JP4452422B2 - Work transfer control method and work transfer system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a workpiece transfer control method and a workpiece transfer system, and more particularly to a workpiece transfer control method and a workpiece transfer system for transferring workpieces in a mesh-like transfer path in which transfer paths, relay paths, and stations are arranged in a mesh pattern.
[0002]
[Prior art]
If a processing machine can be arranged at an arbitrary position in a factory having manufacturing facilities, the utilization factor of the site can be increased as compared with the case where the processing machines are arranged in a line.
[0003]
In this case, a net-like transfer path is formed between the processing machines, and the transfer vehicle transfers the workpiece through the transfer path.
[0004]
In some cases, one main computer directly controls the entire transfer vehicle and the transfer path, or a plurality of unit controllers share the device to control the movement of the transfer vehicle. In any case, a dedicated program specialized for the connected control target is prepared as a program executed by the computer.
[0005]
[Problems to be solved by the invention]
Among the above-described conventional techniques, when the whole is controlled by one main computer, the amount of programs is enlarged, and the processing load of the main computer is large. Moreover, the visibility of the source code is also deteriorated due to an increase in the program amount.
[0006]
When a plurality of unit controllers control the movement of a transport vehicle in cooperation with each other, it is necessary to perform mutual information communication between related unit controllers, so that switching of communication paths is complicated. Since a plurality of transport vehicles move simultaneously on a mesh road, the frequency of information communication increases, and communication control becomes more complicated.
[0007]
In addition, since it is necessary to refer to a dedicated input / output address assigned to the other party for mutual information communication, a dedicated communication control program must be prepared for each unit controller. Only a program is needed.
[0008]
From such a situation, when the number of transfer paths, relay paths and transfer vehicles increases or decreases with changes in workpieces or changes in the number of transfer vehicles, the control program must be reset each time. The burden of development and program inspection by the program developer is large, and the time during which the entire transfer system is stopped also becomes long.
[0009]
The present invention has been made in consideration of such problems, and while reducing the processing share of the main controller, the control program of each unit controller is shared, even when the control target is changed or expanded, It is an object of the present invention to provide a workpiece transfer control method and a workpiece transfer system which can be dealt with only by changing parameters.
[0010]
[Means for Solving the Problems]
According to the present invention Work transfer system Is connected to a transfer device for transferring a workpiece, a plurality of transfer paths, and the transfer path With branching device Reticulated road and An attachment / detachment device capable of loading and unloading the workpiece with the transfer device and capable of moving up and down The whole reticulated road And the attachment / detachment device A main controller that supervises and manages Including the detachable device With multiple unit controllers that divide and control the mesh path Preparation Each of the plurality of unit controllers includes the transfer device, the transfer path, and / or the Branching device Connected to at least one of And each having a program of the same structure, based on connection information of the connected transfer device, the transfer path and / or the branch device, The transfer device, the transfer path and / or the Branching device Control Each of the plurality of unit controllers has a common storage unit for storing the state of the transfer device, the transfer path and / or the branch device, and the plurality of unit controllers are Each having a control program for all the branching devices present on the transfer path, all the attaching / detaching devices, and all motors provided in the branching devices and the attaching / detaching devices, Including a movement source control program as a movement source of the transfer apparatus and a movement destination control program as a movement destination, between the movement source unit controller as the movement source of the transfer apparatus and the movement destination unit controller as the movement destination And having a function of notifying each other that the transfer device has entered or proceeded to the branching device. It is characterized by that.
[0011]
Thereby, the processing share of the main controller can be reduced.
[0012]
In addition, the operation instruction from the main controller is the transfer device, the transfer path, and / or the Branching device It includes the identification number of ,in front The unit controller includes the transfer device indicated by the identification number, the transfer path and / or the Branching device May be controlled in accordance with the operation instruction when is connected to itself.
[0013]
The plurality of unit controllers may each have a program having the same structure, and control may be performed based on connection information of the connected transfer device, the transfer path, and / or the relay path.
[0014]
Thereby, the control program of each unit controller can be made common, and even when the transfer device, the transfer path, and the relay path are changed or added, it is possible to cope with only the change of parameters.
[0015]
Further, each of the plurality of unit controllers has a movement source control program as a movement source of the transfer apparatus and a movement destination control program as a movement destination, and the transfer apparatus controls one unit controller. When moving from the sharing area to the control sharing area of the other unit controller, the one unit controller is controlled by the movement source control program, and the other unit controller is controlled by the movement destination control program. It may be.
[0016]
Still further, each of the plurality of unit controllers has a movement source control program as a movement source of the transfer device and a movement destination control program as a movement destination, and the movement source control program and the movement destination control program May have a function of notifying each other that the transfer device has entered or proceeded to the relay path.
[0017]
When the drive source of the transfer device is in the control sharing area of the one unit controller, and the transfer device receives power from the drive source and enters the destination of the control sharing area of the other unit controller, The movement destination control program may notify the movement source control program that the transfer device has entered, and the movement source control program may stop the drive source based on the notification.
