CN108861265B - Article carrying apparatus - Google Patents
Article carrying apparatus Download PDFInfo
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- CN108861265B CN108861265B CN201810444112.4A CN201810444112A CN108861265B CN 108861265 B CN108861265 B CN 108861265B CN 201810444112 A CN201810444112 A CN 201810444112A CN 108861265 B CN108861265 B CN 108861265B
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- 238000012546 transfer Methods 0.000 claims abstract description 205
- 239000000969 carrier Substances 0.000 claims description 30
- 230000002452 interceptive effect Effects 0.000 abstract 1
- 230000032258 transport Effects 0.000 description 125
- 238000010586 diagram Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 7
- 238000003860 storage Methods 0.000 description 6
- 230000003028 elevating effect Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000001311 chemical methods and process Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Classifications
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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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67724—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations by means of a cart or a vehicule
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67733—Overhead conveying
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Conveyors (AREA)
Abstract
When an article is conveyed by an article conveyance vehicle having a support body capable of projecting and retracting in a width direction orthogonal to an extending direction of a rail by means of an article conveyance facility having a parallel section in which a plurality of rails are parallel, contact of the article conveyance vehicle is prevented in the parallel section while suppressing an increase in cost and a decrease in conveyance efficiency. When the protruding position of the support (20) protruding from one rail (K1) of the parallel sections (PK) is a position interfering with the travel space of the article transport vehicle (1) traveling on the other rail (K2), an interference management area (Z) is set so as to include at least the position where the travel space and the support (20) interfere with each other in association with the transfer target site (S). When one article transport vehicle (1) performs a transfer operation, entry of another article transport vehicle (1) into the interference management area (Z) is prohibited.
Description
Technical Field
The present invention relates to an article transport facility that moves a plurality of article transport vehicles along a track and transports articles between a plurality of transfer target sites.
Background
An example of an article transport facility that transports an article between a plurality of transfer target locations by moving a plurality of article carriers along a track is disclosed in japanese patent application laid-open No. 2009-35403. The article carrying device automatically carries an article (520) by an article carrying vehicle (200) suspended from a rail (100) provided on a ceiling (the reference numerals indicated by parentheses in the background art are those of patent document 1). The support part (230) for suspending the article (520) can suspend and lift the article (520) in a state of being positioned directly below the rail (100) as shown in fig. 2 of the publication to transfer the article (520), and can suspend and lift the article (520) at a position that moves in the width direction orthogonal to the extending direction of the rail (100) as shown in fig. 3 of the publication to transfer the article (520).
However, in the article transport facility, the rails often have parallel portions, but the intervals between the parallel rails are sometimes set to be narrow to such an extent that the article transport vehicles traveling on the parallel rails can be staggered without contact, for the purpose of improving space utilization efficiency and the like. When the distance between the parallel rails is narrow, if another article carrier travels on the other rail while one article carrier on one rail projects the support portion (230) in the width direction, the support portion (230) may come into contact with the other article carrier. A case where a obstacle sensor or the like is mounted on each article transport vehicle is also conceivable, but this increases the cost of the article transport vehicle. In addition, it is also conceivable to limit the number of article carriers that can enter the area where the rails run parallel to each other to one, but in this case, the conveying efficiency of the article conveying facility may be reduced.
Disclosure of Invention
In view of the above background, it is desirable to provide the following techniques: in an article carrying facility having a parallel section in which a plurality of rails are parallel, when an article is carried by using an article carrying vehicle having a support body capable of protruding and retracting in a width direction orthogonal to an extending direction of the rails, contact of the article carrying vehicle is prevented in the parallel section while suppressing an increase in cost and a decrease in carrying efficiency.
In view of the above, an aspect of the article transport facility is an article transport facility that transports an article between a plurality of transfer target sites by causing a plurality of article carriers to travel along a rail, the article transport facility including a plurality of parallel sections in which the rail is parallel, a direction perpendicular to an extending direction of the rail along a horizontal plane being a width direction, the article carrier including a support that supports the article, the support protruding and retracting between a retracted position retracted toward the article carrier and a protruding position protruding in the width direction in accordance with a position of the transfer target site, the protruding position being a case where the support protrudes at the rail of one of the parallel sections in accordance with the position of the transfer target site, and a travel space and the support being a trajectory of the article carrier when the rail of the other of the parallel sections travels In the case of a position where the support member interferes with the transfer target portion, an interference management area is set in the parallel section so as to include at least a position where the travel space and the support member interfere with each other, and when one of the article carriers performs a transfer operation to the transfer target portion corresponding to the interference management area, entry of the other article carrier to the interference management area is prohibited.
According to this aspect, the interference management area is set at a location where the support protruding for transferring the article may come into contact with another article transport vehicle, and when one article transport vehicle performs a transfer operation in the interference management area, entry of another article transport vehicle into the interference management area is prohibited. Therefore, the possibility that the support protruding for transferring the article comes into contact with another article carrier can be reduced. Each article transport vehicle does not need a support for detecting the protrusion of another article transport vehicle by means of a obstacle sensor or the like, and therefore, the cost increase caused by the mounting of the obstacle sensor does not occur. Further, since the entry of the article transport vehicle is not restricted in all the parallel sections, the reduction in the transport efficiency of the article transport facility is also suppressed. As described above, according to this aspect, when an article is conveyed by using an article transport vehicle having a support body that can protrude and retreat in the width direction orthogonal to the extending direction of the rails in an article conveying facility having a parallel section in which a plurality of rails are parallel, it is possible to prevent contact between the article transport vehicle and the article transport vehicle in the parallel section while suppressing an increase in cost and a decrease in conveying efficiency.
