JPH11212644A - Collision prevention system for automatic conveyer or the like - Google Patents

Abstract

PROBLEM TO BE SOLVED: To satisfactorily prevent the collision of a conveyer or the like and to improve operation efficiency while reducing standstill time for avoiding the collision as little as possible concerning a collision prevention system for a device for conveying various articles, especially, automatically conveying them in the case of conveying panel products or molding dies in the production process of air bubble lightweight concrete (ALC) panel, for example. SOLUTION: In this collision prevention system for automatic conveyer having plural automatic conveying means for preventing the collision between these automatic conveying means or between these automatic conveying means and the other operating equipment, the automatic conveying means or operating equipment is provided with a computer control means such as a sequencer for controlling its operation and these control means are integrated and simultaneously managed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for transporting various articles and the like, for example, an automatic transport apparatus for transporting panel products and molding dies in the production process of ALC panels (lightweight cellular concrete panels). The present invention relates to a collision prevention system.

[0002]

2. Description of the Related Art Conventionally, for example, in various production processes,
In many cases, an automatic device for transporting between production facilities has a fixed process end unloading position and a process start loading position, and can be safely operated under transfer start conditions and limited interlock conditions.

[0003] However, there has been a strong demand in recent years for transporting between production facilities with a transport device having several types of transport functions. In particular, from the viewpoint of cost, the realization of full automation of a device that conventionally efficiently transports by manual operation (using wireless devices) has been called for.

In a collision prevention apparatus in which a plurality of transport apparatuses are manually moved horizontally at the same level, a detector such as a reflective light switch is attached to each transport apparatus, and an alarm or a warning is issued when the detector approaches a certain distance. The mainstream was an emergency stop operation.

[0005] Further, in the automated transfer apparatus, the operation start condition includes all the interlock conditions, and the operation of all the other transfer apparatuses is stopped until one transfer operation is completed. It was a group of bad transport equipment.

[0006]

SUMMARY OF THE INVENTION The present invention has been proposed in view of the above-mentioned conventional problems, and it is possible to satisfactorily prevent a collision even in an apparatus having an automatic conveying means or the like, and to stop the collision for preventing the collision. The purpose is to improve operation efficiency by minimizing time.

[0007]

In order to achieve the above object, a collision prevention system in an automatic transport apparatus according to the present invention has the following configuration.

In other words, it has a plurality of automatic conveying means,
A system for preventing collision between these automatic transporting means or between these automatic transporting means and other operating devices, wherein the automatic transporting means or operating devices are controlled by a computer such as a sequencer for controlling their operations. Means are provided, and the control means are integrated and managed collectively.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a concrete description will be given of an example in which a collision prevention system for an automatic transport device group according to the present invention is applied to an ALC panel manufacturing process.

FIG. 1 shows a schematic configuration of an ALC panel manufacturing apparatus to which a collision prevention system according to the present invention is applied.
FIG. 1A is a plan view, and FIG. 1B is a front view. FIG.
1 is a cast mold for forming an ALC panel, 2
Is a cast bed on which the mold 1 is placed, and a large number of the cast beds 2 are arranged on the floor surface F. On the side of the casting bed 2, a casting mixer device 3 that supplies the Siporex mother liquor, which is a raw material of the ALC panel, into the casting mold 1 while automatically stirring and mixing, is provided with a guide rail 3.
It is provided movably along a.

Above the casting bed 2, a casting mold transporting device 4 for moving and transporting the casting mold 1 and a pin removing device 5 for removing a reinforcing bar mat positioning pin, which will be described later, are provided on the bridge rails 4a and 5a, respectively. Is provided so as to be movable along. An oiling device 6 for applying a releasing oil to the inner surface of the empty mold 1 before casting is disposed at one end of the casting bed 2 in the arrangement direction, and a casting mold conveyor device is further provided on the side thereof. 7 are provided.

The casting mold conveyor device 7 comprises a pair of conveyors 7a and 7b arranged in a direction perpendicular to the direction in which the casting beds 2 are arranged in the case of the drawing. The casting mold conveyor device 7 removes the empty mold 1 after casting from the one conveyor 7a to the other conveyor 7a.
In this configuration, the rebar mat is set by being transported to the rebar mat loading position 71 on b, and a hanging inspection is performed, and then the rebar mat is transported to the home position 72 below the casting mold transport device 4.

Further, beside the casting mold conveyor device 7, a scraping device 8 and a cross cut conveying device 9 are provided.
And a length cut device 10 are provided. The above-mentioned cross-cut transfer device 9 is provided in the casting mold transfer device 4.
It is configured to be movably mounted on the same guide rail 4a as above, and to be able to move on the scraping device 8, the length cutting device 10, and the bed 2.

