 78, the direction is changed by the motor 82, and another transfer path 20 is provided.
Again, the roller 74 sends the transfer vehicle 18 again.
Further, when the two transfer paths 20 are set to be linear and the transfer vehicle 18 goes straight through the branching device 22, the turning unit 7
The turning operation of 8 is unnecessary, and the transfer vehicle 18 can be passed relatively quickly.

Motors 68, 72, 8 of this branching device 22
2 and a position sensor (not shown) and an angle sensor are connected to the unit controller 26, and the position of the transfer vehicle 18 and the angle of the turning portion 78 are controlled.

As shown in FIG. 5, the main controller 1
Reference numeral 2 includes a main body 30, a monitor 32 that outputs a screen, a keyboard 34 of an input device, and the like.

The main body 30 has a monitor function unit 30a for controlling the monitor 32, a parameter management function unit 30b for holding various components of the work transfer system 10, and a keyboard 3.
4 has a numerical parameter function unit 30c for inputting instructions and data from and passing to the parameter management function unit 30b, and a communication function unit 30g for communicating with the unit controller 26 in a wired or wireless manner. Further, the body 30 is
Work transfer system 10 connected to the communication function unit 30g
Of the operating state management function unit 30d, the parameter management function unit 30b, the operating state management function unit 30d, etc., and the transfer route determination function unit 30e that determines the route of the transfer vehicle 18, and the transfer. It has a simulation function unit 30f for simulating the operation of the vehicle 18.

The transfer route determining function unit 30e stores each route candidate as a row of the transfer route 20 and the branching device 22, and determines a transit time required for the transport vehicle 18 to pass through the transfer route 20 and the branching device 22. A calculating unit 31, a waiting time calculating unit 33 for calculating a waiting time for the transfer device to wait on the transfer path 20 and the branching device 22, and a total transfer time for calculating a transfer time for each route candidate by summing the passing time and the waiting time. And a part 35.

Further, the main body 30 is provided with a hard disk, a CPU, a memory and the like (not shown), and the functional units 30a to 30f are usually stored in the hard disk as software. When each function is executed, it is loaded into the memory and then executed by the CPU.

The main controller 12 determines the transfer route of the transfer vehicle 18 by the procedure shown in FIG. That is, the moving range assigned to each transfer vehicle 18 is determined and input (step S1), the carry-out source and the carry-in destination of the transfer vehicle 18 are determined (step S2), and the transfer route of the transfer vehicle 18 is searched (step S1). S3). The route candidates obtained by searching are listed (step S4), and the transfer time for each route candidate is calculated (step S5).

Then, in consideration of the actual operating conditions, a route having the shortest transfer time is selected, and when the transport vehicle 18 moves on the determined route, the branching device is avoided while avoiding competition with other transport vehicles. 22 is reserved (step S6).

In this way, when all transfer paths that can be determined at that time are determined, the process waits until the next calculation condition is satisfied (step S7). The next calculation condition is, for example, a carry-in request signal from each attachment / detachment device 24, a carry-out request signal, and information that the transfer by the transfer vehicle 18 has been completed or that the vehicle has passed through the branching device 22, and when these conditions occur, It suffices to return to step S2 again.

Of these, the process in step S5, that is, the process of calculating the transfer time for each route candidate and selecting the one having the shortest transfer time will be described in detail with reference to FIGS.

The process of step S5 is basically
The actual transfer time is calculated by referring to the reservation status of the branching device 22 in the middle of the transfer from the table to determine the standby time that must be waited and summing this standby time and the time required for the transfer vehicle 18 to move. is there.