Further features and advantages of the article transport facility will be apparent from the following description of the embodiments described with reference to the drawings.
Drawings
Fig. 1 is a top view of an article handling apparatus.
Fig. 2 is a diagram showing an example of transferring an article between a transfer target site directly below an article transport vehicle.
Fig. 3 is a diagram showing an example of transferring an article between a transfer target location obliquely below an article transport vehicle.
Fig. 4 is a block diagram schematically showing the system configuration of the article transport facility.
Fig. 5 is a diagram showing an example of a control protocol of an article transport vehicle of the transport management device.
Fig. 6 is a diagram illustrating the presence or absence of interference between the travel space and the support body.
Fig. 7 is a diagram illustrating an example of a method of setting the interference management area.
Fig. 8 is a diagram illustrating a travel restriction with respect to an interference management area.
Fig. 9 is a diagram illustrating prohibition of entry into the interference management area.
Fig. 10 is a diagram illustrating an example of a method of setting a plurality of interference management areas.
Detailed Description
Hereinafter, embodiments of the article transport facility will be described with reference to the drawings. Fig. 1 is a plan view of an article transport facility 100 in which an article transport vehicle 1 transports an article 90 (see fig. 2, 3, and the like). The article transport facility 100 moves the plurality of article transport vehicles 1 along the rails K and transports the articles 90 between the plurality of transfer target sites S. The transfer target site S is provided with, for example, a storage, not shown, for storing the article 90, and a processing device, not shown, for performing various physical and chemical processes on the article 90. The article transport facility 100 is provided with an area E such as an area where storages are collected and an area where processing devices are collected according to processing contents. In FIG. 1, four regions E (E1-E4) are set as an example. As shown in fig. 1, the article transport facility 100 has a parallel section PK in which a plurality of tracks K are parallel. The tracks K are laid in correspondence with the arrangement of the storage and processing devices, that is, the arrangement of the transfer target sites S, and the intervals of the tracks K in the parallel sections PK are also different depending on the characteristics of each area E.
Fig. 2 and 3 show front views of the article transport vehicle 1 as viewed from the front to the rear in the traveling direction of the article transport vehicle 1 (the extending direction L of the rail K). In the following description, a direction along a horizontal plane and perpendicular to the extending direction L of the track K will be referred to as a width direction W. The article carrier 1 includes a traveling body 9 and a carrier body 10 suspended and supported by the traveling body 9. The rail K is constituted by a traveling rail 2 suspended and supported by a suspension member on a ceiling. In the present embodiment, the two running rails 2 are arranged in parallel on a horizontal plane to form a running rail pair. Then, the wheels 15 provided on the traveling body 9 roll on the upper surface of the traveling rail 2, whereby the traveling body 9 travels. The wheels 15 are driven by a travel motor M1 (see fig. 4).
The article transport vehicle 1 transports an article 90 to be transported by suspending and supporting the article 90 to be transported by a vehicle main body 10 suspended and supported by a traveling body 9. The article 90 is, for example, a Front Opening Unified Pod (FOUP) that accommodates semiconductor substrates, or a reticle box that accommodates a reticle (photomask). The truck body 10 includes an article support body 20 (support body), and the article support body 20 (support body) includes an elevating portion 13, a sliding portion 14, a gripping portion 18, and an elevating wire 19. The lifting unit 13 is suspended and supported by the sliding unit 14 by a lifting wire 19, and a grip unit 18 is provided below the lifting unit 13. A flange 91 is formed on the upper surface of the article 90, and the gripping portion 18 grips the flange 91, whereby the article 90 is suspended and supported by the elevating portion 13.
The article carrier 1 of the present embodiment transfers the article 90 to and from the transfer target site S directly below and obliquely below the traveling body 9. Fig. 2 shows an example of transferring an article 90 between the transfer target site S directly below the traveling body 9, and fig. 3 shows an example of transferring an article 90 between the transfer target site S obliquely below the traveling body 9. Further, the schematic block diagram of fig. 4 shows the system configuration of the article transport facility 100 and the article transport vehicle 1. When an article 90 is transferred to and from the transfer target site S directly below the traveling body 9, as shown in fig. 2, the gripping unit 18 grips the flange 91 of the article 90 by the gripping actuator a3, and the lifting unit 13 is lifted and lowered in the vertical direction V by driving the lifting motor M3, thereby moving the article 90.
When the article 90 is transferred to and from the transfer target site S obliquely below the traveling body 9, the slide portion 14 supporting the elevating portion 13 is moved laterally in the width direction W as shown in fig. 3 by further driving the slide motor M2, and the elevating portion 13 is moved up and down in the vertical direction V at the destination of movement, thereby moving the article 90. The article support 20 supports the article 90 by protruding and retreating between a retreating position retreating toward the article transport vehicle 1 side and a protruding position protruding in the width direction W corresponding to the position of the transfer target site S. Here, the sliding movement in one of the width directions W is illustrated, but it is obvious that the sliding movement in both directions may be possible.
As shown in fig. 4, the article transport vehicle 1 is mainly configured by a microcomputer and includes a vehicle control unit 51 that is a center of an article transport operation. The article transport vehicle 1 wirelessly communicates with a transport management device (MCP) H1, which is a system controller at the center of the article transport facility 100, via the communication unit 52 and the network 50. The conveyance vehicle control unit 51 operates under autonomous control (article conveyance operation) based on the conveyance command from the conveyance management device H1, and conveys the article 90 while holding it. The travel motor M1, the slide motor M2, the lifting motor M3, and the gripping actuator A3 are driven and controlled by the cart control unit 51. The article transport operation includes a transfer operation of transferring the article 90 between the transfer target sites S and a travel operation of traveling on the rails K to a target stop position (for example, position 3Q 3: see fig. 8, 9, and the like) corresponding to each transfer target site S.