[0018]
Each of the plurality of unit controllers may have a common storage unit that stores states of the transfer device, the transfer path, and / or the relay path.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments applied to a workpiece transfer control method and a workpiece transfer system according to the present invention will be described below with reference to FIGS.
[0021]
As shown in FIG. 1, the workpiece transfer system 10 according to the present embodiment moves a plurality of transfer vehicles (transfer devices) 18 that transfer a workpiece 16 and the transfer vehicles 18 via wires 60, or on the way. A plurality of transfer paths 20 that can be stopped, a plurality of attachment / detachment devices (stations) 24 that carry in and out the workpiece 16 from the transfer vehicle 18, and a process that processes the workpiece 16 by taking the workpiece 16 in and out of the attachment / detachment device 24. And a branching device (relay path) 22 that is provided at the relay point or end of the transfer path 20 and can stop the transfer vehicle 18 entering from the transfer path 20 or advance to another transfer path 20. And a plurality of unit controllers 26 that directly control the operations of the transfer vehicle 18, the transfer path 20, the attachment / detachment device 24, and the branching device 22, and the plurality of unit controllers 26 are integrated. It controls the whole Te and a main controller (controller) 12.
[0022]
In the following, “carrying in” is defined as representing the work of transferring the workpiece 16 from the transport vehicle 18 to the attachment / detachment device 24, and “carrying out” is defined as representing the reverse operation.
[0023]
As shown in FIG. 2, there are a plurality of attachment / detachment devices 24, and each attachment / detachment device 24 a to 24 m is provided with a processing machine 14 (see FIG. 1) corresponding to the processing process of the workpiece 16. The workpiece 16 is classified into two types of workpieces 16a and 16b (both not shown), and the processing machine 14 includes a common type for the workpieces 16a and 16b and a type for performing dedicated machining on one of the workpieces 16a and 16b. ing.
[0024]
A black circle “●” indicates a motor 68 (see FIG. 4) that drives the wire 60 of the transfer path 20, and is provided in the branch device 22 on one end side of the transfer path 20. 68 is associated. Depending on the combination of transfer paths 20 to be connected, the branching device 22 may be provided with a motor 68 and may not be provided. A plurality of motors 68 can be installed in one branching device 22.
[0025]
The machining process of the workpiece 16 is sequentially classified into four processes A, B, C, and D. In the loading process, the workpiece 16 is transferred from the loading device 36 to the process A, and when the process D is completed, the dispensing device 38 of the dispensing process is completed. Sent to. Note that the loading device 36 and the dispensing device 38 have functions of loading and unloading the workpiece 16, and exchange the transfer vehicle 18 and the workpiece 16 in the same manner as the loading / unloading device 24. It shall be handled in the same row.
[0026]
The process A includes attachment / detachment devices 24a to 24d, the process B includes attachment / detachment devices 24e to 24g, the process C includes attachment / detachment devices 24h to 24k, and the process D includes attachment / detachment devices 24L to 24m. The feeding device 36 and the dispensing device 38 are connected by a transfer path 20 arranged in a net shape. In addition, the charging device 36, the dispensing device 38, and the attaching / detaching devices 24 a to 24 m are provided in the middle of the transfer path 20.
[0027]
The transfer path of the workpiece 16 is, for example, input from the input device 36 and processed in order by the attachment / detachment device 24b in the process A, the attachment / detachment device 24g in the process B, the attachment / detachment device 24k in the process C, and the attachment / detachment device 24L in the process D. The payout device 38 pays out.
[0028]
There are a plurality of branch devices 22, branch devices 22 a to 22 m are installed at relay points of the transfer path 20, and branch devices 22 n to 22 v are installed at the end of the transfer path 20. Further, the transfer path 20 extending from the relay point does not need to intersect 90 °, and can be set to an arbitrary angle like the branching devices 22i and 22m. Furthermore, the number of transfer paths 20 extending from the relay point is not limited to four intersecting, but can be installed in any number such as two or three, such as branching devices 22a and 22m.
[0029]
Further, the attaching / detaching devices 24a to 24m and the dispensing device 38 are divided into an appropriate number of areas, and the transfer vehicle 18 is assigned to each area. Each transfer vehicle 18 carries in the workpiece 16 only to the assigned attaching / detaching device 24 or the dispensing device 38, and when the workpiece 16 is unloaded, it also enters the area on the previous process side to receive another transfer. When avoiding the car 18, it is assumed that the vehicle enters an adjacent area.
[0030]
FIG. 2 shows an example in which four transfer vehicles 18a to 18d are assigned to the transfer vehicle 18a area to the transfer vehicle 18d area. Speaking of the area of the transport vehicle 18b, the work 16 is carried into the attachment / detachment devices 24f, 24g, 24j, and 24k in the area extending over the process B and the process C, and the unloading work is performed by the process A and the process that are the previous processes. The work of receiving unloading from the B attachment / detachment devices 24a, 24b, 24c, 24d, 24e, 24f, and 24g is performed.
