JP5765524B2 - Transport system for automated guided vehicles - Google Patents

Description

  The present invention relates to a transport system for an automatic guided vehicle movable along a transport path.

  Conventionally, when an article such as a workpiece is transported in a manufacturing factory or a warehouse, an automatic guided vehicle that is not operated by an operator is used. The automatic guided vehicle includes a traveling control mechanism having an electric motor and driving wheels, a plurality of driven wheels, a steering control mechanism capable of changing a traveling path, a detection sensor capable of detecting a magnetic metal material such as an iron wire, and the like. ing. As a result, the automatic guided vehicle automatically travels along the loop-shaped transport path formed by the travel guide means while detecting the travel guide means embedded in the floor in advance by the detection sensor, and performs a specific operation of the transport path. Stop operation and course change operation are performed at the position. The worker performs the work of loading and unloading articles on the automated guided vehicle stopped in the middle of the conveyance path, and the automated guided vehicle starts after completion of the work.

  The control device for an automatic guided vehicle in Patent Document 1 includes a travel guide unit (magnetic tape) embedded along a transport path, and an address plate having address data at a work position or an intersection position in the transport path. The vehicle is provided with a guide sensor capable of detecting the travel guide means, an address plate sensor capable of detecting the address data, and a route control map storing control data such as operations corresponding to the address data. In this control device, when the automated guided vehicle reaches the installation position of the address plate and the address data is detected by the address plate sensor, the control data corresponding to the address data is read from the route control map, and the address plate is installed. Operation control of the automatic guided vehicle is executed at the position.

  The driving method of the automatic guided vehicle of Patent Document 2 includes a travel guide unit laid along the transport route, a start marker provided at a terminal unit of the travel guide unit and defining the start of autonomous driving, and a terminal unit of the travel guide unit Provided with an end marker that defines the end of autonomous driving, a guide sensor that can detect the traveling guide means in the automatic guided vehicle, a marker sensor that can detect the start marker and the end marker, respectively, and a drive mechanism that drives the wheels And a steering mechanism capable of changing the course, speed measuring means for measuring the moving amount and moving speed, and posture measuring means for measuring the posture of the automatic guided vehicle. In this driving method, the speed, steering amount, and driving type of a section where the traveling guide means does not exist on the floor surface are taught to the automatic guided vehicle by offline teaching, and the section where the traveling guide means does not exist is detected by the marker sensor. At this time, the posture control of the automatic guided vehicle is performed so as to follow the teaching operation. As a result, when the automatic guided vehicle reaches a section where the guide means does not exist, the speed and the steering amount are adjusted by the offline teaching, and the posture of the automatic guided vehicle is made to follow the teaching operation. It is possible to supplement the traveling of the automated guided vehicle up to the point where there is.

The travel guide means installed in the manufacturing factory and the guide sensor capable of detecting the travel guide means constitute a transport path instruction mechanism for instructing the transport path to the automatic guided vehicle.
In general, a ferromagnetic metal material, for example, an iron wire, is mainly used for the traveling guide means because of the requirement on the guide sensor side for detecting the conductive magnetic material. Since the traveling guide means in the manufacturing factory is installed in various environments both indoors and outdoors, the traveling guide means is required to have mechanical or chemical durability, and the traveling guide means may be covered with a protective tape or the like. Has been done. On the other hand, recently, a high-frequency oscillation type proximity sensor capable of detecting a highly durable nonmagnetic metal material such as aluminum has been put into practical use.

Japanese Patent Laid-Open No. 10-207539 JP-A-9-114522

  In a manufacturing factory, layout changes in the factory such as the arrangement position and process sequence of each production line are often performed in accordance with changes in product specifications and work processes. When the layout in the factory is changed, the arrangement position of each work station on which the automatic guided vehicle transports the workpiece is also changed, so that the transport path of the automatic guided vehicle is also changed in accordance with the new layout in the factory.

  When the control device of the automatic guided vehicle of Patent Document 1 changes the transport route, the travel guide means, the address plate, and the operation program are changed. In the control device of Patent Document 1, the travel guide means that has been buried is dug up, the travel guide means is arranged according to a new transport route, the travel guide change work that is buried again, the address plate before the change is removed, and a new The address plate is arranged according to the transport route and the address plate is changed again, and the operation program is changed to set the program that associates the address data of the newly installed address plate with the operation of the automated guided vehicle. . Therefore, changing the transport route requires a lot of workers and working time, and there is a problem that costs increase.

