JPH0881013A - Initial learning method and system for conveyor - Google Patents

Abstract

PURPOSE: To shorten the time for carrying out a travel learning and an elevation learning by carrying out the elevation learning for storing the elevation data of the elevation device of each station in a storage device after a travel learning stored in the storage device of each conveyor is carried out. CONSTITUTION: An operation controller decides whether each conveyor finishes a travel learning and an elevation learning or not (step S1), and decides whether only the travel learning is finished or not, if not finished (step S2). When the travel learning is not finished either, a travel learning command signal is output to each conveyor (step S3). Then, the operation controller decides whether the travel learning of each conveyor is finished or not (step S4) and stops the output of the travel learning command signal. if finished (step S5) and outputs the elevation learning command signal of each conveyor (step S6). Then, the operation controller decides whether the elevation learning of the conveyor is finished or not (step S7), and stops the output of the elevation learning command signal if finished and completes a learning command processing (step S8).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an initial learning method and an initial learning of a carrier device in a carrier system in which a plurality of carrier devices equipped with a lifting device are operated between a plurality of stations provided along a predetermined traveling path. It is about the system.

[0002]

2. Description of the Related Art Conventionally, as a transportation system (physical distribution system) using an unmanned vehicle (transportation device), a plurality of stations are provided along a running path of the unmanned vehicle, and the load is transferred between the stations through a plurality of unmanned vehicles. A system for transporting is carried out. As an unmanned vehicle used in this type of system, there has been proposed a transfer device that moves along a rail installed on a ceiling to transfer a load from a station in a factory or a warehouse to another station (see, for example, Japanese Patent Laid-Open No. Hei 6). -80
No. 389). Further, this type of transport device is equipped with a transported object support means for suspending a transported object such as a load, and is also provided with a lifting device for raising and lowering the transported object support means in a station.

In this type of transport system, as a method of stopping each transport device at a predetermined position corresponding to a station, each transport device stores position data corresponding to the travel distance from the origin position to each station, There is a method in which a control device mounted on the transport device stops the transport device at a predetermined position based on the position data. Then, as the position data, the number of output pulses from the rotary encoder that outputs the pulse signal corresponding to the rotation amount of the traveling wheels during the movement of the transport device from the origin position to the predetermined position is stored in the storage device equipped in the control device. I am letting you. or,
In each station, the elevating device is operated to store elevating data for smoothly elevating the object support means in a short time in the storage device. The number of output pulses from a rotary encoder that outputs a pulse signal corresponding to the rotation amount of the output shaft of the drive motor of the lifting device while the transported object supporting means moves from the origin position to a predetermined position is used as the lifting data. are doing. That is, the conveying device or the elevating device is operated at a high speed up to the vicinity of the target stop position, and then is operated at a low speed to accurately stop at a predetermined position.

However, it is impossible to manufacture the rotary encoders, the diameters of the traveling wheels, and the mounting states of the lifting devices which are mounted on the respective transporting devices, completely identically. Therefore, each carrying device carries out travel learning for learning the origin of the travel path, station position, etc. and ascending / descending learning for storing the ascending / descending data at each station before carrying out work traveling for carrying a load. . In the past, running learning was performed while stopping at each station and performing ascending / descending learning.

[0005]

However, the time required for the ascending / descending learning performed in a state where each station is stopped is longer than the time required for the transport device to move between the stations. Therefore, if the traveling learning is performed while the plurality of transfer devices are performing the ascending / descending learning,
There is a problem that the waiting time of the transport device subsequent to the transport device that is performing the up-down learning becomes long, and it takes a long time to complete the traveling learning and the up-down learning as a whole.

The present invention has been made in view of the above-mentioned problems, and an object thereof is to operate a plurality of transfer devices equipped with a lifting device between a plurality of stations provided along a predetermined traveling path. It is an object of the present invention to provide an initial learning method and an initial learning system for a transport device, which can reduce the time required to perform traveling learning and lifting learning for each transport device.

