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CN-114435818-B - Article conveying equipment

CN114435818BCN 114435818 BCN114435818 BCN 114435818BCN-114435818-B

Abstract

The present application relates to an article conveying apparatus. Even when an abnormality occurs in one of the two conveying units, the reduction in the operation rate of the entire apparatus can be suppressed to a small extent. The control device can execute a first abnormality-time control, a back-off control, and a second abnormality-time control. The first abnormality time control is a control in which a movable range (Rt) in which a normal unit (Un) can perform article transfer with a storage unit (30) without interfering with the abnormal unit (Ua) is set as a range of a part of an article storage rack (3), and a plurality of or a single storage unit (30) included in the movable range (Rt) is set as a transfer target site to operate the normal unit (Un). The second abnormality time control is a control in which the movable range (Rt) is set to a range wider than the movable range (Rt) set in the first abnormality time control in a state where the abnormality unit (Ua) is retracted to the retracted position (Pe), and the normal unit (Un) is operated with a plurality of storage units (30) included in the movable range (Rt) as transfer target portions.

Inventors

  • Chunyi Niucun

Assignees

  • 株式会社大福

Dates

Publication Date
20260505
Application Date
20211104
Priority Date
20201104

Claims (8)

  1. 1. An article conveying apparatus is provided with: an article accommodating shelf having a plurality of accommodating portions for accommodating articles; An end travel path set along a travel direction of a front surface of the article accommodating shelf; Two conveying units for conveying the articles, and Control means for controlling both of the two said conveying units, The article transport apparatus has the following features, Each of the two conveying units includes a travel section that travels along the travel path, a holding section that holds the article, a transfer section that transfers the article between the holding section and the holding section, which are the transfer target sections, among the plurality of holding sections, and a self-position detection section that detects the current position of the self-position detection section, The two traveling portions are configured not to be interlaced with each other on the traveling path, The conveyance means which is abnormally stopped by the occurrence of an abnormality is referred to as abnormal means, the conveyance means which can normally operate is referred to as normal means, The control device can execute normal operation control in which the two normal units are operated so as not to interfere with each other, and can execute first abnormality time control, back-off control, and second abnormality time control when one of the two conveyance units is the abnormal unit and the other is the normal unit, The first abnormality time control is a control in which a movable range in which the normal unit can perform the transfer of the article between the normal unit and the storage portion without interfering with the abnormal unit is set as a range of a part of the article storage rack, and the normal unit is operated with a plurality of or a single storage portion included in the movable range as the transfer target portion, The retreat control is a control for moving the abnormality unit to a retreat position set in an end region of the traveling direction of the traveling path, The second abnormality time control is a control in which the movable range is set to be wider than the movable range set in the first abnormality time control in a state in which the abnormality unit is retracted to the retracted position, and the normal unit is operated with the plurality of storage units included in the movable range being the transfer target portions, The control means sets a range, i.e., a traveling range, in which the normal unit can travel on the traveling path without interfering with the abnormal unit, based on the current position of the normal unit and the current position of the abnormal unit, The range of the travel direction of the movable range is set based on the movable range.
  2. 2. An article conveying apparatus is provided with: an article accommodating shelf having a plurality of accommodating portions for accommodating articles; An end travel path set along a travel direction of a front surface of the article accommodating shelf; Two conveying units for conveying the articles, and Control means for controlling both of the two said conveying units, The article transport apparatus has the following features, Each of the two conveying units includes a travel section that travels along the travel path, a holding section that holds the article, and a transfer section that transfers the article between the holding section and the holding section, which are the transfer target sections, among the plurality of holding sections, The two traveling portions are configured not to be interlaced with each other on the traveling path, The conveyance means which is abnormally stopped by the occurrence of an abnormality is referred to as abnormal means, the conveyance means which can normally operate is referred to as normal means, The control device can execute normal operation control in which the two normal units are operated so as not to interfere with each other, and can execute first abnormality time control, back-off control, and second abnormality time control when one of the two conveyance units is the abnormal unit and the other is the normal unit, The first abnormality time control is a control in which a movable range in which the normal unit can perform the transfer of the article between the normal unit and the storage portion without interfering with the abnormal unit is set as a range of a part of the article storage rack, and the normal unit is operated with a plurality of or a single storage portion included in the movable range as the transfer target portion, The retreat control is a control for moving the abnormality unit to a retreat position set in an end region of the traveling direction of the traveling path, The second abnormality time control is a control in which the movable range is set to be wider than the movable range set in the first abnormality time control in a state in which the abnormality unit is retracted to the retracted position, and the normal unit is operated with the plurality of storage units included in the movable range being the transfer target portions, Comprises a relative distance detection part for detecting the relative distance between the two conveying units in the travelling direction, The control device detects an abnormal stop position, which is a position at which the abnormal unit is stopped, based on a current position of the normal unit and a detection result of the relative distance detection unit, sets a range in which the normal unit can travel on the travel path without interfering with the abnormal unit, based on the abnormal stop position, The range of the travel direction of the movable range is set based on the movable range.
  3. 3. The article transport apparatus according to claim 1 or 2, wherein, The control means executes the backoff control in the execution of the first abnormality-time control after starting the execution of the first abnormality-time control.
  4. 4. The article transport apparatus according to claim 1 or 2, wherein, In the retraction control, the movement of the abnormality unit to the retraction position is performed by using a driving force of the traveling portion of the abnormality unit or a driving force different from the driving force, The control device ends the first abnormality-time control and starts the second abnormality-time control after determining that the abnormality unit has moved to the retracted position.
  5. 5. The article transport apparatus according to claim 1 or 2, wherein, The control device sets a part of the storage sections of the article storage shelf to be a relay storage section serving as a relay point for transferring the article between the two conveying units in the normal operation control, and releases the setting of the relay storage section in the first abnormality time control and the second abnormality time control.
  6. 6. The article transport apparatus according to claim 1 or 2, wherein, The control device is configured to, when one of the two conveyance units is abnormally stopped, notify the abnormality and receive an execution instruction of the first abnormality time control, and execute the first abnormality time control when the execution instruction is received.
  7. 7. The article transport apparatus according to claim 1 or 2, wherein, The control device performs an executable determination to determine whether or not the first abnormality-time control can be executed when one of the two conveyance units is stopped abnormally, and automatically executes the first abnormality-time control when it is determined that the first abnormality-time control can be executed.
  8. 8. The article transport apparatus of claim 7, wherein, The device is provided with a foreign matter detection unit which detects foreign matters existing in the travel path on the normal unit side of the abnormal unit, The condition for determining that the first abnormality time control can be executed in the executable determination includes a position where the foreign matter is not detected by the foreign matter detection portion and the abnormality unit is detected.

