JP2015044686A - Carrier system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carrier system which can set a correct transfer position and achieve reduction in an information amount.SOLUTION: In a carrier system 1, transfer points are provided in multiple stages in a vertical direction on the lower side of a rail 5, controllers 26 of ceiling carriers 7a, 7b, 7c have tables in which predetermined pieces of transfer point data are linked to travel point data, and determine the transfer positions of an object to be carried L on the basis of the travel point data acquired from the tables on the basis of the transfer point data contained in a carrying command, reference data set for each transfer point in advance and indicating the stop position of a holding part 18 at the transfer point, and machine difference data set for each of the ceiling carriers 7a, 7b, 7c in advance and indicating the stop position of the holding part 18 at the transfer point detected by the own machine for each of the ceiling carriers 7a, 7b, 7c.

Description

  The present invention relates to a transport vehicle system including an overhead transport vehicle.

  As a conveyance vehicle system, what was described in patent document 1, for example is known. In the transport vehicle system described in Patent Document 1, a traveling body that travels along a track suspended from the ceiling, a ceiling transport vehicle including a lift that can be lifted, and a side of the lift. And a shelf facility composed of a plurality of racks.

JP-A-63-242809

  In the configuration in which transfer points are provided in the vertical direction as in the above rack, in addition to the position at which the overhead transport vehicle stops on the track, the height position of the transfer point at which the lifting platform is stopped is accurately set. It is required to set. However, since there are individual differences (machine differences) among the overhead conveyance vehicles, if the same position data is used in all the overhead conveyance vehicles, there is a possibility that the stop position of the lifting platform is different for each overhead conveyance vehicle. Therefore, in the transport vehicle system, it is necessary to set the stop position on the track and the stop position of the lifting platform for each transport vehicle, and to accurately set the transfer position at the transfer point. In such a configuration, in a configuration in which a plurality of transfer points are provided in the vertical direction at the stop position of the transport vehicle, an increase in the amount of information is inevitable.

  An object of the present invention is to provide a transport vehicle system that can set an accurate transfer position and can reduce the amount of information.

  A transport vehicle system according to the present invention includes a track disposed on a ceiling side, a plurality of transport vehicles that travel on the track, and a host controller that transmits a transport command to the transport vehicle, and a transfer object at a transfer point. The transfer points are provided in a predetermined number of stages in the vertical direction below the track, and the host controller includes transfer point data indicating the transfer points. The command is transmitted to the transport vehicle, and each of the transport vehicles includes a lift that is provided so as to be able to move up and down and a controller that controls the operation of the transport vehicle. The transfer point data and the travel point data indicating the position where the transport vehicle stops on the track when the transfer is performed at the transfer point are held, and a predetermined number of transfer points are stored in the travel point data. It has a table associated with the int data, travel point data acquired from the table based on the transfer point data included in the transport command, and a lifting platform set in advance for each transfer point. Based on the reference data indicating the stop position of the vehicle and the difference data indicating the stop position of the lifting platform at the transfer point which is preset for each transport vehicle and detected by the own device for each transport vehicle. The transfer position is determined.

  In this transport vehicle system, the controller detects travel point data acquired based on the transfer point data, reference data indicating the stop position of the lifting platform at a preset transfer point, and each transport vehicle detects The transfer position of the object to be transported is determined based on the machine difference data indicating the stop position of the lifting platform at the transfer point. Thus, in the transport vehicle system, in order to set the stop position of the lifting platform using the machine difference data set for each transport vehicle, even when the transfer points are provided in multiple stages, The position at which the lifting platform is stopped at each transfer point can be accurately set for each transport vehicle. Therefore, an accurate transfer position can be set in the transport vehicle system.

  In addition, since the transport vehicle system has a table in which a predetermined number of transfer point data is associated with travel point data, the amount of information of the travel point data can be reduced. Further, since the host controller transmits only the transfer point data, the data amount of the transport command to be transmitted can be reduced.