[0007]

In order to achieve the above-mentioned object, according to the invention as set forth in claim 1, between a plurality of stations provided with a plurality of conveying devices provided with a lifting device along a predetermined traveling path. In the transport system operated by, the traveling learning in which the position of each station is stored in the storage device equipped in each transport device as the data based on the origin of the travel route by running each transport device along the travel route After that, the storage device of each transport device is made to perform the lifting learning for storing the lifting data of the lifting device in each station.

In the invention according to claim 2, the traveling learning is performed after the first learning traveling for learning the origin of the traveling path by causing each of the transport devices to travel along the traveling path. , Perform a second learning run for storing the station position.

According to the invention described in claim 3, claim 1
Alternatively, in the invention according to claim 2, the transportation system is a transportation system in which the traveling path is formed in a closed loop shape, and each transportation device travels around the traveling path in the same direction. Occasionally, the transport device that first passed through the origin first performs ascending / descending learning at the station farthest from the origin, and then performs ascending / descending learning at the next station located on the advancing direction side of the station that has completed the ascending / descending learning. In this way, the transport device subsequent to the transport device is placed on the side opposite to the traveling direction from the station where the transport device located in front of the transport device first performs ascending / descending learning.
After performing the ascending / descending learning of the station just before, the ascending / descending learning is performed at the next station located on the traveling direction side from the station where the ascending / descending learning is sequentially completed.

Further, according to the invention described in claim 4, in a transfer system for operating a plurality of transfer devices equipped with a lifting device between a plurality of stations provided along a predetermined traveling path, each transfer device is The origin position detecting means for detecting the origin position, the station detecting means for detecting the position of each station, the traveling amount detecting means, and the traveling amount from the origin position to each station are stored as position data of each station and at each station. Storage means for storing the lifting / lowering data of the lifting / lowering device by the lifting / lowering amount detection means and control means for controlling the traveling of the transporting device and the lifting / lowering of the lifting / lowering device are provided, and prior to the work traveling in which each transporting device performs the work of transporting the load. By causing the control means of each transport device to run each transport device along the traveling path, each storage device is equipped with each storage device. And outputs a command signal for carrying out traveling learning for storing the position of the station as data with the origin of the traveling path as a reference, and after the traveling learning is completed, the lifting data of the lifting device at each station is stored in the storage means of each transport device. An initial learning system for a carrier device provided with an operation management device that outputs a command signal for performing ascending / descending learning for storing the information.

[0011]

According to the first aspect of the present invention, a plurality of transfer devices equipped with the lifting device are operated between a plurality of stations provided along a predetermined traveling path. Travel learning is performed in which the station position is stored in the storage device of the transport device as data with the origin of the travel path as a reference, and elevation learning is performed in which the elevation data of the elevating device at each station is stored in the storage device. Each of the transport devices first travels along the travel path to perform travel learning. After the traveling learning of all the conveying devices is completed, each conveying device travels along the traveling path again, and stops at each station to perform elevating learning. That is, the traveling learning and the ascending / descending learning with different time required for the learning are separately performed, and the waiting time does not increase due to the conventional conveying device waiting for the learning of another conveying device undergoing the ascending / descending learning as in the past. .

According to the second aspect of the invention, in the traveling learning, first, the first learning traveling is performed for each transport device to travel along the traveling path and learn the origin of the traveling path. Next, a second learning run for storing the position of each station is performed.

Further, in the invention according to the third aspect, the traveling path is formed in a closed loop shape, and the respective transport devices travel so as to circulate in the same direction on the traveling path. Then, in the ascending / descending learning, the transport device that first passed through the origin first performs ascending / descending learning at the station farthest from the origin. afterwards,
The transport device sequentially performs up-and-down learning at the next station located on the traveling direction side of the station that has completed up-and-down learning, and completes up-and-down learning at all stations. The transport device subsequent to the transport device first performs the up-and-down learning at the station one side before the station where the transport device located in front performs the up-and-down learning first and on the side opposite to the traveling direction. After that, ascending / descending learning is performed at the next station located on the traveling direction side of the station that has completed the ascending / descending learning, and the ascending / descending learning at all stations is completed.