  In the driving method of the automatic guided vehicle of Patent Document 2, when changing the transport route, the travel guide means, the start / end marker, and the operation program are changed. In the driving method of Patent Document 2, the travel guide means that has been laid is removed, the travel guide change work for laying the travel guide means again according to the new transport route, and the start / end markers before the change are removed, and a new Start / end markers are arranged according to the transport route, and a program for associating the marker changing work to be fixed again with the section where the travel guide means defined by the newly established start / end marker does not exist and the operation of the automatic guided vehicle is taught offline. The operation program is being changed. Therefore, although the excavation work of the travel guide means can be omitted in the travel guide change work, it still requires many workers and work time to change the transport path.

  And the automatic guided vehicle of patent document 1 is provided with the operation position instruction | indication mechanism comprised by the address board which prescribes | regulates an operation position, the operation | movement performed at this operation position, and this address board, and patent document Similarly, the second automatic guided vehicle includes an operation position indicating mechanism including a start / end marker defining an operation position and a marker sensor capable of detecting the start / end marker. That is, since the automatic guided vehicle is provided with a transport route instruction mechanism necessary for traveling and an operation position instruction mechanism necessary for the operation of the automatic guided vehicle, the manufacturing cost of the automatic guided vehicle itself becomes expensive.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a transport system for an automatic guided vehicle that can simultaneously simplify the structure of the transport path and simplify the structure of the automatic guided vehicle by providing a plurality of non-magnetic metal material non-installation portions on the transport path. It is to be.

The conveyance system for an automatic guided vehicle according to claim 1 includes a driving wheel that is rotationally driven by a driving force of a driving mechanism, and a detection unit that can detect a nonmagnetic metal material, and is installed on a floor surface, and the nonmagnetic metal material A transfer system for an automated guided vehicle movable along a transfer path formed by the non-magnetic metal material in which the non-magnetic metal material is cut off at a turning portion provided in the middle of the transfer path The non-magnetic metal material is not installed in the swivel unit that is connected to the non-magnetic metal material installation unit from a linear non-magnetic metal material installation unit in a single transport path. When the part is detected, the automatic guided vehicle performs a turning operation according to an operation program taught in advance with respect to the detected turning part .

This automatic guided vehicle of the transport system, the non-magnetic metal material non installation portion is formed, the non-magnetic metal material non installation portion of this was blocked nonmagnetic metallic material at a pivot portion provided in the middle portion of the conveying path Because the operation position instruction function for instructing the operation position of the automated guided vehicle and the operation to be executed at these operation positions has been added, the address plate and marker and the address plate and marker constituting the operation position instruction mechanism of the automatic guided vehicle are detected. The detection part for doing can be omitted.

According to a second aspect of the invention, in the invention of claim 1, when conveying articles along the transport path from the AGV the initial position, after the stop operation, starting operation, the article down operation, of the cargo-loading operation It is characterized by performing at least one operation.
According to a third aspect of the present invention, in the second aspect of the present invention, in the nonmagnetic metal material non-installation portion in which the automatic guided vehicle is provided at the first, second,..., Nth from the initial position. A program for executing at least one operation selected from the operations is provided.

According to a fourth aspect of the present invention, in the third aspect of the invention, the automatic guided vehicle performs an operation performed at the first, second,..., Nth nonmagnetic metal material non-installation portion from the initial position. Is set by offline teaching for the program.
According to a fifth aspect of the present invention, in the invention according to any one of the first to fourth aspects, the nonmagnetic metal material non-installation portion is a facing end portion of a nonmagnetic metal material adjacent to the nonmagnetic metal material noninstallation portion. Is provided so as to be separated by a predetermined distance or more.
A sixth aspect of the invention is characterized in that, in any one of the first to fifth aspects of the invention, the nonmagnetic metal material is an aluminum tape having an adhesive layer formed on the back surface.

According to the first aspect of the present invention, the nonmagnetic metal material is installed on the floor surface to form the conveyance path , and the single magnetic conveyance path is provided in the swivel portion that is continuous with the nonmagnetic metal material installation section. An operation position indicating function for instructing an operation position of the automatic guided vehicle and an operation executed at these operation positions to the non-magnetic metal material non-installation portion and an operation executed at the operation position of the automatic guided vehicle Since the address plate, the marker, and the like are omitted, the structure of the transport path can be simplified, the manufacturing cost of the transport path can be reduced, and the change of the transport path can be facilitated. The operation position of the automatic guided vehicle assigned to the non-magnetic metal material non-installation part provided in the turning part connected to the non -magnetic metal material installation part in the single transport path by the detection unit capable of detecting the non-magnetic metal material. Since the detection unit for detecting and detecting the address plate, the marker, and the like is omitted, the structure can be simplified while maintaining the operation function of the automatic guided vehicle, and the manufacturing cost of the automatic guided vehicle can be reduced.

