JP2009298223A - Unmanned conveying vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an unmanned conveying vehicle capable of conveying objects in a consistent state even when the loading heights at respective transfer destinations are different when transferring the objects. <P>SOLUTION: The unmanned conveying vehicle 1 is provided with a transfer unit 4 for loading objects 2 thereon and delivering them to transfer destinations 5, and operationally controlled on a traveling surface F along a guide line. The unmanned conveying vehicle 1 has a loading height adjusting unit 14 for adjusting the object loading height in the transfer unit 4 according to the object transfer height at each transfer destination 5. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an automatic guided vehicle that includes a placement unit that places a conveyed product and delivers it to a transfer destination, and operates on a traveling surface along a guide path.

  Conventionally, as an automated guided vehicle (AGV), a plurality of (at least three or more) wheels are supported by, for example, a plurality of transfer paths along a taxiway provided on a floor in a factory or a warehouse. An automatic guided vehicle that moves to a loading destination and delivers the loaded conveyance to each loading destination is used.

  This type of automated guided vehicle can stably travel on the floor surface so that all wheels are securely grounded, and the main body frame does not tilt even when a load is applied to a biased position. (See, for example, Patent Documents 1 and 2).

As shown in FIG. 8, the automatic guided vehicle disclosed in Patent Document 1 is configured such that the traveling mechanism 303 is provided with four wheels 304 to 307 at the four corners of the bottom of the main body frame 302 of the automatic guided vehicle 301. Two wheels located on one diagonal are called drive wheels 304 and 305, and two wheels located on the other diagonal are called casters 306 and 307.
One drive wheel 305 of the drive wheels is attached to the bottom of the main body frame 302, and the remaining drive wheels 304 and casters 306 and 307 are swung up and down around the shaft (swing axis A) at the bottom of the main body frame. A spring (not shown) is interposed between the body frame 302 and the rear end side of the swing frame to which the caster 307 is mounted.
As described above, the three wheels attached to the swing frame 308 are always in a grounded state, and the remaining drive wheels 305 are provided on the main body frame 302 that swings relative to the swing frame 308. By having a configuration, it has an advantage that it can be installed following the other three wheels.

The automatic guided vehicle shown in Patent Document 2 (see FIG. 9) is provided with a cylinder device 315 that uses hydraulic pressure at substantially the same place in place of the spring of Patent Document 1. Therefore, when passing through the concavo-convex portion when the automatic guided vehicle 310 travels, the swing frame 312 having the same configuration as that of Patent Document 1 swings up and down around the shaft 314. For example, when the swing frame 312 swings upward, the cylinder tube 316 swings up and down as the swing frame 312 swings, so that the piston (not shown) moves relatively downward. Then, the oil below the piston is pushed and flows out into the tank through an unillustrated electromagnetic on-off valve.
When the swing frame 312 swings downward, the oil in the upper chamber of the piston flows out into the tank, and the oil in the tank flows into the lower chamber through the electromagnetic on-off valve. Therefore, the driving wheel (not shown) can be grounded by following the other three wheels. Therefore, even if a suspension mechanism is not provided as in the prior art, there is an advantage that all wheels (four wheels) can always be grounded and run and stopped stably.
JP 2000-326880 A JP 2001-151115 A

  However, in the automatic guided vehicle of Patent Document 1, when the driving wheel 305 or the caster 307 passes through the uneven portion (or the undulation portion) of the floor surface, all the wheels are not affected by the action of the spring. Although the contact pressure is secured, when the driving wheel 304 or the caster 306 passes through the concavo-convex portion, the main body frame is inclined or the transfer height is changed, so that the transfer object is received by each transfer destination. There is a problem that a problem occurs when handing over.

  In addition, since the automatic guided vehicle of Patent Document 2 uses hydraulic pressure, the response speed is slower than that of a suspension mechanism using a spring, and the size of the guided vehicle is increased because a hydraulic tank and hydraulic equipment are provided. In addition, there is a problem that regular maintenance work of hydraulic equipment is required.

  The present invention has been made in view of the above-described circumstances, and an automatic guided vehicle that can transfer a transported object in a stable state even when the transfer heights of the transfer destinations are different at the time of transfer of the transported object. The purpose is to provide.