  In one embodiment, the controller compares the reference data and the machine difference data, calculates a difference in the stop position of the elevator, and sets the stop position of the elevator at the transfer point based on the difference. Also good. Thereby, in the conveyance vehicle system, the stop position of the lifting platform at the transfer point can be accurately set.

  In one embodiment, a guide member that guides the lifting platform along the lifting direction may be provided. Some elevators have a structure that is raised and lowered by winding and unwinding a belt. In this configuration, blurring may occur in the left-right direction (horizontal direction). Therefore, by providing a guide member that guides the lifting platform along the lifting direction, it is possible to suppress the lifting platform from being shaken at the transfer point.

  In one embodiment, the controller may decelerate the descending speed of the lifting platform when the lifting platform enters the guide member. Shaking of the lifting platform becomes more pronounced when the lifting speed becomes faster. Therefore, it can suppress that an elevator stand contacts a guide member by decelerating the descent | fall speed of an elevator stand when approaching a guide member.

  In one embodiment, the guide member is provided with a shielding portion at a portion corresponding to a position at which the lifting platform should stop at the transfer point, and the transport vehicle includes a detection unit that detects the shielding portion, and a controller. May transfer the object to be transported when the shielding unit is detected by the detecting means. Thereby, the stop position of the lifting platform at the transfer point can be specified more accurately. Therefore, the transferred object can be accurately transferred.

  According to the present invention, an accurate transfer position can be set and the amount of information can be reduced.

It is a figure which shows the conveyance vehicle system which concerns on one Embodiment. It is a figure which shows the structure of a conveyance vehicle system. It is a figure which shows a transfer point. It is a figure which shows a guide member. It is a figure which shows an overhead conveyance vehicle. It is a figure which shows the structure of a controller. (A) is a figure which shows the descending speed of a holding | maintenance part, (b) is a figure which shows the raising speed of a holding | maintenance part. It is a sequence diagram explaining operation | movement of a conveyance vehicle system.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same or equivalent elements will be denoted by the same reference numerals, and redundant description will be omitted.

  FIG. 1 is a diagram illustrating a transport vehicle system according to an embodiment. FIG. 2 is a diagram illustrating a configuration of the transport vehicle system. A transport vehicle system 1 shown in FIGS. 1 and 2 is a system that transports an object L (see FIG. 5) by ceiling transport vehicles 7a, 7b, and 7c. The transported object L is, for example, a general luggage, a semiconductor wafer carrier, or the like. The transport vehicle system 1 includes a host controller 3, rails (tracks) 5, and a plurality of (here, three) overhead transport vehicles 7 a, 7 b, and 7 c that travel on the rails 5.

  The host controller 3 controls the transport operation of the ceiling transport vehicles 7a and 7b in the transport vehicle system 1. The host controller 3 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, and the like. The host controller 3 can communicate with a controller 26 of a ceiling transport vehicle 7a, 7b, 7c, which will be described later, wirelessly or by wire. The host controller 3 is a transport instruction device that creates a transport schedule for the transported object L and instructs the controller 26 of each of the ceiling transport vehicles 7a, 7b, and 7c to transport based on the transport schedule. The host controller 3 has a function of transmitting a conveyance command to the controller 26 in a timely manner and processing reports from the controller 26 together. The transport command includes package information of the transported object L, transfer point data (to be described later) of the loading position of the transported object L, transfer point data of the unloading position of the transported object L, and the like. .

  The rail 5 is laid on the ceiling or near the ceiling. In the present embodiment, the rail 5 has an annular shape, for example. As shown in FIG. 1, a plurality (six in this case) of travel points RP <b> 1 to RP <b> 6 are set along the rail 5. The travel points RP <b> 1 to RP <b> 6 are points that stop when the overhead transport vehicles 7 a, 7 b, 7 c transfer the transported object L. Each of the travel points RP1 to RP6 has a unique identifier (for example, a unique number).

