WO2018088089A1 - Véhicule de transport aérien et procédé destiné à commander un véhicule de transport aérien - Google Patents

Véhicule de transport aérien et procédé destiné à commander un véhicule de transport aérien Download PDF

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Publication number
WO2018088089A1
WO2018088089A1 PCT/JP2017/036602 JP2017036602W WO2018088089A1 WO 2018088089 A1 WO2018088089 A1 WO 2018088089A1 JP 2017036602 W JP2017036602 W JP 2017036602W WO 2018088089 A1 WO2018088089 A1 WO 2018088089A1
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WO
WIPO (PCT)
Prior art keywords
unit
traveling
article
drive unit
controller
Prior art date
Application number
PCT/JP2017/036602
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English (en)
Japanese (ja)
Inventor
陽一 本告
Original Assignee
村田機械株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 村田機械株式会社 filed Critical 村田機械株式会社
Priority to JP2018550074A priority Critical patent/JP6747516B2/ja
Publication of WO2018088089A1 publication Critical patent/WO2018088089A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical

Definitions

  • the present invention relates to a ceiling transport vehicle and a method for controlling the ceiling transport vehicle.
  • a semiconductor wafer transport container (FOUP) or a reticle Pod for transporting a reticle is transported along a track laid on or near the ceiling.
  • a ceiling transport vehicle is used.
  • the overhead conveyance vehicle includes a traveling unit that travels on a track, and a main body unit below the traveling unit.
  • the main body includes an elevating drive unit that elevates and lowers an article holding unit such as a gripper that holds an article, and a lateral mechanism that projects the elevating drive unit laterally with respect to the main body.
  • the transfer destination of the article by the above-described overhead transporting vehicle is a transfer position (load port) of the processing apparatus, and may be arranged to be shifted below the track and to the side.
  • the lifting drive unit protrudes to the side by the lateral mechanism, and then the article holding unit is lifted by the lifting drive unit with respect to the transfer position.
  • the goods are being transferred.
  • Patent Document 1 describes a stacker crane that houses a pallet as an article on a shelf. This stacker crane has a fork that can be expanded and contracted on the lifting platform, and by performing overlapping operations such as extending and lowering the lifting platform while traveling, the pallet transfer time can be shortened. Yes.
  • the lifting drive unit for driving the lifting platform does not protrude to the side of the track only by lifting the lifting platform. Moreover, the lifting platform does not hold the article in a suspended state.
  • the overhead transport vehicle travels in the vicinity of the ceiling while holding the article in a suspended state, and the lifting drive unit is extended to the transfer position disposed below and on the side of the track. Then, the article is moved up and down. Therefore, in the overhead conveyance vehicle, an overlapping operation different from that of the stacker crane is required in order to shorten the time required for transferring the article.
  • the present invention relates to a ceiling transport vehicle that travels on a ceiling or a track near the ceiling, and can reduce the time required to transfer an article to a transfer position disposed below and on the side of the track. It aims at providing the control method of a car and a ceiling conveyance vehicle.
  • a ceiling transport vehicle includes a traveling unit that travels on a ceiling or a track laid near the ceiling, a main body that is provided below the traveling unit, and an article holding unit that holds an article in a suspended state.
  • An elevating drive unit that elevates and lowers the article holding unit, a traverse mechanism that moves the elevating drive unit between a storage position in which the elevating drive unit is stored in the main body unit, and a protruding position that protrudes laterally from the main body unit, Before the traveling unit stops with respect to the transfer position of the article that is shifted from the lower side to the lateral side, the movement of the elevating drive unit is started toward the projecting position by the lateral ejection mechanism, or the lateral ejection mechanism And a controller for starting the traveling of the traveling unit stopped corresponding to the transfer position before the elevating drive unit returns to the storage position.
  • the controller may instruct the start of driving of the lateral movement mechanism during the traveling of the traveling unit so that the lifting / lowering driving unit is disposed at the protruding position when the traveling unit stops corresponding to the transfer position. Good.
  • the controller may instruct the start of driving of the lateral mechanism toward the retracted position when the traveling unit starts traveling from a position corresponding to the transfer position.
  • it is not necessary to drive the lateral take-out mechanism during traveling.
  • the controller may be configured such that when there is an obstacle that can contact at least one of the projecting lift drive unit, the article holding unit, and the article held by the article holding unit during traveling of the traveling unit, The drive of the lateral mechanism may be instructed within a predetermined range where there is no contact. Further, the controller may instruct the start of driving of the lateral mechanism from the position where the traveling unit has exceeded the obstacle. In addition, the controller moves the transfer position when there is an obstacle that can contact at least one of the lift drive unit, the article holding unit, and the article held by the article holding unit while the running unit is running.
  • the subtraction time is calculated by subtracting the time required for the elevating drive unit at the protruding position to move to the retracted position from the time until the traveling unit stopped at the position corresponding to
  • the driving of the lateral movement mechanism may be started with the position raising / lowering drive section directed toward the storage position, and the start of traveling of the traveling section may be instructed at the timing when the subtraction time has elapsed from the start of driving of the lateral ejection mechanism.
  • the obstacle may be a hanging metal fitting for hanging a structure arranged below the track from the ceiling.
  • the structure may be a storage device on which an article can be placed, and the obstacle may be an article placed on the storage device.
  • the structure may be a storage device on which an article can be placed, and the obstacle may be an article placed on the storage device.
  • the controller has a storage unit that stores information regarding a position at which the protruding operation of the lateral movement mechanism starts during the traveling of the traveling unit or information about a timing at which the traveling unit starts traveling during the storage operation of the lateral mechanism. Also good.
  • the method for controlling a ceiling guided vehicle includes a traveling unit that travels on a ceiling or a track laid near the ceiling, a main body provided below the traveling unit, and an article that holds the article in a suspended state.
