CN102139699A - Automatic carrying vehicle - Google Patents
Automatic carrying vehicle Download PDFInfo
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- CN102139699A CN102139699A CN2010101115786A CN201010111578A CN102139699A CN 102139699 A CN102139699 A CN 102139699A CN 2010101115786 A CN2010101115786 A CN 2010101115786A CN 201010111578 A CN201010111578 A CN 201010111578A CN 102139699 A CN102139699 A CN 102139699A
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- guide rail
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- guided vehicle
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Abstract
The invention provides an automatic carrying vehicle which loads cargoes and automatically moves, wherein a space becomes narrow when the automatic carrying vehicle moves in a rotary way, and the movement time is shortened. Specifically, the automatic carrying vehicle is provided with a vehicle body (11) with a container capable of loading the cargoes, a front side driving manipulating device (20) and a rear side driving manipulating device (30), wherein the front side driving manipulating device (20) and the rear side driving manipulating device (30) are respectively arranged at a front position and a rear position of the lower side of the vehicle body (11) and are respectively and independently driven and manipulated. When the automatic carrying vehicle automatically moves, in the process of switching the forward movement to the lateral movement, the front side driving manipulating device (20) and the rear side driving manipulating device (30) rotatably and simultaneously move to lead the vehicle body (11) to turn.
Description
Technical field
The Automatic Guided Vehicle that the present invention relates to lade and move automatically.
Background technology
In recent years, in the maquila of automobile etc., introducing has the Automatic Guided Vehicle that loads assembled workpiece and be transported to the assembling zone on container.
Such Automatic Guided Vehicle possesses: the car body that possesses the container that loads assembled workpiece; And be separately positioned on the anterior position and the rear position of this car body downside, and driven 2 of handling respectively by oneself and drive operating controls and constitute (for example, with reference to patent documentation 1).
And, below will load the zone of assembled workpiece, the assembling zone of loading and unloading this cargo-carring assembled workpiece is generically and collectively referred to as " station ".
2 driving operating controls possess the drive wheel device respectively, and this drive wheel device possesses 2 drive wheels of individual drive respectively.This driving operating control drives the control of manipulation by the rotative speed of control drive wheel separately.In addition, this driving operating control possesses: the guide rail reading device that reads the guide rail circuit that is arranged on the mobile ground and guide rail sign; And read the manipulation angle reading device of the manipulation angle of drive wheel device.
So the Automatic Guided Vehicle that constitutes is controlled the rotative speed of each drive wheel according to the reading of above-mentioned each reading device, advance mobile, retreat mobile, side travel, rotation and move etc., under the unmanned state, from the station to the station, move and the carrying assembled workpiece automatically.
Patent documentation 1: the special fair 7-92696 of Japan
Summary of the invention
On the one hand, according to assigned line above-mentioned station is arranged on a plurality of zones.Therefore, when this Automatic Guided Vehicle has corresponding to each station of carrying when the loading and unloading assembled workpiece, with the needs that load and unload in order corresponding to the order of assigned line.Need for this, this Automatic Guided Vehicle can make the sidepiece of the car body of close station be always same sidepiece, and the assembled workpiece of loading onto is earlier unloaded earlier in predefined path movement.
Therefore, be always same sidepiece in order to make sidepiece near the car body of station, between station automatically in the moving process, exist the car body that needs the above-mentioned Automatic Guided Vehicle of change towards situation.Particularly, for the front and back of turning car body towards, between station, automatically in the moving process, have the situation that needs additional rotation to move and car body is turned to.
On the other hand, turn to purpose, have and do not stop moving and make it continue the needs that move from the station to the station as far as possible with the shortening that realizes this Automatic Guided Vehicle shifting time.
Based on the problems referred to above, the known Automatic Guided Vehicle that mobile type is as shown in figure 12 arranged.Figure 12 medelling represented mobile from advancing (symbol 101) switch to the additional before rotation of side travel (symbol 104) move (symbol 102,103) Automatic Guided Vehicle 100 before mobile example.And, symbol 105 expression guide rail circuits.
According to the Automatic Guided Vehicle 100 of the type, can move from advancing the front and back of turning car body before switching to side travel towards, and from the station to the station, do not stop and continuing to move.
But, the Automatic Guided Vehicle 100 of the type as shown in figure 12, rotation is moved the track of (symbol 102,103) as describing big U word.Thus, must guarantee bigger space when mobile in that Automatic Guided Vehicle is rotated, thereby produce the problem that the position is set that to look after station.And, because the distance of rotation when mobile is elongated, therefore produce the also elongated problem of shifting time.
In addition, the Automatic Guided Vehicle 100 of the type need retreat mobile coming and going when mobile.Therefore, the Automatic Guided Vehicle 100 of the type need be provided for retreating mobile obstacle sensor and impact switch, thereby produces the higher problem of manufacturing cost that makes.