Fig. 5 shows an example of a control protocol of the article carrier 1 of the conveyance management device H1. The positional information on the track K of the article carrier 1 is transmitted from each article carrier 1 to the conveyance management device H1 via the network 50. When the transfer management device H1 specifies the transfer target site S of the transfer source (transfer source) and the transfer destination (transfer destination), the article carrier 1 instructing the article transfer operation is specified in accordance with the position of each article carrier 1, and the transfer command is transmitted to the article carrier 1. The article transport vehicle 1 that received the transport command transmits the confirmation of the reception of the transport command to the transport management device H1.
The conveyance management device H1 calculates a route to the transfer target portion S (the congestion state, the presence or absence of restrictions) based on the current position of the article transport vehicle 1, the position of the transfer target portion S of the transfer source, the state of the track K (the congestion state, the presence or absence of restrictions), and the like ($ 1), and transmits a route command to the article transport vehicle. The route command may be included in the transport command. The article transport vehicle 1 that has received the path command starts traveling by autonomous control based on the path command. The article transport vehicle 1 preferably transmits the departure response to the transport management device H1 at the time of departure. The conveyance management device H1 may calculate the route again to transmit the route command ($ 2) when the state of the track K changes after the departure of the article carrier 1. The conveyance management device H1 gives priority to use of the article carrier 1 ($ 2 (details will be described later with reference to fig. 6 to 9, etc.) with respect to use of the track K near the transfer target site S (including the tracks K running in parallel in the parallel section PK) by, for example, starting of the article carrier 1.
When the article transport vehicle 1 reaches the target stop position (for example, the 3 rd position Q3) corresponding to the transfer target location S, an arrival response indicating the arrival is transmitted to the transport management device H1. The conveyance management device H1 determines whether or not transfer can be started based on the situation around the transfer target site S (details will be described later), and transmits a transfer permission command to the article carrier 1 ($ 3) when transfer can be started. In particular, referring to fig. 3, when an article 90 is transferred to and from the transfer target site S obliquely below the traveling body 9 as described above, the operation region of the article support 20 is widened, and therefore the determination by the conveyance management device H1 is important.
The article transport vehicle 1 that has received the transfer permission instruction transmits a transfer start response to start transferring. The conveyance management device H1 performs calculation ($ 4) such as updating the location information of the article 90, for example. When the article transport vehicle 1 finishes transferring the article 90, a transfer completion response is transmitted. The conveyance management device H1 calculates the route of the transfer target site S to the transfer destination (e.g., $ 5). Thereafter, by repeating the above-described process, the article 90 can be transported to the transfer target site S at the transfer destination and transferred.
However, as described above with reference to fig. 1, the article transport facility 100 has parallel sections PK in which the tracks K are parallel. When the storage and the processing apparatus are arranged closely for the purpose of improving the efficiency of space use, the transfer target sites S corresponding to the storage and the processing apparatus are also arranged closely. Since the rails K are laid corresponding to the transfer target sites S, the intervals between the rails K in the parallel section PK may be set to be narrow to such an extent that the article carriers 1 traveling on the parallel rails K can cross each other without contact.
However, as described above with reference to fig. 3, the article transport vehicle 1 sometimes transfers the article 90 at a position shifted in the width direction W from the rail K. When the interval between the parallel rails K is narrowed, the article support 20 protruding in the width direction W may come into contact with another article carrier 1. Fig. 6 illustrates the following example: in the parallel section PK, when the article carrier 1 (the 1 st carrier 1A or the 3 rd carrier 1C) transfers the article 90 to the transfer target site S (the 1 st transfer target site S1 or the 2 nd transfer target site S2) on one track K (the 1 st track K1), the other article carrier 1 (the 2 nd carrier 1B or the 4 th carrier 1D) travels on the other track K (the 2 nd track K2).
When the article 90 is transferred to and from the 1 st transfer target location S1, the article support 20 (slide portion 14) extending in the width direction W overlaps the travel space SP of the article transport vehicle 1 (here, the 2 nd transport vehicle 1B) traveling on the 2 nd track K2. Therefore, for example, when the 1 st cart 1A transfers the article 90 to the 1 st transfer target portion S1 on the 1 st track K1, if the 2 nd cart 1B passes over the 2 nd track K2, the article support 20 of the 1 st cart 1A may come into contact with the 2 nd cart 1B. Therefore, when the 1 st carriage 1A transfers the load, the travel of the 2 nd track K2 is preferably restricted.
Fig. 7 shows an example of limiting the travel of the 2 nd track K2 in this manner. That is, in the parallel section PK, the interference management area Z is set so as to include a position where the travel space SP of the article carrier 1 including at least the 2 nd track K2 interferes with the article support 20, in association with the 1 st transfer target site S1. Further, the track K is assigned with position information P such as addresses and coordinates for managing the travel of the article carrier 1. The entire track K is divided into a plurality of unit sections B based on the position information P. In the present embodiment, two pieces of position information P are arranged to indicate a unit section B between the two pieces of position information P. For example, a unit section B between the 1 st position information P1 and the 2 nd position information P2 is represented as a 1 st unit section B12. The interference management area Z is set by at least one unit section B including the unit section B corresponding to the transfer target site S. In the embodiment illustrated in fig. 6 and 7, the 1 st unit section B12 corresponding to the 1 st transfer target site S1 is set as the interference management area Z.