  • a control method for the overhead transport vehicle comprising: a laterally extending mechanism toward the projecting position before the traveling unit stops with respect to the transfer position of the article that is shifted from the lower side of the track to the side. Starting the movement of the elevating drive unit, or starting the running of the traveling unit stopped corresponding to the transfer position before the elevating drive unit returns to the storage position by the laterally extending mechanism. .
  • the movement of the lifting drive unit by the laterally extending mechanism can be overlapped with the traveling of the traveling unit. Due to this overlap, it is possible to transfer the article in comparison with the case where the lifting drive unit is laterally moved after the ceiling conveyance vehicle stops or the case where the traveling unit starts running after the lifting drive unit is stored in the main body unit.
  • the time required for loading can be shortened.
  • the controller instructs the start of driving of the lateral movement mechanism during the traveling of the traveling unit so that the lifting drive unit is disposed at the protruding position when the traveling unit stops corresponding to the transfer position.
  • the driving of the horizontal mechanism is started without waiting for the stop of the traveling unit, and when the traveling unit stops corresponding to the transfer position, the movement of the elevating drive unit to the protruding position is completed or almost completed, The time required for transferring the article can be shortened.
  • the controller instructs the start of driving of the lateral drive mechanism by moving the lifting drive unit at the protruding position toward the storage position when the traveling unit starts traveling from the position corresponding to the transfer position, Since the movement of the elevating drive unit to the storage position starts at the same time or almost simultaneously with the start of traveling, the time required to transfer the article by running the traveling unit without waiting for the elevating drive unit to be stored in the main body unit Can be shortened.
  • the controller has an obstacle as described above during traveling of the traveling unit, in the configuration in which the driving of the lateral movement mechanism is not performed during traveling of the traveling unit, the elevating drive unit or the article interferes with the obstacle. Can be prevented.
  • the controller has an obstacle such as that described above while traveling by the traveling unit, in the configuration in which the drive of the lateral movement mechanism is instructed within a predetermined range where there is no contact with the obstacle, the elevating drive unit or the article is obstructed. The time required to transfer the article can be shortened while avoiding interference with an object.
  • the controller instructs the start of driving of the lateral ejection mechanism from the position where the traveling unit has exceeded the obstacle
  • the driving of the lateral ejection mechanism is efficiently started, so that the time required for transferring the article can be reduced.
  • the controller moves up and down at the protruding position from the time until the traveling unit stopped at the position corresponding to the transfer position reaches the obstacle.
  • the subtraction time obtained by subtracting the time required for the drive unit to move to the storage position is obtained, and the drive of the horizontal drive mechanism is started while the lift drive unit at the protruding position is directed to the storage position while the traveling unit is stopped, and drive of the horizontal drive mechanism is started.
  • the travel unit starts to travel at the timing when the subtraction time has elapsed
  • the travel of the travel unit is started at a timing at which the lift drive unit does not come into contact with the obstacle, and waiting for the lift drive unit to return to the storage position. Since the traveling unit is traveled without any problem, the time required for transferring the article can be shortened.
  • the elevating drive unit or the article is the storage device or Interference with the article placed on the storage device can be suppressed.
  • the obstacle is a hanging metal fitting for suspending a structure formed below the track from the ceiling, it is possible to suppress the lifting drive unit or the article from interfering with the hanging metal fitting.
  • the controller includes a storage unit that stores information regarding a position at which the protruding operation of the lateral movement mechanism starts during the traveling of the traveling unit, or information about a timing at which the traveling unit starts traveling during the storage operation of the lateral ejection mechanism. Then, since the operation of the lateral movement mechanism or the traveling of the traveling unit is performed based on the information from the storage unit, it is possible to easily and reliably perform the protrusion of the elevating drive unit or the start of traveling of the traveling unit.
  • movement of an overhead conveyance vehicle system It is a figure which shows an example which performs horizontal storage at the time of a travel start of an overhead conveyance vehicle. It is a figure which shows an example which does not perform horizontal storage at the time of a travel start of an overhead conveyance vehicle. It is a figure which shows an example which performs storing of side loading while driving
  • FIG. 1 is a diagram illustrating an example of a ceiling guided vehicle system 100 according to the embodiment.
  • FIG. 2 is a diagram illustrating a state in which the article 2 is delivered from the ceiling transport vehicle 10 to the buffer unit 32 or from the buffer unit 32 to the ceiling transport vehicle 10.
  • the ceiling transport vehicle system 100 includes a track (running rail) 6, a ceiling transport vehicle 10, and a controller 20.
  • the overhead transport vehicle system 100 is installed, for example, in a semiconductor device manufacturing factory.
  • the article 2 accommodates an article such as a wafer or a reticle used for manufacturing a semiconductor element, for example.
  • the article 2 is, for example, a FOUP, SMIF Pod, or reticle Pod that can purge the inside.
  • 1 and 2 show an example in which the article 2 is a FOUP.
  • the article 2 includes a main body 2a, a lid 2c, and a flange 2g. Articles such as wafers are accommodated in the main body 2a.
  • the lid 2c is detachably provided on one of the side surfaces of the main body 2a.
  • the main body 2a has a plurality of positioning grooves 2d formed radially on the bottom surface side.
  • the ceiling transport vehicle 10 includes a traveling unit 5 and a main body unit 3.
  • the travel unit 5 travels along the track 6 by the driving force of a travel drive unit (not shown).
  • a travel drive unit for example, a transmission motor or a linear motor is used, and the travel drive unit may be mounted on the travel unit 5.
  • the track 6 is laid, for example, from the ceiling 18 of the equipment of the clean room building via a hanging metal fitting, and extends in the X direction in FIG.
  • the traveling unit 5 has traveling wheels 7 arranged so as to be in contact with the track 6.
  • the traveling wheel 7 is connected to, for example, an encoder (not shown). This encoder detects the number of revolutions of the traveling wheel 7 and outputs the detection result to the controller 20.
