JPH0780544B2 - Control system for transportation equipment that operates in one cycle - Google Patents

Description

Description: [Industrial field of application] The present invention conveys a predetermined article by combining a plurality of drive devices that repeat a series of operations (hereinafter referred to as one cycle operation) and automatically operate them in coordination. The present invention relates to a control method for a transfer facility.

[Conventional technology]

2. Description of the Related Art Conventionally, as a control system for this kind of transfer equipment, a step sequence system is known in which a control circuit is assembled in stages according to the sequence of automatic operation.

In the control method based on the step sequence method, when the driving operation becomes complicated, the number of steps increases, and the control circuit correspondingly increases and becomes plural. Further, when designing such a control circuit, it is necessary to understand all the driving operations and assemble each operation step by step. Therefore, even if the driving method is changed on a small scale, the control circuit can be drastically changed. Design change required.

[Problems to be solved by the invention]

As described above, in the conventional control method, if the number of transfer steps increases, the operation method becomes complicated and the control circuit also becomes complicated, the circuit design becomes extremely complicated, and it is difficult to change the operation method. However, there is a problem that it is not possible to flexibly respond to the control operation. Further, in the conventional control method, there are problems that the number of steps increases and the number of control devices constituting the system increases, resulting in a significant increase in manufacturing cost.

Therefore, an object of the present invention is to control a transport facility that can easily design a control circuit even for a complicated operation method and can easily cope with a design change of the control circuit due to a change in the operation method. In particular, an article support table is arranged adjacent to a carry-in table for carrying in articles to be conveyed, and a plurality of combinations of these carry-in table and article support table are arranged side by side, and each set-in table is carried in. Corresponding to the table and the article supporting base, the transporting devices each performing one cycle operation are combined and arranged, and the article loading device is arranged to the carry-in table on the one end side and the article supporting base on the other end side. In contrast to this, a control system suitable for a transport facility configured to dispose an article extracting device and automatically operate each of the transporting devices to transport each item loaded from each of the loading tables is obtained. .

[Means for solving problems]

According to the control system of the transportation facility for carrying out the one-cycle operation according to the present invention, an article support base is arranged adjacent to a carry-in table for carrying in the carried goods, and a plurality of sets of the carry-in table and the article support base are arranged side by side. , A combination of transporting devices that perform one cycle of operation corresponding to the loading table and the article support base of each set, and the article loading device is placed on the loading table on one end side and the other end side In the control system of the transport facility for arranging the article extractor on the article support table side, and automatically operating each of the transport apparatuses to transport each article loaded from each of the loading tables, Controls one-cycle operation of the carrier device 1
A cycle operation control circuit is provided, and a plurality of operation mode control circuits are provided corresponding to each of the 1-cycle operation control circuits to determine the start of execution of a 1-cycle operation and to give an instruction. The one-cycle operation control circuit in the article support table transporting device determines a loading state of the article from one of the loading tables and loads the article into the article support table, and a one-cycle operation of loading the article on the article support table. One cycle operation of determining the loading state and forward-feeding the article, and determining when the loading state of the articles on the adjacent article support table is full and determining the article loaded from the other loading table to the article support table A 1-cycle operation control circuit in the conveying device of the article support table adjacent to the article extracting apparatus is provided with an operation mode control circuit for performing 1-cycle operation of reverse feeding. Characterized in that it comprises an operation mode control circuit for one cycle operation for unloading the articles to the article extracting device in place of the operation mode control circuit for one cycle operation.

In the above-described control system for the transportation equipment, each operation mode control circuit issues an execution start command to each one-cycle operation control circuit and receives one-cycle operation when a control start signal is received and a predetermined start condition is satisfied. The control circuit may be configured to store and hold the signal during operation so that the activation conditions of other operation mode control circuits are not satisfied.

[Action]

According to the control method of the transport facility for performing the one-cycle operation according to the present invention, each one-cycle operation control circuit for controlling the one-cycle operation of the plurality of transfer apparatuses is provided.
By providing one or two or more operation mode control circuits for judging and instructing the start of execution of one cycle operation to the cycle operation control circuit, the operation mode of the conveyor device at each different conveying position of the article is appropriately selected, Can be smoothly achieved. In this case, regarding the operation mode of the 1-cycle operation control circuit of each transfer device, a flexible system design of the transfer facility can be easily realized by appropriately changing the design of the operation mode control circuit.

