CN107954162A - Without person conveying system and assembling product system - Google Patents
Without person conveying system and assembling product system Download PDFInfo
- Publication number
- CN107954162A CN107954162A CN201710845588.4A CN201710845588A CN107954162A CN 107954162 A CN107954162 A CN 107954162A CN 201710845588 A CN201710845588 A CN 201710845588A CN 107954162 A CN107954162 A CN 107954162A
- Authority
- CN
- China
- Prior art keywords
- automatic running
- waggon
- conveying system
- person conveying
- charging station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
Abstract
There is provided make automatic running waggon continuous work without person conveying system and assembling product system.Used automatic running trolley (10) includes multiple charging stations (20) for being provided independently from automatic running trolley (10) without person conveying system (1).Automatic running trolley (10) is included in the capacitor that charging station (20) charges and is carried out the movement motor of the power supply driving of sufficient power from capacitor.
Description
Technical field
The present invention relates to used automatic running waggon without person conveying system and assembling product system.
Background technology
Currently, the concept of unmanned waggon has become known, such as known patent document 1~3.
For example, be equipped with battery in unmanned waggon disclosed in patent document 1,2, the motor as driving wheel
Power supply.
In addition, in unmanned waggon 100 disclosed in patent document 3, as shown in figure 12, including capacitor
(capacitor) 101 and battery 102 as accumulation electric power unit, there is provided while realize the short time power supply and large capacity electric power storage
Contactless current-collecting device 110.Specifically, voltage conversion circuit 103 is set between capacitor 101 and battery 102, by
The voltage between terminals of capacitor 101 are converted to the charging voltage of battery 102 by voltage conversion circuit 103.By being incited somebody to action on circuit
Capacitor 101 and battery 102 separate, and can take out voltage of the electricity being accumulated in capacitor 101 without influencing battery 102,
As a result, it is possible to take out the more than half of the electric power being accumulated in capacitor 101 and charge to battery 102.
Prior art literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 6-141410 publications (on May 20th, 1994 is open)
Patent document 2：Japanese Unexamined Patent Publication 2000-184512 publications (on June 30th, 2000 is open)
Patent document 3：Japanese Unexamined Patent Publication 2010-187471 publications (disclosure on the 26th of August in 2010)
The content of the invention
But for existing unmanned waggon, conveying in warehouse etc. is general purposes.Therefore, in order to small
Used in the automatic package system of the electric product or electronic product of type, there are it is following the problem of.
For example, electric product or electronic unit are small-sized, so assembling space is also narrow and small.Therefore, it is necessary to will be defeated
Give the unmanned waggon itself of the assembling thing to be set to small-sized, but need it is battery-mounted, so being difficult to realize miniaturization and cheap
Change.
In addition, for existing unmanned waggon, storage battery, the i.e. battery of the electric power progress electric power storage to large capacity is main
Power source is, it is necessary to the prolonged charging interval.Accordingly, it is difficult to make unmanned waggon continuous work.
Further, using small-sized electric product and electronic unit to remove unmanned waggon in the automatic package system of representative
In conveying device in addition, such as the turntable index mode using turntable can be enumerated, referred to using this layer line of transport path
Mark mode and stop selling (stopper) the conveying thing that is conveying conveyer by exterior and stop carrying out operation, if making
Industry is completed then stop pin releasing, free flow (freeflow) the conveyer mode conveyed again etc..
But in order to carry out the power transmission based on special base machine (base machine), action limitation, it is required to
Thick and heavyization, the high rigidity of device pallet, easily with unwanted, unnecessary part.
The present invention is in view of the existing issue proposes that its purpose is to provide make automatic running waggon continuous work
Without person conveying system and assembling product system.
The mode of the present invention is characterized in that without person conveying system, automatic having used for solve the problem
Travel waggon without in person conveying system, including multiple charging units being provided independently from the automatic running waggon,
And the automatic running waggon includes：Capacitor, is charged with the charging unit；And movement motor, quilt
Power supply driving from the capacitor.