  • the controller 20 controls a travel drive unit (not shown) based on the detection result of the encoder, and controls the speed or stop position of the ceiling transport vehicle 10. Further, as shown in FIG. 1, the ceiling transport vehicle 10 is attached with a support shaft 9 extending downward from the traveling unit 5.
  • the main body 3 is attached to the lower part of the support shaft 9.
  • the main body 3 includes an article holding unit 13 that holds the article 2, an elevating drive unit 14 that elevates and lowers the article holding unit 13 in the vertical direction (Z direction, vertical direction), and a lateral that moves the elevating drive unit 14 to the side. And a dispensing mechanism 11.
  • the article holding unit 13 hangs and holds the article 2 by holding the flange 2g of the article 2.
  • the article holding part 13 is, for example, a chuck having a claw part 13a that is movable in the horizontal direction.
  • the article holding part 13 is moved up under the flange 2g of the article 2 and the article holding part 13 is lifted to raise the article 2 Is held in a suspended state.
  • the article holding unit 13 is connected to a suspension member 13b such as a wire or a belt.
  • the elevating drive unit 14 is, for example, a hoist, and lowers the article holding unit 13 by feeding the hanging member 13b, and raises the article holding unit 13 by winding the hanging member 13b.
  • the elevating drive unit 14 is controlled by the controller 20 to lower or raise the article holding unit 13 at a predetermined speed.
  • the raising / lowering drive part 14 is controlled by the controller 20, and hold
  • the laterally extending mechanism 11 has, for example, a plurality of movable plates 12 arranged so as to overlap in the vertical direction (Z direction).
  • the movable plate 12 is movable in the Y direction by a Y direction guide (not shown).
  • An elevating drive unit 14 is attached to the lower movable plate 12.
  • the laterally extending mechanism 11 has a Y-direction drive unit such as an electric motor (not shown).
  • the movable plate 12 is slid by the driving force from the Y-direction drive unit, and the elevation drive unit 14 is moved to the protruding position 14P and the storage position 14R. It is possible to move between.
  • the protruding position 14 ⁇ / b> P is a position where the elevating drive unit 14 is protruded from the main body 3 to the side of the track 6 (Y direction).
  • the storage position R is a position below the track 6 where the elevating drive unit 14 is stored in the main body 3.
  • a rotation unit may be provided between the side extending mechanism 11 and the elevating drive unit 14.
  • the rotation unit includes a rotation member and a rotation drive unit.
  • the elevating drive unit 14 can be rotated in the vertical direction (Z direction). is there.
  • the article holding unit 13 (article 2) suspended from the elevating drive unit 14 can be rotated, and the direction of the lid 2c of the article 2 is changed. Can do.
  • movement of such a rotation part is controlled by the controller 20, for example.
  • the controller 20 for example.
  • the main body unit 3 including the above-described lateral extending mechanism 11, the article holding unit 13, and the elevating drive unit 14 moves along the track 6 together with the traveling unit 5.
  • covers 16 are provided on the ⁇ X side and the + X side (the front side and the rear side in the traveling direction) of the main body 3, respectively. Each of the covers 16 is supported by the ceiling transport vehicle 10 via the support shaft 9 and moves together with the traveling unit 5.
  • the ceiling transport vehicle 10 can deliver the article 2 to a storage device such as a load port 31 (see FIG. 1) or a buffer unit 32 (see FIG. 2) of the processing device 30, for example. Further, the ceiling transport vehicle 10 can receive the article 2 from the load port 31 or the buffer unit 32.
  • the load port 31 and the buffer unit 32 are arranged below the lower end of the article 2 held by the article holding unit 13 where the article 2 is placed up to the uppermost position by the elevating drive unit 14. ing.
  • the processing apparatus 30 is, for example, a film forming apparatus, a coater / developer, an exposure apparatus, or an etching apparatus, and performs various processes in the process of manufacturing a device (for example, a semiconductor device).
  • the load port 31 is a place which mounts the container (article 2) which accommodated the target object for processing with the processing apparatus 30, as shown in FIG.
  • the buffer unit 32 is disposed below the track 6 (on the ⁇ Z side) and on the + Y side.
  • the buffer unit 32 may be disposed not only on the + Y side, but also on the ⁇ Y side, and may be disposed on both the + Y side and the ⁇ Y side.
  • the buffer unit 32 is a side track buffer disposed below and on the side of the track 6.
  • the buffer unit 32 has the article holding unit 13 and the elevation drive unit 14 projecting in the Y direction by the laterally extending mechanism 11 and the elevation drive unit 14 is disposed at the projecting position 14P. By lowering, the article 2 held by the article holding unit 13 is arranged at a position where it can be placed.
  • the buffer unit 32 has a frame 33.
  • the frame 33 is held in a state of being suspended from the ceiling 18 by a plurality of suspension fittings 34 and is disposed in the vicinity of the ceiling 18.
  • the frame 33 is arranged extending in the X direction along the track 6.
  • the buffer unit 32 can place one article 2 or a plurality of articles 2.
  • the number of articles 2 placed in one buffer unit 32 can be arbitrarily set.
  • the buffer unit 32 can place a plurality of articles 2, the plurality of articles 2 are placed side by side along the track 6 (in the X direction).
  • the load port 31 and the buffer unit 32 are provided with a plurality of pins 25 for positioning the article 2 placed thereon.
  • a plurality of pins 25 are provided.
  • Each pin 25 is arranged corresponding to the position of a plurality of radial grooves 2d provided on the bottom of the article 2, and can be fitted into the grooves 2d.
  • the article 2 is positioned by fitting the pin 25 into the groove 2 d of the article 2.
  • the shape and the number of the grooves 2d and the pins 25 are not limited to the above-described form, and any configuration that can position the article 2 is applicable.
  • the controller 20 controls the operation of each part of the ceiling transport vehicle 10.
  • the controller 20 controls a lateral movement operation or a storage operation (that is, movement of the elevating drive unit 14) by the lateral ejection mechanism 11, an operation of the traveling unit 5, and the like.