The automatic guided vehicle according to the present invention employs the following means in order to solve the above problems.
The present invention is an automatic guided vehicle that includes a transfer unit on which a transported object is placed and delivered to a transfer destination, and the operation is controlled on a traveling surface along a guide path, the automatic guided vehicle being transferred It is provided with the mounting height adjustment part which adjusts the conveyed product mounting height in the said transfer part according to the conveyed product transfer height in the tip.
As a result, during the operation of the automated guided vehicle, if the loading height of each transfer destination is different at the time of transfer of the transported object, the height of the transfer section is set to the transfer destination by the mounting height adjustment unit. Therefore, the transported object can be transferred to the transfer destination in a stable state.

In addition, a detection unit that detects the transfer height of the transferred object at the transfer destination is provided.
As a result, when the placement heights of the respective transfer destinations are different, the transfer height is transferred by closed control while feeding the transferred object transfer height signal at the transfer destination by detecting the respective placement heights by the detection unit. The height of the part is adjusted. Therefore, the conveyed product can be transferred in a stable state for each transfer destination having a different transfer height.

The automatic guided vehicle is travel-controlled based on operation data for sequentially transferring a transfer object to a plurality of transfer destinations according to a command from the operation control device, and stored in a storage unit of the operation control device. It is characterized by comprising a control unit for controlling the height or inclination of the transported object placement surface in the transfer part based on the height data of the transported object placement surface for each transfer destination.
Thereby, when the automatic guided vehicle operates based on pre-programmed operation data, the object is transferred based on the height data of the object mounting surface stored for each transfer destination stored in the storage unit of the operation control device. Since the height of the placement height adjustment unit of the placement surface is controlled in advance, the delivery of the transported material can be smoothly performed even if the transported material placement surface of each transfer destination has a height difference. it can.

Further, the height is adjusted so that the transported object placement surface of the transfer section of the automatic guided vehicle is substantially the same as the transported object placement surface at the transfer destination.
As a result, the structure of the transfer part of the automatic guided vehicle can be changed to the structure of the transfer unit of the automatic guided vehicle, for example, depending on the inclined structure or the fork structure when the transferred object is carried in / out. Open control is performed by an operation program set so that the height can be transferred. Therefore, even if the structure of the transfer part is different, it is possible to carry in / out the conveyed object in a stable state with respect to the conveyed object placement surface at the transfer destination.

The transported object placement surface in the transfer unit of the automatic guided vehicle is inclined in the transfer direction with respect to the transported object placement surface in the transfer destination.
Thereby, when transferring a conveyed product to a transfer destination, the front-end | tip of a transfer part is made to raise with respect to the conveyed product mounting surface in a transfer destination, and is made to incline downward, and a conveyed product is mounted from a transfer destination. At this time, the tip of the transfer unit is lowered with respect to the transported object placement surface at the transfer destination and is inclined downward toward the rear. Therefore, when the transfer unit of the automatic guided vehicle is of a roller conveyor type, transfer can be performed by the weight of the conveyed product even without a driving source.

  According to the automatic guided vehicle according to the present invention, since it includes a mounting height adjustment unit that adjusts the transported object mounting height in the transfer unit according to the transported object transfer height at the transfer destination, Even when the transfer heights of the respective transfer destinations are different, it is possible to smoothly deliver the conveyed product.

Hereinafter, an embodiment of an automatic guided vehicle according to the present invention will be described with reference to the drawings.
1 is an external perspective view of an automated guided vehicle according to an embodiment of the present invention, FIG. 2 is a plan view of the automated guided vehicle according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention. It is the side view seen from the back of the automatic guided vehicle which concerns.

  In FIG. 1, a trackless automatic guided vehicle 1 (hereinafter referred to as AGV) is supported by a plurality of (four wheels in this embodiment) wheels W1 to W4. Then, for example, the magnetism of the guide path MT composed of a magnetic tape laid on the floor F serving as a traveling surface in a factory or a warehouse is guided while being detected by, for example, the magnetic sensor GS, and a plurality of magnetic fields are guided along the guide path MT. To the destination (station). Furthermore, it is operated by a command from an operation control device to be described later, and the loaded transported object 2 is transferred to each transfer destination 5.

  1 and 2, the AGV1 has four wheels W1 to W4 attached to the four corners of the bottom surface of the body frame 6, and these four wheels W1 to W4 are driven by drive motors M1 to M4, respectively. It is like that. These drive motors M1 to M4 are supported on the bottom surface of the main body frame 6 via a suspension mechanism 8 (independent suspension device). Thereby, when passing the uneven | corrugated | grooved part (or high and low waviness part) on the floor surface F, the contact pressure of each wheel and the flatness of the main body frame 6 are ensured without being influenced by all the wheels.