The transfer route determining function unit 30e is provided in the branching device 2
The branching device information table 112 (see FIG. 7) in which information such as position and connection destination of the transfer path 20 is recorded, and the transfer route information data table 113 (see FIG. 8) in which information such as connection destination of the transfer route 20 is recorded. ), A route candidate data table 114 (see FIG. 9) that enumerates and describes a plurality of searched and selected travel routes, and a route candidate time data table 115 (see FIG. 10) for calculating transfer time of the travel route candidates. )
A branching device reservation data table 120 (see FIG. 11) in which the use reservation of the transfer vehicle 18 is recorded for each branching device 22 and a branching device time management table 122 (in which the reserved time is recorded for each branching device 22). (See FIG. 12) is used to calculate the transfer time for each route candidate. These tables are set on the hard disk or memory, and C
The PU performs reference and update processing.

Branch device information table 112 shown in FIG.
Is the position coordinates for each of the branching devices 22a to 22v,
The number of the branching device 22 of the connection destination, the angular velocity of the turning portion 78,
It is a table in which the angular acceleration and the angular deceleration and the directions of the respective connection destinations are recorded as + Dx, + Dy, + Dz, -Dx, -Dy, and -Dz directions.

Explaining the branching device 22a, the position coordinates are Cartesian coordinates based on the directions Dx and Dy ((x
a, ya) and the connection destinations are + Dx, + Dy and −
There are three directions, the Dy direction. Further, the branching device 22d in the + Dx direction and the branching device 22b in the -Dy direction are + Dy.
The direction indicates that the branching device 22o is connected. The turning speed, angular acceleration, and angular deceleration are ω
a [° / sec], ωb [° / sec ² ], ωc [° /
sec ² ].

Transfer route information data table 11 shown in FIG.
Reference numeral 3 is a table in which the length, the number of the branching device 22 at the connection destination, the speed at which the transfer vehicle 18 is transferred, the acceleration, and the deceleration are recorded for each transfer path 20. For example, the transfer path connecting the branching devices 22a and 22d is 20a.

The route candidate data table 114 shown in FIG.
Is a table listing all combinations of route candidates, and stores routes as columns of the branching device 22. The column indicated by "S" is the attachment / detachment device 24 at the starting point,
The one represented by "G" indicates the attachment / detachment device 24 at the arrival point.

Each order of the route candidate time data table 115 shown in FIG. 10 is divided into columns of "stroke time", "turning time" and "standby time". The travel time is the time for passing through the transfer path 20, and the turning time is the time required for the turning unit 78 to turn in the branching device 22. In addition, the travel time and the turn time are both moving time (passing time)
And is distinguished from the waiting time. In addition, "Total travel time", "Total turning time", "Total waiting time" fields for recording the total of travel time, turning time, and waiting time, and "Transport time" field for adding these are added. ing. In addition, each column is assumed to be blank in the initial state. Route candidate time data table 11
The “order” of 5 corresponds to a value smaller than the “order” of the route candidate data table 114 by “1”.

The branching device reservation data table 120 shown in FIG. 11 is a table for making a reservation for each branching device 22 separately for the entry operation of the transport vehicle 18 and the advancing operation of the exit, and the operation is performed for each operation. The reservation will be canceled when it is finished.

Explaining the branching device 22d, since "18c" is recorded only in the leftmost column "Order 1", the transport vehicle 18c is currently waiting at this branching device 22d. This indicates that the operation to proceed to the branching device 22 is reserved.

Explaining the branching device 22b, since "18a" is recorded in the columns of "Order 1" and "Order 2", the transfer vehicle 18 enters from one of the branching devices 22 and then another The operation to proceed to the branching device 22 is reserved.

Branch device time management table 1 shown in FIG.
22 is a table having the same format as the branching device reservation data table 120.
The reserved time is recorded as the time from the current time corresponding to each column of 20.

For example, for the branching device 22b, 10
After [sec], the transfer vehicle 18a enters, and 15 [sec]
It can be seen that it will be released from use after passing through.

Transfer route information data table 113, route candidate table 114, route candidate time data table 11
5, the branching device reservation data table 120 and the branching device time management table 122 are the detachable device 24,
It is assumed that the branch device 22 has a sufficient storage area that can be accommodated when the branching device 22 is added or when the route of the transport vehicle 18 is long.