  • the controller 20 can overlap the operation of the traveling unit 5 and the operation of the lateral ejection mechanism 11. Therefore, the controller 20 is a stop position where the overhead conveyance vehicle 10 can transfer the article 2 with respect to the load port 31 or the buffer part 32 that is the transfer position of the article 2 (the lifting drive unit 14 protruding to the protruding position 14P).
  • the lateral drive mechanism 11 can start the movement of the elevating drive unit 14 toward the protruding position 14P.
  • the controller 20 can start the traveling of the traveling unit 5 stopped corresponding to the transfer position before the elevating drive unit 14 returns from the protruding position 14P to the storage position 14R by the laterally extending mechanism 11. it can.
  • the controller 20 can arbitrarily set the control for overlapping the operation of the traveling unit 5 and the operation of the lateral mechanism 11.
  • the controller 20 causes the elevating drive unit 14 to be arranged at the protruding position 14P when the traveling unit 5 stops corresponding to the transfer position (for example, the load port 31 described above, and so on).
  • the transfer position for example, the load port 31 described above, and so on.
  • the controller 20 instructs the lifting drive unit 14 at the projecting position 14P to start the driving of the lateral mechanism 11 toward the storage position 14R. be able to.
  • the controller 20 can determine whether there is any trouble in the above overlapping control. For example, when there is an obstacle that can contact at least one of the projecting lift drive unit 14, the article holding unit 13, and the article 2 held by the article holding unit 13 while the running unit 5 is running, During the traveling of the part 5, it is possible to stop driving the laterally extending mechanism 11.
  • the controller 20 has an obstacle that can contact at least one of the raised and lowered drive unit 14, the article holding unit 13, and the article 2 held by the article holding unit 13 while the running unit 5 is traveling. In this case, the driving of the lateral ejection mechanism 11 may be instructed within a predetermined range where there is no contact with an obstacle.
  • the obstacle may be a storage device such as the buffer unit 32 as shown in FIG. 2 or the article 2 placed on such a storage device. Further, as an obstacle, there is a hanging metal fitting 34 or the like for hanging a structure such as a frame 33 constituting the buffer unit 32 from the ceiling. Moreover, as an obstruction, the piping in an installation, the pillar and beam of a building, the processing apparatus 30 (refer FIG. 1) arrange
  • the controller 20 may include a derivation unit 21 and may be connected to the storage unit 22.
  • the deriving unit 21 derives a position where the protruding operation of the elevating drive unit 14 is started by the laterally extending mechanism 11.
  • the deriving unit 21 derives the timing for starting the storing operation for storing the elevating drive unit 14 by the laterally extending mechanism 11.
  • the storage unit 22 stores, for example, position information (map data) of the buffer unit 32 or the like that becomes an obstacle when the elevating drive unit 14 is protruded by the traverse mechanism 11 in the track 6 of the ceiling transport vehicle 10. ing.
  • the obstacle position information stored in the storage unit 22 is managed by, for example, coordinate values.
  • the deriving unit 21 determines the traveling unit 5 based on the time required for the lateral setting mechanism 11 to move between the storage position 14R and the protruding position 14P from the coordinate values of the obstacles stored in the storage unit 22.
  • the position at which the protruding operation of the lateral take-out mechanism 11 starts during the running of the vehicle or the timing at which the running of the running unit 5 starts during the retracting operation of the lateral take-out mechanism 11 is derived.
  • the deriving unit 21 may store the derived result in the storage unit 22. Therefore, the storage unit 22 stores information on the position at which the protruding operation of the lateral mechanism starts during the traveling of the traveling unit 5 or the timing at which the traveling unit 5 starts traveling during the storing operation of the lateral mechanism 11. Yes.
  • the storage unit 22 may store information related to the transfer position of the article 2 such as the load port 31 and the buffer unit 32, for example.
  • the controller 20 detects the distance to the obstacle by a sensor provided in the ceiling transport vehicle 10 and based on the output from this sensor. You may instruct the drive of the horizontal mechanism 11.
  • coordinates related to the obstacle are included in the transport instruction from the upper controller (MCS, MES) to the controller 20, and the controller 20 drives the lateral ejection mechanism 11 based on the obstacle coordinates acquired from the upper controller. You may instruct.
  • the controller 20 has been described by taking, for example, an in-vehicle controller mounted on the traveling unit 5 or the main body unit 3 of the ceiling guided vehicle 10, but is not limited to this configuration.
  • the controller 20 may be a ground controller installed on the ground side.
  • the controller 20 may control the plurality of ceiling transport vehicles 10 in an integrated manner.
  • the storage unit 22 may also be mounted on the traveling unit 5 or the main body unit 3 of the ceiling guided vehicle 10 or may be installed on the ground side together with the controller 20 on the ground side.
  • FIG. 3 is a flowchart showing an example of the operation of the ceiling guided vehicle system 100.
  • the ceiling transport vehicle 10 travels toward the transfer position such as the load port 31 or the buffer unit 32 and the article 2 is transferred from the ceiling transport vehicle 10 to the transfer position will be described.
  • the controller 20 first instructs the transfer position to the ceiling transport vehicle 10 (step S01).
  • step S01 for example, the controller 20 extracts information on the transfer position that is the transport destination of the article 2 from the information on the transfer position stored in the storage unit 22.
  • the controller 20 controls the operation of the traveling unit 5 based on the extracted information, and causes the ceiling transport vehicle 10 to travel to the transfer position.
  • the information regarding the transfer position may be instructed from, for example, a host controller connected to the controller 20.
  • the controller 20 determines whether or not the transfer position is below and on the side of the track 6 (step S02). For example, the controller 20 determines step S02 from the transfer position information extracted from the storage unit 22. When the transfer position is below and to the side of the track 6 (YES in step S20), the deriving unit 21 derives a position at which the raising / lowering driving unit 14 starts the protruding operation by the laterally extending mechanism 11 (step S03).