  On the upper surface of the main body frame 6, there is provided a transfer unit 4 for mounting the conveyed product 2, and this transfer unit 4 includes an elevating frame 10 and a drive roller conveyor installed on the central upper surface of the elevating frame 10. 12. The elevating frame 10 is configured to be movable up and down by an elevating mechanism 14 described later as a placement height adjusting unit for the conveyed product 2.

A height sensor SE serving as a detection unit for detecting the transferred object transfer height is attached to both side surfaces of the lifting frame 10, and the height sensor SE is attached to the opposing vertical wall surface of the transfer destination 5. The coincidence of heights can be detected by receiving the reflected light of the laser beam output to the reflecting mirror M.
In addition, although this height sensor SE demonstrated in the example using the reflection type sensor, it is not restricted to this but a proximity switch and a limit switch can also be used.

  When the height sensor SE detects the coincidence with the transfer object placement height of the transfer destination 5, the drive motor of the drive roller conveyor 12 is driven to transfer the transfer object 2 on the drive roller conveyor 12. It is transferred to the last 5. The drive roller conveyor 12 is configured such that a plurality of rollers are rotationally driven in the forward or reverse direction by a drive motor (not shown) so that the conveyed product 2 can be delivered from either the left or right side of the main body frame 6 orthogonal to the transfer direction of the AGV 1. It has become.

Next, the AGV, the control device that controls the operation of the AGV, and the operation control of the AGV will be described in more detail with reference to FIGS.
FIG. 4 is an explanatory diagram of an automatic guided vehicle according to an embodiment of the present invention and a control device that performs the operation control. FIG. 5 illustrates an automatic guided vehicle according to an embodiment of the present invention as an operation program of the operational control device. It is explanatory drawing by which operation control is carried out based on.

  In FIG. 4, an operation control device 26 includes an input / output unit 30 for inputting / outputting data to / from a central processing unit (CPU) 28, a storage unit 32 for storing an operation program of AGV1, and a display unit 34 for displaying the operation position of AGV1. A transmission / reception unit 36 for transmitting the operation program data extracted from the storage unit 32 from the antenna NT1 to the AGV1 side is connected.

  The AGV1 is equipped with a control device 22, for example, a lift drive motor 18 that moves up and down a jack-type lift mechanism 14 composed of a pantograph mechanism, and a battery (battery) BT. The control device 22 receives via an antenna NT2. The four wheels W1 to W4 are driven and controlled along the taxiway MT through the drive motors M1 to M4 based on the operation program of the operation control device 26.

Therefore, for example, when the AGV1 reaches the station ST1 serving as the transfer destination 5 shown in FIG. 4, the height of the transfer object 5 is detected by the height sensor SE of the AGV1. In the height sensor SE, laser light is output to the reflection mirror M of the station ST1, and the elevating frame 10 is moved up and down by the elevating mechanism 14 until the reflected light is detected.

  The pantograph-type lifting mechanism 14 has a pair of oppositely-facing nuts (not shown) attached to both opposing intermediate joints, and both nuts (not shown) are screwed with reverse screws at both left and right ends. A ball screw 20 is screwed. One end of the ball screw 20 is connected to the output shaft of the elevating drive motor 18 through a universal joint (flexible joint) (not shown). Therefore, when the lift drive motor 18 is driven and the ball screw 20 is rotated, the action of the ball screw 20 causes the intervals between nuts (not shown) provided at both intermediate joint portions of the pantograph mechanism to approach and separate, and the lift frame 10 moves up and down. To do.

  Thereby, the operation control apparatus 26 adjusts the height of the transfer part 4 of AGV1 until the height of the conveyance object mounting surface of AGV1 matches the conveyance object transfer height in station ST1 of the transfer destination 5. When the transported object transfer height signal (detection signal) that coincides with each other is detected, closed control is performed in which this is fed back.

  When the height of the transfer unit 4 of the AGV 1 coincides with the transferred object transfer height at the station ST1 by detecting the reflected light by the height sensor SE, the driving roller conveyor 12 is driven and the transferred object 2 on the roller conveyor 12 is driven. Are transferred to the transported object mounting surface of the station ST1.

  On the other hand, the operation control device 26 detects the height for each station by incorporating the transported object transfer height data of each of the stations ST1 to ST7 as a plurality of transfer destinations into the operation program as shown in FIG. The operation for all the stations can be executed by open control without doing so.