Next, the procedure for calculating the transfer time for each route candidate in step S5 will be described with reference to FIGS.
This will be described with reference to FIG.

The procedure is as follows:
In the route candidate data table 114, route candidates are sequentially selected from the upper side, and step S1 is performed for each selected route candidate.
The processing of 02 to S111 is executed. If the processing has been completed for all route candidates, step S112.
Move on to post-processing.

In step S102, the route branching data table 114 is referred to and the branching device 22 to be passed is selected in order from the sequence 2 to the right column. For the selected branching device 22, step S103 and step S1
The process of calculating the stroke time and the turning time of 04 is performed.
This process is executed by the transit time calculation unit 31. The travel time and the turning time for all the branching devices 22 are calculated for each of the route candidates, and the calculated travel times and the turning times are summed up, respectively, and the total travel time and the total turning time are calculated as “total” in the route candidate time data table 115. It is recorded in the column of “travel time / total turning time” (step S10
5) and then to step S106.

That is, in step S103,
The travel time required to pass through the transfer path 20 between the selected branching device 22 and the branching device 22 in the immediately preceding order is calculated.

For example, in the “order 3” of the route candidate “No. 1” of the route candidate data table 114, the branching device 22 is used.
Is "22d" and is "22a" in the immediately preceding "order 2". Here, referring to the transfer path information data table 113 of FIG.
Since it can be seen that the transfer path 20a is present during d, the travel time required during this time is calculated from the length, speed, acceleration, and deceleration of the transfer path 20a.

Further, the route candidate data table 11 shown in FIG.
When the number column of the branching device 22 of No. 4 is "G" or when it is related to the column of "order 2", the distance between the reaching point or the starting point and the branching device 22 is obtained, and the transfer path information data is obtained. In the data in the table 113, “length” is replaced with the calculated distance to calculate.

The travel time obtained here is recorded in the left-justified order in the "travel time" column of the route candidate time data table 115 of FIG.

Next, in step S104, the turning time of the turning portion 78 in the selected branching device 22 is calculated.

For example, the route candidate data table 1 of FIG.
The turning time of the branching device 22a is calculated for the “turn 2” of the route candidate “No. 1” of 14. That is, referring to the branch device information table 112 of FIG. 7, the branch device 22a
The turning angle is obtained from the position coordinates of the branching device 22 and the branching device 22a, which are the connection destinations, from the approaching direction and the advancing direction of the transfer vehicle 18 in FIG. Then, the turning time is calculated from the obtained turning angle and the turning speed, the angular acceleration, and the angular deceleration in the column of the branching device 22a.

In calculating the turning angle, + D is added from the "connection direction" column of the branching device information table 112.
The turning angle may be obtained in advance by a combination of the directions of x, + Dy, + Dz, -Dx, -Dy, and -Dz. In this case, since turning is not necessary in the case of linear movement such as movement in the + Dx direction to the −Dx direction, the calculation process may be omitted and the time required for turning may be set to “0”. Furthermore, in the calculation of the turning time, not only the time during which the turning portion 78 is turning but also the time during which the transfer vehicle 18 moves between the transfer path 20 and the branching device 22 is added. Good.

The turning time obtained here is recorded in the left-justified order in the "turning time" column of the route candidate time data table 115 of FIG.

After recording, the process returns to step S102,
The same process is repeated for the next route candidate.

Next, step S106 for obtaining the waiting time.
The processing of S110 (see FIG. 14) will be described. This processing is executed by the waiting time calculation unit 33.

First, in step S106, the branching device 22 is selected by referring to the route candidate data table 114 of FIG. For the selected branching device 22, steps S107 to S11
The process of calculating the total standby time of 1 is performed. When the total waiting time for all the branching devices 22 is calculated for each route candidate, the process returns to step S101, and the process for the next route candidate is performed.