On the other hand, as shown in fig. 6, when the article 90 is transferred to and from the 2 nd transfer target location S2, the article support 20 (slide portion 14) extending in the width direction W does not overlap the travel space SP of the article carrier 1 (here, the 4 th carrier 1D) traveling on the 2 nd track K2. Therefore, when the 3 rd truck 1C transfers the article 90 to the 2 nd transfer target portion S2 on the 1 st track K1, the article support 20 of the 3 rd truck 1C does not contact the 4 th truck 1D even if the 4 th truck 1D passes through the 2 nd track K2. Therefore, even if the 3 rd truck 1C performs transfer, the travel of the 2 nd rail K2 does not need to be restricted. Therefore, as shown in fig. 7, the interference management area Z corresponding to the 2 nd transfer target site S2 may not be set.
When the interference management area Z is set in this way, the conveyance management device H1 prohibits the other article carrier 1 from entering the interference management area Z when one article carrier 1 performs a transfer operation to the transfer target site S corresponding to the interference management area Z. For example, when the 1 st truck 1A shown in fig. 6 and 7 performs the transfer operation to the 1 st transfer target site S1 corresponding to the interference management area Z, the conveyance management device H1 prohibits the other article trucks 1 such as the 2 nd truck 1B from entering the interference management area Z.
As shown in fig. 1, a plurality of areas E are set in the article transport facility 100, and there are areas E where the intervals of the rails K in the parallel section PK are wide and there is no possibility that another article carrier 1 traveling on the parallel rails K comes into contact with the article support 20. For example, although the interval of the tracks K in the parallel section PK of the 1 st zone E1, the 3 rd zone E3, and the 4 th zone E4 is narrow and may contact the article support 20, the interval of the tracks K in the parallel section PK of the 2 nd zone E2 is wide and may not contact the article support 20. Therefore, for example, by limiting the number of the article carriers 1 that can enter the region E to one in the 1 st region E1, the 3 rd region E3, and the 4 th region E4, contact between another article carrier 1 traveling on the parallel rails K and the article support 20 can be avoided. However, in this case, the work efficiency of the article carrier 1 in each area E may be reduced, and the work efficiency of the entire article carrier facility 100 may also be reduced. By setting the interference management areas Z corresponding to the transfer target sites S, the reduction in the operating efficiency of the areas E is suppressed.
However, in the case where one article carrier 1 performs a transfer operation to the transfer target site S corresponding to the interference management area Z, the conveyance management device H1 prohibits the other article carrier 1 from entering the interference management area Z, but may permit the other article carrier 1 to enter the interference management area Z before performing the transfer operation. Therefore, for example, in fig. 7, when the 2 nd cart 1B first enters the interference management area Z, the 1 st cart 1A reaches the transfer target location S and performs the transfer operation, the article support 20 of the 1 st cart 1A may come into contact with the 2 nd cart 1B.
As described above, the article carrier 1 starts the transfer operation upon receiving the transfer permission command from the conveyance management device H1. Therefore, the conveyance management device H1 retains the transfer of the transfer permission command in a state where the 1 st carrier 1A can start the transfer operation to the 1 st transfer target site S1 corresponding to the interference management area Z and even when one other article carrier (for example, the 2 nd carrier 1B or the like) is present in the interference management area Z. The conveyance management device H1 prohibits the other article carrier 1 from entering the interference management area Z and permits the transfer operation with respect to the 1 st carrier 1A after all the other article carriers 1 exit the interference management area Z.
However, even if the 2 nd truck 1B attempts to exit from the interference management zone Z, for example, entry into another interference management zone Z may be prohibited before the interference management zone Z, or the track K may be congested and unable to travel. Since the 2 nd truck 1B does not exit from the interference management area Z, the conveyance management device H1 does not issue a transfer permission command to the 1 st truck 1A. Further, when the 1 st vehicle 1A stops due to the transfer operation and becomes a cause of a traffic jam, the 1 st vehicle 1A waits for the transfer permission instruction and stops, and thus the traffic jam is not resolved, and the 2 nd vehicle 1B cannot travel, and a state called a so-called deadlock is obtained.
Therefore, an upper limit is set to the time for which the 1 st truck 1A waits for the transfer permission instruction. For example, in a state where the transfer operation to the 1 st transfer target site S1 corresponding to the interference management area Z can be started, even if another article carrier (e.g., the 2 nd carrier 1B) is present in the interference management area Z after a lapse of a predetermined waiting time, one article carrier 1 (the 1 st carrier 1A) exits from the interference management area Z without performing the transfer operation, and returns to the target stop position (e.g., the 3 rd position Q3) while circling around the track K. The exit and the circling may be performed autonomously as autonomous control of each article carrier 1, or may be performed such that the conveyance management device H1 measures the time from the reception of the arrival response from the article carrier 1, and transmits an exit command (circling command) to the article carrier 1 after the elapse of the waiting time. When the jam is cleared by the movement of the 1 st carrier 1A, the 2 nd carrier 1B can exit from the interference management area Z. When the impasse is resolved and the 1 st cart 1A returns, the conveyance management device H1 can issue a transfer permission command to the 1 st cart 1A.
In the above description, the following modes are explained: when one article transport vehicle 1 performs a transfer operation to the transfer target site S corresponding to the interference management area Z, the conveyance management device H1 prohibits the other article transport vehicle 1 from entering the interference management area Z. However, in consideration of the occurrence of the stiff spot or the like, it is preferable that the other article carriers 1 are not brought close to the interference management area Z as much as possible. Therefore, when an article transporting operation to a certain transfer target site S is allocated to one article carrier 1, it is preferable to restrict the other article carriers 1 from traveling to the interference management area Z corresponding to the transfer target site S. For example, when the article transport job to the 1 st transfer target location S1 is allocated to the 1 st truck 1A, the transport management device H1 is preferably configured to restrict the travel of another article truck (e.g., the 2 nd truck 1B) in the interference management area Z corresponding to the 1 st transfer target location S1. Hereinafter, the description will be made with reference to fig. 8 and 9.
