JP2003039284A - Work transfer method and work transfer system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To assign an appropriate vehicle suitable to a transferring passage in every case when deciding a transferring passage of a transferring device moving on a meshed transferring passage. SOLUTION: When receiving a carrying-in request (carrying-out request) from respective devices on a transferring passage, the requests are recorded on carrying-in request (carrying-out request) data table in the order of acceptance (Step S101). Then, the system confirms whether a transfer vehicle corresponding to the carrying-in request signal is available (Step S103). When available, a type of a work to be carried out is confirmed to be applicable to a device on the carrying-in side (Step S105). When the process on the carrying-in side is a process just after the process of the carrying-out side (Step S106), the processes are respectively decided to be a carrying-out source and carrying-in destination.

Description

Detailed Description of the Invention

[0001]

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

[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 a disadvantage that the movement control of the transfer vehicle becomes extremely complicated. In other words, if there is an error between the processing time of each processing machine and the scheduled processing time, or a situation such as a sudden change in the plan or a failure of the processing machine, the movement plan of the transport vehicle should be changed. It must be reset, and if these situations occur frequently, the processing load on the processing device increases. Also, during this calculation process,
The transfer vehicle needs to be stopped, which is inefficient.

The present invention has been made in consideration of such a problem, and the transfer route of the transfer vehicle in the mesh transfer route is appropriately allocated according to the state of the transfer route. It is an object of the present invention to provide a work transfer method and a work transfer system capable of performing the above.

[0007]

A method of transferring a work according to the present invention comprises a plurality of transfer devices for transferring a work, a plurality of transfer paths for moving or stopping the transfer device, and a transfer device for transferring the work. A plurality of stations for loading and unloading workpieces and a relay point between two or more transfer paths are provided, and the transfer device enters and stops from one of the transfer paths or advances to another transfer path. A first step of storing a carry-in request signal requested by the station using a relay path and a control unit that controls operations of the transfer device, the transfer path, the station, and the relay path; The second for storing the carry-out request signal
And a third step of updating an operation plan of the transfer device based on the carry-in request signal and the carry-out request signal.

In this case, the third step may be executed when the control section receives the carry-in request signal or the carry-out request signal, or when one of the transfer devices becomes empty. .

By doing so, it is possible to determine an appropriate operation plan each time according to the states of the transfer device, the transfer path, the station, and the relay path.

Further, in the first step and the second step, the carry-in request signal and the carry-out request signal may be stored in chronological order.

The transfer device has a fourth step of assigning the transfer device for loading or unloading the work to or from the plurality of stations, and the transfer device is assigned to the work station that has issued the loading request signal. May be specified, and the third step may be executed when it is determined from the operation plan that the specified transfer device is in an empty state.

Further, the carry-out request signal includes information on the kind of the work that can be carried out, and the control section shows a work kind table indicating the station that can accept the work for each kind of work. And a step of identifying the type of the work that can be accepted by the station that has issued the carry-in request by the work type table, and the station that has issued the carry-out request by the type information. A sixth step of identifying the type of work that is possible, and the third step is executed when the types of the work identified in the fifth step and the sixth step match. Good.

The plurality of stations are classified into a plurality of steps in which the order is defined, and the step of the station that has issued the carry-in request is one of the steps of the station that has issued the carry-out request. The third step may be executed when the process is only one process later.

Further, the work transfer system according to the present invention includes a plurality of transfer devices for transferring the work, a plurality of transfer paths for moving or stopping the transfer device, and a transfer of the work from the transfer device. Provided at a plurality of stations to be carried out and at a relay point of two or more of the 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. A request storage unit that stores the carry-in request signal requested by the station and the carry-out request signal requested by the station; and an operation plan that updates the operation plan of the transfer device based on the carry-in request signal and the carry-out request signal. And an updating unit.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments applied to a work transfer 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 used in the work transfer method according to the present embodiment includes a plurality of transfer vehicles (transfer devices) 18 for transferring the work 16, and a wire 60 for the transfer vehicle 18. A plurality of transfer paths 20 that can be moved through or stopped halfway, and a transfer vehicle 1
A plurality of attachment / detachment devices (stations) 24 into / from which the work 16 is loaded and unloaded, and the work 1 from the attachment / detachment device 24
A processing machine 14 for processing the work 16 by taking in and out 6;
The transfer path 20 is provided at a relay point or an end of the transfer path 20.
A branching device (relay path) 2 capable of stopping the transfer vehicle 18 coming from the vehicle or proceeding to another transfer path 20.
2, 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 branching device 22, and a main controller (control unit) that integrally controls the plurality of unit controllers 26 12
Have and.