Further, in the invention described in claim 4, the control means provided in each carrier controls the traveling of the carrier and the elevation of the elevator. The origin position detecting means detects the origin position of the traveling path, and the station detecting means detects each station position. Then, the traveling amount detecting means detects the traveling amount from the origin position to each station, and the value is stored in the storage means as position data of each station. Further, the lifting amount detecting means stores the lifting data of the lifting device in each station in the storage means. Each carrier device performs traveling learning and ascending / descending learning based on a command signal from the operation management device. The operation management device first outputs a command signal for running learning to the control means of each carrier device, and outputs a command signal for up-and-down learning after the completion of running learning for each carrier device.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment embodying the present invention will now be described with reference to FIGS.
It will be described with reference to FIG. As shown in FIG. 3, the transport system 1
The traveling path 2 is formed in a closed loop shape by traveling rails 3 installed on the ceiling, and a plurality of (three in this embodiment) transporting devices 4A to 4C on the traveling rails 3 are in the same direction (arrow A).
Direction). Running rail 3
A plurality of stations (3 in this embodiment) ST along
1 to ST3 are provided. Stations ST1 to ST3
A conveyor (not shown) is provided in each of the conveyors 4A to 4A.
4C is designed to carry out work at each station ST1 to ST3.

The traveling rail 3 is provided with trolley wires for power supply and communication, and as shown in FIG.
A to 4C are supplied with electric power from the trolley line L1 to be used as a power source and can communicate with the operation management device 5 via the trolley line L2 for communication. Further, each of the transport devices 4A to 4C can communicate with each other via the trolley wire L2 for communication. As shown in FIG. 3, the traveling rail 3 is provided with a detected portion for origin D ₀ that indicates the origin of the traveling path 2 (traveling origin) and each station ST.
Detected portion D ₁ to D ₃ are provided at positions corresponding to the 1 ~ST3. For example, a light projecting device is used as each detected part.

As shown in FIG. 4, the conveying devices 4A to 4C are provided with drive wheels 6a and driven wheels 6b as running wheels rolling on the rails 3, and guide wheels 7 for holding the side surfaces of the rails 3 therebetween. The drive wheel 6 a is driven by the traveling motor 8.
The transport devices 4A to 4C are lift devices 1 that lift a lift table 10 suspended via a belt 9 by a lift motor 11.
Equipped with 2.

As shown in FIG. 5, each of the transport devices 4A to 4C.
The controller 13 is provided as a control means. The controller 13 is connected to both the motors 8 and 11 via an inverter 14 and controls the motors 8 and 11 via the inverter 14. The controller 13 has an origin detecting sensor 15 as an origin position detecting means and a station detecting sensor 16 as a station detecting means.
a to 16c are connected. Each sensor 15, 16a
Optical sensors are used for 16c. The origin detection sensor 15 outputs an origin detection signal when detecting the detected part for origin D ₀ , and each of the sensors 16a to 16c detects the detected part D ₁ to D ₁ .
When D ₃ is detected, a station detection signal is output for each. Further, the controller 13 is connected to an elevation origin detection sensor 17 as an elevation origin detection means and a descending position detection sensor 18. Then, the lift origin detection sensor 17 outputs a lift origin detection signal when the lift base 10 is located at the highest lift position (lift lift origin), and the down position detection sensor 18 is used when the lift base 10 is positioned at the lowered position. In addition, a detected portion (not shown) provided in the station is detected and a lowered position detection signal is output.

The controller 13 is connected to a rotary encoder (hereinafter referred to as a travel encoder) 19 as a travel amount detection means and a rotary encoder (hereinafter referred to as a lift encoder) 20 as a lift amount detection means. The traveling encoder 19 is used for each of the transport devices 4A to 4C.
Is configured to output a pulse signal corresponding to the amount of rotation of a measuring wheel (not shown) mounted on the measuring wheel, and the measuring wheel rolls on the side surface of the traveling rail 3 as the transport devices 4A to 4C move. . The lifting encoder 20 is the belt 9 of the lifting device 12.
It outputs a pulse signal corresponding to the rotation amount of a portion that rotates in accordance with the traveling amount of, and is connected to the output shaft of the lifting motor 11, for example.

