JPH0847111A - Conveying system - Google Patents

Abstract

PURPOSE:To eliminate the increase in the cost of a sensor even if the scale of a conveying system is increased and the increase in the time of the regulation and maintenance of the sensor and to further suppress the stray or erroneous travel of a conveying vehicle. CONSTITUTION:Linear position sensor scales 50 are provided at respective control zones which are previously partitioned to be set. A linear position sensor scale detector 51 for detecting the scale 50, a position and speed calculator 52 for calculating the position and the speed of a conveying vehicle 7 on the basis of information from the detector 51, and an interface 53 in a linear motor controller 26 for the calculated result of the calculator 52 are provided in the vehicle 7. An interface 54 for receiving a signal transmitted from the interface 53 of the vehicle 7 is provided in the controller 26.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates generally to a transport system for transporting small items, and more particularly to a transport system for controlling the travel of a plurality of transport vehicles that are driven by inertia by being given a propulsive force by a linear motor.

[0002]

2. Description of the Related Art In recent years, office automation (O
A), as part of factory automation (FA), etc., slips, documents,
It is widely practiced to transport cash, materials, workpieces or parts using a transport system.

The transport system used for such transport is required to be able to transport the transported product quickly and quietly. Therefore, in this type of transfer system, a method of supporting the transfer vehicle on the guide rail in a non-contact manner is often adopted. Air and magnetism are generally used to support the carrier without contact. Among these, the method of magnetically supporting the transport vehicle is excellent in followability to the guide rail and noise reduction effect, and can be said to be the most promising support method.

Further, in such a conventional conveying system, for example, JP-A-63-148803 and JP-A-63-148803 are used.
As described in Japanese Patent No. 157602, a transport vehicle for transporting an object to be transported, a plurality of stations having a function of loading and unloading a transport object transported by the transport vehicle, and a plurality of these stations. It is provided between the stations, and is provided with a transport path along which the transport vehicle travels, and a transport control device that controls the travel of each transport vehicle and controls the assignment of the transport vehicle to a transport request from each station. Therefore, when a transport request is sent from each station, the transport control device monitors this and sequentially assigns the waiting transport vehicles, so that the transport processing between multiple stations is automatically performed. I am trying to do it.

FIG. 7 is a schematic diagram for explaining the configuration of such a conventional transport system as a whole. This system is of the magnetic levitation type, and the transport vehicle travels along the transport path in a floating state.

As shown in FIG. 7, the transport path 1 is laid along a predetermined transport path. The transport path 1 includes a linear track unit 2, a curved track unit 3, a curved branch unit 4,
It is configured as a combination of the right-angle branching unit 5, the rotary branching unit 6 and the like, and can cope with various layouts of the transport path. A single or a plurality of transport vehicles 7 can run along these transport paths 1, transporting articles between a plurality of transfer stations 8 and charging the transport vehicles 7 at a charging station 9. Each transfer station 8 and each charging station 9 are integrated with the right-angle branching unit 5, and the transport vehicle 7 loads / unloads the transported object at a point separated from the transport path in the width direction of the transport vehicle by a distance equal to or more than the vehicle width. Loading and unloading or charging is performed, during which another transport vehicle 7 can pass in front of the station. A stocker station 10 for loading and unloading articles from a warehouse (not shown) and a maintenance station 11 for maintenance and inspection of the transport vehicle 7 are also installed.

The operation control of the carrier vehicle 7 within each branch line and the management of the transported object are controlled by the local controller 12 arranged for each branch line. FIG. 8 is a block diagram showing the configuration of the control system of the transport system in FIG.

The control device 13 in FIG. 7 controls the operation of the transport vehicle on the main line and the operation of the transport vehicle of the entire system, manages the flow of the transported object, and manages the charge of the transport vehicle. Consists of a transfer control controller 21. The control system of the conventional transfer system includes a transfer station controller 22, a charging station controller 23, a maintenance station controller (not shown), and a stocker station controller (not shown).
Each is a single or a plurality, and the transport integrated controller is based on the upper LAN (local area network) 24
It is connected with 21. In addition, the transfer control controller 21
Is connected to a physical distribution management system 25, and a plurality of linear motor controllers 26 are connected to the local controller 20 by a lower LAN 27.