[0031]
Further, the reticulated path composed of the transfer path 20 and the branching device 22 defines the direction in which the process proceeds as the direction Dx and the direction perpendicular to the direction Dx as Dy. The position of the branching device 22 is expressed as coordinates (x, y) with an appropriate reference point, and the direction of the transfer path 20 between the branching devices 22 is expressed by the direction Dx or Dy. Furthermore, the one set obliquely like the transfer path 20 connecting the branching device 22i and the branching device 22m is represented by defining the direction Dz according to the inclination angle.
[0032]
As shown in FIG. 3, the attachment / detachment device 24 has a vertically long structure, and a chain / sprocket mechanism 59 is incorporated in rails 58 erected on both sides. The integrated upper and lower two-stage mounting bases 54 and 56 projecting horizontally from the rail 58 can be moved up and down along the rail 58 by a chain / sprocket mechanism 59, and the mounting bases 54 and 56 by a height sensor (not shown). The height can be detected. The chain / sprocket mechanism 59 is driven by a motor 52 connected to the unit controller 26, and can adjust the height of the mounting tables 54 and 56 while referring to the output value of the height sensor.
[0033]
The attachment / detachment device 24 and the transfer vehicle 18 can load and unload the workpiece 16 between the upper stage mounting table 54 and also when the workpiece 16 does not exist on the mounting table 54, the loading / unloading device 24 and the transfer vehicle 18 can also be unloaded from the lower stage mounting table 56. It is configured to be possible.
[0034]
Specifically, the transfer vehicle 18 evacuates once when the unprocessed workpiece 16x is lowered onto the mounting table 54. When the mounting table 56 is lowered to a height near the processing machine 14 and the processed workpiece 16y processed by the processing machine 14 is placed on the mounting table 56, the mounting tables 54 and 56 are further lowered. When the mounting table 54 reaches a height near the processing machine 14 and stops, and the unprocessed workpiece 16x is transferred to the processing machine 14, the mounting tables 54 and 56 are raised. When the mounting table 56 reaches a height near the transfer vehicle 18, the transfer vehicle 18 that has been saved moves to the loading position again, and the processed workpiece 16 y is loaded from the mounting table 56 onto the transfer vehicle 18.
[0035]
In this manner, the unprocessed workpiece 16x and the processed workpiece 16y can be carried in and out between the attachment / detachment device 24, the processing machine 14, and the transfer vehicle 18.
[0036]
As shown in FIG. 4, the branching device 22 is provided directly below the branching device main body 70, a leg 80 projecting obliquely downward from the branching device main body 70 and connected to the transfer path 20, and the branching device main body 70. A revolving part 78 that revolves horizontally by a motor 82, a roller 74 that is provided in the revolving part 78 and that draws and sends the transfer vehicle 18, and a motor 72 that rotates the roller 74. Further, the branch device 22 includes a motor 68 that drives the wire 60 of the transfer path 20 via pulleys 62 and 64, an angle sensor 79 (see FIG. 7) that detects the turning angle of the turning portion 78, and the transfer vehicle 18. A position sensor (not shown) for detecting the position of
[0037]
The branching device 22 can move the transfer vehicle 18 that is detachably fixed to the wire 60 by driving the wire 60 by the motor 68. The transfer vehicle 18 moves together with the wire 60 by a cam mechanism that bites and fixes the wire 60 during movement. The cam mechanism is automatically released when the branch device 22 is reached. After the cam mechanism is released, the cam 74 is drawn into the turning portion 78 by the roller 74.
[0038]
When the transfer vehicle 18 reaches the center position of the turning portion 78, the direction is changed by the motor 82, and the transfer vehicle 18 is sent again to the other transfer path 20 by the roller 74. Further, when the two transfer paths 20 are set in a straight line and the transfer vehicle 18 goes straight through the branching device 22, the turning operation of the turning portion 78 is unnecessary, and the transfer vehicle 18 passes through relatively quickly. be able to.
[0039]
The motors 68, 72, 82, the position sensor, and the angle sensor 79 of the branching device 22 are connected to the unit controller 26, and the position of the transfer vehicle 18 and the angle of the turning unit 78 are controlled.
[0040]
As shown in FIG. 5, the main controller 12 includes a main body 30, a monitor 32 that outputs a screen, a keyboard 34 of an input device, and the like.
[0041]
The main body 30 has a monitor function unit 30a for controlling the monitor 32, a parameter management function unit 30b for holding various configurations of the workpiece transfer system 10, and a numerical value input from the keyboard 34 to the parameter management function unit 30b. It includes a parameter function unit 30c and a communication function unit 30g that communicates with the unit controller 26 via a wired or wireless link 40. Further, the main body 30 is connected to the communication function unit 30g and cooperates with an operation state management function unit 30d that manages the state of the work transfer system 10, a parameter management function unit 30b, an operation state management function unit 30d, and the like. It has a transfer route determination function unit 30e for determining a route along which the transfer vehicle 18 moves, and a simulation function unit 30f for simulating the operation of the transfer vehicle 18.
[0042]
The main body 30 includes a hard disk, a CPU, a memory, and the like (not shown), and the functional units 30a to 30f are normally stored in the hard disk as software. Each function is executed by the CPU after being loaded into the memory.