The controller 13 is provided with a non-volatile memory 21 as a storage means including a RAM (readable and rewritable memory) equipped with a backup battery (not shown). Further, the controller 13 is provided with a first counter 22 that counts the number of output pulses of the traveling encoder 19 and a second counter 23 that counts the number of output pulses of the lifting encoder 20. The non-volatile memory 21 includes a running encoder 1
Travel data such as the number of pulses (station position) from the origin to each of the stations ST1 to ST3, the number of pulses for one round of the travel route (total length of the travel route), etc. output from 9 are stored. These traveling data are used as the transportation devices 4A to 4A for carrying the work of transporting the load.
It is stored at the time of traveling learning performed prior to the work traveling of 4C. In addition, each station ST1 is stored in the nonvolatile memory 21.
In ST3 to ST3, the elevation data, which is the number of pulses from the most elevated position (elevation origin) of the elevator table 10 output from the elevator encoder 20 to the lowered position, is the ST1 to ST stations.
It is stored every three. These ascending / descending data are stored in the ascending / descending learning performed after the traveling learning.

Based on the origin detection signal and the pulse signal from the traveling encoder 19, the controller 13 conveys the conveying device 4A.
Determine the position of ~ 4C. That is, the controller 13 sequentially counts the number of pulses of the pulse signal from the traveling encoder 19 with the traveling origin as a reference to calculate the traveling position of the transport devices 4A to 4C from the traveling origin. This traveling position is controlled by each of the transport devices 4A to 4A via the communication trolley line L2.
4C, and the controller 13 causes each of the transport devices 4A to 4A.
Recognize the traveling position of 4C. And the controller 13
Controls the traveling motor 11 so that the mutual separation distance is maintained at a predetermined amount or more. The controller 13 calculates the position of the lift table 10 from the lift origin by sequentially counting the pulse signals from the lift encoder 20 with the lift origin as a reference.

In the operation management device 5 equipped with a microcomputer, the transport devices 4A to 4C are station stations ST1 to ST, respectively.
When carrying out work traveling for carrying a load between the three, the controller 13 of each of the carrying devices 4A to 4C is instructed about the destination, work content, and the like. In addition, the operation management device 5 includes each transport device 4
A memory 5a is provided as a storage device that stores whether or not A to 4C have completed traveling learning and ascending / descending learning. The operation management device 5 determines whether or not each of the transport devices 4A to 4C has completed both learnings before the work traveling of each of the transport devices 4A to 4C. Then, each of the transport devices 4A to
When 4C has not completed both learnings, operation management device 5
Outputs a traveling learning command signal for causing the controller 13 of each of the transport devices 4A to 4C to perform traveling learning, and also outputs an elevation learning instruction signal for performing elevation learning after the completion of traveling learning.

The traveling learning is divided into three stages of first learning traveling, second learning traveling and third learning traveling. The first learning travel is the detection for the origin D ₀ , that is, the travel for detecting the travel origin. Then, when the traveling origin is detected, the first learning traveling ends and the second learning traveling is started. The second learning travel is a travel for storing the positions of the stations ST1 to ST3 and the total length of the travel path 2 in the nonvolatile memory 21 as the number of output pulses of the travel encoder 19. The second learning travel ends when the transport devices 4A to 4C make one round of the traveling path 2 and again detect the origin detection part D ₀ , and the third learning travel is performed. The third learning travel is a travel for storing the stop distance of the brakes (not shown) of the transport devices 4A to 4C in the nonvolatile memory 21 as the output pulse number of the travel encoder 19. After the end of the second learning travel, the third learning travel ends by traveling around the traveling path 2 and detecting the origin detection part D ₀ again.

[Lifting learning] Each station Station ST
This is a task of storing the number of pulses output from the lifting encoder 20 in the non-volatile memory 21 while the lifting platform 10 is lowered from the lifting origin of 1 to ST3 to the lowered position.