The present invention is based on the problems referred to above and carries out, the Automatic Guided Vehicle of the problem that the present invention will solve for moving automatically for lade, can dwindle its space when rotation is mobile, and can realize the shorteningization of shifting time, further make manufacturing cost more cheap.
In order to address the above problem, Automatic Guided Vehicle involved in the present invention adopts with lower unit.
That is, Automatic Guided Vehicle involved in the present invention moves between station automatically, it is characterized by, and possesses: the car body that possesses the container of lade; And be separately positioned on the anterior position and the rear position of this car body downside, and become the preceding side drive operating control and back side drive operating control that make described car body automatic drive source that moves between described station, automatic when mobile, move from advancing switch to before described the side travel process side drive operating control and described back side drive operating control move from advancing switch to side travel in, be rotated mobilely, described car body is turned to.
And above-mentioned " it is mobile to advance " refers to that Automatic Guided Vehicle moves automatically towards the place ahead of described car body.In addition, above-mentioned " side travel " refers to that the side that Automatic Guided Vehicle intersects towards the place ahead with described car body moves automatically.
And, above-mentioned " be rotated mobile, described car body is turned to " comprise described car body with the rotation that about 180 degree turn to move, described car body described car body such as moves with the rotation that about 270 degree turn to and moves with the rotation that various angles turn to.
This Automatic Guided Vehicle is automatic when mobile, since move from advancing the preceding side drive operating control switch to the side travel process and back side drive operating control move from advancing be rotated when switching to side travel mobile, make described car body rotation, therefore can have both from the mobile rotation of moving and being used to car body is turned to that switches to side travel of advancing and move.
Thus, this Automatic Guided Vehicle can reduce to be rotated for car body is turned to when mobile set rotation and moves and use the space.In addition, according to this Automatic Guided Vehicle, when car body is turned to,, therefore can reduce because mobile stopping and elapsed time can be realized the shorteningization of shifting time owing to do not exist existing moving to stop.In addition,, owing to coming and going mobile the moving of only to advance when mobile, therefore can omit set in the past retreating and move with obstacle sensor and retreat and mobilely use impact switch, can make manufacturing cost more cheap according to this Automatic Guided Vehicle.
In addition, Automatic Guided Vehicle involved in the present invention moves between 2 stations automatically along the guide rail circuit that is laid on the mobile ground, it is characterized by, front and back at car body, the front side and the back side drive operating control that comprise the pair of right and left drive wheel that driven independently of one another and drive motor are installed, it can rotate around vertical axis, and the described operating control that respectively drives possesses: detect the concurrent rail sensors of sending the guide rail signal of described guide rail circuit; Detection is set at the guide rail sign of the assigned position on the described mobile ground and discerns the present position of described car body and send the mark sensor of position signal; And control the described operating control that respectively drives according to described each signal, the control setup that it is moved on prescribed path automatically, described guide rail circuit is laid at least, and near moving the automatically stop position of described 2 stations is side travel, and it is mobile with moving automatically of bonded assembly zone, described side travel zone at least in other zones between described 2 stations for advancing, described control setup begins side travel from the described side's that stops at stop position station, thereafter, transfer to described advance to move advance mobile with the guide rail circuit to described the opposing party's station, thereafter, when near the described side travel transferring to the stop position that is laid on described the opposing party's station is used the stage of guide rail circuit, move when transferring to side travel additional rotation moves from advancing, described car body is turned to, thereafter, to the stop position side travel of described the opposing party's station and control it and stop at stop position.
This Automatic Guided Vehicle is owing to begin side travel from the side's station that stops at stop position, thereafter, transferring to advances moves and to advance mobile with the guide rail circuit to the opposing party's station, thereafter, when near the side travel transferring to the stop position that is laid on the opposing party's station is used the stage of guide rail circuit, move when transferring to side travel additional rotation moves from advancing, car body is turned to, thereafter, to the stop position side travel of the opposing party's station and stop at stop position, therefore can have both to move switching to moving of side travel and move with the rotation that is used to car body is turned to from advancing.
Thus, this Automatic Guided Vehicle can reduce to be rotated for car body is turned to when mobile set rotation and moves and use the space.In addition, this Automatic Guided Vehicle owing to do not exist existing moving to stop, therefore can reducing because mobile stopping and elapsed time can be realized the shorteningization of shifting time when car body is turned to.In addition, this Automatic Guided Vehicle is being owing to coming and going mobile the moving of can only advancing when mobile, therefore can omit retreating of in the past being provided with and move with obstacle sensor and retreat and mobilely use impact switch, can make manufacturing cost more cheap.
According to Automatic Guided Vehicle involved in the present invention, for lade and the Automatic Guided Vehicle that automatically moves, it can be dwindled, and the shorteningization of shifting time can be realized in the space that is rotated when mobile, further make manufacturing cost more cheap.
Description of drawings
Fig. 1 is the summary pattern birds-eye view of the Automatic Guided Vehicle of present embodiment.