The transport controller 21 for managing the entire transport device receives a transport request from the transfer station (8 in FIG. 7) and sends information to the physical distribution management system 25. A physical distribution management system 25, such as a production management system in a manufacturing factory, determines the destination of the transported object and returns information such as a preceding instruction and a transportation instruction to the transportation control controller 21.

Upon receipt of this information, the transport control controller 21 gives a load instruction, a start instruction, a unload instruction to the local controller 20 related to the transport request. Upon receiving these instructions, the local controller 20 controls the transfer device 28 via the corresponding transfer station controller 22 to transfer the transferred object to the transfer vehicle 7 or reverse transfer, Further, the inverter 29 is driven via the linear motor controller 26 to excite the linear motor 30 to start and drive the transport vehicle 7.

Both the transport vehicle 7 having an object to be transported and the empty transport vehicle 7 are accelerated by the linear motor controller 26 and the linear motor 30 via the inverter 29 according to a predetermined traveling pattern according to the output signal of the passage / passage speed detection sensor 31.・ Slow down. The movement of the transport vehicle 7 is determined by the passage / passage speed detection sensor 31 arranged at a required position on the transport path (1 in FIG. 7).
Alternatively, it is monitored by the vehicle identification code detection sensor 32, and is monitored by the vehicle detection sensor 33 in stations such as a transfer station (8 in FIG. 7) and a charging station (9 in FIG. 7).

Information of the vehicle identification code detection sensor 32 and the vehicle detection sensor 33 is transmitted to the transportation control controller 21 as location information of the transportation vehicle. A terminal 34 and a bar code reader 35 are connected to each transfer station controller 22, and an operator can operate the terminal 34 and the bar code reader 35 to issue a transportation request.

Further, each charging station controller 23
And each transfer station controller 22 has a charging device.
36 and an interface 37 are provided, which receive a vehicle number information from the transport vehicle 7 and a signal such as a need to charge a storage battery mounted therein, and in response to an instruction from the transport integrated controller 21, a charging station controller 23 and a transfer station controller 22. Can control the charging device 36 to charge the transport vehicle 7.

Further, in the above-mentioned transport system, the stators of the linear motors 30 are dispersedly arranged along the guide rails on which the transport vehicle 7 travels, and the mover is attached to the transport vehicle 7 side to transport the transport vehicle. When 7 approaches the linear motor 30, the linear motor 30 is excited to control acceleration, deceleration, stop and the like.

In order to efficiently drive a plurality of carrier vehicles 7, the stators of the linear motors 30 are arranged in a distributed manner along the guide rails on which the carrier vehicles 7 travel, and the stators are divided so as to include one stator. The local controller 20 or the transfer control controller 21 that issues a command regarding the traveling of the transfer vehicle 7 for each control zone is a so-called upper control unit,
A sensor for detecting the position and speed of the transport vehicle 7 for each control zone, and a self-control zone based on commands from the same-type control unit and a higher-level control unit of a plurality of control zones provided in each control zone, which are provided for each control zone. The linear motor controller 26 for controlling the traveling of the internal transportation vehicle 7 is provided as a so-called subordinate control unit so that the transportation vehicle 7 can be continuously accelerated and decelerated in a plurality of control zones.

FIG. 9 is a diagram showing the relationship among the linear motor controller 26, the passage / passage speed detection sensor 31, the conveyance vehicle identification code detection sensor 32, and the conveyance vehicle 7 in the control system configuration of the conveyance system in FIG. is there.

The transport vehicle 7 includes a passage / passage speed detection sensor.
A passage / passage speed detection mark 40 is provided corresponding to 31. This enables the linear motor controller 26
Is capable of detecting the speed of the transport vehicle 7 over the entire length of the linear motor 30.