Next, the operation of the transport system 1 configured as described above will be described. Each controller 13 drives and controls both motors 8 and 11 via an inverter 14 based on a command from the operation management device 5. Each of the transport devices 4A to 4C travels on the traveling rail 3 and transports the load between the stations ST1 to ST3. Transport system 1
After the assembling is completed, before each of the transfer devices 4A to 4C performs the work traveling for transferring the load between the stations ST1 to ST3,
Initial learning for storing the traveling data and the elevating / lowering data required for work traveling in the nonvolatile memory 21, that is, traveling learning and elevating / lowering learning is performed.

The sequence and operation of the traveling learning and the ascending / descending learning will be described with reference to the flowcharts of FIGS. 1 and 2. FIG. 1 shows the operation of the operation management device 5, and FIG.
It is a flow chart which shows an operation of. As shown in FIG. 3, in each of the transport devices 4A to 4C, the origin detection part D ₀ is located on the front side in the traveling direction of the transport device 4A, and 4A, 4B, 4A, and
It is assumed that they are stopped in the state of being arranged in the order of C.

After the power is turned on, as shown in FIG. 1, the operation management device 5 determines in step S1 whether or not each of the transport devices 4A to 4C has completed both the traveling learning and the ascending / descending learning. If not, the process proceeds to step S2 and it is determined whether only the traveling learning is completed. Step S2
S3 constitutes an initial learning situation determination step. Then, when the traveling learning is not completed, the process proceeds to step S3 and outputs the traveling learning command signal to each of the transport devices 4A to 4C. Next, the operation management device 5 determines the transport devices 4A to 4C in step S4.
It is determined whether or not the traveling learning of is completed (traveling learning situation determination step). When the traveling learning of the transport devices 4A to 4C is completed, the output of the traveling learning command signal is stopped in step S5,
In step S6, a lifting learning command signal is output to each of the transport devices 4A to 4C. Next, the operation management device 5 determines in step S7 whether or not the lifting / lowering learning of the transfer devices 4A-4C is completed (up / down learning status determination step). When the lifting / lowering learning of each transfer device 4A-4C is completed, in step S8. The output of the lifting / lowering learning command signal is stopped and the learning command processing ends.

If both traveling learning and ascending / descending learning have been completed in step S1, the learning instruction processing is terminated. When the power of the transport system 1 is turned on after the initial learning is completed once after the transport system 1 is assembled,
This is the flow. Further, when only the traveling learning is completed in step S2, the process proceeds from step S2 to step S6, and the operation of step S6 and subsequent steps is performed similarly to the above. After the transport system 1 is assembled, when the learning operation is interrupted when the traveling learning is completed for some reason during the initial learning, this flow is performed.

As shown in FIG. 2, when the controller 13 receives the traveling learning command signal, it outputs a command signal for driving the traveling motor 8 at a predetermined low speed to the inverter 14 in step S11. As a result, each of the transport devices 4A to 4C starts the first learning traveling at low speed in order to confirm the position of the traveling origin. In this first learning traveling, since the traveling is before the traveling origin is detected, the controller 13 does not recognize the traveling origin and determines the position of itself and the position of another transport device traveling on the traveling path 2. I can't recognize it.

The controller 13 then proceeds to step S1.
The origin detection signal is output from the origin detection sensor 15 at 2
If the origin detection signal is input, it will run.
If the origin is detected, the process proceeds to step S13 and the first
The learning traveling is ended, and the second learning traveling is started. That is,
Steps S11 and S12 constitute the first learning traveling process
It At the same time as starting the second learning run, reference the running origin
Of the number of output pulses of the running encoder 19
Is started. That is, the controller 13 detects the origin.
Resets the first counter 22 when a signal is input
It Next, the controller 13 detects the sensor 1 in step S14.
6a to detected part D₁Whether the detection signal of
to decide. If yes, controller 13
Is the cow of the first counter 22 at that time in step S15.
Position value from the travel origin to the station ST1.
The data is stored in the nonvolatile memory 21 as a data. Next contro
The sensor 13b from the sensor 16b in step S16
D₂When the detection signal of is output,
The count value of the first counter 22 at
Non-volatile memory as position data up to station ST2
It is stored in 21. Similarly, the controller 13
From step S18, the sensor 16c to the detected portion D ₃Detection signal
Signal is output, the first call at that time is output in step S19.
The count value of the Unta 22 is changed from the traveling origin to the station ST.
Stored in non-volatile memory 21 as position data up to 3
It