Fig. 2 is the block diagram of the relation of expression Automatic Guided Vehicle each several part formation.
Fig. 3 moves the diagram of circuit that carries out control and treatment by main control circuit to the outlet.
Fig. 4 is the summary pattern birds-eye view that the mobile Automatic Guided Vehicle of the 1st rotation is carried out in expression.
Fig. 5 is the summary pattern birds-eye view that the mobile Automatic Guided Vehicle of the 2nd rotation is carried out in expression.
Fig. 6 is the summary pattern birds-eye view that the mobile Automatic Guided Vehicle of the 3rd rotation is carried out in expression.
Fig. 7 is that expression finishes that rotation is moved and the summary pattern birds-eye view that switches to the Automatic Guided Vehicle of side travel.
Fig. 8 moves the diagram of circuit that carries out control and treatment by main control circuit to the return road.
Fig. 9 is expression switches to the mobile Automatic Guided Vehicle that advances from side travel a summary pattern birds-eye view.
Figure 10 is the summary mode chart that is illustrated in an example of the Automatic Guided Vehicle track that moves automatically between station A, the B.
Figure 11 is the summary mode chart that is illustrated in the application examples of the Automatic Guided Vehicle track that moves automatically between station A, the B.
Figure 12 is illustrated in the summary pattern birds-eye view that moves the existing mobile example that switches to the mobile Automatic Guided Vehicle of the additional before rotation of side travel from advancing.
Nomenclature
The 10-Automatic Guided Vehicle; The 11-car body; Side drive operating control before the 20-; Side drive operating control behind the 30-; 21,31-drives manoeuvre portion; 22a, 32a-left side drive wheel device; 22b, 32b-right side drive wheel device; 23a, 33a-left motor actuator; 23b, 33b-right motor actuator; 25,35-reading part; 26a, 36a-line sensor; 26b, 36b-mark sensor; 27,37-handles angle detector; 29,39-interface (I/F) circuit; 40-main control circuit (control setup); The 51-impact switch; The 52-obstacle sensor; 61a (61)-integrated guide rail circuit; 61b (61)-the 1st branch guide rail circuit; 61c (61)-the 2nd branch guide rail circuit; 62a (62)-the 1st guide rail sign; 62b (62)-the 2nd guide rail sign; 62c (62)-the 3rd guide rail sign; 62d (62)-the 4th guide rail sign; 62e (62)-the 5th guide rail sign; The universal wheel of 71-.
The specific embodiment
Followingly describe being used to implement optimum way of the present invention with reference to accompanying drawing.
Fig. 1 is the summary pattern birds-eye view of the Automatic Guided Vehicle 10 of present embodiment.
Automatic Guided Vehicle 10 is for example introduced by in the maquila of automobile etc. etc., has the car body 11 that possesses the container (not shown) that loads assembled workpiece.This Automatic Guided Vehicle 10 loads as the assembled workpiece of goods in container and moves automatically, carries assembled workpiece between the station more than 2 of loading onto and unloading.
It is mobile that Automatic Guided Vehicle shown in Figure 1 10 with the top is that working direction is advanced.In addition, guide rail circuit 61 and 62 expressions of guide rail sign shown in Figure 1 are moved the relevant content in switching place that switches to side travel with Automatic Guided Vehicle 10 from advancing.
And this Automatic Guided Vehicle 10 identifies 62 guiding and mobile automatically by the guide rail circuit 61 and the guide rail that are laid on the mobile ground as shown in Figure 1.
Automatic Guided Vehicle 10 possesses the anterior position and the rear position that are separately positioned on car body 11 downsides as shown in Figure 1, and drive to be handled independently of one another and as the preceding side drive operating control 20 and the back side drive operating control 30 of drive source.In addition, on this Automatic Guided Vehicle 10, be provided with impact switch 51, be provided with universal wheel 71 in each position, angle of car body 11 in the position, forefront of car body 11.
Fig. 2 is the block diagram of the relation of expression Automatic Guided Vehicle 10 each several parts formation.
Before side drive operating control 20 and back side drive operating control 30 as shown in Figures 1 and 2, be connected with main control circuit 40 as control setup.
Preceding side drive operating control 20 and back side drive operating control 30 are installed in the downside of car body 11 and can rotate around vertical axis.Both differences are to be separately positioned on the anterior position and the rear position of car body 11, and its formation is then identical.Therefore, preceding side drive operating control 20 is described in detail the explanation of the relevant back side drive of omission operating control 30 below.
Preceding side drive operating control 20 roughly possesses as shown in Figures 1 and 2: the driving manoeuvre portion 21 that drives manipulation according to the control and treatment signal that sends from main control circuit 40; And drive manoeuvre portion 21 and the detection signal that is used to drive manipulation is sent to the reading part 25 of main control circuit 40 and constitute.