  • step S03 the derivation unit 21 determines the time required from the start of the protrusion operation to the completion of the protrusion operation based on, for example, the length by which the elevating drive unit 14 protrudes and the protruding speed of the elevating drive unit 14 by the laterally extending mechanism 11. calculate. Subsequently, the derivation unit 21 calculates the travel distance traveled by the travel unit 5 while the required time elapses, for example, based on the calculated required time and the travel speed of the travel unit 5. The deriving unit 21 starts a protruding operation start position P1 (described later) for starting the protruding operation of the elevating drive unit 14 based on the calculated travel distance and a stop position P3 (see FIG. 4 described later) corresponding to the transfer position. (See FIG. 4).
  • the controller 20 determines whether there is an obstacle in the traveling direction of the ceiling transport vehicle 10 between, for example, the calculated protruding operation start position P1 and the transfer position (step S04).
  • the controller 20 determines that there is no obstacle (NO in step S04)
  • the controller 20 starts the protruding operation of the elevating drive unit 14 from the protruding operation start position P1 during the traveling of the traveling unit 5 (step S05).
  • FIG. 4 is a diagram illustrating an example of the operation in step S05.
  • the controller 20 performs the projecting operation while maintaining the traveling of the traveling unit 5 when the overhead traveling vehicle 10 arrives at the projecting operation start position P1 derived by the deriving unit 21 or before reaching the projecting operation start position P1.
  • An instruction to start the protruding operation of the lifting / lowering drive unit 14 by the lateral projection mechanism 11 is issued from the start position P1.
  • the ceiling guided vehicle 10 performs the protruding operation of the elevating drive unit 14 while traveling in the traveling direction at the stage when it reaches the protruding operation start position P1.
  • the ceiling transport vehicle 10 is in the middle of projecting the lifting drive unit 14 toward the projecting position 14P while traveling. It becomes the state of. Thereafter, when the ceiling transport vehicle 10 reaches the stop position P3, the controller 20 stops the operation of the traveling unit 5 to stop the ceiling transport vehicle 10 at the stop position P3. Further, at the timing when the ceiling transport vehicle 10 stops at the stop position P3, the elevating drive unit 14 has reached the protruding position 14P, and the protruding operation has been completed.
  • step S02 when the transfer position is not below and to the side of the track 6 (NO in step S02), the controller 20 does not operate the horizontal mechanism 11 while the overhead traveling vehicle 10 is traveling (step S02). S06).
  • the controller 20 when the transfer position is installed below the track 6, the article 2 can be transferred without moving the elevating drive unit 14 or the like sideways.
  • step S04 when it is determined in step S04 that there is an obstacle in the traveling direction (YES in step S04), the controller 20 does not operate the laterally extending mechanism 11 while the overhead traveling vehicle 10 is traveling (step S06).
  • the controller 20 causes the ceiling transport vehicle 10 to travel without operating the lateral mechanism 11 while the ceiling transport vehicle 10 is traveling.
  • FIG. 5 is a diagram illustrating an example of the operation in step S06.
  • step S04 when the controller 20 determines that there is an obstacle such as the buffer unit 32, the frame 33, the hanging bracket 34, or the article 2 on the buffer unit 32, the ceiling transport vehicle 10 reaches the protruding operation start position P1.
  • an instruction not to perform the protruding operation is given to the ceiling transport vehicle 10.
  • the instruction not to perform the protruding operation may be instructed by the controller 20 or may be realized by not instructing the protruding operation by the controller 20.
  • the overhead traveling vehicle 10 passes the protruding operation start position P1 without performing the protruding operation in a state where the elevating drive unit 14 is disposed at the storage position 14R. After that, the controller 20 stops the overhead conveyance vehicle 10 at the transfer position at the stop position P3, and then causes the elevating drive unit 14 to protrude to the protrusion position 14P by the laterally extending mechanism 11.
  • the controller 20 drives the elevating drive unit 14 to lower the article holding unit 13 (step S07).
  • the controller 20 since the elevating drive unit 14 has reached the protruding position 14P when the ceiling transport vehicle 10 stops at the stop position P3, the controller 20 immediately after the ceiling transport vehicle 10 stops at the stop position P3, The elevating drive unit 14 is driven to lower the article holding unit 13.
  • the horizontal delivery mechanism 11 is driven after the overhead conveyance vehicle 10 stops at the stop position P3, and the elevating drive unit 14 is driven after the elevating drive unit 14 reaches the protruding position 14P to drive the article holding unit. 13 is lowered.
  • the controller 20 stops the driving of the elevating drive unit 14 when the article 2 is lowered to the transfer position (load port 31 or the like), and releases the gripping of the article 2 by the article holding unit 13, thereby transferring the article 2. It is mounted on the mounting position (load port 31 in FIG. 4) (step S08). Thus, the transfer of the article 2 from the ceiling transport vehicle 10 to the transfer position is completed.
  • the controller 20 drives the lifting drive unit 14 to lower the article holding unit 13 to the height of the flange 2g of the article 2 to move the article holding unit 13 down. It is possible to receive the article 2 by driving and gripping the flange 2g.
  • the controller 20 can similarly apply the drive control of the lateral feed mechanism 11 as shown in FIGS. 3 to 5 described above when the overhead conveyance vehicle 10 receives the article 2 at the transfer position.
  • the protruding operation is performed while the overhead traveling vehicle 10 is traveling, and the protruding operation is completed or almost completed when the overhead traveling vehicle 10 stops at the stop position P3. .
  • the traveling of the ceiling conveyance vehicle 10 and the protruding operation of the elevating drive unit 14 can be overlapped, the transfer of the article 2 can be performed as compared with the case where the protruding operation is performed after the ceiling conveying vehicle 10 stops. The time required for loading can be shortened.
  • the raising / lowering drive unit 14 is not projected until the ceiling transport vehicle 10 stops at the stop position P3. For this reason, the ceiling conveyance vehicle 10 passes the side of the obstacle in a state where the elevating drive unit 14 is disposed at the storage position 14R.