According to the second aspect of the present invention, at a specific operation position along the conveyance path, at least one of a start operation, an article unloading operation, and an article loading operation performed by the automatic guided vehicle after the stop operation is performed. An operation or a plurality of combination operations can be performed continuously.
According to the invention of claim 3, it is possible to associate a specific operation position along the conveyance path with an operation performed at this operation position with the initial position of the automatic guided vehicle as a base point, and to easily form a program for the automatic guided vehicle. be able to.

According to the invention of claim 4, it is possible to cause the automatic guided vehicle to execute a preset operation even in a section where the nonmagnetic metal material is not installed.
According to the invention of claim 5, even if the non-magnetic metal material installed in the conveyance path is partially damaged for some reason, it is possible to prevent the automatic guided vehicle from malfunctioning and to ensure that the automatic guided vehicle is at a specific operating position. It can be operated.
According to invention of Claim 6, a conveyance path | route can be formed cheaply and a conveyance path | route can be changed easily.

It is a top view which shows the structure of the manufacturing factory to which the conveyance system of the automatic guided vehicle which concerns on Example 1 of this invention was applied. It is a side view of an automatic guided vehicle. It is a top view of an automatic guided vehicle. It is the figure which looked at the traveling control mechanism from the lower part. It is a control block diagram of an automatic guided vehicle. It is a flowchart which shows an example of the conveyance control of an automatic guided vehicle.

  Hereinafter, modes for carrying out the present invention will be described based on examples. Note that the front-rear direction of the automatic guided vehicle is referred to as the front-rear direction, and the left-right direction is referred to as the left-right direction.

Embodiment 1 of the present invention will be described below with reference to FIGS.
The transfer system S of the automatic guided vehicle according to the present embodiment includes an automatic guided vehicle (Auto-Guided Vehicle: hereinafter referred to as AGV) 10 on a transfer path 2 provided in a manufacturing factory 1, for example, an assembly factory for an automobile transmission. Along the way, it automatically conveys items such as parts and assembled products.
As shown in FIG. 1, the manufacturing plant 1 includes one or a plurality of assembly stations, for example, first to fourth assembly stations 3 to 6, and one or a plurality of component shelves that house components supplied to the assembly station, For example, a single parts shelf 7 is provided.

  The conveyance path 2 is formed in a loop shape surrounding the assembly stations 3 to 6 and the parts shelf 7 so that the AGV 10 can pass through the sides of the first to fourth assembly stations 3 to 6 and the parts shelf 7. It is composed of a part P0 (initial position), a plurality of guide parts G1 to GN + 1 (nonmagnetic metal material), and one or a plurality of non-installation parts P1 to PN (nonmagnetic metal material noninstallation part). In the guide portions G1 to GN + 1 and the discontinuous portions P1 to PN, N is an integer.

  The picking part P <b> 0 is arranged in the vicinity of the side part of the parts shelf 7. An operator takes out a desired part from the parts shelf 7 and performs a picking operation of loading the part on the traction cart 9 connected to the AGV 10 stopped at the picking unit P0. After the operator finishes the picking operation, the operator turns on the operation start button 27 installed on the AGV 10, whereby the AGV 10 starts from the picking portion P0 and travels around the conveyance path 2 counterclockwise.

  As shown in FIG. 1, the plurality of guide portions G1 to GN + 1 include a section (G1) from the picking section P0 to the first assembly station 3, a section (G3) from the first assembly station 3 to the second assembly station 4, and the like. As described above, the AGV 10 is arranged in a section in which the guide travel is guided by the guide portions G1 to GN + 1. The plurality of guide portions G1 to GN + 1 are formed at the first, second,..., Nth, N + 1th positions counterclockwise in accordance with the passing order of the picking portions P0 to AGV10. Therefore, AGV10 can carry out a guide run along each guide part G1-GN + 1 in each area in which guide part G1-GN + 1 was provided by detecting each guide part G1-GN + 1.