Further, the transport vehicle 7 is provided with a transport vehicle identification mark 41 corresponding to the transport vehicle identification code detection sensor 32. This enables the linear motor controller 26
Immediately before entering the linear motor 30, the transport vehicle number (vehicle number) of the transport vehicle 7 can be recognized, and control such as acceleration, deceleration, and stop can be selected based on the recognized transport vehicle number.

In the transport system configured as described above, a host controller for issuing a command relating to traveling of the transport vehicle 7 and a passage / passage speed detection sensor for detecting the position and velocity of the transport vehicle 7 for each control zone. 31 and a guided vehicle identification code detection sensor 32 for detecting the guided vehicle number of the guided vehicle 7 are provided, and within the own control zone based on commands from the same-type control unit and a higher-order control unit of a plurality of control zones in the traveling direction of the guided vehicle. The linear motor controller 26 that controls the traveling of the carrier vehicle 7 of
By providing it as a so-called lower control unit, the load of the upper control unit can be reduced even when the scale of the transfer system increases and the transfer frequency increases, and moreover, the collision and interference between the transfer vehicles can be prevented and smoothed. It is possible to drive the car.

[0020]

However, when the scale of the above-mentioned conventional transport system becomes large, the following problems may occur. (1) As the number of linear motor controllers increases, the number of passage / passage speed detection sensors that detect the position and speed of the transport vehicle and the number of transport vehicle identification code detection sensors that detect the transport vehicle number of the transport vehicle increase. As a result, the cost of the sensor increases and the time required for adjusting and maintaining the sensor also increases.

(2) As the number of linear motor controllers increases, the number of transport vehicle identification code detection sensors also increases, and there is a greater risk that the transport vehicle may stray or run erroneously due to erroneous sensor detection.

Therefore, the present invention has been made in view of the above problems, and increases the cost of the sensor and the time required for adjusting and maintaining the sensor even when the scale of the transfer system is increased. It is an object of the present invention to provide a transport system that does not have the above-mentioned problems and does not increase the risk of erroneous runaway of a transport vehicle.

[0023]

In order to achieve the above-mentioned object, a transport system of the present invention comprises a transport vehicle for transporting an object to be transported and a plurality of loading and unloading the transport objects to be transported by the vehicle. A transport having a station, a transport path that is laid between the plurality of stations and on which the transport vehicle travels, and a transport control unit that controls traveling of the transport vehicle and assigns the transport vehicle to a transport request from the station. In the system, the transfer control unit is provided in each control zone and a higher-level control unit that generates a command regarding traveling of the traveling vehicle for each preset control zone, and a signal transmitted from the transport vehicle is provided. A lower control unit having a receiving means for receiving, and controlling the traveling of the carrier vehicle in the own control zone based on a command from the upper control unit; and the upper control unit. The transport vehicle has an interface unit for transmitting and receiving commands between the lower control units, the transport vehicle detects a position and a speed of the own vehicle, and a signal detected by the detection unit is a lower control unit of the transport control unit. And a transmitting means for transmitting to.

[0024]

In the transport system of the present invention having such a configuration, the transport vehicle itself can detect the position and speed of the transport vehicle, and each control zone preset in advance along the transport path along which the transport vehicle travels. It is not necessary to provide a sensor for detecting the position and speed of the transport vehicle.

Further, the carrier number can be set by the carrier itself, and it is not necessary to provide a carrier identification code detection sensor for detecting the carrier number of the carrier for each control zone.

Therefore, even if the scale of the transport system is increased, the cost of the sensor is not increased, the time required for the adjustment and maintenance of the sensor is not increased, and the stray or erroneous movement of the transport vehicle due to the erroneous detection of the sensor is caused. It does not increase the risk of running.