  Thereby, since the mounting surface height of the drive roller conveyor 12 which becomes the transfer part 4 of AGV1 is set by the raising / lowering drive motor 18 before AGV1 reaches | attains each station previously, each transfer destination becomes each Even if the transported object placement surfaces of the stations ST1 to ST7 have a height difference, the transported object 2 can be delivered quickly and smoothly.

  In the above embodiment, the transfer portion of the AGV 1 has been described with respect to the point where the placement surface is adjusted by the raising / lowering or tilting mechanism of the conveyor frame, but at the time of delivery, between the conveyor frame and this conveyor frame. At least three independent drive mechanisms (ball screws or the like) are provided, and the height is independently controlled to correct the horizontal plane detected by, for example, a gyro sensor so as to match the placement surface of the transfer destination. It can also be adjusted.

  Moreover, although the transfer part of AGV1 was attached to the example which employ | adopted the drive roller conveyor 12 in order to perform delivery of the conveyed product 2 smoothly, it is not limited to this, Various modifications are mentioned.

Hereinafter, a modification of the transfer part of AGV1 will be described with reference to FIG. This will be described with reference to FIG.
FIG. 6 is an explanatory view showing a first modified example in which the transfer section of the automatic guided vehicle can be tilted with respect to the carry-in / out direction, and FIG. It is explanatory drawing which shows the 2nd modification made into the fork structure provided so that vertical movement was possible.
In addition, about the same structure as the structure of AGV1 mentioned above, the same code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  In the first modification shown in FIG. 6, the AGV 41 has an inclined type transfer portion 42, and the left end side of the roller conveyor 44 swings on the support shaft 46 of the support body 45 erected on the upper left end surface of the lifting frame 43. A plurality of rollers are rotatably supported on the roller conveyor 44.

A ball nut 48 is mounted on the right end side of the outer side of the roller conveyor 44 so as to be movable in the longitudinal direction and swingable. A swing motor 47 attached to the right end side of the lifting frame 43 is attached to the ball nut 48. A connected ball screw 49 is screwed, and a stopper 50 is attached to the upper surface on the right end side of the roller conveyor 42.
Therefore, the conveyed product 2 placed on the roller conveyor 42 can be moved by its own weight in the downward inclination direction.

  Therefore, when the transported object 2 on the roller conveyor 44, which is the inclined type transfer unit 42 configured as described above, is transferred to the transfer object mounting surface of the transfer destination, first, the lifting mechanism 14 lifts and lowers it. The ball screw 49 is driven by the swing motor 47 while the frame 43 is raised to the height H while being horizontal, and the right end side of the roller conveyor 42 is at the same level with respect to the transfer destination with the support shaft 46 as the center. With respect to the mounting surface, the film is inclined upward by α degrees in the transport direction.

In addition, when the transported object 2 placed on the transported object placing surface of the transfer destination 5 is transferred onto the roller conveyor 42 serving as the transfer part of the AGV 41, the lifting frame 43 is shaken from the horizontal state. The ball screw 49 is driven by the moving motor 47, and the right end side of the roller conveyor 42 is tilted downward by β degrees with respect to the transfer destination with reference to both mounting surfaces that are at the same level in the transport direction with respect to the transfer destination.
As a result, even when the roller conveyor 44 of the AGV 41 is a roller conveyor that does not have a drive source, it is possible to transfer the object by its own weight.
In the first modification, an example in which the inclined transfer unit 42 is configured to be inclined with reference to the left end side of the roller conveyor 44 is described. It can also be set as the structure to do.

  Next, in the second modification shown in FIG. 7, the AGV 51 is equipped with a fork structure transfer portion 52, and the pair of forks 53 are guided and supported by the guide rail 55 on the upper surface of the elevating frame 54 so as to be slidable in the left-right direction. Has been. A ball screw 58 is screwed into a ball nut 56 provided on the lower surface on the right end side of the fork 53, and this ball screw 58 is connected to an output shaft of a drive motor 57 provided on the left end side in the elevating frame 54.

When the drive motor 57 is driven to rotate the ball screw 58, the fork 53 is guided by the guide rail 55 and moves forward in the transport direction with respect to the transported object placement surface of the transfer destination. At the same time, the lifting mechanism 14 moves the fork 53 up and down via the lifting frame 54.
That is, when the transported object 2 placed on the fork 53 serving as the transfer part 52 of the AGV 51 is transferred onto the transported object placing surface of the transfer destination 5, as shown in FIG. The fork 53 at the initial position is moved upward in the direction D by the lifting mechanism 14. In this state, the fork 53 is moved to the forward end in the A direction by the drive motor 57 and then moved downward in the B direction. In this state, the fork 53 is moved backward to the backward end and returned to the initial position.
In this way, the conveyed product 2 on the fork 53 is placed on the conveyed product placement surface of the transfer destination 5.