  Each guide part G1-GN + 1 is formed by sticking on the floor surface of the manufacturing factory 1 the aluminum tape which made the raw material the nonmagnetic metal material in which the adhesive bond layer was formed in the back surface, respectively. The aluminum tape has a width of about 5 to 10 cm, and is continuously provided from the start to the end of each section of each guide portion G1 to GN + 1. The guide parts G1 to GN + 1 need only be non-magnetic and conductive metal materials. In addition to aluminum, non-magnetic metal materials such as gold, silver and copper, alloys containing them, and these metal powders in a synthetic resin. It is also possible to use a dispersed composite material.

  As shown in FIG. 1, the plurality of non-installation parts P <b> 1 to PN are arranged such that the AGV 10 has each guide part like a section (P <b> 1) or a left turn section (P <b> 2) corresponding to the position near the side of the first assembly station 3. It is arranged at an operation position for performing an operation other than the guide travel guided by G1 to GN + 1. The plurality of non-installation parts P1 to PN are formed in the first, second,..., Nth positions counterclockwise corresponding to the order of passage of the picking parts P0 to AGV10. Identification numbers n1, n2,..., NN are assigned to the respective non-installed portions P1 to PN. The non-installation part PN is formed such that opposing ends of the guide part GN and the guide part GN + 1 adjacent to each other via the non-installation part PN are separated by a predetermined interval, for example, 1 m or more.

  As will be described later, each of the identification numbers n1 to nN assigned to the non-installation parts P1 to PN has at least one selected from a stop operation, a course change operation, a start operation, an article unloading operation, and an article loading operation. The operation is set. Therefore, the operation position indicating function for indicating the operation position of the AGV 10 can be given to the non-installation parts P1 to PN, and the identification assigned to each non-installation part P1 to PN by detecting each non-installation part P1 to PN. The numbers n1 to nN are determined, and the AGV 10 can perform an operation other than the guide travel set for each of the non-installation portions P1 to PN in each section where the non-installation portions P1 to PN are provided.

Next, the configuration of the AGV 10 will be described based on FIGS.
As shown in FIGS. 2 to 4, the AGV 10 includes a vehicle body 11, a travel control mechanism 12 (drive mechanism), a steering control mechanism 13, a control unit 14, and the like.

  As shown in FIGS. 2 and 3, the vehicle body 11 is formed in a rectangular shape in plan view, and includes a pair of left and right front driven wheels 15a, a pair of left and right rear driven wheels 15b, a bumper 16, and a battery. 17 and a carriage connecting portion 11a and the like. The pair of left and right front driven wheels 15a are installed on the lower side of the front end portion of the vehicle body 11, and are formed by casters that are rotatable about a vertical axis. The pair of left and right rear driven wheels 15b are installed below the rear end portion of the vehicle body 11, and are formed of casters that are rotatable about the vertical axis in the same manner as the front driven wheels 15a.

  The bumper 16 is disposed at the front side position of the vehicle body 11 via the bumper tee 16a, and the bumper tea 16a is formed so as to be movable backward with respect to the vehicle body 11. The backward movement of the bumper tea 16 a is detected by the obstacle detection unit 18 installed in the vehicle body 11, and is output from the obstacle detection unit 18 to the control unit 14. Thereby, the control part 14 has detected interference with AGV10 and an obstruction. In this embodiment, when the interference between the AGV 10 and the obstacle is detected, the AGV 10 is emergency stopped.

  The carriage connecting portion 11 a is formed at the rear end portion of the vehicle body 11 and is configured to be connectable to the front connecting portion of the traction carriage 9 of the AGV 10. The tow truck 9 is provided with a front connection part installed at the front end and a rear connection part installed at the rear end, respectively. When towing a plurality of tow trucks 9, a plurality of tow trucks 9 are connected by connecting a rear connection part of the tow truck 9 arranged on the front side and a front connection part of the tow truck 9 arranged on the rear side. The plurality of tow trucks 9 are pulled by connecting the front connecting part of the leading tow truck 9 among the plurality of tow trucks 9 and the truck connecting part 11a.