  • the elevating drive unit 14 By arranging the elevating drive unit 14 at the storage position 14R, it is possible to avoid the elevating drive unit 14 and the like from interfering with an obstacle.
  • FIG. 6 is a flowchart illustrating another example of the operation of the ceiling guided vehicle system 100.
  • the operation after YES is determined in step S ⁇ b> 04 is different from the flowchart shown in FIG. 3.
  • FIG. 7 shows an example of the operation in FIG.
  • the difference from the operation example in FIG. 3 will be mainly described.
  • step S11 when the controller 20 determines in step S04 that there is an obstacle in the traveling direction (YES in step S04), the deriving unit 21 derives a position exceeding the obstacle as a protruding operation start position ( Step S11).
  • step S11 the derivation unit 21 is between the protrusion operation start position P1 and the stop position P3, as shown in FIG. A position P4 that exceeds the obstacle in the traveling direction is derived as a protruding operation start position.
  • the overhead traveling vehicle 10 passes the side of the obstacle with the lifting drive unit 14 stored in the storage position 14R.
  • the controller 20 starts the protrusion operation of the elevating drive unit 14 while the traveling unit 5 is traveling (step S12). Therefore, as shown in FIG. 7, in the traveling position P5 between the projecting operation start position P4 and the stop position P3, the ceiling drive vehicle 10 projects the lifting drive unit 14 toward the projecting position 14P while traveling. It becomes.
  • the controller 20 When performing the protrusion operation in step S12, the distance between the protrusion operation start position P4 and the stop position P3 is shorter than the distance between the protrusion operation start position P1 and the stop position P3 obtained first. Therefore, before the raising / lowering drive part 14 arrives at the protrusion position 14P, the overhead conveyance vehicle 10 arrives at the stop position P3. In this case, after stopping the ceiling transport vehicle 10 at the stop position P3, the controller 20 continues the protrusion operation until the elevating drive unit 14 reaches the protrusion position 14P (step S13). After the elevating drive unit 14 reaches the protruding position 14P, the controller 20 drives the elevating drive unit 14 to lower the article holding unit 13 (step S14). After step S14, the article 2 is transferred to the transfer position or the article 2 is received, as in step S08 shown in FIG.
  • the raising / lowering driving unit 14 does not project, so that the raising / lowering driving unit 14 interferes with the obstacle. Can be avoided. Further, since the traveling of the ceiling transport vehicle 10 and the protruding operation of the lifting drive unit 14 can be overlapped at a position where the ceiling transport vehicle 10 exceeds the obstacle, the protruding operation is performed after the ceiling transport vehicle 10 stops. Compared with the case where it is performed, the time required to transfer the article 2 can be shortened.
  • FIG. 8 is a flowchart showing another example of the operation of the ceiling guided vehicle system 100.
  • the operation of resuming traveling after the overhead conveyance vehicle 10 holds the article 2 placed at the transfer position such as the load port 31 or the buffer unit 32 by the article holding unit 13, or the overhead conveyance vehicle 10
  • the operation of resuming traveling after transferring the article 2 to the transfer position will be described.
  • the controller 20 drives the elevating drive unit 14 to raise the article holding unit 13 (step S21).
  • the controller 20 has received the information regarding the next moving destination (transfer destination) of the ceiling conveyance vehicle 10 before or after performing step S21.
  • the controller 20 determines whether there is an obstacle in the traveling direction (step S22).
  • the controller 20 may determine whether to determine step S22 when the article holding unit 13 starts to rise, before the raising start, or after the raising start. Therefore, step S21 and step S22 may be simultaneous, or step S22 may be ahead of step S21.
  • the controller 20 calculates the distance traveled by the traveling unit 5 during the storage time until the laterally extending mechanism 11 returns from the protruding position 14P to the storage position 14R, and whether or not there is an obstacle at this travel distance. Judgment is made based on the coordinates of obstacles stored in the storage unit 22.
  • the deriving unit 21 derives the timing for starting the storing operation for storing the elevating drive unit 14 by the laterally extending mechanism 11 (step). S23).
  • step S23 the deriving unit 21 derives the timing so as to start the retracting operation of the elevating drive unit 14 when the traveling unit 5 starts traveling, for example.
  • the controller 20 starts the traveling of the traveling unit 5 and starts the storing operation of the elevating drive unit 14 at the timing derived by the deriving unit 21 (step S24).
  • step S24 may be executed after the raising of the article holding unit 13 by the elevating drive unit 14 is completed, or may be executed while the article holding unit 13 is being raised.
  • FIG. 9 is a diagram illustrating an example of the operation in step S24.
  • the controller 20 instructs the storage operation to start at the timing derived by the deriving unit 21 in step S ⁇ b> 23 (when the traveling unit 5 starts traveling in FIG. 9).
  • the retracting operation of the elevating drive unit 14 is started simultaneously or substantially simultaneously. Therefore, as shown in FIG. 9, at the position P ⁇ b> 6 that has advanced from the stop position P ⁇ b> 3 in the traveling direction, the elevator unit 14 is retracted by the lateral drive mechanism 11 while traveling by the traveling unit 5.
  • the elevating drive unit 14 reaches the storage position 14R, and the storing operation is completed (step S25).
  • the controller 20 causes the overhead conveyance vehicle 10 to travel toward the next stop position, for example.
  • step S26 when it is determined in step S22 that there is an obstacle in the traveling direction (YES in step S22), the controller 20 starts the storing operation while the ceiling transport vehicle 10 is stopped (step S26).
  • FIG. 10 is a diagram illustrating an example of the operation in step S26.
  • the controller 20 moves the elevating drive unit 14 from the protruding position 14P to the storage position 14R by the side feed mechanism 11 in a state where the ceiling transport vehicle 10 is stopped at the stop position P3.
  • the controller 20 causes the traveling unit 5 to start the traveling operation (step S27).