Left side drive wheel device 22a possesses: the left side drive wheel; And the rotation this left side drive wheel drive motor and constitute.Right side drive wheel device 22b possesses: the right side drive wheel; And the rotation this right side drive wheel drive motor and constitute.
And left side drive wheel and right side drive wheel are configured to have total S. A..In addition, left side drive wheel device 22a and right side drive wheel device 22b are poor by the rotation of individual drive respectively, change left side drive wheel device 22a and right side drive wheel device 22b towards handling.
Front side mark sensor 26b is used to read the guide rail sign 62 that is set in the assigned position on the mobile ground.This front side mark sensor 26b sends to main control circuit 40 to the position signal (detection signal) of the guide rail sign 62 that reads through interface (I/F) circuit 29, with the present position of identification car body 11.
Handle the manipulation angle that angle detector 27 detects above-mentioned 2 drive wheel device 22a, 22b, possess suitable coder and constitute.This manipulation angle detector 27 reads the manipulation angle of left side drive wheel device 22a and right side drive wheel device 22b, will send to main control circuit 40 according to this detection signal that reads through interface (I/F) circuit 29.
Back side drive operating control 30 is that with the difference of above-mentioned preceding side drive operating control 20 back side drive operating control 30 is set at the rear position of car body 11 downsides, and it constitutes identical with above-mentioned preceding side drive operating control 20.Therefore, though to the design symbol of No. 20 piece of digital of 20 marks of side drive operating control before above-mentioned and be illustrated, but to this back side drive operating control 30, about with above-mentioned before the identical formation of side drive operating control 20 then mark the design symbol that is replaced into No. 30 piece of digital and omit its explanation.
In addition, on this main control circuit 40, before above-mentioned, side drive operating control 20 and the back side drive operating control 30, also be connected with known each several part through interface (I/F) circuit 59.Particularly, as shown in Figure 2, on main control circuit 40, be connected with impact switch 51, obstacle sensor 52, emergency stop switch 53, operating switch 54, display lamp 55, show follower 56, voice output device 57, infrared communication device 58 through interface (I/F) circuit 59.
In addition, guide rail sign 62 be laid on guide rail circuit 61 near, be laid on the mobile place of change Automatic Guided Vehicle 10.Particularly, as shown in Figure 1, the outlet with the 1st guide rail sign 62a (62) and return road with the 4th guide rail identify 62d (62) be laid on begin from the branch that integrated guide rail circuit 61a is branched off into the guide rail circuit 61b of branch, 61c near.In addition, the outlet with the 2nd guide rail sign 62b (62), outlet with the 3rd guide rail sign 62c (62) and return road with the 5th guide rail identify 62e (62) be laid on the guide rail circuit 61b of branch, the extension of 61c linearity uniformly-spaced begin locate near.
And branch begins to locate for Automatic Guided Vehicle 10 moves from advancing when switching to side travel, and the place is moved in the rotation of relative position before and after beginning to turn.In addition, uniformly-spaced begin to locate for Automatic Guided Vehicle 10 finish before and after after the turning of relative position, begin to carry out the side travel place.
Automatic Guided Vehicle 10 as constituted above, following carry out control and treatment by main control circuit 40 in, between 2 station A, B as shown in figure 10, move automatically.
Figure 10 (A) is the summary mode chart of the track of the Automatic Guided Vehicle 10 that moves about the outlet that is automatically moved to station B from station A of expression.Figure 10 (B) is the summary mode chart of the track of the Automatic Guided Vehicle 10 that moves about the return road that is automatically moved to station A from station B of expression.In addition, the position that is adjacent to station A, B respectively is the stop position of Automatic Guided Vehicle 10.
Below, at first the outlet that is automatically moved to station B from station A is moved and describe.
Fig. 3 is the diagram of circuit of the control and treatment that moves automatically when moving about the outlet, and only expression is moved the content that switches to the control and treatment between the side travel about Automatic Guided Vehicle 10 from advancing.In addition, Fig. 1, Fig. 4～Fig. 7 are that only expression is moved the summary pattern birds-eye view that switches to the content between the side travel about Automatic Guided Vehicle 10 from advancing, and represent according to time sequence.Particularly, Fig. 1 is the advance summary pattern birds-eye view of mobile Automatic Guided Vehicle 10 of expression.Fig. 4 is the summary pattern birds-eye view that the mobile Automatic Guided Vehicle 10 of the 1st rotation is carried out in expression.Fig. 5 is the summary pattern birds-eye view that the mobile Automatic Guided Vehicle 10 of the 2nd rotation is carried out in expression.Fig. 6 is the summary pattern birds-eye view that the mobile Automatic Guided Vehicle 10 of the 3rd rotation is carried out in expression.Fig. 7 is that expression finishes that rotation is moved and the summary pattern birds-eye view that switches to the Automatic Guided Vehicle 10 of side travel.
As Fig. 3 and shown in Figure 1, side drive operating controls 20 and the above-mentioned back side drive operating control 30 mobile control and treatment (step S11) of advancing before 40 pairs of main control circuits are above-mentioned.