After the completion of the first learning, each controller 13 sets the count number of the first counter 22 representing the current position of each of the transport devices 4A to 4C as position data.
Output to the trolley line L2 for communication. Then, each controller 13 recognizes the position of the other conveying device based on the position data, and controls the traveling motor 8 so as not to approach within a predetermined distance.

Next, in step S20, the controller 13 determines whether or not the origin detection sensor 15 outputs a detection signal of the origin detection target D ₀ . If YES, the controller 13 determines that the second learning travel of the transport devices 4A to 4C is completed, and proceeds to step S21 to start the third learning travel. That is, the first at that time
The count value of the counter 22 is stored in the non-volatile memory 21 as the total length of the traveling path 2, and the first counter 22 is reset. Step S13 to Step S20
Constitutes the second learning traveling step.

When performing the third learning travel, the controller 13 outputs to the inverter 14 a high speed travel command signal for causing the conveyors 4A to 4C to travel at the maximum speed. And
It is determined whether the transport devices 4A to 4C have reached the maximum speed and have passed a predetermined position (step S22). If YES, the controller 13 outputs a stop command in step S23, and stores the number of output pulses from the traveling encoder 19 from the time when the stop command is output to the stop in the non-volatile memory 21 in step S24. This stopping operation is performed in a state where no slip occurs.

Next, in step S25, the controller 13 determines whether or not the origin detection sensor 15 outputs a detection signal of the origin detection target D ₀ . If YES, the controller 13 proceeds to step S26 to reset the first counter 22 and outputs a travel learning completion signal to the operation management device 5. Step S21-
Step S25 constitutes the third learning traveling process. When the controller 13 confirms the input of the up / down learning instruction signal from the operation management device 5 in step S27 (up / down learning instruction confirmation step), the controller 13 proceeds to step S28 (up / down learning step) to perform up / down learning, and after the up / down learning is completed. Then, the up-and-down learning completion signal is output to the operation management device 5 to end the learning operation.

During the ascending / descending learning, the stopping order at the stations ST1 to ST3 is different for each of the transport devices 4A to 4C. The transport device 4A is station ST3 first, then station ST3.
At 1, finally stop at station ST2 respectively.
The carrier 4B first stops at station ST2, then station ST3, and finally at station ST1, and carrier 4C first stops at station ST1, then station ST2, and finally station ST3. That is, the transport device 4A that first passed the traveling origin at the time of ascending / descending learning first performs the ascending / descending learning at the station ST3 which is the farthest position from the traveling origin, and then is located on the advancing direction side from the station where the ascending / descending learning is sequentially completed. Elevation learning is conducted at the next station. Further, the succeeding transfer devices 4B and 4C are the same as the transfer device 4 located in the front.
A and 4B first perform up-and-down learning at a station on the opposite side of the traveling direction from the station where the first up-and-down learning is performed and one station before. After that, ascending / descending learning is performed at the next station located on the traveling direction side of the station where the ascending / descending learning is completed.

The controller 13 is for each of the transport devices 4A to 4C.
Stop at positions corresponding to stations ST1 to ST3. Then, the elevating device 12 is operated in that state, and the count value of the second counter 23 at the time when the elevating table 10 reaches the descending position from the elevating origin is stored in the nonvolatile memory 21 as elevating data. The second counter 23 is composed of an up / down counter and is set so that the count value becomes 0 at the ascent / descent origin. Therefore, the count value of the second counter 23 moves from the ascent / descent origin to the current position of the ascent / descent base 10. The number of pulses output from the lifting / lowering encoder 20 during this period.