Fig. 8 illustrates a case where the conveyance management device H1 allocates the article conveyance task to the 1 st transfer target location S1 to the 1 st truck 1A. The 2 nd truck 1B also travels near the 1 st transfer target site S1. The current position of the 2 nd truck 1B is the 1 st position Q1, and the stop target position is the 2 nd position Q2 corresponding to the transfer target location S indicated by reference numeral S10. The stop target position of the 1 st truck 1A performing the article transporting operation to the 1 st transfer target location S1 is the 3 rd position Q3. The conveyance management device H1 calculates the cost for quantifying the load (travel distance, travel time including waiting time, presence or absence of traffic restrictions, etc.) on the route passing through the track K, selects a route having the lowest cost as possible, and gives a route command to each article carrier 1.
The path of the 2 nd cart 1B moving from the 1 st position Q1 to the 2 nd position Q2 includes the 1 st path passing through the 1 st lane L11, the 2 nd lane L12, and the 3 rd lane L13, and the 2 nd path passing through the 1 st lane L11, the 4 th lane L14, the 5 th lane L15, the 6 th lane L16, and the 3 rd lane L13. Here, if the total cost of each lane is "1", the total cost of the 1 st path is "3", and the total cost of the 2 nd path is "5". Thus, a relatively low cost path 1 is selected. However, in the 2 nd lane L12, the interference management area Z corresponding to the 1 st transfer target site S1 that is the target of the transfer operation of the 1 st truck 1A is set. As described above, when the article transporting work to the 1 st transfer target location S1 is distributed to the 1 st carrier 1A, it is preferable that the restriction condition of the interference management area Z corresponding to the 1 st transfer target location S1 is activated to restrict the travel of another article carrier (e.g., the 2 nd carrier 1B).
When the travel of the interference management area Z is not limited, the 1 st route including the 2 nd lane L12 in the interference management area Z is selected by the route calculation as described above. Therefore, when the article transporting job to the 1 st transfer target site S1 is allocated to the 1 st truck 1A, the transport management device H1 increases the cost of the 2 nd lane L12 including the interference management area Z corresponding to the 1 st transfer target site S1, and is set to "10", for example. The total cost of the 1 st path is "12" exceeding the total cost of the 2 nd path of "5". Thereby, the 2 nd route is selected as the route of the 2 nd truck 1B. That is, the lane relatively including the interference management area Z is difficult to be selected as the path, and thus the article transport vehicle 1 is difficult to enter the interference management area Z.
Here, when the 1 st truck 1A reaches the 3 rd position Q3, the cost of the 2 nd lane L12 may be further increased, and the connection of the 2 nd lane L12 itself may be cut off (so-called lane blocking). For example, by setting the cost to an extremely large value such as "1000", the same effect as the cutoff can be provided. Entry into the interference management area Z is substantially prohibited by cost increase and lane blocking. That is, the 2 nd lane L12 is cut off, and the 1 st lane passing through the 1 st lane L11, the 2 nd lane L12, and the 3 rd lane L13 does not hold as a path when the 2 nd truck 1B moves from the 1 st position Q1 to the 2 nd position Q2, and the 2 nd lane becomes a unique path. Therefore, the 2 nd truck 1B travels from the 1 st position Q1 to the 2 nd position Q2 without entering the interference management area Z.
Further, even at the time of allocating the article carrying job to the 1 st transfer target location S1 to the 1 st truck 1A, entry into the interference management area Z can be immediately prohibited, and the passage of the 2 nd lane L12, for example, can be blocked. However, unlike the above, when there are a plurality of paths, the 2 nd truck 1B cannot move from the 1 st position Q1 to the 2 nd position Q2. Alternatively, another route as a bypass may have a larger total cost. By adding an appropriate cost to the 2 nd lane L12, for example, even when the transfer work of the 1 st truck 1A is completed before the interference management area Z, a route including the 2 nd lane L12 can be selected. Therefore, when the article transport job to the 1 st transfer target location S1 is allocated to the 1 st truck 1A, the cost of the 2 nd lane L12 including the interference management area Z is increased, and when the 1 st truck 1A reaches the 3 rd position Q3, the restriction is performed based on the stage of prohibiting entry into the interference management area Z, whereby the drop in the work efficiency of the article transport facility 100 can be suppressed.
Such interference management areas Z are set at a plurality of locations of the article transport facility 100. As described above, the entire track K is divided into the plurality of unit sections B. The interference management area Z is set by at least one unit section B including the unit section B corresponding to the transfer target site S. Since the transfer target site S is provided in correspondence with the arrangement of the storage, the processing device, and the like, a plurality of transfer target sites S may correspond to one unit section B. Therefore, different interference management areas Z may share the same unit section B. That is, even different interference management areas Z corresponding to different transfer target sites may correspond to the same unit section.
Fig. 10 illustrates the relationship between the unit section B and the interference management area Z. As described above with reference to fig. 7, 8, 9, and the like, the 1 st interference management area Z1 is configured such that one interference management area Z is set in one unit section B (the 1 st unit section B12) corresponding to the 1 st transfer target site S1. The 2 nd transfer target site S2 is present at a position corresponding to the 2 nd unit section B23, but there is no possibility of contact with the article support 20 as described above, and therefore the interference management area Z is not set.