  • the ceiling transport vehicle 10 starts traveling in a state where the elevating drive unit 14 is disposed at the storage position 14R.
  • the storage operation is performed when the ceiling transport vehicle 10 starts to travel, and the storage operation is completed while the ceiling transport vehicle 10 is traveling. Since the traveling of the ceiling transport vehicle 10 and the retracting operation of the elevating drive unit 14 can be overlapped as in the example illustrated in FIG. 9, the traveling is performed after the retracting operation is performed with the ceiling transport vehicle 10 stopped. Compared with the case of starting, the traveling start time of the ceiling guided vehicle 10 can be advanced, and the time required for transferring the article 2 can be shortened.
  • the ceiling transport vehicle 10 when there is an obstacle in the traveling direction of the ceiling transport vehicle 10, the ceiling transport vehicle 10 starts to travel after the storage operation is completed. Passes the side of the obstacle in the state of being placed at the storage position 14R.
  • the elevating drive unit 14 By arranging the elevating drive unit 14 at the storage position 14R, it is possible to avoid the elevating drive unit 14 from interfering with an obstacle.
  • step S22 when it is determined in step S22 that there is an obstacle in the traveling direction, the controller 20 completes the storing operation while the ceiling transport vehicle 10 is stopped.
  • the operation is not limited to this example.
  • the derivation unit 21 sets a timing for starting the storing operation of storing the elevating drive unit 14 by the lateral output mechanism 11 so as not to interfere with the obstacle. It may be derived.
  • FIG. 11 is a diagram illustrating another operation of the ceiling transport vehicle system 100.
  • the derivation unit 21 calculates the distance between the stop position P3 and the position P9 that reaches the obstacle, and calculates the time (traveling time) required for the overhead traveling vehicle 10 to travel this distance.
  • the derivation unit 21 starts the storage operation based on, for example, the distance from the protruding position 14P to the storage position 14R when the lifting drive unit 14 is stored and the storage speed of the lifting drive unit 14 by the lateral ejection mechanism 11. To the time required for the storage operation to complete (storage time).
  • the deriving unit 21 compares the obtained storage time with the traveling time, and when the storage time is shorter, the deriving unit 21 performs the storing operation of the elevating drive unit 14 when the overhead traveling vehicle 10 starts traveling. Further, for example, when the storage time is longer, the deriving unit 21 obtains a time (subtraction time) obtained by subtracting the travel time from the storage time, and subtracts the time from the timing T0 at which the storage operation of the lateral take-out mechanism 11 is started. The timing T1 at which elapses is derived.
  • the controller 20 starts the storage operation in a state in which the overhead conveyance vehicle 10 is stopped at the stop position P3, and instructs the start of traveling at the timing T1 when the subtraction time described above has elapsed from the timing T0 at the start of the storage operation.
  • the overhead traveling vehicle 10 starts the storing operation of the elevating drive unit 14 by the laterally extending mechanism 11 while stopping at the stop position P3, and the traveling unit 5 travels while continuing the storing operation at the timing T1.
  • the retracting operation of the elevating drive unit 14 by the lateral drive mechanism 11 is performed at the travel position P8 that is an intermediate position between the stop position P3 and the position P9.
  • the retracting operation of the elevating drive unit 14 is completed. Therefore, even when there is an obstacle in the traveling direction, the traveling of the ceiling transport vehicle 10 and the retracting operation of the elevating drive unit 14 can be partially overlapped.
  • the traveling start time of the ceiling transport vehicle 10 can be advanced while avoiding the lifting drive unit 14 from interfering with an obstacle, and the time required to transfer the article 2 can be shortened.
  • FIG. 12 is a diagram illustrating another operation of the ceiling transport vehicle system 100.
  • the buffer unit (storage device) 32 shown in FIG. 12 a plurality of articles 2 can be placed side by side between the + X side and ⁇ X side hanging brackets 34 along the traveling direction of the ceiling transport vehicle 10.
  • the ceiling transport vehicle 10 stops at the stop position P10 and transfers the article 2 to the front side ( ⁇ X side) of the buffer unit 32 in the traveling direction of the ceiling transport vehicle 10.
  • the controller 20 determines whether the article 2 is placed on the front side (+ X side) of the traveling direction of the ceiling transport vehicle 10 of the buffer unit 32, and when the article 2 is placed, Assuming that the article 2 is an obstacle, similarly to FIG. 10, assuming that there is an obstacle (article 2) in the traveling direction of the ceiling transport vehicle 10, the traveling of the ceiling transport vehicle 10 is started after the storage operation is completed.
  • the derivation unit 21 reaches the stop position P10 and the hanging bracket 34 that is an obstacle.
  • the distance to P11 is calculated, and the time (traveling time) required for the overhead traveling vehicle 10 to travel this distance is calculated.
  • the derivation unit 21 calculates the time (storage time) required from the start of the storage operation of the elevating drive unit 14 to the completion of the storage operation.
  • the derivation unit 21 obtains a time (subtraction time) obtained by subtracting the traveling time from the storage time, and derives a timing T2 at which the subtraction time has elapsed from the timing T0 at which the lateral movement mechanism 11 starts the storage operation.
  • the controller 20 starts the storage operation in a state where the overhead conveyance vehicle 10 is stopped at the stop position P10, and instructs the start of traveling at the timing T2 when the above-described subtraction time has elapsed from the timing T0 at the start of the storage operation.
  • the overhead traveling vehicle 10 starts the retracting operation of the elevating drive unit 14 by the laterally extending mechanism 11 while stopping at the stop position P3, and the traveling unit 5 travels while continuing the storing operation at the timing T2.
  • the retracting operation of the elevating drive unit 14 by the lateral take-out mechanism 11 is performed in the intermediate position between the stop position P10 and the position P11.
  • the retracting operation of the elevating drive unit 14 is completed. Therefore, even after the article 2 is transferred to the buffer unit 32, the traveling of the ceiling transport vehicle 10 and the storing operation of the elevating drive unit 14 can be partially overlapped.