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. The work 16 is transferred from the charging device 36 to the process A in the charging process, and when the process D is completed, the payout process is performed. 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 and the process B in the process A 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 attaching / detaching devices 24a to 24m and the payout 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.

As shown in FIG. 3, the attachment / detachment device 24 has a vertically long structure, and a chain / sprocket mechanism 59 is incorporated in rails 58 standing upright 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 works 16 between the upper stage mounting table 54 and the lower stage 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 attachment / detachment 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 body 70, legs 80 projecting obliquely downward from the branching device body 70 and connected to the transfer path 20, and the branching device 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, 64.
It has a motor 68 driven via the motor, an angle sensor (not shown) for detecting the turning angle of the turning portion 78, a position sensor (not shown) for detecting 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 main body 30 is transferred in cooperation with the operating state management function unit 30d that is connected to the communication function unit 30g and manages the state of the work transfer system 10, the parameter management function unit 30b, the operating state management function unit 30d, and the like. It has a transfer route determination function unit 30e that determines a route along which the vehicle 18 moves, and a simulation function unit 30f that simulates the operation of the transport vehicle 18. The transfer path determination function unit 30e includes a request storage unit 31 that stores the carry-in request signal and the carry-out request signal requested by the attachment / detachment device 24.
And an operation plan updating unit 33 that updates the operation plan of the transport vehicle 18 based on the carry-in request signal and the carry-out request signal.

Further, the main body 30 is provided with a hard disk, a CPU, a memory and the like (not shown), and the above-mentioned 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, the route with the shortest transfer time is selected in consideration of the actual operating conditions, and further, when the transport vehicle 18 moves along the determined route, the branching device avoids 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 procedure for determining the carry-out source and carry-in destination in step S2 will be described in detail with reference to FIGS.

The processing of step S2 is basically
The carry-in request signal and the carry-out request signal requested by the attaching / detaching device 24 are stored in a table in chronological order, and the operation plan of the transport vehicle 18 is updated based on the stored carry-in request signal and carry-out request signal. It was
The main controller 12 is mainly used for the transfer route determination function unit 30.
It is executed by the function of e.

The transfer path determining function unit 30e is provided in the attaching / detaching device 2
4 is a carry-in request data table 100 (see FIG. 7A) that stores the carry-in request signals requested in time series, and a carry-out request data table 102 that stores the carry-out request signals in time series.
(See FIG. 7B) and an operation plan table 104 in which operation plans of the transport vehicle 18 are stored (see FIG. 8).
And the work 16 of the two types of works 16a and 16b
First work type table 106a (see FIG. 9A) in which the attachment / detachment device 24 (and processing machine 14) applicable to a is recorded, and the attachment / detachment device 24 (and processing machine) applicable to the work 16b (see FIG. 9B). 14) is recorded and the second work type table 106b is used to determine the carry-out source and carry-in destination of the transfer vehicle 18. These tables are set on the hard disk or the memory, and the CPU performs reference and update processing.

The carry-in request data table 10 shown in FIG. 7A.
In the case of 0, the received carry-in request signals are stored in chronological order, and the processed signals are deleted. The carry-in request signal is transmitted from the unit controller 26 to the main controller 12 when the total number of the works 16 in the attachment / detachment device 24 and the number of the works 16 in the processing machine 14 is less than two.

The carry-out request data table 10 shown in FIG. 7B.
In 2, the received carry-out request signals are stored in chronological order, and the processed ones are deleted. The carry-out request signal is transmitted from the unit controller 26 and transmitted to the main controller 12 when the processed work 16 is transferred from the processing machine 14 to the attachment / detachment device 24. The carry-out request signal includes the type information of the work 16y that can be carried out as “16a” or “16b” and is stored in the carry-out request data table 102. Further, the number of types of the work 16 may be three or more.

The examples of the carry-in request data table 100 and the carry-out request data table 102 shown in FIGS. 7A and 7B show a state in which six and five carry-in requests and carry-out requests are left unprocessed, respectively.

The operation plan table 104 shown in FIG. 8 shows the operation plan and operation state of each transfer vehicle 18. The operation plan and operation state of each transport vehicle 18 are recorded in ascending order from the order 1 to the right of the row. An operating state flag FLG is provided in each order.