The 3 rd transfer target site S3 is located at a position corresponding to the 3 rd unit section B34 but close to the boundary with the 2 nd unit section B23. Therefore, the 3 rd interference management zone Z3 corresponding to the 3 rd transfer target site S3 is set by both the 2 nd unit section B23 and the 3 rd unit section B34. In this way, the interference management area Z may be set by the plurality of unit sections B. It is preferable to set the interference management area Z so that the distance between the position corresponding to the transfer target site S and the boundary of the unit section B is equal to or longer than a predetermined set distance. The 4 th transfer target site S4 is also present in the vicinity of the 3 rd transfer target site S3, but the position corresponding to the 4 th transfer target site S4 is near the center of the 3 rd unit section B34. Therefore, the distances from the boundaries between the two locations of the 3 rd unit segment B34 are both equal to or greater than the set distance, and the 4 th interference management area Z4 is set by the single unit segment B (the 3 rd unit segment B34). The 3 rd interference management area Z3 and the 4 th interference management area Z4 have a3 rd unit zone B34 as the same unit zone B.
The 5 th transfer target site S5 and the 6 th transfer target site S6 are disposed at positions corresponding to the 4 th unit section B45 and the 5 th unit section B56, which are different unit sections B. However, the distance between the position corresponding to the 5 th transfer target site S5 belonging to the 4 th unit segment B45 and the boundary of the 5 th unit segment B56 is less than the set distance, and the distance between the position corresponding to the 6 th transfer target site S6 belonging to the 5 th unit segment B56 and the boundary of the 4 th unit segment B45 is less than the set distance. Therefore, the 5 th interference management zone Z5 corresponding to the 5 th transfer target site S5 includes not only the 4 th unit segment B45 but also the 5 th unit segment B56. The 6 th interference management zone Z6 corresponding to the 6 th transfer target site S6 includes not only the 5 th unit segment B56 but also the 4 th unit segment B45. That is, the 5 th interference management area Z5 and the 6 th interference management area Z6 are interference management areas Z corresponding to different transfer target sites S, but are set to be the same area.
As described above, the interference management areas Z may be set to have the same unit section B, and different interference management areas Z may be set to have the same unit section B. It is obvious that since the transfer target sites S corresponding to the respective interference management areas Z are different, there are cases where restrictions (such as an increase in lane cost and lane blocking (entry prohibition)) are imposed on the interference management areas Z including the same unit section B at the same time. Such a restriction has a possibility that the above-described impasse is liable to occur. Therefore, it is preferable that the transfer target sites S corresponding to the different interference management areas Z including the same unit section B are allocated so that the transfer of the articles 90 by the different article carriers 1 does not overlap at the same time. Specifically, the conveyance management device H1 allocates the conveyance commands to the transfer target sites S corresponding to the different interference management areas Z including the same unit section B so that the transfer of the articles 90 by different article carriers 1 does not overlap at the same time.
As described above, when the article transport facility 100 having the parallel section PK in which the plurality of rails K are parallel uses the article transport vehicle 1 having the article support 20 that can protrude and retreat in the width direction W orthogonal to the extending direction L of the rails K to transport the article 90, it is possible to prevent the contact of the article transport vehicle 1 in the parallel section PK while suppressing an increase in cost and a decrease in transport efficiency. In the above description, the ceiling cart is exemplified as the article cart 1, but the article cart 1 may be a cart traveling on the ground.
[ brief description of the embodiments ]
Hereinafter, the outline of the article carrying facility described above will be briefly described.
As one aspect of the article carrying facility, the article carrying facility moves a plurality of article carriers along a rail to carry articles between a plurality of transfer target sites, the article carrying facility has a plurality of parallel sections in which the rail is parallel, a direction perpendicular to an extending direction of the rail along a horizontal plane is a width direction, the article carrier has a support body supporting the articles, the support body protrudes and retreats between a retreat position retreated toward the article carrier side and a protruding position protruding in the width direction corresponding to a position of the transfer target site, the protruding position in a case where the article carrier protrudes from the support body corresponding to the position of the transfer target site on the rail of one of the parallel sections is a position where a travel space as a trajectory of the article carrier when traveling on the rail of the other of the parallel sections interferes with the support body In the case of (2), an interference management area is set in the parallel section so as to include at least a position where the travel space and the support body interfere with each other in association with the transfer target portion, and when one of the article transport vehicles performs a transfer operation to the transfer target portion corresponding to the interference management area, entry of the other article transport vehicle into the interference management area is prohibited.
According to this aspect, the interference management area is set at a location where the support protruding for transferring the article may come into contact with another article transport vehicle, and when one article transport vehicle performs a transfer operation in the interference management area, entry of another article transport vehicle into the interference management area is prohibited. Therefore, the possibility that the support protruding for transferring the article comes into contact with another article carrier can be reduced. Each article transport vehicle does not need a support for detecting the protrusion of another article transport vehicle by means of a obstacle sensor or the like, and therefore, the cost increase caused by the mounting of the obstacle sensor does not occur. Further, since the entry of the article transport vehicle is not restricted in all the parallel sections, the reduction in the transport efficiency of the article transport facility is also suppressed. As described above, according to this aspect, when an article is conveyed by an article transport vehicle having a support body that can protrude and retreat in a width direction orthogonal to an extending direction of a rail by means of an article conveyance facility having a parallel section in which a plurality of rails are parallel, it is possible to prevent contact of the article transport vehicle in the parallel section while suppressing an increase in cost and a decrease in conveyance efficiency.