[0043]
The main controller 12 determines the transfer route of the transfer vehicle 18 according to the procedure shown in FIG. That is, the movement range shared by each transfer vehicle 18 is determined and input (step S1), the carry-out source and the transfer destination of the transfer vehicle 18 are determined (step S2), and the transfer route of the transfer vehicle 18 is searched (step S2). S3). The route candidates obtained by searching are listed (step S4), and the transfer time for each route candidate is calculated (step S5).
[0044]
Then, the route with the shortest transfer time is selected in consideration of actual operating conditions, and when the transfer vehicle 18 moves along the determined route, the branch device 22 is reserved while avoiding competition with other transfer vehicles. (Step S6).
[0045]
When all the transfer paths that can be determined at that time are determined in this way, the process waits until the next calculation condition is satisfied (step S7). The next calculation condition is, for example, a load request signal from each attachment / detachment device 24, a load request signal, and information indicating that the transfer by the transfer vehicle 18 has ended or passed through the branch device 22, and when these conditions occur. What is necessary is just to return to step S2 again.
[0046]
Then, according to the data, an operation instruction of each transport vehicle 18 is transmitted to each unit controller 26 via the communication function unit 30g and the link 40. When each unit controller 26 confirms that it is an operation instruction addressed to itself from the address and device number accompanying the operation instruction, it controls the attachment / detachment device 24 and the branching device 22 according to this operation instruction to operate the transport vehicle 18. Can do.
[0047]
As shown in FIG. 7, the unit controller 26 includes a PLC (program logic controller) 100, an operation panel 102 of an input / output device, an inverter 104 that drives motors 52, 72, 68, 82, and the like, the position sensor, From the remote input / output unit 106 connected to the height sensor and angle sensor 79 and the like, and the network 108 etc. connected between the PLC 100, the operation panel 102, the inverter 104, and the remote input / output unit 106 to transmit data. Composed.
[0048]
As shown in FIG. 8, the PLC 100 includes a storage unit 112 that can store programs and data, a CPU (computer) 110 that reads and executes a program stored in the storage unit 112, and the main controller 12. A communication control unit 114 that transmits / receives data via the link 40, an input / output unit 118 that transmits / receives data to / from the network 108, a program reading unit 120, a CPU 110, a storage unit 112, a communication control unit 114, An internal bus 116 is connected between the input / output unit 118 and the program reading unit 120 and transmits data.
[0049]
As illustrated in FIG. 9, the storage unit 112 includes a program area 122, a data area 124, and a shared storage area (common storage unit) 126 that stores states of the branch device 22, the attachment / detachment device 24, and the like. The program and data input from the program reading unit 120 and the operation panel 102 can be stored.
[0050]
The data area 124 includes a branching device parameter table 140 indicating connection information related to the branching device 22 connected to the unit controller 26, and an attaching / detaching device parameter table 142 indicating connection information related to the loading device 36, the dispensing device 38 and the attaching / detaching device 24. Is provided.
[0051]
The program area 122 includes branch device control tasks 130a to 130d each having a function of individually controlling the branch device 22, and attachment / detachment device control tasks 132a to 123d individually controlling the attachment / detachment device 24. , An input device control task 136 for controlling the input device 36, a payout device control task 138 for controlling the payout device 38, the branch device control tasks 130 a to 130 d, the attachment / detachment device control tasks 132 a to 132 d, and the input device control A task selection program (main program) 128 having a function of selecting and executing the task 136 and the payout device control task 138 is provided.
[0052]
Each of the branch device control tasks 130 a to 130 d is a program having the same structure, and each controls the branch device 22. Therefore, the four branch devices 22 can be controlled. Since the attachment / detachment device control tasks 132a to 132d are also programs having the same structure, the four attachment / detachment devices 24 can be controlled. The branch device control tasks 130a to 130d and the attachment / detachment device control tasks 132a to 132d are not limited to four, and more tasks may be prepared depending on the capacity of the program area 122.
[0053]
As shown in the example of FIG. 10, the branch device parameter table 140 includes four rows, and the number of the connected branch device 22 is recorded in the “device name” column. If there are three or less branch devices 22 connected, “-” is recorded.
[0054]
Each row is divided into a “connection destination direction” column and a “connection destination direction drive source” column, each of which has ± directions (+ Dx, + Dy, + Dz, −Dx, −Dy, −Dz) of the directions Dx, Dy, and Dz. (Direction) has a separate column and a spare column for connection destination expansion.
[0055]
In the “connection destination direction” column, the number of the branch device 22 of each connection destination is recorded. For example, if “22d”, the branch device 22d is connected in that direction. “-” Indicates that there is no connection.
[0056]
The shared storage area 126 is an area for storing states of the branching device 22, the attaching / detaching device 24, the loading device 36, the dispensing device 38, and the like, and is a storage unit that can be shared by each PLC 100. As means for sharing the shared storage area 126, for example, the forms shown in FIGS. 11A to 11C can be employed.