Explaining the transfer vehicle 18a, the loading source is the loading device 36, and the loading destination is the attachment / detachment device 24d, in the order: loading device 36, branching device 22b, branching device 22.
c, a detachment device 24d. Then, the order 1 defines the path from the input device 36 to the branching device 22b, and the operation state flag FLG thereof is "2" indicating the completion of the operation. The order 2 defines a path from the branching device 22b to the branching device 22c, and the operation state flag FLG thereof is "1" indicating that the operation is in progress. The order 3 defines the path from the branching device 22c to the attachment / detachment device 24d, and the operation state flag FL thereof.
G is "0" indicating that it has not started. Therefore, at this time, it is understood that the transfer vehicle 18a is present in the branching device 22b or is operating toward the branching device 22c.

As for the transfer vehicle 18b, only the attachment / detachment device 24b is recorded in order 1 and the operation state flag F is set.
LG is “0”. This state indicates that the transfer vehicle 18b is empty in the attachment / detachment device 24b.

First work type table 1 shown in FIG. 9A
06a is a detachable device 24 for each process A, B, C, D.
It is recorded whether (and the processing machine 14) the work 16a can be processed.

For example, referring to the process B, the attaching / detaching device 24e of the attaching / detaching devices 24e, 24f, 24g for the process B is used.
"24" and 24f are applicable to the work 16a
However, "x" which is not applicable to the attachment / detachment device 24g is recorded.

The second work type table 106b shown in FIG. 9B records whether or not the work 16b can be machined, like the first work type table 106a.

Referring to the process B, the attaching / detaching devices 24f and 2 of the attaching / detaching devices 24e, 24f and 24g for the process B are referred to.
4g is applicable to the work 16b, but is not applicable to the attachment / detachment device 24e. Therefore, it is understood that the attachment / detachment devices 24e and 24g are dedicated devices for the works 16a and 16b, respectively.

Import request data table 100, export request data table 102, operation plan table 104 and first and second work type tables 106a and 1a.
06b has a sufficient storage area that can be used when the transport vehicle 18 and the attachment / detachment device 24 are added, the route of the transport vehicle 18 is long, and the number of processes is increased.

Next, the process of step S2 will be described with reference to FIG.
Will be described with reference to.

First, in step S101, if there is a newly received carry-in request signal or carry-out request signal, the carry-in request data table 1 is carried out by the function of the request storage unit 31.
00 or the empty area of the export request data table 102 is recorded in the top row. Regarding the carry-out request data table 102, the type of work that can be carried out, “16a”
Alternatively, "16b" is simultaneously recorded on the same line.

The subsequent steps S102 to S107 are executed by the operation plan updating section 33.

In step S102, the oldest signal among the unprocessed carry-in request signals, that is, the number of the attachment / detachment device 24 is confirmed from the top of the carry-in request data table 100, and the process proceeds to the next step S103. When a loop is formed from the subsequent steps S103, S104, and S107 and the process returns to step S102, the number of the next detachable device 24 is confirmed in the recording order of the carry-in request data table 100, and the carry-in request data table 10
If all the carry-in request signals of 0 have been confirmed, the process ends.

In step S103, the number of the confirmed transfer vehicle 18 that shares the attachment / detachment device 24 and the operation plan table 104 are referred to, and it is confirmed whether or not the transfer vehicle 18 is empty. If the transfer vehicle 18 is in operation, step S
Returning to 102, if there is an empty state, the next step S104
Move to.

For example, when examining the detachable device 24g, the transfer vehicle 18 sharing the detachable device 24g is the transfer vehicle 18b.
Therefore (see FIG. 2), it is possible to confirm that the vehicle is in an empty state by referring to the column of the transfer vehicle 18b in the operation plan table 104, and the process proceeds to step S104.

In step S104, the oldest signal among the unprocessed carry-out request signals, that is, the number of the attachment / detachment device 24 and the type of the workpiece 16 are checked in order from the top of the carry-out request data table 102, and the next step is performed. S1
Move to 05. When a loop is formed from the subsequent steps S105 and S106 and the process returns to step S104, the number of the next attachment / detachment device 24 and the type of the work 16 are confirmed in the recording order of the carry-out request data table 102. If all the delivery request signals 102 have been confirmed, the process returns to step S102.

In step S105, the first or second work type table 106a or 106b corresponding to the confirmed type of the work 16 is referred to. Then, it is checked whether the attaching / detaching device 24 confirmed in step S102 is applicable to the work type. If there is an inapplicable "X" in the corresponding column, the process returns to step S104, and if an applicable "O" is recorded, the next step S10.
Go to 6.

For example, the type of the work 16 is "16b"
Then, the attachment / detachment device 24 transmitting the carry-in request is
In the case of 4 g, referring to the second work type table 106 b corresponding to the work 16 b, the attaching / detaching device 24 g has the machining process of process B and can be applied to the work 16 b, so the process proceeds to step S 106. Further, in this case, when the attachment / detachment device 24 is the attachment / detachment device 24e, it is found that the work 16b is not applicable, and therefore the process returns to step S104.