Here, it is preferable that the article transport vehicle performs an article transport operation including the transfer operation of transferring the article between the transfer target location and a travel operation of traveling on the rail to a target stop position corresponding to each transfer target location, and when the article transport operation to the transfer target location is allocated to one article transport vehicle, the other article transport vehicles are restricted from traveling in the interference management area corresponding to the transfer target location.
For example, when entry into the interference management area is prohibited, the article transport vehicle may temporarily stop in front of the interference management area and wait for the transfer work of another article transport vehicle to end. When the article transport vehicle stops, the transport efficiency of the article transport facility may decrease. In many cases, an item carrier is able to travel to a destination through multiple different paths. In the case of limiting the interference management area, the user may travel to the destination faster than the user temporarily stops in front of the interference management area by passing through another route. The article transport device is restricted from traveling in the interference management area corresponding to the transfer target site that is the target of the article transport work, and thus, the article transport device can easily travel to the destination while bypassing the interference management area.
Further, it is preferable that, in a state where one of the article transport vehicles can start the transfer work to the transfer target location corresponding to the interference management area, even if one of the other article transport vehicles is present in the interference management area, after all of the other article transport vehicles exit the interference management area, entry of the other article transport vehicles into the interference management area is prohibited, and the transfer work is permitted.
Before the prohibition of entry into the interference management area and the restriction of travel are performed, there is a case where an article transport vehicle is present in the interference management area, and in this case, the article transport vehicle may come into contact with a support of the article transport vehicle performing the transfer work. Therefore, it is preferable that the article transport vehicle existing in the interference management area is withdrawn from the interference management area and then is transferred.
In addition, it is preferable that, in a state in which one of the article carriers can start the transfer operation to the corresponding transfer target location in the interference management area, and even when one of the other article carriers is present in the interference management area, after all of the other article carriers exit the interference management area, entry of the other article carriers into the interference management area is prohibited, and in a case in which the transfer operation is permitted, in a state in which the one of the article carriers can start the transfer operation to the corresponding transfer target location in the interference management area, even when the other article carriers are present in the interference management area after a predetermined waiting time has elapsed, the one of the article carriers does not perform the transfer operation, and exits from the interference management area.
For example, a state called "deadlock" may occur in which another article transport vehicle present in the interference management area cannot exit from the interference management area due to a jam or the like caused by a stop of the article transport vehicle waiting for the start of the transfer work. When the article transport vehicle waiting for the start of the transfer work temporarily moves away from the place, goes around, and returns, the impasse is eliminated, and thereafter the transfer work can be performed. That is, if another article transport vehicle existing in the interference management area can exit from the interference management area by eliminating the traffic jam, the transfer work can be started quickly when the article transport vehicle performing the transfer work returns.
In one embodiment, the entire track is divided into a plurality of unit sections, the interference management area is set by at least one unit section including the unit section corresponding to the transfer target site, and different interference management areas share the same unit section.
In many cases, addresses and coordinates are assigned to manage the travel of the article transport vehicle on the track, and a plurality of unit sections are set from the addresses and coordinates. If the interference management area is set based on the unit section, the behavior of the article transport vehicle with respect to the interference management area can be appropriately managed. However, the positional relationship between the transfer target site and the unit section is generally not determined. For example, there may be a case where a plurality of transfer target sites exist in one unit section, or a case where a transfer target site exists in the vicinity of the boundary between adjacent unit sections. That is, even in different interference management areas corresponding to different transfer target sites, the interference management areas may correspond to the same unit section. Therefore, if different interference management areas share the same unit section, the interference management area can be appropriately set.
In addition, when the interference management areas are set so as to share the same unit section, it is preferable that the transfer target sites corresponding to the different interference management areas including the same unit section are assigned so that the transfer of the article by the different article carriers does not overlap at the same timing.
When a plurality of article carriers are collected in the vicinity, congestion is likely to occur, and a state called deadlock as described above occurs. If the transfer target sites corresponding to different interference management areas including the same unit section are allocated so that the transfer of articles by different article carriers does not overlap at the same timing, the plurality of article carriers are less likely to be collected, and the possibility of occurrence of a deadlock or the like can be reduced.
Description of the reference numerals
1: article carrier
1A: truck 1 (article truck for carrying on track 1)
1B: truck 2 (other truck except for truck 1)
13: lifting part (article support)
14: sliding part (article support)
18: handle (article support)
19: lifting wire (article support)
20: article support (article support)
90: article with a cover
100: article carrying apparatus
B: unit interval
K: track
K1: track 1 (track of one side of parallel section)
K2: track 2 (track of the other side of the parallel section)
L: direction of extension
PK: parallel intervals
S: transfer target part
SP: space of travel
W: width direction of the sheet
Z: an interference management area.
Claims (8)
1. An article transport facility for transporting an article between a plurality of transfer target sites by moving a plurality of article transport vehicles along a rail,
a parallel section having a plurality of parallel tracks, the parallel section having a width direction perpendicular to the extending direction of the tracks and extending along a horizontal plane,
the article carrier has a support body for supporting the article, the support body is protruded and retracted between a retracted position retracted toward the article carrier and a protruded position protruded in the width direction corresponding to the position of the transfer target portion,
when the projecting position at which the article transport vehicle projects the support body in accordance with the position of the transfer target site at the track of one of the parallel sections is a position at which a travel space, which is a track of the article transport vehicle when the track of the other of the parallel sections travels, interferes with the support body, is set in the parallel section so as to include at least the position at which the travel space interferes with the support body in association with the transfer target site,
when one of the article carriers performs a transfer operation to the transfer target site corresponding to the interference management area, entry of another article carrier into the interference management area is prohibited.