  A transfer unit T is provided at each of the travel points RP1 to RP6. In the transfer unit T, transfer points are set. The transfer point is a station for transferring the object L to be transferred. FIG. 3 is a diagram for explaining transfer points. As shown in FIGS. 3A and 3B, the transfer point is provided at each of the travel points (here, travel points RP1 and RP4). The transfer points are arranged side by side in the transfer unit T, for example. Each transfer point has a unique identifier (for example, a unique number). Specifically, as shown in FIG. 3A, the traveling point RP1 is provided with transfer points identified by [1001] to [1008], as shown in FIG. 3B. The travel point RP4 is provided with transfer points identified by [4001] to [4006].

  Transfer points are set at a plurality of height levels. The height level is a height position of a station that loads and unloads the transported object L, and is a position where the holding unit 18 stops when the overhead transport vehicles 7a, 7b, and 7c transfer the transported object L. . In the present embodiment, the height level is set to 16 levels at the maximum, for example. More specifically, as shown in FIG. 3 (a), the traveling point RP1 is set at a height level of four of the 16 stages, and as shown in FIG. 3 (b), the traveling point RP4. In this case, the height level is set to 3 levels out of 16 levels. In this embodiment, for example, the lowest level of the travel point RP1 (transfer points [1007] and [1008]) and the lowest level of the travel point RP4 (transfer points [4005] and [4006]. ]) Is at the same level.

  Each transfer point of the transfer unit T is provided with a conveyor (not shown) for transferring the object L to be transferred. Moreover, the communication part 6 is provided in the transfer point. The communication unit 6 is a device that performs infrared communication, for example. The communication unit 6 communicates with the communication unit 24 provided in the holding unit 18 when the holding unit 18 of the ceiling conveyance vehicles 7a, 7b, and 7c described later stops at the transfer point, and the ceiling conveyance vehicles 7a and 7b. , 7 c is output to the conveyor controller 4. The conveyor controller 4 controls the operation of the conveyor provided at the transfer point. When the conveyor controller 4 receives the stop information, the conveyor controller 4 determines whether to permit transfer of the transported object L at the transfer point. That is, the transfer point has an interlock function for transferring the transported object L. The conveyor controller 4 outputs permission information via the communication unit 6 and drives the conveyor at the transfer point when permitting transfer of the transported object L. In addition, the communication part 6 may be provided in all the transfer points, and may be provided in the specific transfer point.

  FIG. 4 is a diagram illustrating the guide member. As shown in FIG. 4, guide members 8 are provided at the travel points RP1 to RP6. The guide member 8 is a member that guides (guides) the holding unit 18 to the transfer point when the holding unit 18 of the ceiling transport vehicles 7a, 7b, and 7c moves up and down. The guide member 8 is a columnar or plate-like member standing on the floor FL, for example, and extends along the ascending / descending direction of the holding portion 18. The guide member 8 prevents the holding portions 18 of the ceiling transport vehicles 7a, 7b, and 7c from shaking (blurring) in the left-right direction (horizontal direction) during ascent and descent. The position of the tip of the guide member 8 is set higher than the height position of the transfer point.

  The guide member 8 is provided with a shielding plate (shielding portion) 9. The shielding plate 9 is a plate-like member that is detected by a sensor 22 of a ceiling transport vehicle 7a, 7b, 7c described later. The shielding plate 9 is arranged corresponding to each transfer point of the transfer unit T. That is, the shielding plate 9 is arranged at a position corresponding to the transfer point of each stage arranged in the right column and the left column in the transfer unit T (a position where the ceiling transport vehicles 7a, 7b, 7c should stop). Yes. The shielding board 9 should just be a member which shields light (laser light etc.).

  Subsequently, the ceiling transport vehicles 7a, 7b, and 7c will be described. The ceiling transport vehicles 7a, 7b, 7c have the same configuration. In the following description, the ceiling conveyance vehicle 7a will be specifically described as an example. FIG. 5 is a diagram illustrating an overhead conveyance vehicle. As shown in FIGS. 2 and 5, the ceiling transport vehicle 7 a includes a main body unit 10 that travels along the rail 5, a traveling unit 12, an elevating mechanism 14, a sensor (detection unit) 22, and a communication unit 24. And a controller 26.