The above-described casting mixer device 3, casting mold transport device 4, pin punching device 5, cross-cut transport device 9 and the like may collide with each other depending on operating conditions and the like. I have. The system can be realized on software of a computer (management computer) having a high-speed operation processing function described later.

A position detecting mechanism such as an absolute rotary encoder is mounted on the moving side main body of each of the devices 3 to 5 and 9, and an associated rack rail or the like is installed on the fixed side to sequentially manage the current position signal. , But is omitted in the figure.

On the other hand, on the management computer, the positions divided in advance in the software are converted into addresses, the moving area of each transfer device is determined, and the upper and lower positions, the east-west (north-south) positions of the transfer devices are checked, and the same address is set. It has a function of outputting a stop signal to each transport device when each transport device moves. This function is configured to function with a program completely different from a normal transfer instruction command program.

More specifically, one transfer device starts operating only under conditions enabling transfer from the movement start point to the movement end point, and temporarily stops automatic operation if the collision prevention function is activated.
In this configuration, automatic operation is continued again by a restart command.

FIG. 2 is an explanatory diagram of a control system for computer-controlling the above-mentioned ALC panel manufacturing apparatus. In the figure, reference numeral 20 denotes a host computer such as a host computer, and reference numeral 21 denotes a process operation management computer such as an FA (Factory Automation) computer. , 22 are the process operation management PL
In a C (Programmable Logic Computer), the process operation management PLC is connected to PLCs 23 to 30 of the respective devices that control the above devices 3 to 10, respectively.

The process operation management computer 21 receives operation data from the host computer 20 and transmits a transfer completion time report to the host computer. Further, the process operation management computer 21 has a work instruction (including data transmission / reception) to a lower order, an operation management of the transfer device, an online monitoring and a process management function, and a work instruction to the process operation management PLC at an appropriate timing. And collect various data to monitor operation. The process operation management PLC 22 manages the operation of each transport device and the ground equipment, and supervises requests, instructions and interlocks from the PLCs 23 to 30 of each device.

FIG. 3 shows ALC by the manufacturing apparatus of FIG.
It is process explanatory drawing at the time of manufacturing a panel, and consists of an inspection hanging process P1, a mold pouring process P2, a pin punching process P3, a scraping process P4, a cross cutting process P5, a length cutting process P6, an oiling process P7, and the like. Hereinafter, the outline and operation of each of the above steps and the collision prevention measures will be described in order.

(1) Inspection and Hanging Step In the inspection and hanging step P1, a predetermined reinforcing steel mat (not shown) is set on the empty mold 1 and it is checked whether or not the mat is properly set. And transferring and placing the mold on the empty casting bed 2.

Specifically, in FIG. 1 (a), the reinforcing bar is inserted into the empty mold 1 which has been conveyed from one conveyor 7a of the casting mold conveyor device 7 to the reinforcing bar mat loading position 71 on the other conveyor 7b. The mat is set, and the reinforcing bar mat is fixed with a jig called a pin, and the hanging inspection is performed.

Next, the mold 1 on which the mat is set is moved to the home position 73 by the other conveyor 7b.
After being moved to, the casting mold transport device 4 transports and places it on the empty casting bed 2. At this time, the process operation management computer 21 and the process operation management PLC
(Hereinafter, these are collectively referred to as the process operation management system)
Outputs an operation disable command to the casting mold conveyor device 7 after the completion of the mold transfer operation, and outputs a transfer start command to the casting mold transfer device 4. The destination operation position is determined by the process operation management computer.

The transfer of the mold from the conveyor 7b to the casting mold transfer device 4 is performed by taking the mold after the mold transfer device 4 arrives on the conveyor 7b, and after completing the taking operation, the traveling operation is performed. Go to the desired casting bed. At that time, the devices to be subjected to collision prevention, in this case, the pin punching device 5 and the casting mixer device 3 are the targets, and the operation status of each of the devices 5, 3 is monitored, and if they do not enter the interference area. The operation of placing the mold 1 on the casting bed 2 is started.

If there is a collision prevention target device that moves or passes through the interference area before the placing operation starts, an automatic operation temporary stop command is output to the casting mold transfer device 4 and the casting mold transfer device 4 is output. Resets the temporary stop of the automatic operation and resumes the automatic operation after the collision prevention device moves out of the interference area.