That is, in step S107, the travel time of the column is added to the total travel time and turning time recorded in the order (left side) before the row selected in the route candidate time data table 115, and ideal arrival is achieved. Time. This ideal arrival time is based on
Represents the time that can arrive at the branching device 22 of the column.

For example, if the route candidate is “No. 1” and the order is “order 2”, the route candidate time data table 11
Referring to 5, the ideal arrival time is 7 + 5 + 20 = 32
It is [sec], and 32 arrives at the branching device 22d.
[Sec] It turns out that it is after.

Since the turning time of the row is an operation performed after arrival, it is not added here.

Next, in step S108, the number of the branching device 22 is confirmed from the column corresponding to the route candidate time data table 115 of FIG. 10 in the route candidate data table 114 of FIG. Then, the confirmed branching device 22
With reference to the branch device time management table 122 of FIG.
The reservation cancellation time for canceling the reservation of the branching device 22 is checked, and the process proceeds to the next step S109. The reservation cancellation time can be read by reading the numerical value in the rightmost column which is not blank in the branch device time management table 122. If all the corresponding columns of the route candidate time data table 115 are blank,
The standby time in the branching device 22 is set to "0", and the process proceeds to step S111.

In step S109, the actual arrival time (arrival time) is calculated by adding the numerical value in the "total waiting time" column of the route candidate time data table 115 and the ideal arrival time. For the numerical value in the “total waiting time” column, the numerical value at that time may be referred to. If it is blank, it is regarded as “0”.

In step S110, the waiting time is calculated by comparing the reservation cancellation time with the actual arrival time. That is, if the reservation cancellation time is shorter than the actual arrival time, the reservation of the branching device 22 has been canceled by the actual arrival time, so the waiting time is set to "0". If they are opposite, the difference is used as the waiting time.

In the above example, the route candidate is "No. 1".
When the order is “order 2”, the actual arrival time of the transfer vehicle 18b to reach the branching device 22d is 32 [sec], and referring to the branching device time management table 122, the reservation cancellation time of the branching device 22d is 60. Since it is [sec], the waiting time is 60−32 = 28 [sec].

In step S111, the obtained waiting time is cumulatively recorded in the "total waiting time" column of the route candidate time data table 115 of FIG. That is, if the column is blank, it is recorded as it is, and if the standby time has already been recorded, it is added and recorded. Also, in the "standby time" column of each order, record the value that is not accumulated,
Use for other purposes.

After recording, the process returns to step S106, and the same process is repeated for the next route candidate.

Steps S101 to S1 for determining the travel time
05-Processing and waiting time step S106-
When the process of S111 is completed, in step S112, the function of the transfer time totaling unit 35 causes the “total travel time”, “total turning time”, and “total waiting time” for each route candidate in the route candidate time data table 115 of FIG. “Each” is added to obtain the transfer time. Record the obtained transfer time in the "Transfer time" column.

Finally, in step S113, the shortest time among the times recorded in the "transfer time" of the route candidate time data table 115 is selected and determined as the path of the transfer vehicle 18. In this way, step S in FIG.
The process of 5 ends.

Thereafter, the route can be recorded and reserved in another table in step S6 of FIG.

Then, according to the data of the other table, the operation instruction of each transport vehicle 18 is transmitted to each unit controller 26 via the communication function section 30g. When each unit controller 26 confirms from the address accompanying the operation instruction that the operation instruction is addressed to itself, each unit controller 26 can operate the transfer vehicle 18 by controlling the attachment / detachment device 24 and the branching device 22 according to the operation instruction.

As described above, in the work transfer time calculating method and the work transfer system 10 according to the present embodiment, the time at which the reservation is canceled is recorded for each of the branching devices 22, so that the transfer vehicle 18 uses the time. The waiting time can be calculated by comparing the actual arrival time at the branching device 22. At this time, the actual waiting time is the stroke time before that,
Since the turning time and the waiting time are calculated as a total, it can be calculated accurately.