A mode according to the present invention without person conveying system, use automatic running waggon to carry out unmanned conveying.
Currently, it is necessary to the battery for driving automatic running waggon be carried, so not in this no person conveying system
It can realize miniaturization and cheap.In addition, the storage battery for the battery for carrying out electric power storage as the electric power to large capacity needs for a long time
Charging interval, so when wanting to make automatic running waggon to work, it is difficult to continuous work always.
Therefore, it is provided independently from the mode of the present invention without in person conveying system, including with automatic running waggon
Multiple charging units, and automatic running waggon includes：Capacitor, is charged with the charging unit；It is and mobile
With motor, driven by the power supply from the capacitor.
That is, capacitor (capacitor) is capacitance (condenser), with secondary cell (storage battery：So-called battery) no
Together, it is not that electric energy is accumulated by the chemical reaction of electrode, but by ionic molecule accumulated charge.It therefore, there is no need to chemically react,
So the reaction being charged and discharged is fast, and internal resistance is also few, and institute is so as to the discharge and recharge of progress high current.Therefore, it is possible to
Movement motor is worked, and can make discharge and recharge can the number of occurrence it is also more than secondary cell.
Therefore, as no person conveying system, if being set to include capacitor, and charging unit is set at multiple positions, with one
A charging unit charges capacitor, and the electricity to have been charged using this, can convey automatic running waggon to next charging
System untill device, then become be capable of continuous work without person conveying system.
If for example, this to be used as to the product group wiring at workshop without person conveying system, a series of work can be carried out continuously
Sequence so that carry out charging and the operation of an assembling procedure in the setting place of a charging unit, be then moved to next
The setting place of charging unit carries out charging and the operation of next assembling procedure.
Therefore, it is possible to provide make automatic running waggon continuous work without person conveying system.
It is cheap in addition, compared with special base machine, and easily tackles the variation of process.Therefore, it is possible to flexible
Variation, multi items production etc. on a small quantity of ground reply order.
The mode of the present invention is provided with control device, the control without person conveying system in the no person conveying system
Device processed is controlled such that to be filled making the automatic running waggon stop at the setting position of the charging unit with this
After electric installation charges the capacitor, untill the setting position for being moved to next charging unit that should be charged, then
It is secondary to be charged with next charging unit that charged to the capacitor.
Thus, the charging and movement that control device can be to automatic running waggon are managed concentratedly.
The mode of the present invention is provided with the guiding automatic row without person conveying system in the no person conveying system
Sail the transport path of the mobile route of waggon.
Thus, automatic running waggon is guided and moved by transport path, and institute is so as to reliably edge is set
Path, i.e. transport path are moved.
The present invention a mode without person conveying system, in the no person conveying system, if including the automatic running
Waggon stops at the setting position for the charging unit that charge, then make the automatic running waggon set by
Electric terminal and the mechanism to charge in the power supply terminal contact that the charging unit is set.Specifically, the mechanism is for example
By making automatic running waggon stop at the stopping positioner of setting position of charging unit, electrified terminal and with can
The dynamic power supply terminal for electrical spring etc. is formed.
Thus, if automatic running waggon stops at the setting position for the charging unit that charge, automatic
The electrified terminal and automatically contact and charge in the power supply terminal that charging unit is set that traveling waggon is set.
The present invention a mode without person conveying system, in the no person conveying system, the automatic running waggon
Including：Charge amount detection unit, detects the charge volume of the capacitor；And transmitting element, which is examined
The charge volume for the capacitor measured is sent to the control device via the charging unit.
Thus, the charge volume for the capacitor that automatic running waggon detection charging amount detection unit detects, and the electricity
The charge volume of container is sent to charging unit by transmitting element, is further transmitted to control device.As a result, control device can
Untill easily judging that next charging unit can be moved to.
The present invention a mode without person conveying system, in the no person conveying system, the transmitting element passes through red
Outside line communication is transmitted.
Thus, it is possible to realize cheap and small power consumption wireless communication.