  • the traveling start time of the ceiling transport vehicle 10 can be shortened while avoiding the lifting drive unit 14 from interfering with the hanging bracket 34, and the time required for transferring the article 2 can be shortened.
  • 12 shows a form in which two articles 2 are placed in the buffer unit 32, but the same applies to a form in which three or more articles 2 are placed side by side as the buffer part 32. .
  • FIG. 13 is a diagram showing another example of the ceiling guided vehicle system 200.
  • members similar to those in the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted or simplified.
  • the tracks 6 and 6A are provided in two upper and lower stages, and are arranged in two rows (in the Y direction).
  • the overhead transport vehicle 10 can travel on the tracks 6 and 6A.
  • the upper two rows of tracks 6 and 6A are attached to the ceiling 18 respectively.
  • the lower track 6 ⁇ / b> A is attached to a frame 132 that is suspended from the ceiling 18 by a suspension fitting 134.
  • the frame 132 is a structure disposed below the track 6.
  • the buffer unit 32 is provided by suspending a frame 33 that is a structure from a frame 132 via a hanging metal fitting 34.
  • the frame 33 is suspended from the ceiling by the suspension fitting 134, the frame 132, and the suspension fitting 34.
  • the overhead transport vehicle system 200 has a controller 120 that controls each part in an integrated manner.
  • the controller 120 may be installed on the ground or mounted on each ceiling transport vehicle 10.
  • the controller 120 determines whether or not the raising / lowering drive unit 14 is allowed to project or retract during the traveling of the overhead conveyance vehicle 10.
  • the controller 120 acquires information related to the obstacle as in the case of the controller 20 described above.
  • the ceiling transport vehicle 10 traveling on the upper track 6 is suspended as an obstacle. 134 exists.
  • the ceiling transport vehicle 10 traveling on the lower and left ( ⁇ Y side) track 6A is the same as the ceiling transport system 100 in that the suspension bracket 34 of the buffer 32 becomes an obstacle as an obstacle.
  • the controller 120 can determine whether the suspension fitting 34, the article 2 on the buffer 32, and the suspension fitting 134 are obstacles. Therefore, for the ceiling transport vehicle 10 traveling on the upper two rows of tracks 6, at the position where the suspension metal fitting 134 is provided, the controller 120, for example, protrudes or retracts the lifting drive unit 14 while the ceiling transport vehicle 10 travels. Is controlled so as not to overlap.
  • the controller 120 has no obstacles such as the hanging brackets 34, 134. It is possible to overlap the protruding or retracting operations.
  • the controller 120 for the ceiling transport vehicle 10 that travels on the lower and left ( ⁇ Y side) track 6A, at the position where the suspension bracket 34 is provided, the controller 120, for example, moves the elevating drive unit 14 while the ceiling transport vehicle 10 is traveling. Control so that the protruding or retracting operations do not overlap. In the configuration as shown in FIG. 13, for the overhead transport vehicle 10 traveling on the upper track 6, the hanging bracket 134 becomes an obstacle, and thus the overlapping control described above may be uniformly executed.
  • the controller 20 determines whether there is an obstacle (for example, step S04 in FIG. 3 or step S22 in FIG. 8).
  • the above overlapping control may be executed uniformly without performing the above.
  • the movement of the elevating drive unit 14 by the laterally extending mechanism 11 is overlapped with the travel of the traveling unit 5. be able to.
  • the traveling unit 5 is started to travel after the lifting drive unit 14 is stored in the main body unit 3. The time required for transferring the article 2 can be shortened.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control And Safety Of Cranes (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)

Abstract

Le problème décrit par la présente invention concerne un véhicule de transport aérien conçu de façon à réduire le temps nécessaire pour transférer un article à une position à laquelle l'article doit être transféré, la position étant située sous un rail sur un côté de ce dernier ; et un procédé pour commander un véhicule de transport aérien. La solution selon l'invention porte sur un véhicule de transport aérien (10) qui comporte : une section de déplacement (5) se déplaçant sur un rail (6) ; une section de corps (3) disposée sur la face inférieure de la section de déplacement (5) ; une section de maintien d'article (13) pour maintenir un article tout en suspendant l'article ; une section d'entraînement vertical (14) pour mouvoir verticalement la section de maintien d'article (13) ; un mécanisme de traverse (11) pour mouvoir la section d'entraînement vertical (14) entre une position rangée (14R) et une position en saillie (14P) ; et un dispositif de commande (20) soit pour actionner le mécanisme de traverse (11), de manière à amener la section d'entraînement vertical (14) à commencer à se mouvoir vers la position en saillie (14P) avant que la section de déplacement (5) ne s'arrête par rapport à une position (31, 32) à laquelle l'article doit être transféré, la position (31, 32) étant située en décalage latéral d'une position au-dessous du rail (6), soit pour actionner le mécanisme de traverse (11), de manière à amener la section de déplacement (5) arrêtée correspondant à la position (31, 32) à commencer à se déplacer avant que la section d'entraînement vertical (14) ne revienne à la position rangée (14R).
PCT/JP2017/036602 2016-11-08 2017-10-10 Véhicule de transport aérien et procédé destiné à commander un véhicule de transport aérien WO2018088089A1 (fr)

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JPWO2020195240A1 (fr) * 2019-03-22 2020-10-01
TWI808275B (zh) * 2018-10-29 2023-07-11 日商村田機械股份有限公司 高架搬運車及高架搬運車系統

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CN113348141B (zh) * 2019-01-25 2023-02-17 村田机械株式会社 搬送系统

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JP2008141126A (ja) * 2006-12-05 2008-06-19 Juki Corp 部品搭載装置及び部品搭載方法

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TWI738911B (zh) 2021-09-11
JP6747516B2 (ja) 2020-08-26
TW201820517A (zh) 2018-06-01

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