Since the travel time is calculated based on the length and speed of the transfer path 20 as well as the acceleration and deceleration, an accurate travel time can be obtained.

Similarly, since the turning time is calculated based on the angular acceleration and the angular deceleration in addition to the turning angle and the angular velocity in the branching device 22, the accurate turning time can be obtained.

The length, velocity, acceleration and deceleration of the transfer path 20 and the angular velocity, angular acceleration and angular deceleration of the branching device 22 are the transfer path 20 and the branching device 2, respectively.
Since independent numerical values are recorded for each two, even if these devices are added with different specifications or the performance of the devices changes, the numerical values can be updated and adapted individually.

Since the transfer time is obtained for a plurality of routes and the shortest one of them is selected, the transfer vehicle 18 can be quickly reached to the arrival point in consideration of the movement of other transfer vehicles. .

Further, even when the attaching / detaching device 24, the processing machine 14 and the like are added or removed, the branch device information table 112, the transfer path information data table 113,
This is applicable only by updating predetermined data of the route candidate data table 114, the route candidate time data table 115, the branch device reservation data table 120, and the branch device time management table 122, and it is not necessary to change the algorithm part. The transfer paths 20 do not have to be orthogonal to each other, and the number of connection destinations in the branching device 22 is applicable, so that the transfer paths 20 can be modified in various forms.

As a method of expressing the transport route, the method using the number sequence of the branching device 22 on the way is shown.
You may make it express by the number sequence of.

The transfer vehicle 18 is not limited to the other traveling type that receives power from the wire 60, but may be a self-propelling type or a self-standing type that moves on the floor.

Furthermore, the mesh transfer path may be an urban transportation network or the like.

Further, the work transfer time calculation method and the work transfer system according to the present invention are not limited to the above-described embodiments, and various configurations can be adopted without departing from the gist of the present invention. Of course.

[0095]

As described above, according to the work transfer time calculation method and the work transfer system of the present invention, it is possible to consider the movement of another transfer vehicle in the movement path of the transfer vehicle in the mesh transfer path. However, the effect that the transport vehicle can reach the arrival point in a short time is achieved.

[Brief description of drawings]

FIG. 1 is a perspective view showing a work transfer system according to the present embodiment.

FIG. 2 is an explanatory diagram showing a mesh transfer path in the present embodiment.

FIG. 3 is a perspective view showing an attachment / detachment device and a transfer vehicle.

FIG. 4 is an explanatory diagram showing a branching device.

FIG. 5 is a functional block diagram of the work transfer system according to the present embodiment.

FIG. 6 is a flowchart showing a procedure in which a main controller determines a transfer route of a transfer vehicle.

FIG. 7 is an explanatory diagram showing the contents of a branching device information table.

FIG. 8 is an explanatory diagram showing the contents of a transfer path information table.

FIG. 9 is an explanatory diagram showing the contents of a route candidate data table.

FIG. 10 is an explanatory diagram showing the contents of a route candidate time data table during calculation.

FIG. 11 is an explanatory diagram showing the contents of a branch device reservation data table.

FIG. 12 is an explanatory diagram showing the contents of a branch device time management table.

FIG. 13 is a flowchart (No. 1) showing a procedure of calculating the transfer time for each route candidate and selecting the shortest transfer time.

FIG. 14 is a flowchart (No. 2) showing a procedure for calculating the transfer time for each route candidate and selecting the shortest transfer time.