Particularly, in step S11, main control circuit 40 bases are carried out control and treatment by the guide rail signal of the integrated guide rail circuit 61a of line sensor 26a, 36a reading and sending, the control and treatment signal that generates in this control and treatment is sent to drive manoeuvre portion 21,31.
The driving manoeuvre portion 21,31 that receives this control and treatment signal drives according to this control and treatment signal.Like this, as shown in Figure 1, Automatic Guided Vehicle 10 carries out along integrated guide rail circuit 61a and is mobile to advancing of moving of the place ahead of car body 11.And the front side mark sensor 26b of the reading part 25 of side drive operating control 20 read the 1st guide rail sign 62a and this position signal is sent to (step S11, step S12) till the main control circuit 40 before the advancing of this Automatic Guided Vehicle 10 moved and to last till.
On the other hand, when above-mentioned front side mark sensor 26b reads above-mentioned the 1st guide rail sign 62a, the position signal that reads is sent to main control circuit 40 (step S12).
The main control circuit 40 that receives this position signal carries out control and treatment according to the position signal that the 1st guide rail by front side mark sensor 26b reading and sending identifies 62a, the control and treatment signal that generates in this control and treatment is sent to drive manoeuvre portion 21,31 (step S13).
Particularly, in step S13, side drive operating control 20 was along to the 1st guide rail circuit 61b of branch of right-hand branch and mobile control and treatment signal before the driving manoeuvre portion 21 of side drive operating control 20 sent before 40 pairs of the main control circuits.In addition, simultaneously behind 40 pairs of the main control circuits driving manoeuvre portion 31 of side drive operating control 30 send integrated guide rail circuit 61a that side drive operating controls 30 in back support the front along branch and mobile control and treatment signal.Like this, as shown in Figure 4, preceding side drive operating control 20 moves along the 1st guide rail circuit 61b of branch, and the front side that makes Automatic Guided Vehicle 10 is sleekly to right-hand rotation.
And, this makes Automatic Guided Vehicle 10 till right-hand rotation mobile lasts till that the rear side mark sensor 36b of the reading part 35 of back side drive operating control 30 reads the 1st guide rail sign 62a and this position signal sent to main control circuit 40 (step S13, step S14).
On the other hand, when above-mentioned rear side mark sensor 36b reads the 1st guide rail sign 62a, the position signal that reads is sent to main control circuit 40 (step S14).
The main control circuit 40 that receives this position signal carries out control and treatment according to the position signal that the 1st guide rail by rear side mark sensor 36b reading and sending identifies 62a, the control and treatment signal that generates in this control and treatment is sent to drive manoeuvre portion 21,31 (step S15).
Particularly, in step S15, side drive operating control 20 was along the 1st guide rail circuit 61b of branch and mobile control and treatment signal before the driving manoeuvre portion 21 of side drive operating control 20 sent before 40 pairs of the main control circuits.In addition, simultaneously behind 40 pairs of the main control circuits driving manoeuvre portion 31 of side drive operating control 30 send back side drive operating controls 30 along to the 2nd guide rail circuit 61c of branch of left (directly advancing direction) branch and mobile control and treatment signal.At this moment, the moving velocity of side drive operating control 20 was than the control and treatment signal of the moving velocity deceleration of back side drive operating control 30 before main control circuit 40 sent and makes.
Like this, as shown in Figure 5, preceding side drive operating control 20 moves with the state that slows down along the 1st guide rail circuit 61b of branch.In addition, back side drive operating control 30 moves along the 2nd guide rail circuit 61c of branch.
At this moment, set the moving velocity slower than the moving velocity of back side drive operating control 30 for because the moving velocity of preceding side drive operating control 20 becomes, therefore back side drive operating control 30 skew can not take place along the 2nd guide rail circuit 61c of branch does not move.Thus, can make the rear side of Automatic Guided Vehicle 10 sleekly to right-hand rotation.
And this makes Automatic Guided Vehicle 10 last till that to right-hand rotation mobile above-mentioned front side mark sensor 26b reads the 2nd guide rail sign 62b of the 1st guide rail circuit 61b of branch, and this position signal is sent to (step S15, step S16) till the main control circuit 40.
On the other hand, when near the 2nd guide rail above-mentioned front side mark sensor 26b reads the 1st guide rail circuit 61b of branch identifies 62b, the position signal that reads is sent to main control circuit 40 (step S16).
The main control circuit 40 that receives this position signal carries out control and treatment according to the position signal that the 2nd guide rail by front side mark sensor 26b reading and sending identifies 62b, the control and treatment signal that generates in this control and treatment is sent to drive manoeuvre portion 21,31 (step S17).
Particularly, in step S17, the driving manoeuvre portion 21 of side drive operating control 20 sends and further makes it drive the control and treatment signal that slows down before 40 pairs of the main control circuits.