The mode of the present invention without person conveying system, in the no person conveying system, the control device includes sentencing
Whether the charge volume of the disconnected capacitor sent from automatic running waggon can be achieved to next to charge
The judging unit of the amount of traveling untill charging unit.
Thus, the charge volume for the capacitor that control device can be judged to send from automatic running waggon with judging unit is
No is the amount for the traveling that can be achieved untill next charging unit that should be charged.Therefore, automatic running waggon is not
Situation untill next charging unit that should be charged can be moved to eliminates.
The present invention a mode without person conveying system, in the no person conveying system, the automatic running waggon
2 motor of the pair of wheels are driven including pair of wheels and respectively, can be carried out advancing mobile and be retreated movement, and can
Turn.
Thus, motor is each installed in pair of wheels, thus automatic running waggon be free to be advanced,
Retreat, turn, U-turn.
The mode of the present invention without person conveying system, in the no person conveying system, be provided with by described automatic
Travel waggon or charging unit either one light-emitting device set and infrared rays receiver and in the automatic running waggon or
What any the opposing party of charging unit was set blocks the shutter composition of the light projected from the light-emitting device towards infrared rays receiver
Stopping positioner.
Thus, stopping positioner being provided with no person conveying system, so automatic running waggon can stop at
Charging unit.
In addition, stop positioner by the light-emitting device that is set in either one of automatic running waggon or charging unit and
Infrared rays receiver and blocked what any the opposing party of automatic running waggon or charging unit was set from light-emitting device towards light
The shutter for the light that device projects is formed, and institute is so as to be set to that automatic running waggon can be made accurately with simple structure
The stopping positioner of stopping.
The assembling product system of a mode of the present invention is characterized in that, including foregoing description without person conveying system.
The assembling product system of a mode according to the present invention, using the teaching of the invention it is possible to provide including making automatic running waggon continuous work
The assembling product system without person conveying system.
The assembling product system of the mode of the present invention, in the assembling product system of foregoing description, in charging unit
Near, it is provided with the work of the assembling operation of assembly carried by the progress of programmable controller control in automatic running waggon
Industry robot.
Thereby, it is possible to automatically be carried out in automatic running waggon using the Work robot controlled by programmable controller
The assembling operation of the assembly of carrying.
A mode according to the present invention, has following effects：There is provided make automatic running waggon continuous work nobody is defeated
Send system and assembling product system.
Brief description of the drawings
Fig. 1 shows the embodiment without person conveying system in the present invention, is the entirety knot for indicating no person conveying system
The stereogram of structure.
Fig. 2 is the mian part stereogram for representing the structure of the mounter people in the no person conveying system.
Fig. 3 is the solid of the structure for the rear side for representing the automatic running trolley (platen) in the no person conveying system
Figure.
Fig. 4 is the stereogram of the structure of the face side of automatic running trolley when representing to unload on wall lid.
Fig. 5 is the stereogram of the structure of the side of automatic running trolley when representing to unload on wall lid.
Fig. 6 is to represent to unload on wall lid and represent the automatic running trolley and be just electrically charged the knot of the state of device charging
The front view of structure.
Fig. 7 is the block diagram for the electric system for representing the automatic running trolley.
Fig. 8 is the block diagram for the information network for representing personal computer in the no person conveying system, PLC and charging station.
Fig. 9 is the figure for the communication sequence for representing an example in the no person conveying system.
Figure 10 is the follow-up figure for the communication sequence for representing an example in the no person conveying system.
In the case that Figure 11 (a) (b) represents that smectic thing working procedure of coating is present in 2 positions in the no person conveying system
The figure of corresponding states.
Figure 12 is the block diagram for the structure for representing existing unmanned waggon.