  The main body 10 is suspended from the rail 5 via the traveling unit 12. The traveling unit 12 includes a drive wheel and a guide wheel that are in contact with the side surface of the rail 5, and causes the main body unit 10 to travel along the rail 5. Moreover, the traveling unit 12 includes an electromagnetic coil unit, and thus receives power from the high-frequency current line laid on the rail 5 without contact.

  A lifting mechanism 14 is attached to the main body 10. The elevating mechanism 14 includes an elevating unit 16 and a holding unit (elevating platform) 18. The holding part 18 is a frame, for example, and holds the conveyed object L. Further, the elevating part 16 raises and lowers the holding part 18. More specifically, the elevating unit 16 lowers the holding unit 18 attached to the end of the belt 20 by feeding out a plurality of belts 20 in synchronization. On the other hand, the elevating unit 16 raises the holding unit 18 attached to the end of the belt 20 by winding the plurality of belts 20 in synchronization. The elevating unit 16 is rotated by, for example, a motor. The motor is provided with an encoder that detects the rotational speed, and the encoder outputs an encoder value to the controller 26.

  The sensor 22 detects the shielding plate 9 provided at the transfer point. The sensor 22 detects the shielding plate 9 when the holding unit 18 moves up and down and stops at the transfer point. The sensor 22 is disposed in the holding unit 18 at a position corresponding to the shielding plate 9 when the holding unit 18 stops at the transfer point. When the sensor 22 detects the shielding plate 9, it outputs a detection signal to the controller 26.

  The communication unit 24 communicates with the communication unit 6. The communication unit 24 and the communication unit 6 perform infrared communication. The communication unit 24 is controlled by the controller 26 and communicates with the communication unit 6 when the holding unit 18 stops at the transfer point. The communication unit 24 outputs information received from the communication unit 6 to the controller 26.

  The controller 26 controls the operation of the ceiling transport vehicle 7a. The controller 26 is composed of, for example, a CPU, ROM, RAM, hard disk, and the like. FIG. 6 is a diagram illustrating the configuration of the controller. As shown in FIG. 6, the controller 26 includes a receiving unit 100, a point storage unit 102, a travel point acquisition unit 104, a travel control unit 106, a lift control unit 108, a teaching unit 110, and an interlock unit 112. And have.

  Prior to the description of each part, teaching performed in the ceiling transport vehicles 7a, 7b, 7c when the transport vehicle system 1 is introduced will be described. Among a plurality (three in this case) of the overhead transport vehicles 7a, 7b, 7c provided in the transport vehicle system 1, for example, in one specific overhead transport vehicle 7a, teaching is performed at the height level of the transfer point. To do. Teaching is performed for each height level of transfer points (16 levels in this embodiment). A specific teaching method will be described. Note that teaching is performed, for example, by operation of an operation panel (remote controller) by an operator.

  First, the ceiling conveyance vehicle 7a is stopped on the traveling point where the transfer point is located. Next, the operator selects “elevating position teaching” on the operation panel on the travel point. Thereby, the teaching unit 110 described later reads all the transfer points existing at the stopped traveling point from the point storage unit 102 described later, and lists the height level of each transfer point.

  Subsequently, the operator lowers the elevating mechanism 14 to a height level of an arbitrary transfer point, performs fine adjustment at the transfer point, and stops at a fixed position. Then, the operator selects a transfer point corresponding to the stopped position on the operation panel. Thereby, the teaching unit 110 acquires and registers the encoder value of the motor of the elevating unit 16 as teaching data (reference data). The above operation is performed for all transfer points of all travel points. The teaching unit 110 transmits teaching data for all transfer points to the host controller 3. The host controller 3 transmits teaching data to the other ceiling transport vehicles 7b and 7c.

  In the ceiling conveyance vehicles 7b and 7c (the ceiling conveyance vehicles other than the one specific ceiling conveyance vehicle 7a) that have received the ting data from the host controller 3, machine difference correction is performed. The machine difference correction is a value for correcting individual differences (displacement for each individual) between the ceiling transport vehicles 7b and 7c. In the following description, the machine difference correction will be described by taking the ceiling transport vehicle 7b as an example.