Description

Article conveying equipment Technical Field The invention relates to an article conveying device, which comprises an article accommodating shelf provided with a plurality of accommodating parts for accommodating articles, an end traveling path set along the traveling direction of the front surface of the article accommodating shelf, two conveying units for conveying the articles, and a control device for controlling the two conveying units. Background An example of such an article conveying apparatus is disclosed in japanese patent No. 4273423 (patent document 1). In the following description of the related art, symbols shown in brackets are symbols of patent document 1. In the article conveying apparatus disclosed in patent document 1, when an abnormality that cannot continue conveyance occurs in one conveying unit (4 a) of two conveying units (4 a, 4 b), the abnormal conveying unit (4 a) is pushed by a normal conveying unit (4 b) to retract to a retracted position (T). However, during this period, the normal conveying unit (4 b) cannot perform the conveying operation, and therefore the operation rate decreases as a whole. Disclosure of Invention Problems to be solved by the invention In view of the above-described actual situation, an article conveying apparatus capable of suppressing a decrease in the operation rate of the entire apparatus to a small extent even when an abnormality occurs in one of the two conveying units that can not continue conveying is desired. Means for solving the problems The article conveying device of the present disclosure is provided with: an article accommodating shelf having a plurality of accommodating portions for accommodating articles; An end travel path set along a travel direction of a front surface of the article accommodating shelf; Two conveying units for conveying the articles, and Control means for controlling both of the two said conveying units, Wherein, the Each of the two conveying units includes a travel section that travels along the travel path, a holding section that holds the article, and a transfer section that transfers the article between the holding section and the holding section, which are the transfer target sections, among the plurality of holding sections, The two traveling portions are configured not to be interlaced with each other on the traveling path, The conveyance means which is abnormally stopped by the occurrence of an abnormality is referred to as abnormal means, the conveyance means which can normally operate is referred to as normal means, The control device can execute normal operation control in which the two normal units are operated so as not to interfere with each other, and can execute first abnormality time control, back-off control, and second abnormality time control when one of the two conveyance units is the abnormal unit and the other is the normal unit, The first abnormality time control is a control in which a movable range in which the normal unit can perform the transfer of the article between the normal unit and the storage portion without interfering with the abnormal unit is set as a range of a part of the article storage rack, and the normal unit is operated with a plurality of or a single storage portion included in the movable range as the transfer target portion, The retreat control is a control for moving the abnormality unit to a retreat position set in an end region of the traveling direction of the traveling path, The second abnormality time control is a control in which the movable range is set to be wider than the movable range set in the first abnormality time control in a state in which the abnormality unit is retracted to the retracted position, and the normal unit is operated with the plurality of storage units included in the movable range being the transfer target portions. According to this configuration, when one of the two conveying units is abnormally stopped due to the occurrence of an abnormality, the first abnormality-time control is executed by the control device. In the first abnormality time control, a movable range in which a normal unit capable of operating normally can perform the article transfer with the storage unit without interfering with an abnormal unit that is abnormally stopped is set as a range of a part of the article storage rack. The normal unit is operated by setting a plurality of or a single storage unit included in the movable range as a transfer target site. With this configuration, the normal unit can be operated within a range in which the normal unit can be operated without waiting for the abnormal unit to be moved to the retracted position. Therefore, the reduction in the operation rate as a whole can be suppressed to a small extent. Further, by performing the retreat control, after the abnormal unit moves to the retreat position, the normal unit can be operated by setting the plurality of storage units included in the range wider than the movable range set in the f