JPS6039210A - Controller of automatic carrying equipment - Google Patents

Abstract

PURPOSE:To attain sure carrying by providing a branch section for a main line carrying path and a branch line carrying path on which a self-running truck runs and a block controller controlling the running on the carrying paths before and after said paths to a CPU. CONSTITUTION:A block controller 13a performs the running control and the operation control in a control section, and the running and the truck number of the self-running truck inputted from a station operation panel 16a and a truck number reader 12a are transmitted to a CPU14. As to block controllers 13b-13f, the same operations are conducted as the controller 13a. Then a block controller 13h operates always a device 10h when the self-running truck is on a device 10h at a branch device control section B and also controls the running of the self- running truck at sections A' and C on the device 10h or the carrier path before and after it. A block controller 13g performs the same operation as that of the device 13h.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a control device for automatic conveyance equipment, and in particular, to ensure reliable conveyance without being affected by an increase in the number of control points or the number of carts of the automatic conveyance equipment. The present invention relates to a control device for automatic conveyance equipment suitable for.

[Background of the invention]

In general, a control device for automatic conveyance equipment controls the self-propelled truck having a unique number by installing a truck number reading device next to the conveyance path on the upper side of the traveling direction of the station exit and the conveyance path branch. It is set up. When the self-propelled truck passes in front of the truck number reader, the truck number is read by the truck number reader and input into the central control device. The central control device determines the necessity of branching at the branching point of the self-propelled truck, and selects a transport path. By repeating these operations, the self-propelled cart is guided to the destination station.

At this time, all controls are executed by the central controller, and as the number of stations and branching devices increases, the number of installed truck number reading devices also increases, and the number of control points controlled by the central controller increases. Therefore, the program processing time of the central control device increases due to the control information generated by the running of a large number of self-propelled carts. Therefore, the timing of reading the number number of the self-propelled vehicle passing in front of the vehicle number reading device is delayed, and the number number of the self-propelled vehicle may not be read. Further, there may be a problem in which a delay occurs in the operation command of the branching device and the travel control command of the self-propelled truck, resulting in a decrease in reliability.

[Purpose of the invention]

An object of the present invention is to control automatic conveyance equipment that can eliminate the drawbacks of the prior art and ensure highly reliable conveyance without being affected by the increase in the number of control points or the number of carts in the automatic conveyance equipment. The goal is to provide equipment.

[Summary of the invention]

In order to achieve the above-mentioned object, the present invention provides a central control device with a block control device that controls the branch portion of the main transportation path and the branch transportation path on which the self-propelled cart travels, as well as the travel on the transportation path before and after the branch portion, It is characterized by sharing control functions.

[Embodiments of the invention]

Next, the present invention will be explained in detail with reference to the drawings.

FIG. 1 is a configuration diagram showing an embodiment of a self-propelled trolley. 1st
In the figure, a self-propelled truck 1 includes an electric motor 2 serving as a drive source for the self-propelled truck 1, a transmission 3 that engages with the electric motor 2 and changes the rotational speed, and a drive shaft that engages with the transmission 3. 4. The self-propelled cart 1 driven by the drive shaft 4 is guided by the driven shaft 5 along a grooved rail serving as a conveyance path. Further, the self-propelled truck 1 is provided with a unique truck number 6.

FIG. 2 is a configuration diagram showing an embodiment of a control device for automatic conveyance equipment to which the present invention is applied. In FIG. 2, stations 7a to 7d, which serve as departure and arrival points for the self-propelled vehicle 1, are interconnected by main conveyance paths 8a and 8b and branch conveyance paths 98 to 9d on which the self-propelled vehicle 1 travels. The main transport paths 8a and 8b and the branch transport paths 9a to 9
Branching devices 108 to 10d, 10g, and 10h are provided at the connection point with d, so that the transport route of the self-propelled trolley 1 can be selected. Still, the main transport path 3a or 8
There is a storage line 15 for storing the unused self-propelled carts 1 in the middle of line b, and branching devices 10e and 10f
It is connected to the main conveyance path 8a or 8b by.