  First, the ceiling transport vehicle 7b is stopped on a predetermined travel point. Next, the operator lowers the elevating mechanism 14 to the transfer point height level of the travel point, performs fine adjustment at the transfer point, stops it at a fixed position, and performs a predetermined operation on the operation panel (for example, a predetermined operation). Press the key). Thereby, the teaching unit 110 acquires and registers the encoder value of the motor of the elevating unit 16 as machine difference correction data. Then, the teaching unit 110 compares the teaching data and the machine difference correction data, acquires a difference (offset amount) between the teaching data and the machine difference correction data, and registers the difference as a machine difference correction value. When the overhead transport vehicle 7b has acquired a plurality of machine difference correction data for all transfer points of a predetermined travel point, it calculates a machine difference correction value based on all the machine difference correction data. Register the average value as the machine difference correction value.

  The teaching unit 110 causes the point storage unit 102 to store teaching data output from the receiving unit 100 described later. Further, the teaching unit 110 calculates a machine difference correction value and stores (registers) it in the point storage unit 102.

  The receiving unit 100 receives the conveyance command transmitted from the host controller 3. The receiving unit 100 outputs the conveyance command received from the host controller 3 to the traveling point acquisition unit 104 and the teaching unit 110. In addition, the receiving unit 100 receives teaching data from the host controller 3. The receiving unit 100 outputs the teaching data received from the host controller 3 to the teaching unit 110.

  The travel point acquisition unit 104 acquires travel points RP1 to RP6 based on the conveyance command. The travel point acquisition unit 104 acquires transfer point data included in the conveyance command, refers to the point storage unit 102 in which the transfer point data and the travel point data are stored based on the transfer point data, and travels. One of the points RP1 to RP6 is acquired. The point storage unit 102 has a table in which travel points RP1 to RP6 and transfer points are associated with each other. In this table, a predetermined number of transfer points are linked to the travel points RP1 to RP6. More specifically, each transfer point is linked to the row of travel points RP1 to RP6. When the travel point acquisition unit 104 acquires the transfer point data, the travel point acquisition unit 104 extracts the travel points RP1 to RP6 from the point storage unit 102 based on the transfer point data. The travel point acquisition unit 104 outputs the acquired travel points RP <b> 1 to RP <b> 6 to the travel control unit 106.

  The travel control unit 106 controls the travel (acceleration, deceleration, braking) of the ceiling guided vehicle 7a. When the travel control unit 106 receives the travel points RP1 to RP6 output from the travel point acquisition unit 104, the travel control unit 106 controls the travel unit 12 to travel the ceiling transport vehicle 7a to the travel points RP1 to RP6 and travel points RP1 to RP6. Stop at.

  The elevation control unit 108 controls the elevation of the holding unit 18. The lifting control unit 108 controls the number of rotations of the motor that rotates the lifting unit 16 and stops the holding unit 18 at a predetermined position. Further, the lifting control unit 108 controls the number of rotations of the motor, and controls the lifting / lowering speed of the holding unit 18 (the feeding speed and the winding speed of the belt 20). Details will be described with reference to FIG. FIG. 7 is a diagram illustrating the ascending / descending speed of the holding unit. FIG. 7A shows the lowering speed of the holding unit 18, and FIG. 7B shows the rising speed of the holding unit 18.

  The raising / lowering control unit 108 controls the holding unit 18 at three speeds of high speed, medium speed, and low speed. As shown in FIG. 7A, the elevation control unit 108 starts the descent of the holding unit 18 at a high speed and lowers it from the main body unit 10 to the tip of the guide member 8. Subsequently, the elevation control unit 108 decelerates the holding unit 18 between a predetermined height position and the tip of the guide member 8, and when the holding unit 18 enters the guide member 8, the speed of the holding unit 18 is decreased. To do. The predetermined height position is a position above the front end of the guide member 8 by a predetermined height. And if the raising / lowering control part 108 passes the front-end | tip of the guide member 8, it will set the holding | maintenance part 18 to medium speed. The raising / lowering control unit 108 keeps the holding unit 18 at a medium speed near the transfer point, and reduces the holding unit 18 at a low speed near the stop position at the transfer point.