As described above, since the traveling learning and the ascending / descending learning are not performed in a mixed manner and the ascending / descending learning is performed after the traveling learning is completed, the carrier device during the traveling learning is not performing the ascending / descending learning. There is no increase in waiting time due to waiting for learning of the transport device. As a result, all the transport devices 4A to 4C
The time required to complete learning is shortened.

Further, in this embodiment, the conveying device 4A which first passed the traveling origin at the time of ascending / descending learning first performs the ascending / descending learning at the station ST3 which is the farthest position from the traveling origin, and the succeeding conveying devices 4B and 4C move forward. The transport device 4A located
4B conducts the ascending / descending learning of the stations ST2, ST1 which is one before the stations ST3, ST2 where the ascending / descending learning is performed. Therefore,
In the state in which there is a station capable of ascending / descending learning on the front side of the conveying device 4A that performs the ascending / descending learning first,
The state in which B and 4C stand by disappears. as a result,
The time required for learning the lifting of all the transport devices 4A to 4C is shortened.

Further, when the ascending / descending learning is performed, the traveling learning has already been completed, and the controller 13 causes the stations ST1 ...
Since ST3 position data can be used, it is possible to drive at a high speed to a predetermined position with a deceleration distance required to make a reliable stop at the target station. As a result, the time for lifting and lowering learning is further shortened.

Also, during the first learning run, the detected portion D for the origin is detected.
_{When 0} is detected, the first learning traveling is immediately ended and the second learning traveling is started. Therefore, after traveling around the traveling path 2,
The time for the learning run can be shortened as compared with the case of shifting to the second learning run.

The present invention is not limited to the above embodiment, but may be embodied as follows, for example. (1) In the above-described embodiment, the first learning traveling is ended when the traveling origin is detected. However, after the transport devices 4A to 4C detect the traveling origin, the first learning traveling is completed when the traveling path 2 is completed. The learning run may be ended.

(2) Origin detection part D ₀ and detection part D
Instead of the light projecting device, _{1 to} D ₃ may be composed of a metal piece, a magnet, or a reflecting plate, and a magnetic sensor or a reflection type (light emitting / receiving type) optical sensor may be used as the detecting means for detecting them.
In this case, the wiring for the detected part becomes unnecessary and the traveling rail 3
Easy to install. Further, a similar configuration may be adopted for the ascent / descent origin detecting sensor 17, the descending position detecting sensor 18, and the detected portion corresponding thereto.

(3) A rotary encoder may be attached to the output shaft of the traveling motor 8 as the traveling amount detecting means. In this case, there is no need to provide a measuring wheel, and the structure is simple. (4) When the rotation amount of the measuring wheel is reduced by the rotary encoder, if the diameter of the measuring wheel is reduced due to wear, the traveling distance is reduced even with the same number of pulses. In that case, the count value of the number of pulses may be multiplied by a coefficient corresponding to the diameter of the measuring wheel for correction.

(5) The numbers of the transporting devices and the stations may be appropriately changed, and the numbers of both need not be the same. (6) During the ascending / descending learning, each transport device may be stopped in order from the station near the traveling origin and the ascending / descending data may be stored in the nonvolatile memory 21.

(7) First station ST from the traveling origin
When the traveling distance to 1 is large, the brake data may be collected on the way to the first station ST1 for the up / down learning, instead of performing the third learning travel for collecting the brake data alone. In this case, it is not necessary to make one round of the traveling path 2 only for collecting the brake data, and the time required for initial learning can be further shortened.

(8) The traveling path 2 does not necessarily have to have a loop shape, and may be applied to a conveying system of a type in which a conveying device reciprocates on the traveling path. Inventions other than those described in the claims that can be understood from the respective embodiments and modifications will be described below together with their effects.

(1) In the invention described in claim 4, a rotary encoder for outputting a pulse signal corresponding to the amount of rotation is attached to the output shaft of the traveling motor as the traveling amount detecting means. In this case, it is possible to easily obtain the traveling position and traveling data of the conveying device simply by mounting the rotary encoder on the output shaft.