Note that the traveling direction of the self-propelled trolley l on the main transport paths 8a and 8b is a fixed direction, and travels in the direction (a) or (b). At this time, the branching device 108 in the conveyance path
Truck number reading devices 11a to 11e and 12a to 12d are installed at the entrance side of stations 7a to 7d. Further, a truck number reading device 12e is also installed at the exit of the storage line 15. and,
The truck number reading devices 118 to lie check whether the self-propelled truck 1 traveling on the main transportation path 8a1 or 8b has a truck number that requires branching to the branch transportation path 9a to 9d and the storage line 15. It is read and judged. Further, the truck number reading devices L2a to 12d read and detect which self-propelled truck 1 is designated as the destination station specified by the station operation panels 16a to 16d.

Next, in the trolley number reading device 12e, when a call request for the self-propelled trolley 1 is generated by the station operation panels 16a to 16d, the trolley number of the self-propelled trolley 1 corresponding to the request is read and detected. .

When the station operation panels 168 to 16d issue a destination instruction for the self-propelled cart 10 or a call request, the input is taken into the central control device 14. Then, the central control device 14 controls the branching device 108 necessary for guiding the self-propelled cart 1 to the destination stations 7a to 7d.
~ioh is selected, and the truck number of the self-propelled truck 1 is transmitted to the block control devices 13a to 13hK installed in each of the branching devices 10a to 10h.

Next, the block control devices 13a to 13h store the truck number of the self-propelled truck 1 transmitted from the central control device 14, and control the traveling around the branching section [:102 to 1oh]. . Furthermore, the block control devices 138-
13e, the bogie number reading devices 118 to 11e in front of the branching devices 108 to 108 determine the bogie number of the self-propelled bogie 10 passing through, and only when the bogie number matches the stored bogie number, the self-propelled bogie 1 to the branching devices 108 to 10
e, and the branching operation is controlled.

FIG. 3 is a block diagram showing an embodiment of the block control device for the branch section shown in FIG. 2. In FIG. 3, the main branch entrance section A of the branch device 10a in the main transport path 8a
determines whether branching is necessary for the self-propelled trolley 1, and determines whether the grooved rail is located on the main conveyance path 8a or the branch conveyance path 9a on the branching device 10a. This is the section in which the traveling of the self-propelled trolley I is controlled. Next, the branching device control section B is a section in which travel control of the self-propelled trolley 1 on the branching device 10a and branching operation of the branching device 10a are controlled. In addition, the main transportation path section C1 branch branch entrance section, the branch transportation path section E and the station section F are the self-propelled trolley 1.
This is the section where travel control is applied.

In the block control device 13a, the traveling control and operation control in the control section, and the traveling and truck number of the self-propelled truck 1 inputted from the station operation panel 16a and the truck number reading device 12a are controlled by the central control device 13a. device 14
sent to. The block control devices 13b to 13d also operate in the same manner as the block control devices 13a. Also, a block control device 13e that controls the entrance and exit of the storage line 15
Although 13f and 13f are special cases, they can be considered in the same way as the block control devices 138 to 13d.

FIG. 4 is a block diagram showing an embodiment of the block control device for the folding section shown in FIG. 2. In FIG. 4, the block control device 13h operates the branching device 1011 whenever the self-propelled truck 1 is on the branching device 10h in the branching device control section B, and also operates the branching device 1011.
The traveling of the self-propelled trolley 1 on transport path sections A' and C on or before and after h is controlled. The block control device 13
The operation of the block control device 13h is also similar to that of the block control device 13h.

Note that the central control device 14 and the block control device 13
Data communication is periodically carried out from 8h to 13h.

FIG. 5 shows an example of the processing procedure of the central control unit 70.
-It is a chart. In FIG. 5, in step 20 after the system is activated, the destination input of the self-propelled trolley 1 instructed by the stations 73 to 7d is input to the central controller 14 by the block controllers 13a to 13d. Next, in step 21, the destination of the self-propelled trolley 1 input into the central control device 14 and the transport path are selected from the transport source stations 7a to 7d. Here, in step 22, it is determined whether the self-propelled cart 1 can be transported to the destination station. When the self-propelled cart 1 cannot be transported, a flag is sent to the block controllers 138 to 13d to prevent the self-propelled cart 1 from starting from the transport source station in step 24b. Further, when the self-propelled trolley 1 can be transported, in step 23, the branch portions ff1loa to 1 necessary for transporting the self-propelled trolley 1 are
0f is determined. The determined branching devices 102 to 10
For the block control devices 132 to 13f that control
In step 24a, the central control device 14 transmits the vehicle number of the self-propelled vehicle 10.