[0057]
In the example of FIG. 11A, each time the CPU 110 writes to the shared storage area 126 in each PLC 100, a predetermined interrupt program is executed, and the written part or the entire shared storage area 126 is transferred to all other PLCs 100. Forward. Then, the data reception interrupt program is also executed on the PLC 100 side that has received the transfer, and the received data is written into its own shared storage area 126.
[0058]
In the example of FIG. 11B, the shared storage area 126 is set to appear to indicate the storage unit 112, but actually exists in an external storage device connected to the link 40, and each PLC 100 is shared by the function of the OS. So that it can be accessed.
[0059]
In the example of FIG. 11C, the shared storage area 126 is set inside the main controller 12 so that it can be commonly accessed from each PLC 100.
[0060]
In addition to these, a so-called DMA (direct memory access) system may be employed.
[0061]
In these forms, the memory address in the same column as the memory address of the data area 124 or the like is assigned to the shared storage area 126, and it can be handled in the same manner as a general memory.
[0062]
As shown in FIG. 12, the branching device control tasks 130a to 130d include a movement source control program 150 having a processing function as a movement source when moving the transport vehicle 18, and a movement destination control having a processing function as a movement destination. A program 152 and a turning control program 154 having a processing function of turning the transfer vehicle 18 by the branching device 22;
[0063]
The procedure of moving the transfer vehicle 18 in the operation of the workpiece transfer system 10 configured as described above and the workpiece transfer control method will be described with reference to FIGS.
[0064]
First, the control procedure of the source control program 150 will be described with reference to FIG.
[0065]
In step S <b> 101, it is confirmed from the branching device parameter table 140 whether or not the source branching device 22 indicated by the operation instruction received from the main controller 12 is connected to the unit controller 26. If it is connected, the next step S102 is executed. If it is not connected, the processing of the movement source control program 150 is terminated.
[0066]
In step S102, it is confirmed by the branching device parameter table 140 whether or not the motor 68 (driving source) for driving the transfer vehicle 18 is provided in the transfer path 20 in the movement direction in the operation instruction. If the motor 68 is provided, the next step S103 is executed. If not, the processing of the movement source control program 150 is terminated.
[0067]
In step S103, the motor 68 confirmed in step S102 is driven to move the transfer vehicle 18 toward the destination indicated by the operation instruction.
[0068]
At this time, it may be written in the shared storage area 126 to confirm that the transport vehicle 18 has advanced, and notified to the other unit controllers 26.
[0069]
Next, in step S104, the state of the branch device 22 that is the movement destination in the shared storage area 126 is confirmed. And it waits until the information which shows that the said position sensor of the branch device 22 of a movement destination approached the transport vehicle 18 was recorded. When it is confirmed from the information in the shared storage area 126 that the transport vehicle 18 has entered the transfer destination branch device 22, the process proceeds to the next step S105.
[0070]
In step S105, the motor 68 that has driven the transport vehicle 18 is stopped, and the movement source control program 150 is terminated.
[0071]
Next, the control procedure of the destination control program 152 will be described with reference to FIG.
[0072]
In step S <b> 201, the branch device parameter table 140 checks whether or not the destination branch device 22 indicated by the operation instruction received from the main controller 12 is connected to the unit controller 26. If it is connected, the next step S202 is executed. If it is not connected, the processing of the destination control program 152 is terminated.
[0073]
In step S202, it is confirmed by the branching device parameter table 140 whether or not the motor 68 for driving the transfer vehicle 18 is provided in the transfer path 20 in the movement direction in the operation instruction. If the motor 68 is provided, the next step S203 is executed. If not, the process proceeds to step S204.
[0074]
In step S203, the motor 68 confirmed in step S202 is driven to move the transport vehicle 18 toward the destination indicated by the operation instruction.
[0075]
Next, in step S <b> 204, the position sensor confirms the state of the transfer vehicle 18 and waits until the transfer vehicle 18 enters a predetermined position of the branching device 22.
[0076]
Next, when the transport vehicle 18 enters, information indicating that the transport vehicle 18 has entered its branch device 22 is written in the shared storage area 126 in step S205.
[0077]
Next, in step S206, the same determination as in step S202 is performed again to check whether or not the motor 68 for driving the transfer vehicle 18 is provided. If the motor 68 is provided, the next step S207 is executed. If not, the processing of the destination control program 152 is terminated.
[0078]
In step S207, the motor 68 that has driven the transport vehicle 18 is stopped, and the destination control program 152 is terminated.
[0079]
Although detailed explanation is omitted, both the movement source control program 150 and the movement destination control program 152 are controls for accelerating and decelerating when moving the transfer vehicle 18, and rollers for retracting and sending the transfer vehicle 18. Control for rotating 74 and control for stopping the transfer vehicle 18 at the place of the attaching / detaching device 24 are performed. Control for turning the turning unit 78 will be described later.
[0080]
Next, as shown in FIG. 15, several examples in the case where the transport vehicle 18 moves assuming a certain series of routes will be specifically described.
[0081]
The branch device 22 on the path is identified as the branch devices 23a to 23d, and the branch devices 23a and 23b are connected to the PLC 100x inside a certain unit controller 26. Similarly, branching devices 23c and 23d are connected to PLC 100y.