[0027]

An embodiment of the present invention will be described below with reference to the drawings. The same reference numerals as those in FIGS. 5 to 7 denote the same elements. In FIG. 1, the stator of the linear motor 30 is arranged along a guide rail (not shown) for traveling the transport vehicle 7, and the guide is provided for each control zone divided so as to include the stator of the linear motor 30. A linear position sensor scale 50 is provided along the rail. Further, the transport vehicle 7 has a position / speed calculator 52 for calculating the position / speed of the transfer vehicle 7 together with the information from the detector 51 of the linear position sensor scale 50 and the detector 51 of the linear position sensor scale 50. And an interface 53 for transmitting the position / speed information of the carrier 7 calculated by the position / speed calculator 52 to the linear motor controller 26, which is a lower-order control unit of the carrier system. Further, the linear motor controller 26 has an interface 54 for receiving the position / speed information of the transport vehicle 7 transmitted from the interface 53 of the transport vehicle 7.
Is provided.

Next, the operation of this embodiment will be described.
Now, consider a case where the carrier vehicle 7 enters a control zone that is divided so as to include the stator of the linear motor 30. A linear position sensor scale detector 51 provided on the transport vehicle 7 detects the linear position sensor scale 50 provided along the guide rail, and outputs a pulse train as shown in FIG. The calculator 52 that calculates the position / speed of the carrier 7 calculates the speed of the carrier 7 from the count value of the number of pulses per constant time based on the information of this pulse train, and the number of pulses from the start of detection by the sensor. The position of the transport vehicle 7 is calculated from the cumulative value of. The calculated information on the position and speed of the transport vehicle 7 is transmitted from the interface 53 to the interface 54 provided in the linear motor controller 26.

The linear motor controller 26 controls the transport vehicle 7 such as acceleration, deceleration, stop, etc. based on the received information on the position and speed of the transport vehicle 7. In this embodiment,
The position / speed is calculated by the calculator 52 that calculates the position / speed of the carrier 7. However, only the pulse train may be counted on the side of the carrier 7 and the position / speed may be calculated on the side of the linear motor controller 26. Alternatively, the pulse train count and speed calculation may be performed on the transport vehicle 7 side, and the position calculation may be performed on the linear motor controller 26 side. Further, the calculator 52 for calculating the position / speed of the carrier vehicle 7 outputs the pulse train of B with a phase difference with respect to the output of the A pulse train. Therefore, the traveling direction of the carrier vehicle 7 is detected by this phase difference. It may be configured as follows.

The linear position sensor scale 50 and the linear position sensor scale detector 51 include an optical linear encoder, a laser linear encoder, a magnetic linear encoder, an induct thin (electromagnetic induction type) or an electrostatic linear encoder. A capacitive linear encoder or the like can be used.

Next, another embodiment of the present invention will be described with reference to FIG. In FIG. 3, the stator of the linear motor 30 is arranged along a guide rail (not shown) that travels the transport vehicle 7, and the guide rail is divided for each control zone including the stator of the linear motor 30. Multiple position / speed detection marks 60A-60C
Is provided. Further, the transport vehicle 7 includes the position / speed detection mark detectors 61A and 61B, and the mark detector 61A and 61B.
A calculator 62 that calculates the position and speed of the carrier vehicle 7 based on the information from 61B, and the position and speed information of the carrier vehicle 7 that is calculated by this calculator 62 are the lower-level control unit of the carrier system. Interface to send to linear motor controller 26
63 and are provided.

Further, the linear motor controller 26 has an interface 64 for receiving the position / speed information of the transport vehicle 7 transmitted from the interface 63 of the transport vehicle 7.
Is provided.

Next, the operation of this embodiment will be described with reference to FIGS. Now, consider a case where the carrier vehicle 7 enters a control zone that is divided so as to include the stator of the linear motor 30. First, the position / speed detection mark detector 61A provided on the transport vehicle 7 detects the position / speed detection mark 60A provided along the guide rail, and then the transport vehicle 7 advances to detect the position / speed. The detection mark detector 61B detects the position / speed detection mark 60A. The position / speed calculator 62 for calculating the position / speed of the transport vehicle 7 is provided with a time difference T and a position / speed at which the detectors 61A and 61B of the position / speed detection marks 60A to 60C detect the position / speed detection mark 60A. Installation distance L of detectors 61A and 61B for detection marks 60A to 60C
From this, the speed V of the transport vehicle 7 is calculated from V = L / T, and this section calculation is repeated for the position / speed detection marks 60A and 60C to calculate the section average speed.