FIG. 6 is a flowchart showing one embodiment of the processing procedure of the block control device. In FIG. 6, the processing procedure of the block control device will be explained by taking the block control device 13a as an example. In step 30 after system operation, the block control device 13a controls the station operation panel 16.
From a to the destination of the self-propelled trolley 1 and the trolley number reading device 11
The truck number of the self-propelled truck 1 passing through is inputted from a and 12a. Furthermore, inputting the traveling position of the self-propelled trolley 1,
Input signals such as call input and calling operation input are periodically captured. Then, in step 31, the ten destinations of the self-propelled carts and the cart number, which have been input to the block control device 13a, are sent to the central control device 14. Next, in step 32, the central control device 14 sends the branching device 10
The truck number of the self-propelled truck 1 when a is selected is received. Here, in the block control device 13B, the input of the truck number reading device @11a and the input of the block control device 13
Determine the truck number stored in the branching device 10a, and
The operation is controlled. Also, at the same time, steps 338-3
3d, a trunk branch entrance section, a branch device control section,
Travel control processing is performed for main line sections, branch line sections, support branch population sections, and station sections. The result is step 3
The output is processed by 4.

For this reason, functions were divided between a central control device and a block control device. The block control device independently controls only the branching device and the transport paths before and after the branching device, thereby reducing the burden on the central control device. Therefore, even if the number of stations and self-propelled carts increases, the program of the central control device will not increase by simply changing the transport path determination program, but by adding the block control device as a fixed program. I can handle it. Furthermore, since the processing time of the program does not increase and there is no input delay or output delay, there are no problems in the travel control such as poor truck number reading and delays in the operation of the branching device, and reliable transportation can be carried out. Furthermore, data communication is enabled between the central control device and the block control device, and there is no need to connect various input cables on the conveyance path to the central control device, reducing the number of cables and improving workability. .

〔Effect of the invention〕

As can be easily understood from the foregoing, the present invention provides a central control DL device with a block control system that controls the branching portions of the main conveyance path and the branch conveyance path on which self-propelled carts run, as well as the travel on the conveyance paths before and after the branch points. Since one device is installed, the program processing time does not change significantly even when the number of control points increases due to an increase in the number of stations and self-propelled vehicles. This has the advantage of ensuring reliable transportation without causing problems such as, and improving reliability.

[Brief explanation of the drawing]

Fig. 1 is a configuration diagram showing an embodiment of a self-propelled cart 1g1 Fig. 2 is a configuration diagram showing an embodiment of an open side 1 device of automatic conveyance equipment to which the present invention is applied; FIG. 4 is a block diagram showing an embodiment of the block control device for the turning section shown in FIG. 2, and FIG. Flowchart showing one embodiment of the procedure. FIG. 6 is a flowchart showing one embodiment of the processing procedure of the block control device. 1... Self-propelled trolley, 6... Trolley number, 73-7d...
・Station, 8a, 8b...Main transport path, 98~
9d... Branch line conveyance path, 103-10) 1... Branching device, lla-1lel 12a-12e... Bogie number reading device, 13a-13h... Block control device, 1
4... Central control 4ufti, 15... Storage line, 16a-16d... Station operation panel. Agent Patent Attorney Akio Takahashi 1 Diagram 2 Kasumi Diagram 3 Condolence 4 Diagram 50 Sugar 6 Kasumi

Claims (1)

[Claims] 1. A self-propelled trolley with a unique number for transporting articles, a station serving as a departure and arrival point for the self-propelled trolley, a main transport route and a branch transport route on which the self-propelled trolley runs between the stations; A branching device that branches the branch transportation path from the main transportation path, a truck number reading device that reads the truck number used to control the travel of the self-propelled truck, input from the source station and input from the truck number reading device, In a control device for automatic conveyance equipment comprising a central control device for controlling the travel of the self-propelled cart, the central control device includes branch portions of the main conveyance path and branch conveyance path on which the self-propelled cart travels, and the branch portions thereof. 1. A control device for automatic conveyance equipment, characterized in that a block control device for controlling traveling on a front and rear conveyance path is provided to share control functions.