2. The article handling apparatus of claim 1,
the article transport vehicle performs an article transport operation including the transfer operation for transferring the article between the article transport vehicle and the transfer target site and a travel operation for traveling the article transport vehicle on the track to a target stop position corresponding to each transfer target site,
when the article transport job to the transfer target location is allocated to one of the article transport vehicles, the other article transport vehicles are restricted from traveling in the interference management area corresponding to the transfer target location.
3. The article handling apparatus of claim 1,
when the first article carrier is capable of starting the transfer work to the transfer target location corresponding to the interference management area and even if one of the article carriers other than the first article carrier is present in the interference management area, the entry of all of the article carriers other than the first article carrier into the interference management area is prohibited and the transfer work is permitted after all of the article carriers other than the first article carrier exit the interference management area.
4. The article handling apparatus of claim 2,
when the first article carrier is capable of starting the transfer work to the transfer target location corresponding to the interference management area and even if one of the article carriers other than the first article carrier is present in the interference management area, the entry of all of the article carriers other than the first article carrier into the interference management area is prohibited and the transfer work is permitted after all of the article carriers other than the first article carrier exit the interference management area.
5. The article handling apparatus of claim 3,
when the first article carrier is present in the interference management area even after a predetermined waiting time elapses in a state where the transfer work to the corresponding transfer target site can be started in the interference management area, the first article carrier is not subjected to the transfer work and is withdrawn from the interference management area.
6. The article handling apparatus of claim 4,
when the first article carrier is present in the interference management area even after a predetermined waiting time elapses in a state where the transfer work to the corresponding transfer target site can be started in the interference management area, the first article carrier is not subjected to the transfer work and is withdrawn from the interference management area.
7. The article carrying apparatus according to any one of claims 1 to 6,
the whole track is divided into a plurality of unit sections,
the interference management area is set by at least one unit section including the unit section corresponding to the transfer target site,
the different interference management areas can share the same unit section.
8. The article handling apparatus of claim 7,
the transfer target sites corresponding to the different interference management areas including the same unit section are allocated so that the transfer of the article by the different article transport vehicles does not overlap at the same timing.
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| JP2017-094020 | 2017-05-10 | ||
| JP2017094020A JP6652106B2 (en) | 2017-05-10 | 2017-05-10 | Goods transport equipment |
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| CN108861265A CN108861265A (en) | 2018-11-23 |
| CN108861265B true CN108861265B (en) | 2022-02-08 |
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| KR (1) | KR102455313B1 (en) |
| CN (1) | CN108861265B (en) |
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| CN109615844B (en) * | 2018-12-24 | 2020-12-11 | 广州蓝奇电子实业有限公司 | Charging and discharging equipment and stacker infrared docking IO signal method |
| EP3943414A4 (en) * | 2019-03-22 | 2022-11-16 | Murata Machinery, Ltd. | Transport vehicle system |
| KR102631749B1 (en) * | 2019-06-27 | 2024-01-30 | 무라다기카이가부시끼가이샤 | Driving car system and control method for driving car |
| JP7283456B2 (en) * | 2020-09-09 | 2023-05-30 | 株式会社ダイフク | Goods transport equipment |
| CN118401450A (en) * | 2022-03-29 | 2024-07-26 | 村田机械株式会社 | Conveying system |
| CN116354054B (en) * | 2023-05-30 | 2023-08-04 | 广东蓓思涂汽车零部件有限公司 | Intelligent conveying system for electrophoresis processing of automobile parts |
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| DE3710247C1 (en) * | 1987-04-01 | 1988-06-16 | Psb Foerderanlagen | Device for conveying and storing objects |
| DE10257107B3 (en) * | 2002-12-05 | 2004-05-19 | EISENMANN Maschinenbau KG (Komplementär: Eisenmann-Stiftung) | Storage and retrieval unit for storing and retrieving items in compartments in high shelves comprises a stabilizing device having tension devices running to fixing positions in the region |
| JP4329034B2 (en) * | 2004-08-09 | 2009-09-09 | 株式会社ダイフク | Article conveying device |
| JP2007257154A (en) * | 2006-03-22 | 2007-10-04 | Asyst Shinko Inc | Apparatus, system, method and program for managing truck |
| JP5266683B2 (en) * | 2007-08-03 | 2013-08-21 | 村田機械株式会社 | Transport system and teaching method in the transport system |
| JP4766111B2 (en) * | 2008-12-26 | 2011-09-07 | 村田機械株式会社 | Transport vehicle system |
| JP5263613B2 (en) * | 2009-05-11 | 2013-08-14 | 株式会社ダイフク | Goods transport equipment |
| JP6203381B2 (en) * | 2014-04-10 | 2017-09-27 | 三菱電機株式会社 | Route prediction device |
| CN106663649B (en) * | 2014-06-19 | 2019-05-21 | 村田机械株式会社 | The handling system and method for carrying of carrier |
| JP6314713B2 (en) * | 2014-07-14 | 2018-04-25 | 株式会社ダイフク | Inter-floor transfer equipment |
| CN105938572B (en) * | 2016-01-14 | 2019-08-02 | 上海海事大学 | A kind of more automatic guided vehicle paths planning methods of the pre- anti-interference of logistics storage system |
| CN206128742U (en) * | 2016-08-18 | 2017-04-26 | 唐锋 | Three -dimensional mechanical storehouse of large -scale combination formula intelligence |
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| KR20180123979A (en) | 2018-11-20 |
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| CN108861265A (en) | 2018-11-23 |
| TWI752219B (en) | 2022-01-11 |
| JP2018188287A (en) | 2018-11-29 |
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