[0082]
Further, as indicated by a black circle “●”, a motor 68 for moving the transfer vehicle 18 on the transfer path 20 between the branching device 23a and the branching device 23b is provided on the branching device 23a side, Similarly, the motor 68 for movement between the branching devices 23b and 23c is on the branching device 23b side, between the branching devices 23c and 23d is on the branching device 23c side, and between the branching devices 23d and 23e (not shown) is on the branching device 23d side. Are provided respectively.
[0083]
Furthermore, in PLC 100x, branch device control tasks 130a and 130b are selectively executed to control branch devices 23a and 23b, and in PLC 100y, branch device control tasks are used to control branch devices 23c and 23d. It is assumed that 130c and 130d are selected and executed.
[0084]
When moving the transfer vehicle 18 from the branching device 23b to the branching device 23c under such conditions, first, an operation instruction for moving the transfer vehicle 18 existing in the branching device 23b to the branching device 23c is given by the main controller 12. To the PLC 100 of each unit controller 26 via the link 40.
[0085]
In the branch device control task 130b executed by the PLC 100x for the branch device 23b, the source control program 150 is valid.
[0086]
In this case, the PLC 100x is in charge of the source branching device 23b in step S101 of FIG. Further, as determined in step S102, since the motor 68 is provided in the traveling direction, the motor 68 is driven in the next step S103. Then, since the transfer vehicle 18 starts to move, the PLC 100x waits while the motor 68 is driven until it receives information indicating that the transfer vehicle 18 has entered the branching device 23c in step S104.
[0087]
On the other hand, in the PLC 100y, the destination control program 152 is valid in the branch device control task 130c executed for the branch device 23c.
[0088]
In step S201 of FIG. 14, the PLC 100y in this case is in charge of the branch device 23c that is the movement destination, so the process proceeds to step S202, and further, since there is no motor 68 in the transport source direction, the process proceeds to step S204.
[0089]
In step S204, the value of the position sensor is checked, and when it is recognized that the transport vehicle 18 has entered, the information is written in the shared storage area 126 (step S205), thereby notifying the PLC 100x.
[0090]
The PLC 100x that has received the notification that the transfer vehicle 18 has entered the branching device 23c via the shared storage area 126 stops the motor 68 in step S105 of FIG. 13 and ends the movement of the transfer vehicle 18.
[0091]
Further, during this movement, the branch device control tasks 130a and 130d for controlling the branch device 23a and the branch device 23d execute the movement source control program 150 and the movement destination control program 152, respectively, but step S101 in FIG. In step S201 in FIG. 14, since the movement source and the movement destination are not associated with each other as control sharing, the subsequent processing is skipped and the movement source control program 150 and the movement destination control program 152 are terminated. Therefore, there is no useless processing in the PLCs 100x and 100y, and the processing load on the unit controller 26 is kept in an appropriate state.
[0092]
Next, the reverse case of the above example, that is, the case where the transport vehicle 18 moves from the branching device 23c to the branching device 23b will be described.
[0093]
First, an operation instruction for moving the transport vehicle 18 existing in the branch device 23 c to the branch device 23 b is transmitted from the main controller 12 to the PLC 100 of each unit controller 26 via the link 40.
[0094]
In the branch device control task 130c executed by the PLC 100y for the branch device 23c, the source control program 150 is valid.
[0095]
The PLC 100y in this case is in charge of the source branching device 23c in step S101 of FIG. 13 and moves to step S102. However, since the determination in step S102 does not have the motor 68 in the moving direction, The process of is omitted.
[0096]
On the other hand, in the PLC 100x, the destination control program 152 is valid in the branch device control task 130b executed for the branch device 23b.
[0097]
Since the PLC 100x in this case is in charge of the branch device 23b that is the movement destination in step S201 in FIG. 14, the process proceeds to step S202, and further, since the motor 68 is provided in the transport source direction, the next step is performed. In step S203, the motor 68 is driven. In this case, it is driven in the opposite direction to the above example.
[0098]
Then, in step S204, the value of the position sensor is checked, and if it is recognized that the transport vehicle 18 has entered, the state of the transport vehicle 18 is written in the shared storage area 126 in step S205. Further, the motor 68 is stopped through the determination in step S206 (step S207), and the movement of the transfer vehicle 18 is ended.
[0099]
As described above, even when the transfer vehicle 18 is moved across the branch devices 22 having different PLCs 100 that share control, the position of the transfer vehicle 18 is notified via the shared storage area 126. Driving and stopping can be performed at appropriate timing.
[0100]
Further, since the main controller 12 only needs to indicate the identification numbers of the movement source and the movement destination, it is not necessary to directly control the operation of the transport vehicle 18.
[0101]
Further, when the transfer vehicle 18 is moved between the branch devices 22 having the same PLC 100 sharing the control, such as when the transfer vehicle 18 is moved from the branch device 23a to the branch device 23b, the movement source and the movement The control can be similarly performed when the destination executes the source control program 150 and the destination control program 152.
[0102]
Next, control for turning the transport vehicle 18 together with the turning unit 78 in the branching device 22 will be described with reference to FIG.