If there is a collision prevention target device that moves or passes through the interference area after the start of the placing operation, an automatic operation temporary stop command is output to the collision prevention target.
Then, after the casting mold transport device 4 completes the operation of placing the mold 1 on the casting bed 2, the automatic operation temporary stop of the collision prevention target device is released and the automatic operation is restarted.

(2) Mold Pouring Step In the mold pouring step P2, the raw materials of the ALC panel are appropriately mixed and stirred and mixed by the pouring mixer device 3 to prepare a slurry-like mother liquor, which is placed on the pouring bed 2. This is a step of injecting into the mold 1 and casting.

The process operation management system instructs the casting mixer device 3 on the compounding ratio and the like, and outputs a transfer command after mixing. The process operation management computer determines the start timing and the transfer destination.

In accordance with the above-mentioned transfer command, the casting mixer 3
Starts the movement operation. At this time, the operation status of the collision prevention target devices (here, the pin punching device 5 and the casting mold transport device 4) is monitored, and the collision prevention target device moving or passing through the interference area is monitored. If there is, casting mixer 3
Then, after the collision prevention target device moves out of the interference area, the automatic operation pause of the casting mixer device 3 is released and the automatic operation is resumed. By the automatic operation, the casting mixer apparatus moves to a predetermined side position of the casting bed, and rotates the injection port to inject the slurry-like mother liquor into the mold 1.

(3) Pin Removal Step The pin removal step P3 is a step of removing the pins fixing the reinforcing bar mat when the slurry has hardened to some extent.

The process operation management system outputs a transport command to the pin punching device 5 when the slurry has hardened to some extent. The start timing and the transfer destination instruction position are determined by the process operation management computer.

The pin punching device 5 monitors the operation status of the elevating operation of the casting mold conveying device 4 in the traveling operation area before the traveling operation. If the casting mold transport device 4 is in the in-area vertical movement, an automatic operation temporary stop command is output to the pin punching device 5 and the automatic operation temporary stop command is released when the vertical movement of the casting mold transport device 4 is completed. . As a result, the pin punching device 5 starts running and stops on the target casting bed 2.

The pin is pulled out by the pin pulling device 5 (elevation).
If there is a collision prevention target device (here, the casting mixer device 3 and the casting mold transport device 4) which move or pass into the interference area before the operation is started, the collision prevention target device is automatically operated. Outputs the operation suspension command, starts the operation of pulling out the pin (elevation), and after the operation is completed, releases the automatic operation suspension and restarts the automatic operation.

When the pin removing operation of the pin removing device 5 is completed, the pin removing device 5 starts a traveling operation to the carriage on which the pins are placed. The process operation management system outputs a command to move the designated position of the cart to place the pin on the pin carrier cart device, and outputs a command to disable automatic operation after the designated position is stopped.

The pin punching device performs a descending operation after arriving at the position of the pin carrier, and performs an ascending operation after transferring the pins.

(4) Scraping Step The scraping step P4 is a step of transporting the cured Siporex together with the mold, removing the mold frame (omitted in the figure), and scraping the foamed upper part of the Siporex by the scraping device 8. The work of transporting the mold to the scraping device is performed by the casting mold transport device 4.

When a request command from the scraping device 8 is input, the process operation management system outputs a transfer command to the casting mold transfer device 4. The start timing and the destination designation position are determined by the process operation management computer.

In response to the above-mentioned transfer command, the casting mold transfer device 4 performs a running operation and moves onto a target casting bed. At this time, the operation of the collision prevention target device (here, the pin punching device 5 and the casting mixer device 3) is monitored, and if the collision prevention target device has not entered the interference area, the mold 1
From the casting bed 2 is started.

If there is a collision prevention target device that moves or passes through the interference area before starting the above-described taking operation, an automatic operation temporary stop command is output to the casting mold transport device 4 to transfer the casting mold. After the device 4 moves out of the interference area of the collision object prevention device, the device 4 releases the temporary stop of the automatic operation and restarts the automatic operation.

On the other hand, if there is a collision prevention target device that moves or passes through the interference area after the start of the above operation,
Outputs an automatic operation pause command to the collision target device,
After the casting mold transport device 4 completes the operation of removing the mold 1 from the casting bed 2, the automatic operation temporary stop of the collision prevention target device is released and the automatic operation is resumed.

Next, the casting mold conveying device 4 which has taken the mold 1 from the casting bed 2 as described above starts running to the scraping device 8 (the position is fixed). Before the start, the position of the cross-cut transport device 9 is monitored, and a command to disable the automatic transport operation of the cross-cut transport device 9 to the scrape side is output. Then, when the casting mold conveying device 4 arrives at the scraping device 8, it performs a descending operation, takes out a frame (not shown) of the mold 1, performs an ascending operation, and conveys the frame to the oiling device 6. After the transfer is completed, an operation start command is output to the oiling device 6.