  As shown in FIGS. 2 to 4, the travel control mechanism 12 is formed on the front side and the vehicle width direction central portion below the vehicle body 11. The travel control mechanism 12 includes a single drive wheel 19, an electric motor 20, a support bracket 21, and the like. The rotation shaft 19 a of the drive wheel 19 is pivotally supported on the left and right side walls 21 a and 21 a of the support bracket 21. The electric motor 20 is fixed to the right side wall 21 a, the drive shaft of the electric motor 20 is connected to the rotation shaft 19 a of the drive wheel 19 so as to be able to transmit a driving force, and the drive wheel 19 is driven to rotate by a control signal from the control unit 14. ing. The support bracket 21 is pivotally supported with respect to the vehicle body 11 so as to be rotatable about a vertical axis. A mounting bracket 22 that supports a pair of left and right transport path detection sensors 23 is provided at the front end of the support bracket 21. Since the drive wheel 19 is disposed in the middle and rear position of the pair of left and right transport path detection sensors 23, the AGV 10 travels in the direction of a bisector perpendicular to the line connecting the pair of left and right transport path detection sensors 23. Moving. Thereby, each guide part G1-GN + 1 and the conveyance path detection sensor 23 comprise the conveyance path instruction | indication mechanism required for driving | running | working of AGV10, and each non-installation part P1-PN and the conveyance path detection sensor 23 are operation | movement of AGV10. The necessary operation position indicating mechanism is configured.

In this embodiment, since the aluminum tape is used for each of the guide portions G1 to GN + 1, a high frequency oscillation type proximity sensor is adopted as the transport path detection sensor 23.
The conveyance path detection sensor 23 includes a resonance circuit formed of a detection coil and a capacitor. The conveyance path detection sensor 23 generates a high-frequency magnetic field from a detection coil installed at the tip thereof, and detects a change in inductance of the detection coil when the aluminum tape approaches. By detecting the inductance change of the detection coil as an oscillation frequency change or a phase component change of the frequency, the proximity state between each guide part G1 to GN + 1 and the transport path detection sensor 23 can be determined, and along each guide part G1 to GN + 1. Thus, the AGV 10 can be automatically driven.

  As shown in FIGS. 2 and 3, the steering control mechanism 13 is disposed on the front side of the vehicle body 11 and includes an electric cylinder 24, a rotating portion 25, a support shaft portion 26, and the like. The electric cylinder 24 is composed of a ball screw, a linear guide, an AC servo motor, and the like. The electric cylinder 24 is supported so as to be swingable horizontally with respect to the vehicle body 11, and is configured such that the rod 24 a is extended and contracted by a control signal from the control unit 14. The distal end portion of the rod 24a is rotatably connected to a connecting portion 25a erected on the upper surface of the rotating portion 25 formed in a disc shape. The rotating part 25 is connected to the support bracket 21 via a cylindrical support shaft part 26. Thereby, when the rod 24a is extended, the AGV 10 turns to the left, and when the rod 24a is contracted, the AGV 10 turns to the right.

  As shown in FIGS. 2 to 5, the control unit 14 includes an operation start button 27, an emergency stop button 28, an alarm unit 29, a control unit 30, and the like. The control unit 14 is mounted on a front portion on the vehicle body 11, and an operation start button 27, an emergency stop button 28, an alarm unit 29, and a plurality of other control buttons are arranged on the upper surface portion of the control unit 14. The AGV 10 is configured to start automatic traveling when the operation start button 27 is turned on and to be able to perform an emergency stop when the emergency stop button 28 is turned on.

  The alarm unit 29 includes a lamp blinking mechanism and a warning mechanism. When the AGV 10 automatically travels, the alarm unit 29 lights a traveling lamp, for example, a green lamp, emits a traveling warning sound, and the obstacle detecting unit 18 detects an obstacle, or the emergency stop button 28 is When the ON operation is performed, the alarm unit 29 is configured to turn on an emergency stop lamp, for example, a red lamp, and emit an emergency stop warning sound.

  The control unit 30 is formed by a sequencer that stores an operation program of the AGV 10 and storage means (not shown). As shown in FIG. 5, the control unit 30 is accommodated in the control unit 14, and various control signals are received from the obstacle detection unit 18, the conveyance path detection sensor 23, the operation start button 27, the emergency stop button 28, and the like. A control signal is output to at least one of the electric motor 20, the electric cylinder 24, and the alarm unit 29 so as to perform a predetermined operation that is input and set in the operation program.

Next, the operation setting of the AGV 10 in the non-installation parts P1 to PN will be described.
In the AGV 10, an operation corresponding to a specific operation is taught by offline teaching in each section of the non-installation portions P1 to PN where the guide portions G1 to GN + 1 are not provided in the transport path 2. As shown in FIG. 5, the AGV 10 is manually operated along the conveyance path 2 with the teaching device 31 mounted, and is manually operated to perform a stop operation, a course change operation, a start operation, an article unloading operation, and an article loading operation. At least one selected operation is set in the operation program of the control unit 30 by the teaching device 31.