  As shown in FIG. 7B, the elevation control unit 108 starts to raise the holding unit 18 at a low speed, and after passing near the transfer point, sets the speed to a medium speed up to the tip of the guide member 8. When the lifting control unit 108 passes the tip of the guide member 8, the lifting control unit 108 accelerates the holding unit 18 to increase the speed. By such control, the contact between the holding portion 18 and the guide member 8 can be suppressed.

  When the holding unit 18 is stopped at the transfer point and the detection signal is not output from the sensor 22, the elevation control unit 108 performs fine adjustment of the height of the holding unit 18. The elevation control unit 108 performs fine adjustment of the height of the holding unit 18 until a detection signal is output from the sensor 22.

  The teaching unit 110 applies the machine difference correction value to the teaching data, and corrects the stop position of the holding unit 18 at the transfer point. Specifically, when the receiving unit 100 receives a transfer command from the host controller 3, the teaching unit 110 acquires transfer point data included in the transfer command, and teaching data and machine difference correction corresponding to the transfer point data are acquired. The value is read from the point storage unit 102. The teaching unit 110 calculates a stop position at the transfer point based on the read teaching data and the machine difference correction value. The teaching unit 110 outputs the calculated stop position to the elevation control unit 108.

  The interlock unit 112 inquires of the conveyor controller 4 whether or not the transferred object L can be transferred at the transfer point. When the holding unit 18 stops at the transfer point, the interlock unit 112 outputs stop information indicating that the holding unit 18 has stopped at the transfer point to the communication unit 24. Thereby, communication with the communication unit 6 is performed via the communication unit 24. When interlock information is received from the conveyor controller 4 via the communication unit 6 in response to outputting the stop information via the communication unit 24, the interlock unit 112 starts to transfer the object L to be transferred. Let

  Next, the operation of the transport vehicle system 1 will be described. FIG. 8 is a sequence diagram illustrating the operation of the transport vehicle system. In the following description, an operation of transferring the object L to the transfer point by the ceiling transfer vehicle 7b will be described as an example. As shown in FIG. 8, the host controller 3 transmits a transport command to the ceiling transport vehicle 7b (step S01). Next, the receiving unit 100 of the ceiling transport vehicle 7b receives the transport command transmitted from the host controller 3 (step S02). Then, the travel point acquisition unit 104 acquires a transfer point included in the transport command (step S03).

  Subsequently, the travel point acquisition unit 104 refers to the table of the point storage unit 102 in which the travel point and the transfer point are associated with each other based on the acquired transfer point, and identifies the travel point (step S04). When the travel point is specified, the teaching unit 110 corrects the stop position of the holding unit 18 at the transfer point (step S05). Specifically, the teaching unit 110 reads from the point storage unit 102 teaching data corresponding to the transfer point included in the transport command and the machine difference correction value. When there is a machine difference correction value, the teaching unit 110 corrects the teaching data with the machine difference correction value, and corrects the stop position of the holding unit 18 at the transfer point. That is, the encoder value of the motor of the elevating unit 16 is corrected. Thereby, an encoder value (amount of feeding of the belt 20) corresponding to the ceiling conveyance vehicle 7b is set.

  When the stop position at the transfer point and the travel point are specified, the travel control unit 106 travels the ceiling transport vehicle 7b to the travel point and stops at the travel point (step S06). When the ceiling transport vehicle 7b stops at the travel point, the lifting control unit 108 controls the motor of the lifting unit 16 to lower the holding unit 18 (step S07). Specifically, the holding unit 18 is lowered so that the stop position is corrected by the teaching unit 110. When the holding unit 18 moves down to the transfer point and stops, the sensor 22 detects the shielding plate 9 (step S08). The lift control unit 108 performs fine adjustment of the stop position of the holding unit 18 when the sensor 22 does not detect the shielding plate 9. And the raising / lowering control part 108 determines the transfer position of the to-be-conveyed object L, when the detection signal which shows having detected the shielding board 9 from the sensor 22 is received (step S09).