In addition, simultaneously behind 40 pairs of the main control circuits driving manoeuvre portion 31 of side drive operating control 30 send back side drive operating controls 30 along the 2nd guide rail circuit 61c of branch and mobile control and treatment signal.
Like this, as shown in Figure 6, preceding side drive operating control 20 further makes to drive and slows down, and back side drive operating control 30 moves along the 2nd guide rail circuit 61c of branch.
Thus, can make the rear side of Automatic Guided Vehicle 10 sleekly to right-hand rotation.
And this makes Automatic Guided Vehicle 10 last till that to right-hand rotation mobile above-mentioned rear side mark sensor 36b reads the 3rd guide rail sign 62c of the 2nd guide rail circuit 61c of branch, and this position signal is sent to (step S17, step S18) till the main control circuit 40.
On the other hand, when near the 3rd guide rail above-mentioned rear side mark sensor 36b reads the 2nd guide rail circuit 61c of branch identifies 62c, the position signal that reads is sent to main control circuit 40 (step S18).
The main control circuit 40 that receives this position signal carries out control and treatment according to the position signal that the 3rd guide rail by rear side mark sensor 36b reading and sending identifies 62c, the control and treatment signal that generates in this control and treatment is sent to drive manoeuvre portion 21,31 (step S19).
Particularly, in step S19, the driving manoeuvre portion 21 of side drive operating control 20 is removed the deceleration that drives and is made its speed-raising before 40 pairs of the main control circuits, sends it to be in along the 1st guide rail circuit 61b of branch and the control and treatment signal of the state of side travel.In addition, the driving manoeuvre portion 31 of side drive operating control 30 sends and it is kept along the 2nd guide rail circuit 61c of branch and the control and treatment signal of the state of side travel behind 40 pairs of the main control circuits.
Like this, Automatic Guided Vehicle 10 carries out the side travel that moves to the side of car body 11.
Below, the return road that is automatically moved to station A from station B moved describe.
Fig. 8 is the diagram of circuit of the control and treatment that moves automatically when moving about the return road, and only expression switches to the content of the control and treatment between moving of advancing from side travel about Automatic Guided Vehicle 10.In addition, Fig. 9 only represents that Automatic Guided Vehicle 10 switches to the summary pattern birds-eye view of the content between moving of advancing from side travel, represents according to time sequence.
And, the preceding side drive operating control 20 of Automatic Guided Vehicle 10 and back side drive operating control 30 finish outlets and move and stop at stop position, beginning to carry out the return road from stop position when moving, becoming to make and respectively drive manoeuvre portion 21,31 towards the return road moving direction and the state that 180 degree are turned.
As Fig. 8 and shown in Figure 9,40 pairs of above-mentioned preceding side drive operating controls 20 of main control circuit and above-mentioned back side drive operating control 30 carry out the control and treatment (step S21) of side travel.
Particularly, in step S21, main control circuit 40 sends to driving manoeuvre portion 21,31 to the control and treatment signal that generates according to carrying out control and treatment by the guide rail circuit 61b of branch of line sensor 26a, 36a reading and sending, the guide rail signal of 61c in this control and treatment.
The driving manoeuvre portion 21,31 that receives this control and treatment signal drives according to this control and treatment signal.Like this, shown in the symbol 81 of Fig. 9, Automatic Guided Vehicle 10 carries out the side travel that moves to the side of car body 11 along the guide rail circuit 61b of branch, 61c.And the side travel of this Automatic Guided Vehicle 10 lasts till that the rear side mark sensor 36b of the reading part 35 of back side drive operating control 30 reads the 4th guide rail sign 62d and this position signal is sent to (step S21, step S22) till the main control circuit 40.
On the other hand, when near the 4th guide rail above-mentioned rear side mark sensor 36b reads the 2nd guide rail circuit 61c of branch identifies 62d, the position signal that reads is sent to main control circuit 40 (step S22).
The main control circuit 40 that receives this position signal carries out control and treatment according to the position signal that the 4th guide rail by rear side mark sensor 36b reading and sending identifies 62d, the control and treatment signal that generates in this control and treatment is sent to drive manoeuvre portion 21,31 (step S23).
Particularly, in step S23, side drive operating control 20 was along the 1st guide rail circuit 61b of branch and mobile control and treatment signal before the driving manoeuvre portion 21 of side drive operating control 20 sent before 40 pairs of the main control circuits.In addition, simultaneously behind 40 pairs of the main control circuits driving manoeuvre portion 31 of side drive operating control 30 send back side drive operating controls 30 along the 2nd guide rail circuit 61c of branch and mobile control and treatment signal.At this moment, the moving velocity of side drive operating control 30 was than the control and treatment signal of the moving velocity of the moving velocity deceleration of preceding side drive operating control 20 after main control circuit 40 sent and makes.Like this, shown in the symbol 82 and symbol 83 of Fig. 9, preceding side drive operating control 20 moves with deceleration regime along the 1st guide rail circuit 61b of branch.In addition, back side drive operating control 30 moves along the 2nd guide rail circuit 61c of branch.