(5) Cross-cutting step The cross-cutting step P5 is a step of cutting the siporex in the width direction at a predetermined position after the completion of the scraping step P4.

After a scraping process is completed from the scraping device 8 to the process operation management system, when a transfer request command from the crosscut transfer device 9 is input, a transfer command is output to the crosscut transfer device 9. Based on the transfer command, the cross-cut transfer device 9 operates to take out Siporex from the mold in the scraping device and cut it at a predetermined position in the width direction with a piano wire.

At this time, the target device for collision prevention (here,
The operation status of the casting mold transfer device 4) is monitored, and if the product has not entered the interference area, the operation of removing the product (Siporex) in the mold from the scraping device is started. After the start, a predetermined process is completed, and the product (Siporex) is transported to the length cut process.

(6) Length cutting step The length cutting step P6 is the same as the cross cutting step P5
This is a step of cutting the Siporex after the completion of the process at a predetermined position in the length direction.

After completion of the cross-cutting process P5, the siporex is conveyed to the length-cutting device 10 by the cross-cut conveying device 9 as described above, and the siporex is moved to a predetermined position by a piano wire provided in the length-cutting device 10. And cut in the length direction.

(7) Oiling Step In the oiling step P7, the empty mold 1 after the scraping step P4 is completed and the Siporex is taken out is transported to the oiling apparatus 6 by the casting mold transporting apparatus 4 and is transferred to the mold 1. This is the step of applying release oil. The mold 1 after the above-described oiling step is returned to the inspection hanging step.

After the completion of the scraping process, the scraping device 8
When the empty mold unloading request command is input to the process operation management system from, a transfer command is output to the casting mold transfer device 4.

The oiled mold frame of the oiling device 6 is removed, transported to the scraping device 8, assembled with the mold, and transported to the casting mold conveyor device 7a.

As described above, in the present invention, the automatic mixer such as the casting mixer 3, the casting mold carrier 4, the pin puncher 5, and the cross-cut carrier 9 or the PLC for controlling the operation equipment such as a PLC. A computer control means is provided for each device, and the control means are integrated and managed collectively by a management computer or the like, thereby making it possible to easily and reliably prevent collision between the above-described devices and devices.

In particular, in the above-described embodiment, the operation or the transport status of the above-described device or device is always accurately detected by a rotary encoder or the like, and each transport device or device is transported between the movement start point and the movement end point. Operation is started only under possible conditions, automatic operation is temporarily stopped if the collision prevention function is activated, and automatic operation is continued again by a restart command, so that stop time is minimized and operating efficiency is increased. Becomes possible.

[0052]

As described above, the collision avoidance system in the automatic transfer device according to the present invention can ensure safe operation between a plurality of production equipments installed on the ground side by a plurality of transfer devices and operating devices. This has the effect of shortening the production tact time.

[Brief description of the drawings]

FIG. 1A is a plan view of an ALC panel manufacturing apparatus to which the present invention is applied. (B) is the front view.

FIG. 2 is an explanatory diagram showing a schematic configuration of a control system in the ALC panel manufacturing apparatus.

FIG. 3 is an explanatory view showing an example of a manufacturing process in the ALC panel manufacturing apparatus.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Casting mold 2 Casting bed 3 Casting mixer device 4 Casting mold transfer device 5 Pin removal device 6 Oiling device 7 Casting mold conveyor device 8 Scraping device 9 Cross cut transfer device 10 Length cut device

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI G05B 15/02 G05B 15/02 Z

Claims (3)

[Claims] Claims: 1. A system for preventing a collision between a plurality of automatic transporting means or between these automatic transporting means or between the automatic transporting means and another operating device,
The automatic conveyance means or the operating device is provided with a computer control means such as a sequencer for controlling the operation thereof, and the control means is integrated so as to be collectively managed. system. 2. The stopping operation for preventing the collision includes:
The automatic operation of one of the automatic transfer devices or operating devices which may cause a collision with each other is temporarily stopped and automatically stopped, and after the other automatic operation is completed, the one automatic transfer device or the operation device is restarted and 2. The collision prevention system in an automatic transport device or the like according to claim 1, wherein the operation is continuously performed. 3. An automatic transport device in which functions are distributed to a personal computer having a process progress management function and a transport command function and a sequencer having a physical transport operation management function between facilities for performing process operation management. Anti-collision system.