[Explanation of symbols]

10 ... Work transfer system 12 ... Main controller 14 ... Processing machine 16, 16a, 16b, 16x, 16y ... Work 18, 18a-18d ... Transfer vehicle 20, 22a-
22v ... Transfer path 22, 22a-22v ... Divergence device 24, 24a-
24m ... Attachment / detachment device 26 ... Unit controller 30 ... Main body 30a ... Monitor function part 30b ... Parameter management function part 30c ... Numerical parameter setting function part 30d ... Operating state management function part 30e ... Transfer route determination function part 30f ... Simulation function part 30g ... Communication function unit 31 ... Passing time calculation unit 32 ... Monitor 33 ... Standby time calculation unit 34 ... Keyboard 35 ... Transfer time totaling unit 36 ... Loading device 38 ... Payout device 60 ... Wire 112 ... Branching device information table 113 ... Transport path information data Table 114 ... Route candidate data table 115 ... Route candidate time data table 120 ... Branch device reservation data table 122 ... Branch device time management table

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Riko Inoue             1-10-1 Shinsayama, Sayama City, Saitama Prefecture             Engineering Co., Ltd. F-term (reference) 3C030 AA19 DA01 DA04 DA08 DA22                 3C100 AA48 BB23 BB24                 3F022 LL12 MM13 MM14 NN02 NN08                       NN31 NN42 PP06 QQ03                 5H301 AA02 AA09 BB05 CC03 CC07                       EE02 EE12 FF01 HH12 KK03                       KK04 KK08 KK13 QQ01

Claims (8)

[Claims] 1. A method for calculating a transfer time of a workpiece of a transfer device in a mesh-like path including a plurality of transfer paths and a relay path to which the transfer paths are connected, wherein a route from a starting point to a destination point on the mesh-like path. Is stored as a sequence of the transfer path and / or the relay path, and the transfer apparatus determines a transit time required for passing through the transfer path and the relay path; and the transfer apparatus includes the transfer path and the relay. A method for calculating a transfer time of a work, comprising: a second step of obtaining a standby time for waiting on a road; and a third step of calculating a transfer time of the path by summing the passing time and the standby time. 2. The work transfer time calculating method according to claim 1, wherein the reserved time for each transfer path and / or the relay path, and the arrival when the transfer device arrives at the transfer path and / or the relay path. Comparing the time, when the reservation time is greater than the arrival time, the difference is the waiting time,
A method for calculating a transfer time of a work, wherein the waiting time is set to 0 when the reserved time is shorter than the arrival time. 3. The work transfer time calculating method according to claim 2, wherein the arrival time is obtained by summing the passing time and the waiting time before each transfer path and / or the relay path. A method for calculating the transfer time of a work, characterized in that 4. The method for calculating the transfer time of a work according to claim 1, wherein the passage time is a travel time of the transfer device moving on the transfer path, and the transit time is advanced on the relay path. A method for calculating a transfer time of a work, which comprises a turning time for changing a direction. 5. The work transfer time calculation method according to claim 1, wherein the travel time is a variable of at least one of distance, speed, acceleration, and deceleration in the transfer path. A method for calculating the transfer time of a work, which is characterized by obtaining. 6. The method for calculating the transfer time of a work according to claim 1, wherein the turning time is a turning angle, an angular velocity in the relay path,
A work transfer time calculating method, wherein at least one of angular acceleration and angular deceleration is obtained as a variable. 7. The method for calculating the transfer time of a work according to claim 1, wherein the transfer times are obtained for a plurality of the paths, and the path having the shortest transfer time is selected. A method for calculating a transfer time of a work, characterized in that the transfer device is moved. 8. A plurality of transfer devices for transferring a work, a plurality of transfer paths for moving or stopping the transfer device, a plurality of stations for loading and unloading the work from the transfer device, and two stations. A relay path provided at a relay point of the above-mentioned transfer path, in which the transfer device enters and stops from one of the transfer paths, or advances to another transfer path; the transfer device, the transfer path, and the station And a control unit that controls the operation of the relay path, and stores a route from a starting point to a destination point on a mesh-like road formed of the transfer path and the relay path as a row of the transfer path and / or the relay path, A transit time calculating unit that determines a transit time required for the transport device to pass through the transport path and the relay route; and a standby time that determines a standby time during which the transport device waits on the transport route and the relay route. Work transfer comprising: a calculating unit; and a transfer time summing unit that sums the passing time and the waiting time for each row of the transfer path and / or the relay path to calculate the transfer time of the path. system.