Further, the position of the transport vehicle 7 is calculated by the product of the cumulative value of the elapsed time from the start of detection by the sensor and the speed.
The calculated position / speed information of the carrier vehicle 7 is transmitted from the interface 63 to the interface 64 provided in the linear motor controller 26. The linear motor controller 26 controls the transport vehicle 7 such as acceleration, deceleration, and stop based on the received information on the position and speed of the transport vehicle 7.

In this embodiment, both the position and the speed are calculated by the calculator 62 which calculates the position and the speed of the carrier vehicle 7. However, only the position / speed detecting marks 60A to 60C are detected on the side of the carrier vehicle 7. The linear motor controller 26 side may calculate the position / speed, or the transport vehicle 7 side may calculate the speed and the linear motor controller 26 side may calculate the position.

Position / speed detection marks 60A-60C
An optical sensor, a laser sensor, a magnetic sensor, a capacitance sensor, or the like can be used for the detectors 61A and 61B.

Next, another embodiment of the present invention will be described with reference to the drawings. In FIG. 5, the stator of the linear motor 30 is arranged along a guide rail (not shown) on which the transport vehicle 7 travels, and the control zone is divided so as to include the stator of the linear motor 30. Further, the vehicle 7 is provided with a speed detector 70 for directly detecting the speed of the vehicle.
And a position / speed calculator 71 that calculates the position / speed of the carrier vehicle 7 based on the information from the speed detector 70, and the calculated position / speed information of the carrier vehicle 7 as a subordinate control of the carrier system. An interface 72 for transmitting to the linear motor controller 26, which is a part thereof, is provided. Further, the linear motor controller 26 is provided with an interface 73 for receiving the position / speed information of the transport vehicle 7 transmitted from the interface 72 of the transport vehicle 7.

Next, the operation of this embodiment will be described.
Now, consider a case where the carrier vehicle 7 enters a control zone that is divided so as to include the stator of the linear motor 30. First, a speed detector 70 that directly detects the speed of the carrier 7 provided on the carrier 7 detects the speed of the carrier 7, and calculates the position of the carrier 7 from the integrated value of the speed from the start of detection by the sensor. To do. The calculated position / speed information of the carrier vehicle 7 is transmitted from the interface 72 to the interface 73 provided in the linear motor controller 26. The linear motor controller 26 detects the position of the received vehicle 7.
Control of acceleration, deceleration, stop, etc. is performed on the transport vehicle 7 based on the speed information.

In this embodiment, the position / speed calculator 71 of the carrier vehicle 7 detects the speed and the position. However, only the speed is detected on the carrier 7 side and the position is calculated on the linear motor controller 26 side. May be.

The velocity detector 70 may be of a spatial filter type, a laser Doppler type, an electromagnetic induction type or the like. Next, another embodiment of the present invention will be described with reference to the drawings.

In FIG. 6, the stator of the linear motor 30 is arranged along a guide rail (not shown) for traveling the transport vehicle 7, and the control zone is divided so as to include the stator of the linear motor 30. There is. Further, the vehicle number setting device 80 for setting the vehicle number and the vehicle number setting device 80
Information of the transport vehicle number of the transport vehicle 7 set by the linear motor controller, which is a lower-order control unit of the transport system.
An interface 81 for sending to 26 is provided.
Further, the linear motor controller 26 is provided with an interface 82 that receives information on the transport vehicle number of the transport vehicle 7 transmitted from the interface 81 of the transport vehicle 7.

Next, the operation of the present invention will be described. Now, consider a case where the carrier vehicle 7 enters a control zone that is divided so as to include the stator of the linear motor 30. First, a car number setter for setting the car number provided on the carrier 7.
The information of 80 is transmitted from the interface 81 to the interface 82 provided in the linear motor controller 26. The linear motor controller 26 selects acceleration, deceleration, stop or the like for the transport vehicle 7 based on the received information on the transport vehicle number of the transport vehicle 7.