Simultaneously with the start of offline teaching, the AGV 10 starts from the picking part P0 by manual operation and travels along the guide part G1 of the transport path 2.
When the AGV 10 enters the section of the non-installation part P1 through the guide part G2 side end adjacent to the guide part G1 via the non-installation part P1, the first non-installation in the operation program of the control unit 30 The identification number n1 is registered as the part P1, and a series of operations (operations performed in the first assembly station 3) executed by the AGV 10 at the identification number n1, for example, a stop operation, an article unloading operation after the stop operation, and an article unloading operation The article loading operation and the starting operation are taught. Here, a stop speed, a stop time, a start speed, a traveling direction, and the like at the operation position (first assembly station 3) are set. In particular, when the AGV 10 includes a robot arm, the loading / unloading operation of the article by the robot arm and the waiting time of the AGV 10 required for the loading / unloading operation are set. When the AGV 10 does not include the robot arm, the article by the operator The time required for loading and unloading is set as the AGV 10 standby time. Thereby, the operation position indicating function for instructing the operation position of the AGV 10 and the operation to be executed at this operation position is given to the non-installation part P1.

  The AGV 10 travels along the guide portion G2 of the transport path 2 after teaching corresponding to the identification number n1. When the AGV 10 enters the section of the non-installation part P2 through the guide part G3 side end adjacent to the guide part G2 via the non-installation part P2, the second non-installation in the operation program of the control unit 30 An identification number n2 is registered as the part P2, and an operation to be executed at the identification number n2, for example, a course changing operation is taught. Here, a steering angle, a steering angular speed, a traveling speed, and the like are set.

  Hereinafter, similarly, each identification number nN is registered in each non-installation part PN, and the operation to be executed at each identification number nN is taught by offline teaching. Thereby, each non-installation part P1 to PN is provided with an operation position instruction function for instructing an operation position of the AGV10 and an operation to be executed at these operation positions, and each non-installation part P1 to PN is provided with an operation position and an operation of the AGV10. Are associated.

The AGV 10 travels along the guide portion GN + 1 of the transport path 2 after teaching corresponding to the identification number nN. When the AGV 10 enters the picking portion P0 after passing through the end portion on the picking portion P0 side, the stop operation is taught to the operation program of the control unit 30.
When the AGV 10 does not continuously detect the guide portion GN for a predetermined interval, for example, about 50 cm after passing through the guide portion GN + 1 side end adjacent to the guide portion GN via the non-installation portion PN. It is configured to determine the PN. As described above, since the dead zone is provided in detecting the non-installation part PN, erroneous detection of the non-installation part PN due to partial damage of the guide part GN is prevented.

Based on the flowchart of FIG. 6, the conveyance control of the conveyance system S according to the first embodiment will be described. Si (i = 1, 2,..., M−1, m) indicates each step.
First, when the operation start button 27 is turned on, the AGV 10 starts automatic traveling from the picking portion P0. The AGV 10 detects the guide part G1 by a pair of left and right transport path detection sensors 23, and adjusts the steering control mechanism 13 so that the detection values of both the transport path detection sensors 23 are equal, thereby along the guide part G1. And run automatically.

  When the absence of the guide part G1 is determined by passing through the guide part G2 side end adjacent to the guide part G1 via the non-installation part P1, the non-installation part P1 formed first from the picking part P0 is determined. Detect (S1). Next, the AGV 10 performs a stop operation (S2) taught in advance corresponding to the identification number n1 assigned to the non-installation part P1, a lowering operation for the A part for the A member (S3), and an A member loading operation (S4). Are executed in accordance with the operation sequence of the operation program, and start after completion of S4 (S5). In S1 to S5, an operation to be performed in the first assembly station 3 is executed.

The AGV 10 automatically travels along the guide part G2, and detects the non-installation part P2 formed second from the picking part P0 when the absence of the guide part G2 is determined (S6). The AGV 10 executes a left turning operation (S7) with a large steering angle taught in advance corresponding to the identification number n2 assigned to the non-installation part P2 according to the operation program.
The AGV 10 automatically travels along the guide part G3, and when the absence of the guide part G3 is determined, the AGV 10 detects the non-installation part P3 formed third from the picking part P0 (S8). The AGV 10 executes a left turning operation (S9) with a large steering angle taught in advance corresponding to the identification number n3 assigned to the non-installation part P3 according to the operation program.