[0103]
For example, when the transport vehicle 18 turns in the branching device 23a, an operation instruction indicating the identification number and the target angle of the branching device 23a is transmitted from the main controller 12 to the PLC 100 of each unit controller 26 via the link 40.
[0104]
And in the branch device control task 130a which PLC100x performs about the branch device 23a, the turning control program 154 becomes effective.
[0105]
In the PLC 100x in this case, since the designated branch device 23a is connected in step S301 in FIG. 16, the process proceeds to step S302.
[0106]
In step S302, the motor 82 is driven and the turning unit 78 is turned.
[0107]
Next, in step S303, the value of the angle sensor 79 is checked, and the process waits until the turning unit 78 reaches a specified target angle.
[0108]
Next, when the turning unit 78 reaches the target angle, in step S304, the motor 82 is stopped and the turning operation is finished.
[0109]
Further, when the turning control program 154 determines in step S301 that the designated branch device 22 is not connected, all the subsequent processing is skipped, so that the processing load on the PLC 100 can be reduced.
[0110]
As described above, in the workpiece transfer control method and workpiece transfer system 10 according to the present embodiment, the plurality of unit controllers 26 are connected to at least one of the branching device 22 and the attachment / detachment device 24, and are connected to the main controller 12. The branch controller 22 and the attachment / detachment device 24 are controlled in accordance with the instructions of the above, so that the main controller 12 does not need to directly control the individual branch devices 22, and the branch device 22, the attachment / detachment device 24, etc. are added. However, since it is sufficient to connect to an empty port of the unit controller 26 or to add the unit controller 26, physical addition is not necessary on the main controller 12 side.
[0111]
The instruction from the main controller 12 includes the identification numbers of the branch device 22 and the attachment / detachment device 24 and is transmitted to all the unit controllers 26, so that the transmission protocol can be simplified.
[0112]
The unit controller 26 that has received this instruction may perform control in accordance with the instruction when the branch device 22 and the attachment / detachment device 24 indicated by the identification number are connected to the unit controller 26.
[0113]
Each unit controller 26 has a program of the same structure and performs control based on connection information of the connected branch device 22 and attachment / detachment device 24, so that program development and program maintenance management are easy.
[0114]
The unit controller 26 has a movement source control program 150 and a movement destination control program 152, and when the transport vehicle 18 moves from one control sharing area of the unit controller 26 to another control sharing area, the movement source 18 Is controlled by the movement source control program 150, and the other is controlled by the movement destination control program 152. Therefore, even when the transport vehicle 18 moves across the control sharing area, it can move appropriately.
[0115]
At this time, the movement source control program 150 and the movement destination control program 152 have a function of notifying each other that the transport vehicle 18 has been carried in or carried out, so that starting and stopping are performed at appropriate timing. In particular, even when the drive source of the transfer vehicle 18 is in the control sharing area of the movement source, the drive motor 68 can be stopped at an appropriate timing because the notification that the transfer vehicle 18 has entered from the movement destination is received. .
[0116]
These notifications can be easily performed by using the common storage area 126 common to all the unit controllers 26.
[0117]
The reticulated transfer path in the above-described embodiment can be applied to various different configurations. For example, a plurality of input devices 36 and payout devices 38 may be installed. The transfer path 20 may not be a straight line, and may be replaced with a straight line connecting both end points.
[0118]
Further, for example, the net-like transfer path is not limited to a two-dimensional one but can be applied to a three-dimensional warehouse or the like.
[0119]
The transfer vehicle 18 is not limited to the other traveling type that receives the power of the motor 68 included in the branching device 22, and the transfer path 20 may have power, and the self-propelled type and the self-standing type that move on the floor surface. Or the like. In these cases, the unit controller 26 may have a task for controlling the transfer path 20 and the transfer vehicle 18 instead of the branch device 22.
[0120]
Furthermore, the workpiece transfer control method and workpiece transfer system according to the present invention are not limited to the above-described embodiments, and various configurations can be adopted without departing from the gist of the present invention.
[0121]
【The invention's effect】
As described above, according to the workpiece transfer control method and the workpiece transfer system according to the present invention, the processing share of the main controller can be reduced, the control program of each unit controller is shared, and the control target is changed. Or, even when the number is increased, it is possible to cope with the problem by changing the parameters.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a workpiece transfer system according to an embodiment.
FIG. 2 is an explanatory diagram showing a reticulated transfer path in the present embodiment.
FIG. 3 is a perspective view showing an attachment / detachment device and a transfer vehicle.
FIG. 4 is an explanatory diagram showing a branching device.
FIG. 5 is a functional block diagram of a workpiece transfer system according to the present embodiment.
FIG. 6 is a flowchart showing a procedure for determining a transfer route of the transfer vehicle by the main controller.
FIG. 7 is a block diagram showing an internal configuration of a unit controller.
FIG. 8 is a block diagram showing an internal configuration of a PLC.
FIG. 9 is an explanatory diagram showing contents of a storage unit.
FIG. 10 is an explanatory diagram showing the contents of a branching device parameter table.