  Subsequently, the interlock unit 112 inquires of the conveyor controller 4 through the communication unit 24 whether or not the transferred object L can be transferred at the transfer point. In response to this, the conveyor controller 4 determines whether the transferred object L can be transferred at the transfer point (step S10). When the controller 26 receives a signal indicating that transfer is possible at the transfer point from the host controller 3, the controller 26 causes the transfer object L to be transferred at the transfer point (step S <b> 11).

  As described above, in the present embodiment, the ceiling transport vehicle 7a among the plurality of ceiling transport vehicles 7a, 7b, and 7c performs teaching at the height level of all transfer points. That is, the teaching unit 110 of the ceiling transport vehicle 7a acquires the height positions at which the holding unit 18 stops at all transfer points. And the teaching part 110 transmits the teaching data of all the transfer points to the high-order controller 3, and the high-order controller 3 transmits teaching data to the other overhead conveyance vehicles 7b and 7c. Thereby, the controller 26 of the ceiling conveyance vehicles 7b and 7c can grasp | ascertain the height position of all the transfer points.

  The teaching unit 110 performs height level teaching at a predetermined (for example, one) transfer point and acquires machine difference data. Then, the teaching unit 110 compares the teaching data and the machine difference correction data, acquires a difference between the teaching data and the machine difference correction data, and registers the difference as a machine difference correction value. Thereby, even if teaching of the transfer point is not performed in all the ceiling transport vehicles 7a, 7b, 7c, by applying the machine difference correction value to the teaching data, the individual difference of each ceiling transport vehicle 7a, 7b, 7b. Even if there is, it is possible to obtain an accurate stop position of the holding unit 18 at the transfer point according to the own machine. Therefore, in the transport vehicle system 1, an accurate stop position at the transfer point can be efficiently obtained for each of the ceiling transport vehicles 7a, 7b, 7c. Note that the teaching data of all transfer points acquired by the teaching unit 110 of the ceiling transport vehicle 7a may be transmitted to an external device different from the host controller 3 and then transmitted to the ceiling transport vehicles 7b and 7c. Alternatively, it may be transmitted directly from the ceiling transport vehicle 7a to the ceiling transport vehicles 7b and 7c.

  In this embodiment, based on the travel point data acquired based on the transfer point data and the above-described machine difference correction value calculated from the teaching data and the machine difference correction data, The transfer position, that is, the stop position on the rail 5 of the ceiling conveyance vehicles 7a, 7b, and 7c and the stop position of the holding unit 18 at the transfer point are determined. As described above, in the transport vehicle system 1, since the stop position of the holding unit 18 is set using the machine difference correction value set for each of the ceiling transport vehicles 7a, 7b, 7c, transfer points are provided in a plurality of stages. Even if it is the case, the position which stops the holding | maintenance part 18 in each transfer point can be set correctly for every ceiling conveyance vehicle 7a, 7b, 7c. Therefore, in the transport vehicle system 1, an accurate transfer position can be set.

  In the present embodiment, the point storage unit 102 associates a plurality of transfer point data indicating transfer points with travel point data indicating stop positions on the rails 5 of the ceiling transport vehicles 7a, 7b, and 7c. Table. The host controller 3 transmits the transfer point data to the ceiling transport vehicles 7a, 7b, 7c as a transport command, and the travel point acquisition unit 104 acquires travel point data based on the transfer point data. A plurality of transfer points may be provided at the traveling points RP1 to RP6 of the ceiling transport vehicles 7a, 7b, and 7c. In such a case, if the travel point data RP1 to RP6 are associated with the transfer point data, the information amount of the travel point data RP1 to RP6 increases, and thus the information amount of the table increases. Therefore, the amount of information can be reduced by using a table in which transfer point data is associated with travel point data. Further, since the host controller 3 transmits only the transfer point data, the data amount of the transport command to be transmitted can be reduced.