In step S106, step S1
Attaching / detaching device 2 which is transmitting the carry-in request signal confirmed in 02
Whether the fourth process is a process that is one process after the process of the attachment / detachment device 24 that has transmitted the carry-out request signal confirmed in step S105 is determined by the first or second work type table 106a or 106b. Check and confirm.

For example, when the detaching device 24b is transmitting the carry-out request signal and the detaching device 24g is transmitting the carry-in request signal, the first or second work type table 106a or 106b. It can be confirmed that the attaching / detaching device 24b is the process A and the attaching / detaching device 24g is the process B in the processing order of the work 16 with reference to FIG. Therefore, in this case, it is determined that the carry-out source is the attaching / detaching device 24b and the carry-in destination is the attaching / detaching device 24g, and the next step S10.
Move to 7. If the process order is not the order, step S10
Return to 4.

Next, in step S107, the carry-in request signals and carry-out request signals of the determined carry-out source and carry-in destination are deleted from the carry-in request data table 100 and the carry-out request data table 102. Then, processing for filling up the blank row with the subsequent carry-in request signal and carry-out request signal is performed. Further, after performing some post-processing such as storing the determined numbers of the attachment / detachment attachment / detachment devices 24 in the memory, the process returns to step S102. Finally, in step S102, when all the carry-in request signals have been confirmed, the series of processes is ended.

Thereafter, returning to the description of FIG. 6, step S3
When the subsequent processes are sequentially executed and the specific routes of the carry-out source and the carry-in destination are determined, the route can be recorded in the operation plan table 104 and reserved in step S7.

Then, according to the data of the operation plan table 104 and the like, the operation instruction of each transport vehicle 18 is transmitted to the communication function unit 30g.
Is transmitted to each unit controller 26 via.
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.

Next, FIG. 1 shows a modification of the present embodiment.
This will be described with reference to 1.

This modified example has the same structure as the work transfer system 10 described above, and the processing machine 14 attached to each of the attachment / detachment devices 24a to 24m performs only one processing step (step E) on the work 16. . That is, the work 16 input from the input device 36 is loaded into any one of the attachment / detachment devices 24a to 24m to be processed, and when the workpiece 16 is unloaded thereafter, the work 16 is not delivered to the other attachment / detachment device 24. Three
Transferred to 8.

Also in this case, it is possible to determine the carry-out source and the carry-in destination by the above-mentioned method, and the same effect can be obtained.

Further, in the case of this modified example, since the number of the attachment / detachment devices 24 in the process E is large, it is efficient if all the transfer vehicles 18a-18d are assigned to all the attachment / detachment devices 24a-24m and the payout device 38. Transfer can be performed.

As described above, in the work transfer method and work transfer system 10 according to this embodiment, the carry-in request data table 100 and the carry-out request data table 1 are provided.
02, the operation plan table 104 and the first and second work type tables 106a and 106b can be referred to determine the carry-out source and carry-in destination of the transfer vehicle 18. Therefore, it is possible to flexibly deal with an error between the processing time of each processing machine 14 and the scheduled processing time, a sudden plan change, and a situation such as a failure of the processing machine 14. You can Further, the calculation load of the main controller 12 can be small, and the possibility of stopping the operation of the work transfer system 10 is low.

Further, even when the attachment / detachment device 24 and the processing machine 14 are added or removed, it is applicable only by updating the predetermined data in the first and second work type tables 106a and 106b. , There is no need to change the algorithm part. Similarly, the transfer vehicle 18
Even when the number of items is increased / decreased, it is sufficient to increase / decrease the line indicating the transfer vehicle 18 in the operation plan table 104. The transfer paths 20 do not have to be orthogonal to each other, and the connection destinations in the branching device 22 can be applied to any number, so that the transfer paths can be changed into various forms.

As the 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.

Further, the unit controller 26 which controls the attachment / detachment device 24 itself issues the carry-in request signal and the carry-out request signal of the work 16, and the main controller 12 judges the carry-out source and carry-in destination each time the request signal is received. Therefore, it is efficient because the judgment corresponding to the latest state can always be made. In particular, in steps S102 and S104 of FIG. 10, since the recorded carry-in request signal and carry-out request signal are processed in the oldest order, it is possible to avoid a state where only a specific detachable device waits for a long time. it can.