11A is an explanatory diagram illustrating an example in which a shared storage area is provided in each storage unit, FIG. 11B is an explanatory diagram illustrating an example in which a shared storage area is provided independently, and FIG. It is explanatory drawing which shows the example which provided the area | region in the main controller.
FIG. 12 is an explanatory diagram showing contents of a branch device control task.
FIG. 13 is a flowchart showing a processing procedure of a source control program.
FIG. 14 is a flowchart showing a processing procedure of a destination control program.
FIG. 15 is an explanatory diagram showing a connection relationship between a branching device and a unit controller in an example of a transfer path.
FIG. 16 is a flowchart showing a processing procedure of a turning control program.
[Explanation of symbols]
10 ... Work transfer system 12 ... Main controller
14 ... Processing machine
16, 16a, 16b, 16x, 16y ... Workpiece
18, 18a to 18d ... transfer vehicle 20 ... transfer path
22, 22a-22v ... Branching device 24, 24a-24m ... Detachment device
26 ... Unit controller 30 ... Main unit
30a: Monitor function unit 30b: Parameter management function unit
30c: Numerical parameter setting function unit 30d: Operating state management function unit
30e: Transfer route determination function unit 30f: Simulation function unit
30 g ... Communication function part 32 ... Monitor
34 ... Keyboard 36 ... Loading device
38 ... Dispensing device 60 ... Wire
100 ... PLC 110 ... CPU
112 ... Storage unit 128 ... Task selection program
130a to 130d ... Branch device control task
132a to 132d ... Detachable device control task
136 ... Input device control task 138 ... Dispensing device control task
140: Branch device parameter table 142: Detachable device parameter table
150 ... Source control program 152 ... Target control program
154 ... Turning control program

Claims (5)

A reticulated path comprising a transfer device for transferring a workpiece, a plurality of transfer paths, and a branching device to which the transfer paths are connected ;
A detachable device capable of loading and unloading the workpiece with the transfer device and capable of moving up and down ;
A main controller that supervises and manages the entire reticulated path and the attachment / detachment device ;
A plurality of unit controllers that divide and control the reticulated path including the attachment / detachment device ;
Equipped with a,
Wherein the plurality of unit controllers, respectively, the transfer device, the transfer passage and / or connected to said at least one of the branching unit Rutotomoni each have a program of the same structure, said transfer device being connected, the based on the transport path and / or connection information of the branch device, the transfer device, and the control of the transfer passage and / or the branch device row Umono,
Each of the plurality of unit controllers has a common storage unit for storing states of the transfer device, the transfer path, and / or the branch device,
Further, each of the plurality of unit controllers has a control program for all the branching devices present on the transfer path, all the attachment / detachment devices, and all the motors provided in the branching device and the attachment / detachment device. The control program includes a movement source control program as a movement source of the transfer device, and a movement destination control program as a movement destination,
It has a function of notifying each other that the transfer device has entered or proceeded to the branch device between a transfer source unit controller as a transfer source of the transfer device and a transfer destination unit controller as a transfer destination. Work transfer system . Using the workpiece transfer system according to claim 1,
In a configuration in which a moving motor is provided only on one side of the two branch devices to move the transfer device passing through the transfer path provided between the two branch devices,
Each unit controller has connection information of the branch device, and based on the connection information when the branch device under its control exists on the transfer path of the transfer device according to an operation instruction from the main controller. Executing the control program;
When the transfer device is moved from the branching device in the control sharing area of one unit controller to the branching device in the control sharing area of another unit controller, the transfer source is moved in the one and other unit controllers. Control device and destination control program are respectively executed to determine presence / absence of the motor for movement in the source branch device and destination branch device, and the branch device having the motor for movement The unit controller in charge of driving the movement motor by the movement source control program or the movement destination control program,
When the transfer device receives power from the moving motor and enters the control sharing area of the other unit controller that is the destination, the other unit controller in charge of the destination is the destination control program. The unit controller in charge of the branching device having the moving motor after notifying the unit controller in charge of the source of movement that the transfer device has entered is provided in the source control program Alternatively, the workpiece transfer control method is characterized in that the moving motor is stopped by the destination control program . Using the workpiece transfer system according to claim 1,
A workpiece transfer control method, wherein the transfer device, the transfer path, and / or the branch device is controlled in accordance with an operation instruction from the main controller. The workpiece transfer control method according to claim 2 or 3,
The transfer path is further provided with a processing machine for processing the workpiece loaded and unloaded with the transfer device by the attachment / detachment device,
The plurality of unit controllers perform control of the connected attachment / detachment device based on connection information of the attachment / detachment device managed by each unit controller in accordance with an operation instruction from the main controller. Transfer control method. In the workpiece transfer control method according to any one of claims 2 to 4 ,
The operation instruction from the main controller is intended to encompass the identification number of the transfer device, the transfer passage and / or the branch device, before Symbol unit controller, said transfer device the identification number indicates, the transfer path And / or a workpiece transfer control method, wherein control is performed in accordance with the operation instruction when the branching device is connected to itself.

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