  The AGV 10 automatically travels along the guide part G4, and when the absence of the guide part G4 is determined, the AGV 10 detects the non-installation part P4 formed fourth from the picking part P0 (S10). The AGV 10 executes the stop operation (S11) and the B member stacking operation (S12) taught in advance corresponding to the identification number n4 assigned to the non-installation part P4 according to the operation sequence of the operation program, and starts after completion of S12. (S13). In S10 to S13, an operation to be performed in the second assembly station 4 is executed.

The AGV 10 automatically travels along the guide part G5, and when the absence of the guide part G5 is determined, the AGV 10 detects the non-installation part P5 formed fifth from the picking part P0 (S14).
The AGV 10 executes a stop operation (S15) taught in advance corresponding to the identification number n5 assigned to the non-installation part P5, and a lowering operation (S16) of the C member c parts according to the operation sequence of the operation program. The vehicle starts after completion of (S17). In S14 to S17, an operation to be performed in the third assembly station 5 is executed.

  After S17, the AGV 10 automatically travels along the guide portion N in each section where the guide portion N exists, and moves along the conveyance path 2 while executing the operation taught in advance in each section of the non-installation portion P. The AGV 10 automatically travels along the guide part GN-1, and detects the non-installed part PN-1 formed at (N-1) th from the picking part P0 when the absence of the guide part GN-1 is determined. (Sm-5). The AGV 10 executes a left turning operation (Sm-4) with a large steering angle taught in advance corresponding to the identification number nN-1 assigned to the non-installation part PN-1 according to the operation program.

The AGV 10 automatically travels along the guide portion GN, and when the absence of the guide portion GN is determined, the AGV 10 detects an N-th non-installation portion PN formed from the picking portion P0 (Sm-3). The AGV 10 executes a left turning operation (Sm-2) with a small steering angle taught in advance corresponding to the identification number nN assigned to the non-installation part PN according to the operation program.
The AGV 10 automatically travels along the guide part GN + 1. When it is determined that the guide part GN + 1 is absent, the AGV 10 detects that the picking part P0 has been reached (Sm-1) and stops (Sm).

Next, the operation and effect of the transport system S according to the present embodiment will be described.
In this transport system S, a plurality of non-installation portions P1 to PN are formed in the middle of the transport path 2 and the aluminum tape that is a non-magnetic metal material is cut off. Since the operation position indicating function for instructing the operation to be executed at the operation position is added, the address plate, the marker, and the detection sensor for detecting the address plate and the marker constituting the operation position indicating mechanism of the AGV 10 may be omitted. it can. In addition, the guide parts G1 to GN + 1 made of aluminum are installed on the floor surface to form the transport path 2, and the operation positions of the AGV 10 and the operation positions to be executed at the plurality of non-installation parts P1 to PN. Since the address plate indicating the operation position of the AGV 10 and the marker are omitted, the structure of the transport path 2 can be simplified, the manufacturing cost of the transport path 2 can be reduced, The change of the path 2 can be facilitated. In addition, since the operation position of the AGV 10 applied to the plurality of non-installation parts P1 to PN is detected by the transport path detection sensor 23 that can detect the guide parts G1 to GN + 1, a detection sensor that detects an address plate, a marker, and the like is omitted. The structure can be simplified while maintaining the operation function of the AGV 10, and the manufacturing cost of the AGV 10 can be reduced.

  When the AGV 10 transports an article from the picking unit P0 along the transport path 2, it performs at least one of a start operation, an article unloading operation, and an article stacking operation after the stop operation. At the operation position, at least one operation or a plurality of combination operations among the start operation, the article unloading operation, and the article loading operation that are performed accompanying the AGV 10 after the stop operation can be continuously executed.

  The AGV 10 includes an operation program for executing at least one operation selected from the plurality of operations in the non-installation portions P1 to PN provided in the first, second,..., Nth from the picking unit P0. Therefore, the specific operation position along the transport path 2 with the picking part P0 of the AGV 10 as a base point can be associated with the operation performed at this operation position, and the program of the AGV 10 can be easily formed.

  Since the operation executed by the AGV 10 in the first, second,..., Nth non-installation parts P1 to PN from the picking part P0 is set by offline teaching with respect to the operation program, the guide part Even in a section in which G1 to GN + 1 are not installed, it is possible to cause the AGV 10 to execute a preset operation.