A dip type switch, a rotary type switch or the like can be used as the vehicle number setting device 80 for setting the number of the guided vehicle. Further, the interfaces 53, 54, 63, 64, 72, 73, and
As for 81 and 82, those capable of transmitting information in a non-contact manner such as radio waves, infrared rays and lasers can be used.

In all of the above-mentioned embodiments, the case of controlling the levitation type carrier vehicle has been described, but for other similar systems such as a wheel traveling type self-propelled vehicle and a wheel traveling type linear motor car. The present invention is also applicable.

[0045]

As described above, according to the present invention, the position and speed of the carrier can be detected by the carrier itself, and the stator of the linear motor can be installed along the guide rails on which the carrier travels. It is not necessary to provide a passage / passage speed detection sensor for detecting the position and speed of the transport vehicle for each control zone that is distributed and is divided so as to include one stator. Further, the carrier number can be set by the carrier itself, and it is necessary to provide a carrier identification code detection sensor for detecting the carrier number of the carrier for each control zone divided so as to include one stator. Absent.

Therefore, even if the scale of the transport system is increased, the cost of the sensor is not increased, the time required for the adjustment and maintenance of the sensor is not increased, and further, the stray or erroneous movement of the transport vehicle due to the erroneous detection of the sensor. This has the effect of not increasing the risk of running.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention.

FIG. 2 is a diagram for explaining the operation of the embodiment of the present invention shown in FIG.

FIG. 3 is a schematic configuration diagram showing another embodiment of the present invention.

FIG. 4 is a diagram for explaining the operation in another embodiment of the present invention shown in FIG.

FIG. 5 is a schematic configuration diagram showing another embodiment of the present invention.

FIG. 6 is a schematic configuration diagram showing another embodiment of the present invention.

FIG. 7 is a schematic configuration diagram showing a conventional transport system.

8 is a block diagram showing a configuration of a control system in the transport system shown in FIG.

9 is a block diagram showing a relationship between a carrier vehicle and sensors in the control system shown in FIG.

[Explanation of symbols]

1 ... Transport path, 7 ... Transport vehicle, 8 ... Transfer station, 9 ...
Charging station, 10 ... Stocker station, 11 ... Maintenance station, 12 ... Local controller,
13 ... Control device, 50 ... Linear position sensor scale, 51 ... Linear position sensor scale detector, 52, 62, 71 ... Position / speed calculator, 53, 54, 63, 64, 72, 73, 81, 82 ... Interface , 60A, 60B, 60C ... Position / speed detection mark, 61A, 61B, 61C ... Mark detector, 70 ... Speed detector, 80 ... Vehicle number setting device

Claims (3)

[Claims] 1. A transport vehicle for transporting an object to be transported, a plurality of stations for loading and unloading the target object to be transported by the vehicle, and a transport provided by the plurality of stations and traveling by the vehicle. In a transport system having a road and a transport control unit that performs traveling control of the transport vehicle and assignment control of the transport vehicle in response to a transport request from the station, the transport control unit is configured for each of the preset control zones. An upper control unit that generates a command regarding traveling of the traveling vehicle, and a receiving unit that is provided for each of the control zones and that receives a signal transmitted from the transport vehicle, are provided based on the command from the upper control unit. A lower control unit for controlling the traveling of the carrier vehicle in a control zone, and an interface unit for transmitting and receiving commands between the upper control unit and the lower control unit, Okukuruma the detecting means for detecting the position and speed of the vehicle,
And a transmission unit that transmits the signal detected by the detection unit to a subordinate control unit of the conveyance control unit. 2. The transport path has a position scale indicating the position of the transport vehicle, and the detection means of the transport vehicle detects the position scale, and based on the detected data, detects the position and speed of the vehicle. The transport system according to claim 1, wherein the transport system is operated. 3. The transport vehicle has a setting means for setting a transport vehicle number and a transmitting means for transmitting the transport vehicle number set by the setting means to the subordinate control unit. The transport system described.