And, this makes the front side mark sensor 26b of Automatic Guided Vehicle 10 reading part 25 of side drive operating control 20 before right-hand rotation mobile lasts till read the 5th guide rail sign 62e and till this position signal sent to main control circuit 40 (step S23, step S24).
On the other hand, when above-mentioned front side mark sensor 26b reads above-mentioned the 5th guide rail sign 62e, the position signal that reads is sent to main control circuit 40 (step S24).
The main control circuit 40 that receives this position signal carries out control and treatment according to the position signal that the 5th guide rail by front side mark sensor 26b reading and sending identifies 62e, the control and treatment signal that generates in this control and treatment is sent to drive manoeuvre portion 21,31 (step S25).
Particularly, in step S25, the driving manoeuvre portion 21 of side drive operating control 20 sends and keeps along integrated guide rail circuit 61a and the control and treatment signal of the mobile state that advances before 40 pairs of the main control circuits.In addition, the driving manoeuvre portion 31 of side drive operating control 30 is removed the deceleration that drives and is made its speed-raising behind 40 pairs of the main control circuits, sends it to be in along the 2nd guide rail circuit 61c of branch and integrated guide rail circuit 61a and the control and treatment signal of the mobile state that advances.
Like this, advancing that Automatic Guided Vehicle 10 carries out moving towards the place ahead of car body 11 is mobile.
According to the Automatic Guided Vehicle 10 that becomes above-mentioned embodiment, can receive following action effect.
Promptly, according to this Automatic Guided Vehicle 10, main control circuit 40 is shown in Figure 10 (A), begin side travel from the station A that stops at stop position, thereafter, transfer to integrated guide rail circuit 61a and advance mobile to station B, thereafter, transferring near the guide rail circuit 61b of branch the stop position that is laid on station B, the stage of 61c, move when transferring to side travel additional rotation moves from advancing, car body 11 is turned to, thereafter, to the stop position side travel of the opposing party's station and control it and stop at stop position.
This Automatic Guided Vehicle 10 can have both to move from advancing and switches to moving with the rotation that is used to car body 11 is turned to of side travel and move, and this Automatic Guided Vehicle 10 can reduce to be used to make car body to turn to and is rotated when mobile set rotation and moves and use the space.
In addition, this Automatic Guided Vehicle 10 is shown in Figure 10 (A) and Figure 10 (B), owing to can make the sidepiece of the car body 11 of close station A, B be always same sidepiece, therefore simple to operateization in the time of the assembled workpiece of loading onto earlier being unloaded earlier, battery charge and normal conditions that Automatic Guided Vehicle 10 is stopped at during the stop position are simple equally.
In addition, this Automatic Guided Vehicle 10 owing to do not exist existing moving to stop, therefore can reducing because mobile stopping and elapsed time can be realized the shorteningization of shifting time when car body 11 is turned to.
In addition, this Automatic Guided Vehicle 10 is shown in Figure 10 (A) and Figure 10 (B), owing to move it coming and going can only to move when mobile by advancing, therefore can omit retreating of in the past being provided with and move with obstacle sensor and retreat and mobilely use impact switch, can make manufacturing cost more cheap.
And Automatic Guided Vehicle involved in the present invention is not limited to above-mentioned embodiment, can suitably change in the scope that does not change main idea of the present invention.
That is, in the above-described embodiment, as making car body 11 be rotated mobile example with turning to, enumerated car body 11 and carried out the example that rotation that about 180 degree turn to is moved.But Automatic Guided Vehicle involved in the present invention also can move in following application rotation, and car body 11 is in the above-described embodiment turned to.
Figure 11 (A) is the summary mode chart of the track of the Automatic Guided Vehicle 10 that moves about the outlet that is automatically moved to station B from station A of expression.Figure 11 (B) is the summary mode chart of the track of the Automatic Guided Vehicle 10 that moves about the return road that is automatically moved to station A from station B of expression.In addition, the position that is adjacent to station A, B respectively is the stop position of Automatic Guided Vehicle 10.
Automatic Guided Vehicle shown in Figure 11 10 is as making car body 11 be rotated mobile example with turning to, and car body 11 carries out the rotation that about 270 degree turn to and moves.
The guide rail circuit 61d of branch, the 61e that are laid on the mobile ground of this example remain interval width uniformly-spaced mutually, compare with above-mentioned embodiment and are arranged to about 90 degree bendings.When the guide rail circuit 61d of branch, the 61e that so is laid on the mobile ground was set, Automatic Guided Vehicle 10 can carry out the rotation that about 270 degree of car body 11 turn to and move.
This routine Automatic Guided Vehicle 10 can be cut down significantly to be used to make car body 11 to turn to and to be rotated when mobile set rotation and move and use the space.