  On the other hand, when the transported object 2 on the transported object placement surface of the transfer destination 5 is transferred to the fork 53 serving as the transfer part 52 of the AGV 51, the movement opposite to the above movement is performed. That is, the fork 53 at the initial position on the lifting frame 54 is moved to the forward end in the reverse C direction by the drive motor 57 and then moved upward in the reverse B direction. In this state, the fork 53 is moved in the reverse A direction by the drive motor 57. After moving to the retreat end, a movement is performed that moves downward in the reverse D direction and returns to the initial position. In this way, the transported object 2 on the transported object mounting surface of the transfer destination 5 is transferred onto the fork 53 serving as the transfer unit 52 of the AGV 51.

  Note that the shapes, combinations, operation procedures, and the like of the constituent members shown in the above-described embodiments are merely examples, and various modifications can be made based on design requirements and the like without departing from the gist of the present invention.

  For example, the transferred object placement surface of the transfer destination has been described with reference to an example configured with a drive roller conveyor, but is not limited thereto, and is configured with a belt conveyor in the same manner as the transferred object placement surface in the AGV transfer unit. You can also.

  In addition, when adopting a fork structure for the AGV transfer section, if the transfer object placement surface is a drive roller conveyor, a groove or gap into which a pair of forks enter multiple rollers is formed. Needless to say, the fork is configured to sink from the upper surface of the roller. Thereby, a conveyed product can be reliably transferred between the transfer part of AGV, and the conveyed product mounting surface of a transfer destination.

1 is an external perspective view of an automatic guided vehicle according to an embodiment of the present invention. It is a top view of the automatic guided vehicle concerning one embodiment of the present invention. It is the side view seen from the back of the automatic guided vehicle in one embodiment of the present invention. It is explanatory drawing of the control apparatus which performs the automatic guided vehicle which concerns on one Embodiment of this invention, and this operation control. It is explanatory drawing by which operation control of the automatic guided vehicle which concerns on one Embodiment of this invention is controlled based on the operation program of an operation control apparatus. It is explanatory drawing which shows the 1st modification which made the transfer part of an automatic guided vehicle the structure which can incline with respect to the carrying in / out direction. It is explanatory drawing which shows the 2nd modification made into the fork structure which provided the transfer part of the automatic guided vehicle so that it could move back and forth with respect to the carrying-in / out direction. It is a figure which shows roughly arrangement | positioning of the wheel of the conventional automatic guided vehicle. It is a side view which shows the main body frame of the conventional automatic guided vehicle.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1,41,51 ... AGV (automated conveyance vehicle), 2 ... Conveyance thing, 4,42,52 ... Transfer part, 5 ... Transfer destination, 14 ... Lifting mechanism (mounting height adjustment part), 22 ... Control Device (control part), 26 ... Operation control device, 32 ... Memory part, F ... Floor surface (travel surface), GS ... Magnetic sensor, MT ... Taxiway, SE ... Height sensor (detection part)

Claims (5)

It is an automatic guided vehicle equipped with a transfer part for placing a transfer object and delivering it to a transfer destination, and whose operation is controlled on the running surface along the guide path,
The automatic guided vehicle includes a loading height adjusting unit that adjusts a loaded material mounting height in the transfer unit according to a transferred material transfer height at a transfer destination. .   The automatic guided vehicle according to claim 1, further comprising a detection unit that detects a transfer height of the transfer object at the transfer destination.   The automatic guided vehicle is travel-controlled based on operation data for sequentially transferring a transported object to a plurality of transfer destinations in response to a command from the operation control device, and stored in the storage unit of the operation control device. The control part which controls the height or the inclination of the conveyance thing mounting surface in the said transfer part based on the height data of the conveyance thing mounting surface for every tip is provided. Automated guided vehicle.   The height adjustment is carried out so that the conveyed product mounting surface in the transfer part of the said automatic guided vehicle may become substantially the same surface with respect to the conveyed product mounting surface in a transfer destination. The automatic guided vehicle as described in any one of them.   4. The method according to claim 1, wherein the transfer object placement surface of the transfer unit of the automatic guided vehicle is inclined in the transfer direction with respect to the transfer object placement surface of the transfer destination. The automated guided vehicle according to the item.

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