  In the present embodiment, the guide member 8 that guides the holding portion 18 in the up and down direction is provided. The holding unit 18 is raised and lowered by winding and unwinding the belt 20. For this reason, blurring may occur in the left-right direction (horizontal direction) during elevation. Therefore, by providing the guide member 8 that guides the holding portion 18 in the up-and-down direction, it is possible to suppress the holding portion 18 from being shaken at the transfer point.

  In the present embodiment, the elevation control unit 108 decelerates the descending speed of the holding unit 18 when the holding unit 18 enters the guide member 8. The blurring of the holding part 18 becomes conspicuous as the ascending / descending speed increases. Therefore, it is possible to suppress the holding portion 18 from coming into contact with the guide member 8 by decelerating the descending speed of the holding portion 18 when entering the guide member 8.

  In the present embodiment, the shielding member 9 is disposed on the guide member 8 at a portion corresponding to the position where the holding portion 18 should stop at the transfer point. The ceiling transport vehicles 7a, 7b, and 7c include a sensor 22 that detects the shielding plate 9, and when the shielding plate 9 is detected by the sensor 22, the transfer object L is transferred to and from the transfer point. . Thereby, the stop position of the holding | maintenance part 18 in a transfer point can be pinpointed more correctly. Therefore, the transferred object L can be accurately transferred.

  The present invention is not limited to the above embodiment. For example, in the above-described embodiment, the configuration in which three ceiling transport vehicles 7a, 7b, and 7c are provided has been described as an example, but the number of ceiling transport vehicles may be set as appropriate. Further, the number of travel points may be set as appropriate.

  DESCRIPTION OF SYMBOLS 1 ... Carrier vehicle system, 3 ... Host controller, 5 ... Rail (track), 7a, 7b, 7c ... Ceiling carrier, 8 ... Guide member, 9 ... Shield plate, 22 ... Sensor (detection means), 26 ... Controller, L: Conveyed object.

Claims (5)

A track arranged on the ceiling side;
A plurality of transport vehicles traveling on the track;
A host controller that transmits a transport command to the transport vehicle, and a transport vehicle system that transfers an object to be transferred to a transfer point,
The transfer point is provided in a predetermined number of stages in the vertical direction below the track,
The upper controller transmits the transport command including transfer point data indicating the transfer point to the transport vehicle,
Each of the plurality of transport vehicles is
While holding the object to be transported, a lifting platform provided so as to be capable of moving up and down;
A controller for controlling the operation of the transport vehicle,
The controller is
The transfer point data and travel point data indicating a position where the transport vehicle stops on the track when performing transfer at the transfer point are held, and a predetermined number of the plurality of transfer points are stored in the travel point data. It has a table linked with loading point data,
The travel point data acquired from the table based on the transfer point data included in the transport command,
Reference data that is preset for each transfer point and indicates the stop position of the elevator at the transfer point;
The transfer position of the object to be transferred is determined based on the difference data indicating the stop position of the lifting platform at the transfer point that is set in advance for each transfer vehicle and detected by the own machine for each transfer vehicle. A carrier system characterized by deciding.   The controller compares the reference data and the machine difference data to calculate a difference in the stop position of the elevator, and sets the stop position of the elevator at the transfer point based on the difference. The transport vehicle system according to claim 1.   The transport vehicle system according to claim 1, further comprising a guide member that guides the lifting platform along a lifting direction.   The transport vehicle system according to claim 3, wherein the controller decelerates a descending speed of the lifting platform when the lifting platform enters the guide member. In the guide member, a shielding portion is arranged at a portion corresponding to a position where the lifting platform should stop at the transfer point,
The transport vehicle includes detection means for detecting the shielding part,
5. The transport vehicle system according to claim 3, wherein the controller transfers the object to be transported when the shielding unit is detected by the detection unit.

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