Since the non-installation portions P1 to PN are provided so that the opposing end portions of the guide portions G1 to GN + 1 adjacent to each other via the non-installation portions P1 to PN are separated by a predetermined distance or more, the guide portions installed in the transport path 2 Even if G1 to GN + 1 are partially damaged for some reason, the malfunction of the AGV 10 can be prevented and the AGV 10 can be reliably operated at a specific operation position.
Since the guide portions G1 to GN + 1 are aluminum tapes having an adhesive layer formed on the back surface, the transport path 2 can be formed at low cost, and the transport path 2 can be easily changed.

Next, a modification in which the above embodiment is partially changed will be described.
1) In the above-described embodiment, the example of the transport system applied to the assembly plant for the automobile transmission has been described. However, the present invention can be applied to any place where goods need to be transported, such as a warehouse or a store. Further, although an example of a single parts shelf and four assembly stations has been described, a plurality of article takeout shelves may be provided, and the number of transport destinations may be three or less, or five or more.
2] In the above-described embodiment, an example of a loop-shaped transport path has been described. However, it is only necessary to set the installation order of the non-installed portion from the picking unit in at least the transport route, and transport in which the transport start point and the transport end point are different. It is also applicable to the system. Further, the conveyance path is not limited to a loop shape, and can be applied to various conveyance paths including an eight-letter shape and other backward movement operations.

3] In the above-described embodiment, an example of an AGV capable of executing a stop operation, a course changing operation, a start operation accompanying the stop operation, an article unloading operation, and an article loading operation as the operation type has been described, but at least the operation position of the AGV As long as one of the above operations can be executed, the present invention can be applied to an AGV that can execute another operation in addition to the above operation.
4] In the above embodiment, an example of an AGV having a pair of left and right transport path detection sensors, a travel control mechanism for a single drive wheel, and a steering control mechanism having an electric cylinder has been described. May be a single or a plurality of three or more. Further, the steering control mechanism may be omitted, and two drive wheels may be provided for steering based on the speed difference between the two drive wheels.
5) In addition, those skilled in the art can implement the present invention in various forms with various modifications without departing from the spirit of the present invention, and the present invention includes such modifications. is there.

  In the present invention, the transport path of the automatic guided vehicle is formed of a nonmagnetic metal material, and a plurality of nonmagnetic metal material non-installation portions are provided in the transport path, thereby simplifying the structure of the transport path and the structure of the automatic guided vehicle. Simplification of both.

DESCRIPTION OF SYMBOLS 1 Manufacturing factory 2 Conveyance paths 3-6 Assembly station 7 Parts shelf 10 AGV
DESCRIPTION OF SYMBOLS 12 Travel control mechanism 13 Steering control mechanism 19 Drive wheel 20 Electric motor 23 Conveyance path detection sensor 30 Control unit G1-GN + 1 Guide part P0 Picking part P1-PN Non-installation part S Conveyance system

Claims (6)

A drive wheel that is rotationally driven by the driving force of the drive mechanism and a detection unit that can detect a nonmagnetic metal material are provided, and is movable along a conveyance path that is installed on the floor and formed of the nonmagnetic metal material. A transport system for an automated guided vehicle,
A non- magnetic metal material non-installation part that blocks the non- magnetic metal material in a turning part provided in the middle of the transport path is provided,
The detection unit has detected the non -magnetic metal material non-installation part provided in the swivel part connected to the non-magnetic metal material installation part from a linear non-magnetic metal material installation part in a single conveyance path . The automatic guided vehicle performs a turning operation according to an operation program taught in advance with respect to the detected turning unit . When conveying articles along the transport path AGV from the initial position, after the stop operation, starting operation, the article down operation, claim, characterized in that performing at least one operation of the cargo-loading operation 1 The automated guided vehicle transport system described in 1.   A program for causing the automatic guided vehicle to execute at least one operation selected from the plurality of operations in the first, second,..., Nth nonmagnetic metal material non-installation portion from the initial position. The conveyance system of the automatic guided vehicle according to claim 2 provided.   The operation performed by the automatic guided vehicle in the first, second,..., Nth nonmagnetic metal material non-installation portion from the initial position is set by offline teaching for the program. The conveyance system of the automatic guided vehicle according to claim 3 characterized by things.   5. The non-magnetic metal material non-installation part is provided so that opposing end parts of adjacent non-magnetic metal materials are spaced apart by a predetermined distance or more via the non-magnetic metal material non-installation part. The conveyance system of the automatic guided vehicle any one of these.   The transport system for an automatic guided vehicle according to any one of claims 1 to 5, wherein the nonmagnetic metal material is an aluminum tape having an adhesive layer formed on a back surface.