(2) In the invention described in claim 4, the operation management device is provided with a storage device for storing the completion data of the traveling learning and the ascending / descending learning. In this case, for example, when the initial learning is interrupted after the completion of traveling learning and before the completion of ascending / descending learning, when performing the initial learning again, only the learning without the completion data is performed, thereby eliminating the waste of repeating the same learning from the beginning. be able to.

[0049]

As described in detail above, the first to fourth aspects of the invention are described.
According to the invention described in (1), in a transport system for operating a plurality of transport devices equipped with a lifting device between a plurality of stations provided along a predetermined traveling path, travel learning and lifting / lowering are performed for each transport device. It is possible to reduce the time required for learning. Further, according to the invention as set forth in claim 3, the time required for the up-down learning can be further shortened.

[Brief description of drawings]

FIG. 1 is a flowchart showing an operation of an operation management device.

FIG. 2 is a flowchart showing the operation of the controller.

FIG. 3 is a configuration diagram showing a transport system.

FIG. 4 is a schematic side view of a transport device.

FIG. 5 is a block diagram showing an electrical configuration.

[Explanation of symbols]

1 ... Transport system, 2 ... Traveling path, 3 ... Traveling rail, 4A
4C ... Conveying device, 5 ... Operation management device, 12 ... Lifting device, 13 ... Controller as control means, 15 ... Origin detection sensor as origin position detection means, 16a-16a
c ... Station detecting sensor as station detecting means, 19 ... Traveling encoder as traveling amount detecting means, 20 ... Lifting encoder as lifting amount detecting means,
21 ... Non-volatile memory as storage means, ST1 to ST3 ...
station.

Claims (4)

[Claims] 1. A transfer system in which a plurality of transfer devices each having an elevating device are operated between a plurality of stations provided along a predetermined traveling path, by causing each transfer device to travel along the traveling path. After carrying out traveling learning to store the position of each station as data with the origin of the traveling path as a reference in the storage device equipped in each transport device, the storage device of each transport device raises and lowers data of the lifting device at each station. An initial learning method for a carrier device that performs lifting learning for storing the data. 2. The traveling learning is performed by performing a first learning traveling for learning an origin of the traveling path by causing each of the transport devices to travel along the traveling path, and then performing a first learning traveling for storing the station position. 2. The initial learning method for a transport device according to claim 1, wherein the learning travel of 2 is performed. 3. The transport system is a transport system in which the travel path is formed in a closed loop shape, and each transport device travels around the travel path in the same direction.
The transport device that first passed through the origin at the time of ascending / descending learning first performs ascending / descending learning at the station farthest from the origin, and then the ascending / descending learning at the next station located on the advancing direction side from the station where the ascending / descending learning is completed. And the succeeding transporting device of the transporting device performs the following ascending / descending learning of the station one before on the side opposite to the traveling direction from the station where the transporting device located in front performs the ascending / descending learning first. 3. The initial learning method for a transport device according to claim 1, wherein the ascending / descending learning is performed at the next station located on the traveling direction side of the station that has completed the ascending / descending learning. 4. An origin position detecting means for detecting an origin position of each carrier in a carrier system for operating a plurality of carrier provided with a lifting device between a plurality of stations provided along a predetermined traveling path. When,
The station detecting means for detecting the position of each station, the traveling amount detecting means, the ascending / descending amount detecting means, the traveling amount from the origin position to each station are stored as position data of each station, and by the ascending / descending amount detecting means at each station. A storage unit that stores the lifting data of the lifting device and a control unit that controls the traveling of the transport device and the lifting of the lifting device are provided, and each transport device performs a load transport work prior to the work traveling of each transport device. By causing the control means to run each transport device along the travel path, the storage means equipped in each transport device performs travel learning for storing the position of each station as data with the origin of the travel path as a reference. Along with the output of the command signal, the elevating device at each station is moved up and down in the storage means of each transport device after the traveling learning is completed. Initial learning system of the transport apparatus provided with a operation control device for outputting a command signal for causing the lifting learning for storing a over data.