〔Example〕

Next, an embodiment of a control system for a transportation facility that performs a one-cycle operation according to the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a configuration diagram of a transportation facility showing a general example of the control system of the present invention. In FIG. 1, reference numerals 10 and 12 denote conveying devices, and these conveying devices 10 and 12 are article supporting bases 1, respectively.
With 4,16. Further, carry-in tables 20 and 22 for carrying in the conveyed article 18 are arranged adjacent to the conveying devices 10 and 12, and a carry-out table 24 is arranged similarly. Further, an article loading device 26 and an article extraction device 28 for loading and unloading the transported articles 18 are provided for the transportation devices 10 and 12, respectively.

Next, the transporting operation of the article 18 in the transporting facility of the present embodiment configured as described above and its control method will be described.

2 (1) to (6) show the basic operation of the carrying device shown in FIG. First, the conveyed article 18 carried in by the carry-in table 20 [Fig. 2 (1)] is loaded on the article support base 14 by the article loading device 26 [Fig. 1 (2)]. Therefore, the carrier device 10 moves upward to move the article support table 14
The upper article 18 is lifted [Fig. 2 (3)], then moved horizontally to a predetermined position [Fig. 2 (4)], and further moved downward to move the article 18 to the above-mentioned position on the article support base 14. It is placed at a more advanced position [Fig. 2 (5)]. After that, the carrying device 10 is horizontally returned to a predetermined stationary position and returned [Fig. 2 (6)] to complete one cycle operation. In this way, the carrier device 10 can sequentially carry the articles 18 in a predetermined direction by repeating the operation for one cycle. Note that the carrier 12 is also similar to the above-described article support base.
Articles 18 on 16 can be transported.

Next, in the embodiment shown in FIG. 1, the conveyed article 18 carried in by the carry-in table 22 is
The article is carried into the article support base 16 by the one-cycle operation described above. However, in this case, assuming that the article support base 16 is fully loaded with other articles 18, if there is room to load the conveyed articles 18 on the article support base 14 on the opposite side, the second by the transfer device 10 will occur.
The article 18 on the carry-in table 22 is fed back onto the article support base 14 by the one-cycle operation consisting of a process opposite to the one-cycle operation shown in the figure (see FIG. 3). Then the article support
If there is room to load the article 18 on the 16 the article 18 is first conveyed to the carry-in table 22 by one cycle operation of the conveying device 10 [Fig. 4 (1), (2), (3), (4)]. ] Then, the article support base 16 is operated by one cycle operation of the transfer device 12.
The article 18 is conveyed upward [Fig. 4 (5), (6),
(7), (8), (9)].

In this way, when the articles 18 conveyed from the carry-in tables 20 and 22 are conveyed to the end of the article support table 16 by repeating a plurality of one-cycle operations by the conveyors 10 and 12, the articles are extracted by the article extracting device 28. It is carried to the carry-out table 24 and carried out sequentially to a predetermined position.

Next, a control method of the transportation facility of this embodiment that performs the above-described operation will be described.

FIG. 5 is a control system diagram of the transport facility of this embodiment. Fifth
In the figure, reference numerals 30, 32, 34, 36, 38, 40 are operation mode control circuits for judging execution start of one cycle operation, 42, 4
Reference numerals 4 and 46 denote 1-cycle operation control circuits for controlling individual 1-cycle operations. In this case, the 1-cycle operation control circuit 42 is a forward-feed 1-cycle operation control circuit of the carrier device 10, and is connected to the operation mode control circuits 30 and 32.
The 1-cycle operation control circuit 44 is a reverse-feed 1-cycle operation control circuit of the carrier device 10, and the operation mode control circuit 34.
Connected with. Furthermore, the 1-cycle operation control circuit 46
Is a forward-feed 1-cycle operation control circuit of the carrier device 12,
It is connected to the operation mode control circuits 36, 38, 40.

Therefore, each of the operation mode control circuits 30 to 40 is configured to receive the control start signal S ₁ and the start condition signal S ₂ , respectively. For example, when the control start signal S ₁ is input to the operation mode control circuit 30, another operation mode control circuit
AND with its start condition signal S ₂ when 32-40 is not in operation
It is determined whether or not the condition is satisfied. If the condition is not satisfied, the processing of the operation mode control circuit 30 is terminated, and if the condition is satisfied, the execution start command signal S ₃ Is output to the forward feed 1-cycle operation control circuit 42 of the carrier device 10, and at the same time, it is stored that the operation mode control circuit 30 is in operation. In this way, the transport device 10
When the 1-cycle operation control circuit 42 operates and the 1-cycle operation ends, the 1-cycle operation end signal CSa is output to the operation mode control circuit 30 and the previously stored operation mode control circuit 30 is operating. Erase a signal. The operating signal stored in the operation mode control circuit 30 is
In the other operation mode control circuits 32 to 40, when the control start signal S ₁ is input, it is used to determine whether or not to execute the one-cycle operation control circuits 42, 44 and 46.

Hereinafter, the operation mode control circuits 32 to 40 operate similarly to the operation mode control circuit 30.

Next, the specific control operation of the transfer equipment shown in FIG. 1 by the control circuit of the present embodiment, which operates as described above, will be explained with reference to the flow chart shown in FIG.

First, the operation mode control circuit 30 inputs the control start signal S ₁ generated when the conveyed article 18 is loaded on the article support base 14 by the article loading device 26, and the start condition signal S ₂ AN
Only when the D condition is satisfied, the execution start signal S ₃ is output to the 1-cycle operation control circuit 42. So 1
When the execution start signal S ₃ is input, the cycle operation control circuit 42 executes the forward feed 1 cycle operation of the transport device 10,
When the execution is completed, the 1-cycle operation end signal CSa is output, and the operation of the operation mode control circuit 30 ends (see FIG. 2).

Then, even if a fixed time has elapsed, when the conveyed article 18 is not loaded on the article support base 14, the control start signal S ₁ is input to the operation mode control circuit 32, and the start condition signal S ₂ Only when the AND condition is satisfied, the 1-cycle operation control circuit 42 1
The cycle operation is executed, and when completed, the 1-cycle operation end signal CSb is output to the operation mode control circuit 32 to end the operation.

Further, when the conveyed article 18 is conveyed by the carry-in table 22, when the article support table 16 is full of other conveyed articles, the control start signal S ₁ is input to the operation mode control circuit 34, The execution start signal S ₃ is output to the 1-cycle operation control circuit 44 only when the AND condition with the start condition signal S ₂ is satisfied. This 1-cycle operation control circuit 44
The feed reverse conveying apparatus 10 to input the execution start signal S ₃ 1
Cycle operation is executed, and when this execution is completed, a 1-cycle operation end signal CSa is output to the operation mode control circuit 34,
The operation ends (see FIG. 3).

On the other hand, when the conveyed article 18 is conveyed by the carry-in table 22, the control start signal S _{1 is} sent to the operation mode control circuit 36.
Is input and the AND condition with the start condition signal S ₂ is satisfied, the execution start signal S ₃ is output to the one-cycle operation control circuit 46. Therefore, the 1-cycle operation control circuit 46 inputs the execution start signal S ₃ to execute the forward feed 1-cycle operation of the carrier device 12, and when this execution is completed, the 1-cycle operation end signal CSa is set in the operation mode. The signal is output to the control circuit 36 and the operation is completed (see FIG. 4).

After that, when the conveyed article 18 is not conveyed by the carry-in table 22 even after a certain time has passed, the operation mode control circuit
Control start signal S ₁ is input to 38 and its start condition signal
Only when the AND condition with S ₂ is satisfied, the execution start signal S ₃ is output to the 1-cycle operation control circuit 46, and the 1-cycle operation control circuit 46 1 When the cycle operation is executed and completed, the 1-cycle operation end signal CSb is output to the operation mode control circuit 38 and the operation is ended.

Furthermore, when the conveyed article 18 on the article support table 16 is conveyed to the carry-out table 24 by the article extracting device 28, the control start signal S ₁ is input to the operation mode control circuit 40, and the start condition signal S ₂ Only when the AND condition is satisfied, the execution start signal S ₃ is output to the 1-cycle operation control circuit 46 and the 1-cycle operation of the 1-cycle operation control circuit 46 is executed similarly to the operation mode control circuit 36. And then 1
The cycle operation end signal CSc is output to the operation mode control circuit 40 to end the operation.

In this way, each of the 1-cycle operation control circuits 43, 44,
After completing a series of control operations, the 46 waits for the next execution start signal from each of the operation mode control circuits 30, 32, 34, 36, 38, 40. In this way, by repeating a series of one-cycle operations, the conveyed article 18 carried in by the carry-in tables 20 and 22 can be smoothly carried to the carry-out table 24 side.

〔The invention's effect〕

As is apparent from the above-described embodiments, according to the present invention, in a transfer facility that combines a plurality of 1-cycle operations and automatically operates in cooperation with each other, a 1-cycle operation control circuit for controlling each 1-cycle operation is provided. By separately providing an operation mode control circuit that determines execution start and gives an instruction to each of these 1-cycle operation control circuits,
Since these two circuits can be designed separately, the design of these control systems can be facilitated and the design can be changed easily, and the performance of this kind of transfer equipment can be improved and The system can be constructed at low cost.

The preferred embodiments of the present invention have been described below, but it goes without saying that various design changes can be made without departing from the spirit of the present invention.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a transfer facility showing an embodiment of a control system of the transfer facility performing a one-cycle operation according to the present invention.
Figures (1) to (6) are specific operation explanatory views of the transportation facility shown in FIG. 1, and FIGS. 3 and 4 (1) to (9) are overall operations of the transportation facility shown in FIG. Explanatory diagram, FIG. 5 is a block system diagram of a control system for controlling the transport facility shown in FIG. 1, and FIG. 6 is a flowchart showing the operation of the control system shown in FIG. 10,12 …… Incoming table, 14,16 …… Item support table 18 …… Transported articles, 20,22 …… Incoming table 24 …… Unloading table, 26 …… Item loading device 28 …… Item extracting device 30,32 , 34,36,38,40 …… Operation mode control circuit 42,44,46 …… 1 cycle operation control circuit S ₁ …… Control start signal, S ₂ …… Start condition signal S ₃ …… Execution start command signal CSa , CSb, CSc ... 1 cycle operation end signal

Claims (2)

[Claims] 1. An article support table is disposed adjacent to a carry-in table for carrying in conveyed articles, and a plurality of combinations of the carry-in table and the article support table are arranged side by side, and the carry-in table and the article support table of each set are provided. And carrying devices for performing one cycle operation are arranged in combination, the article loading device is placed on the loading table on the one end side, and the article extracting device is placed on the article support base side on the other end side. In the control system of the transport facility for automatically operating the transport devices in cooperation with each other to transport each article loaded from each of the loading tables, and controlling one cycle operation of each transport device. 1
A cycle operation control circuit is provided, and a plurality of operation mode control circuits are provided corresponding to each of the 1-cycle operation control circuits to determine the start of execution of a 1-cycle operation and to give an instruction. The one-cycle operation control circuit in the article support table transporting device determines a loading state of the article from one of the loading tables and loads the article into the article support table, and a one-cycle operation of loading the article on the article support table. One cycle operation of determining the loading state and forward-feeding the article, and determining when the loading state of the articles on the adjacent article support table is full and determining the article loaded from the other loading table to the article support table A 1-cycle operation control circuit in the conveying device of the article support table adjacent to the article extracting apparatus is provided with an operation mode control circuit for performing 1-cycle operation of reverse feeding. Control Method of conveying equipment, characterized in that it comprises an operation mode control circuit for one cycle operation for unloading the articles to the article extracting device in place of the operation mode control circuit for one cycle operation. 2. A control system for conveying equipment as set forth in claim 1, wherein each operation mode control circuit is a one-cycle operation control circuit when a control start signal is received and a predetermined starting condition is satisfied. To the execution start command,
A control system of a carrier facility configured such that the one-cycle operation control circuit stores and holds the signal during operation to make the starting conditions of other operation mode control circuits unfulfilled.