In addition, this Automatic Guided Vehicle 10 owing to do not exist existing moving to stop, therefore can being cut down because mobile stopping and elapsed time can be realized the shorteningization of shifting time when car body 11 is turned to.
In addition, this Automatic Guided Vehicle be owing to can only move by advancing when mobile coming and going, and therefore can omit retreating of in the past being provided with and move with obstacle sensor and retreat and mobilely use impact switch, can make manufacturing cost more cheap.
And, be laid on the guide rail circuit 61d of branch on the mobile ground, the example that 61e is not limited to Figure 10 or Figure 11, also can be laid to and keep the uniformly-spaced various case of bendings of width.
In addition, the Automatic Guided Vehicle 10 of above-mentioned embodiment, though to be built in the form that drives in the operating control 20,30 line sensor 26a, 36a and mark sensor 26b, 36b are set, such reading device also can be arranged with the driving operating control in 20,30 minutes.
Claims (2)
1. Automatic Guided Vehicle, it moves between station automatically, it is characterized by,
Possess: the car body that possesses the container of lade; And be separately positioned on the anterior position and the rear position of this car body downside, and become the preceding side drive operating control and back side drive operating control that makes the drive source that described car body moves automatically between described station,
Automatic when mobile, move from advancing and to switch to before described the side travel process side drive operating control and described back side drive operating control and be rotated when switching to side travel mobilely moving from advancing, described car body is turned to.
2. Automatic Guided Vehicle, it moves between 2 stations automatically along being laid on the guide rail circuit on the mobile ground, it is characterized by,
In the front and back of car body, the front side and the back side drive operating control that comprise the pair of right and left drive wheel that driven independently of one another and drive motor are installed, it can rotation around vertical axis,
The described operating control that respectively drives possesses: detect the concurrent rail sensors of sending the guide rail signal of described guide rail circuit; Detection is set at the guide rail sign of the assigned position on the described mobile ground and discerns the present position of described car body and send the mark sensor of position signal; And control the described operating control that respectively drives according to described each signal, make its control setup that on prescribed path, moves automatically,
Described guide rail circuit is laid at least near moving the automatically stop position of described 2 stations and is side travel, and mobile for advancing with moving automatically of bonded assembly zone, described side travel zone at least in other zones between described 2 stations,
Described control setup begins side travel from the described side's that stops at stop position station, thereafter, transfer to described advance to move advance mobile with the guide rail circuit to described the opposing party's station, thereafter, when near the described side travel transferring to the stop position that is laid on described the opposing party's station is used the stage of guide rail circuit, move when transferring to side travel additional rotation moves from advancing, described car body is turned to, thereafter, to the stop position side travel of described the opposing party's station and control it and stop at stop position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101115786A CN102139699A (en) | 2010-02-02 | 2010-02-02 | Automatic carrying vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101115786A CN102139699A (en) | 2010-02-02 | 2010-02-02 | Automatic carrying vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102139699A true CN102139699A (en) | 2011-08-03 |
Family
ID=44407547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101115786A Pending CN102139699A (en) | 2010-02-02 | 2010-02-02 | Automatic carrying vehicle |
Country Status (1)
| Country | Link |
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| CN (1) | CN102139699A (en) |
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| CN102514900A (en) * | 2011-12-26 | 2012-06-27 | 浙江金刚汽车有限公司 | Routing automatic transporting system and method |
| CN105883314A (en) * | 2015-02-13 | 2016-08-24 | 神技保寿美株式会社 | Automatic Guided Vehicle And Method For Connecting Automatic Guided Vehicles |
| CN108780317A (en) * | 2016-03-17 | 2018-11-09 | 本田技研工业株式会社 | Automatic guided vehicle |
| CN112384454A (en) * | 2018-07-05 | 2021-02-19 | 普雷克斯株式会社 | Cloth conveying device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102514900A (en) * | 2011-12-26 | 2012-06-27 | 浙江金刚汽车有限公司 | Routing automatic transporting system and method |
| CN105883314A (en) * | 2015-02-13 | 2016-08-24 | 神技保寿美株式会社 | Automatic Guided Vehicle And Method For Connecting Automatic Guided Vehicles |
| CN105883314B (en) * | 2015-02-13 | 2019-09-24 | 神技保寿美株式会社 | The linking method of Automatic Guided Vehicle and Automatic Guided Vehicle |
| CN108780317A (en) * | 2016-03-17 | 2018-11-09 | 本田技研工业株式会社 | Automatic guided vehicle |
| CN108780317B (en) * | 2016-03-17 | 2021-06-11 | 本田技研工业株式会社 | Automatic carrying vehicle |
| CN112384454A (en) * | 2018-07-05 | 2021-02-19 | 普雷克斯株式会社 | Cloth conveying device |
| US11993472B2 (en) | 2018-07-05 | 2024-05-28 | Purex Co., Ltd. | Cloth transfer apparatus |
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Application publication date: 20110803 |