Further, the work 16 is classified into a plurality of types, and depending on the processing machine 14, the work 16 of a specific type is provided.
Even when only the work can be processed, it is possible to determine an appropriate destination by preparing and referring to the first and second work type tables 106a and 106b corresponding to the respective works 16.

The reticulated transfer path in the above-described embodiment can be applied even if it has various different structures. For example, a plurality of the charging device 36 and the dispensing device 38 may be installed. The transfer path 20 does not have to be a straight line, but may be replaced with a straight line connecting both end points.

Further, for example, the mesh transfer path is not limited to a two-dimensional one, but can be applied to a three-dimensional warehouse or the like. Transport car 18
Regarding not only the self-propelled type that receives power from the wire 60 but also the self-propelled type or the self-propelled type that moves on the floor.

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

[0079]

As described above, according to the work transfer method and the work transfer system of the present invention, in determining the movement path of the transfer device which moves the mesh-shaped transfer path,
When a signal whose state has changed is received from each device on the transfer path, the source and destination of the transfer device are determined each time based on the signal and the signal recorded in the past, so it depends on the state of the transfer path. It is possible to achieve an effect that an appropriate transfer vehicle can be dispatched.

[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. 7A is an explanatory diagram showing the contents of a carry-in request data table, and FIG. 7B is an explanatory diagram showing the contents of a carry-out request data table.

FIG. 8 is an operation plan table in which the operation state of each transport vehicle is recorded.

9A is an explanatory diagram showing the contents of a first work type table, and FIG. 9B is an explanatory diagram showing the contents of a second work type table.

FIG. 10 is a flowchart showing a procedure for determining a carry-out source and a carry-in destination of a transfer vehicle.

FIG. 11 is an explanatory diagram showing a mesh transfer path in a modified example of the present embodiment.

[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 ... Transfer path 22 ... Dividing device 24, 24a-2
4m ... 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 ... Request storage unit 32 ... Monitor 33 ... Operation plan updating unit 34 ... Keyboard 36 ... Loading device 38 ... Delivery device 60 ... Wire 100 ... Delivery request data table 102 ... Delivery request data table 104 ... Operation plan table 106a, 106b ... Work type table

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Riko Inoue             1-10-1 Shinsayama, Sayama City, Saitama Prefecture             Engineering Co., Ltd. F-term (reference) 3C042 RA24 RB22 RB38                 5H301 AA02 AA09 BB05 CC03 CC06                       DD13 DD15 EE02 EE12 EE17                       EE26 FF01 FF11 KK02 KK03                       KK12 KK13

Claims (7)

[Claims] 1. A plurality of transfer devices for transferring a work, a plurality of transfer paths for moving or stopping the transfer device, and a plurality of stations for loading and unloading the work from the transfer device. 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, a first step of storing the carry-in request signal requested by the station, a second step of storing the carry-out request signal requested by the station, and the carry-in request. Based on the signal and the export request signal,
And a third step of updating an operation plan of the transfer device. 2. The work transfer method according to claim 1, wherein when the control unit receives the carry-in request signal or the carry-out request signal, or when one of the transfer devices becomes empty, A method for transferring a work, characterized by executing a step. 3. The work transfer method according to claim 1, wherein the carry-in request signal and the carry-out request signal are stored in chronological order in the first step and the second step. Method. 4. The work transfer method according to claim 1, further comprising a fourth step of allocating the transfer device for loading or unloading the work to or from the plurality of stations, Specifying the transfer device assigned to the workstation that has transmitted the carry-in request signal, and executing the third step when it is determined from the operation plan that the specified transfer device is in an empty state. A work transfer method characterized by the above. 5. The work transfer method according to any one of claims 1 to 4, wherein the carry-out request signal includes type information of the work that can be carried out, and the control unit includes: Storing a work type table indicating the stations that can be accepted for each type of the work, and identifying the type of the work that can be accepted by the station that issued the carry-in request by the work type table; And a sixth step of identifying, by the type information, the type of the work that can be carried out by the station that has issued the carry-out request, and the work specified in the fifth step and the sixth step. The work transfer method, characterized in that the third step is executed when the types match. 6. The work transfer method according to claim 1, wherein the plurality of stations are classified into a plurality of steps in which an order is defined, and the transfer request is issued. The work transfer method, wherein the third step is executed when the process of the station that has transmitted is a process that is one process after the process of the station that has transmitted the carry-out request. 7. 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, a request storage unit that stores the carry-in request signal requested by the station and the carry-out request signal requested by the station, and based on the carry-in request signal and the carry-out request signal ,
An operation plan updating unit for updating the operation plan of the transfer device;
A work transfer system comprising: