JPS5965969A - Commodity carrying device - Google Patents

Abstract

PURPOSE:To execute processing at a high speed by deriving a moving distance of each carrying part from a cartridge selecting address, a cartridge store address and a present position of each carrying part, and assigning a moving data to the carrying part which becomes minimum, in the carrying parts whose moving distance is large. CONSTITUTION:A commodity carrying instruction is inputted to a circuit 8, and a position for taking out commodity and a position for storing them are stored in a storage part. A collision check controlling circuit 9 selects a carrying data which does not collide, from present X position storage parts 14, 14' of carrying parts 1, 2 stored in operation control parts 6, 7. A moving distance calculating circuit 10 calculates a moving distance by calculating circuits 1, 2 as to said carrying data and a moving distance of each axis read out of present X position storage parts 14, 14', Y position storage parts 15, 15' and Z position storage parts 16, 16', and sends a larger one in the moving distances to a comparing circuit 11 as an object of comparison of the moving distance of its carrying part. The circuit 11 outputs a carrying command to a driving circuit 13 or 13' through an instruction issuing circuit 12, to the carrying part in which the moving distance being an object of comparison from the calculating circuit 10 becomes minimum.

Description

[Detailed Description of the Invention] <Technical Field of the Invention> The present invention is directed to an automatic warehouse in which a large number of cartridges (articles) are stored, in which cartridges share one axis and travel simultaneously along two or more axes. The present invention relates to an article conveyance device that allocates one or more cartridge movement data to a plurality of article conveyance units.

Prior Art and Problems> Generally, a host controller issues a cartridge movement command consisting of single or plural cartridge movement data to an article transporting device to completely transport a single or a number of cartridges. Based on this cartridge movement command, the cartridge is transported between the cartridge storage cell and the data recording device.

Conventionally, when assigning one or more cartridge movement commands to, for example, two conveyance units, the article conveyance control unit determines that the central value in the axial direction (horizontal direction) shared by the cartridge selection address and the cartridge storage address is If the cartridge is located to the left of the horizontal center address of the entire storage cell, the cartridge movement data is assigned to the left transport section, and if it is to the right, the cartridge movement data is assigned to the right transport section. in this way,
Since allocation is performed only on the common axis (horizontal direction) of the transport unit without considering the current position of the transport unit, the processing time for transporting the cartridge is determined by the current position of the transport unit that operates simultaneously along each axis. The disadvantage is that it takes a long time.

<Object of the Invention> The entire object of the present invention is to provide a novel article transport section e that eliminates the above-mentioned drawbacks. From the address and the current position of each transport unit, calculate the travel distance for all axes of each transport unit, use the larger travel distance of each axis within one transport unit as a comparison target, and calculate the distance for each transport unit. The cartridge is transported by assigning cartridge movement data to the transport part whose movement distance is the smallest among the target parts.

<Embodiment of the Invention> FIG. 1 shows an embodiment of the article conveying section of the article conveying apparatus of the present invention.

In the figure, 1.2 indicates an article conveying section, and 3 indicates a rail.

As shown in the figure, the two article conveyance units 1.2 move on the rail 3 with a common axis in the X direction (horizontal direction), and the parts M and B, which actually grip the articles, respectively move in the Y direction (vertical direction).
By rotating in two directions (rotation), these two article conveying sections 1 and 2 selectively take out, convey, and store articles placed on the front and rear surfaces of the illustrated article conveying section.

Next, FIG. 2 shows the configuration of the article conveying device of the present invention.

In the figures, the same symbols as in Figure 1 indicate the same things,
Furthermore, in the figure, reference numeral 4 indicates a host control device, 5 indicates an article conveyance control section, and 6.7 indicates a conveyance mechanism operation control section. When the host controller 4 issues an article conveyance command based on article conveyance data, the article conveyance control section 5 determines the positions of conveyance sections 1 and 2, and selects which conveyance section to take out the desired article. 1. Determine whether the moving distance in 2 is small,
The transport mechanism operation control section 6,'/ is selectively operated to move the transport section 1.2 to a desired article take-out position.

Next, an embodiment of the article conveying apparatus of the present invention will be explained with reference to FIG.

In the figure, the same symbols as in FIGS. 1 and 2 indicate the same parts. In the figure, 8 is an article transport command acquisition circuit, 9 is a collision check control circuit, 10 is a moving distance calculation circuit, and 11 is a moving distance calculation circuit. 12 is a distance comparison circuit, 12 is an article transport command issuing circuit, 13.13/ is a transport unit drive circuit, 14.14'
indicates the current X position storage section, 15.15' indicates the current X position storage section, and 16 and 16' indicate the current 2 position storage section.

The article conveyance command issued by the host controller 4 is taken in by the article conveyance command acquisition circuit 8, and the article takeout position and article storage position in this circuit 8 are stored in the storage section.

A collision check 1ffi control circuit 9 operates a transport mechanism operation control unit 6,'' in order to prevent the transport units 1.2 from colliding with each other when the transport units 1, 2 move in the X direction shown in FIG.
From the contents of the current X position storage section 14.14' of the article conveyance section 1.2 stored in lVc, at least one piece of article conveyance data that will not cause a collision is selected.

The moving distance calculation circuit stores the article transport data and the current X position storage unit 14.14 (current X position storage unit 15), which is the current position of the transport unit 1.2, if selected by the collision check control circuit 9 first. .15', the moving distances of each axis in the X, Y, and Z directions read from the current two-position storage unit 16.16' are calculated by the calculation circuit 1 for the article transport section 1 and for the article transport section 2. The circuit 2 calculates the moving distances in the X, Y, and Z directions, and sends the larger of the moving distances in the xlY and Z directions to the moving distance comparison port [11] as a target for comparison of the moving distances of the transport section.

The movement distance comparison circuit 11 sends a transport command to the transport unit whose movement distance, which is the object of comparison, is the smallest, via the article transport command issuing circuit 12, which is sent from the movement distance calculation circuit 10. The article is then sent to the drive circuit 13 or 13' for conveyance.

Effects of Easy Issuance> As described above, according to the present invention, transport data can be efficiently allocated to a plurality of transport units, so that processing speed is increased.

[Brief explanation of the drawing]

FIG. 1 shows an embodiment of the article conveying section of the article conveying apparatus of the present invention, FIG. 2 shows the structure of the article conveying apparatus of the present invention, and FIG. 3 shows an embodiment of the article conveying apparatus of the present invention. Furthermore, in the figure, 1.2 is an article conveying section, 3 is a rail,
4 is an upper control device, 5 is an article conveyance control section, 6.7 is a conveyance mechanism operation control section, 8 is an article conveyance command acquisition circuit, 9 is a collision check control circuit, 10 is a moving distance calculation circuit, and 11 is a moving distance. Comparison circuit, 12, article transport command issuing circuit, 13
．． 13' is a transport section drive circuit, 14.14' is a current X position storage section, 15.15' is a current X position storage section, 16.
Reference numerals 16' respectively indicate the current two-position storage units. Figure 1

Claims (1)

[Claims] In an article conveyance device that is created by two or more article conveyance units that share one axis and travel simultaneously along two or more axes and article conveyance data for one typhoon or more that controls them, In response to one or more article conveyance commands from the top t & position, a memory section that stores the position e at which all articles start to fall, a memory section that memorizes the position where articles are stored, and a memory that stores the current position of each article conveyance section. An arithmetic circuit and an arithmetic circuit that calculates the moving distance along each axis of each one of the article conveying sections in which the article conveying section and each article conveying section do not collide on the common axis, and take out the one with the larger moving distance as a comparison target. An article conveying apparatus characterized in that the article is conveyed by allocating article conveyance data to the article conveying unit having the minimum distance and lh distance.