Label declaration
1 without person conveying system
2 operation posts
3 transport paths
4 mounter people (Work robot)
5 personal computers (computer) (control device)
5a judging units
6 infrared transceivers
7 programmable controllers (PLC) (control device)
10 automatic running trolleys (automatic running waggon)
11 trolley bodies
11b loading plates
12a wheels
12b driven wheels
12c motor (movement motor)
14 position detecting devices
14c alarm buzzers
15 LED light
16 trolley side infrared modules (transmitting element)
17 capacitors
17a controls power supply electricity container
17b motor drive electricity container
18 stop positioner
18a infrared lights illuminating part (light-emitting device)
18b infrared lights light accepting part (infrared rays receiver)
20 charging stations (charging unit)
1 communications of 20A/charging station
20a, 20b power supply terminal
2 communications of 20B/charging station
3 communications of 20C/charging station
21 upright arranging plates
22 smooth shutters (shutter)
23 power supplys
25 station side infrared rays communication modules (transmitting element)
30A main substrates
30a, 30b electrified terminal
30B motor drive substrates
35b, 35d voltage detecting circuit (charging amount detection unit)
37 infrared rays (IrDA) transmission circuit (transmitting element)
38 motor drivers
M assemblies
Embodiment
Based on Fig. 1~Figure 11, illustrate one embodiment of the present invention as described below.
Based on Fig. 1 and Fig. 2, illustrate present embodiment without person conveying system 1.Fig. 1 is nobody that represent present embodiment
The integrally-built stereogram of transport system 1.Fig. 2 be represent present embodiment without the mounter people 4 in person conveying system 1
Structure mian part stereogram.In addition, present embodiment is used to automatically assemble using mounter people without person conveying system 1
The automatic package system of small-sized electric product or electronic product.But no person conveying system of the invention is not necessarily limited to be used for
The automatic package system of mounter people is used, additionally it is possible to be equipped in transport path applied to by handwork assembling
The assembling parts of the automatic running waggon of upper automatic running.
As shown in Figure 1, present embodiment includes the transport path 3, defeated that is placed in operation post 2 without person conveying system 1
Path 3 is sent to guide and along 3 automatic running of transport path as the automatic running trolley 10 of automatic running waggon, to automatic
Driving car 10 charge as the charging station 20 of charging unit, mounter people 4 and personal computer 5 (hereinafter referred to as
" computer 5 ".).
Operation post 2 is the operation post without person conveying system 1 for loading present embodiment, in the feelings using mounter people 4
Under condition, it is not required in that or loads the operation post of no person conveying system 1 on the ground.But without using assembling
Robot 4, but by handwork completed knocked down products in the case of, be preferably set to for be seated carry out operation chair combine
Workbench or with being used to stand the operation post 2 such as the workbench of height for carrying out operation.
Here, using small-sized electric product and electronic unit as in the automatic package system of representative, currently, for example there is
Using the turntable index mode of turntable, using transport path this layer of linear index mode and by outside stop pin making
Conveying thing that conveyer is conveying stops, carrying out operation, if operation is completed by stop pin releasing, conveyed again from
By modes such as stream conveyer modes.
In these modes, in order to carry out the power transmission based on special base machine, action limitation, as operation post 2,
It is required to and with the associated operation post of the driving devices such as conveyer.On this point, in present embodiment without person conveying system 1
In, small-sized automatic running trolley 10 is acted in order to be conveyed, so as operation post 2, prepares simple structure
Operation post, that is, enough.
Transport path 3 is for example formed by plastics, and section shape is, for example, uprightly to be provided with 2 flanks in C channel shapes
Shape.But transport path 3 need not must must be such section shape, for example, it can be by as a bar
Shape or wire, multiple rail-likes or one or more wire recesses, make automatic running trolley 10 be drawn along the transport path 3
The section shape led and moved.In addition, material is not limited to the other materials such as plastics or metal.
Additionally it is possible to it is set to be not provided with the structure of transport path 3.For example, it can be by above operation post 2
Lead-out wire, automatic running trolley 10 tracks the lead-out wire, so as to identify the line tracking mode of transport path.In addition, the grade control of computer 5
Device processed can also identify the position of each automatic driving car 10 based on the realtime graphic shot from the top of operation post 2,
Control the mode of the movement of each automatic driving car 10.Here, the mode as the position for identifying each automatic driving car 10, example
Such as can also be in the mode spread all in length and breadth on direction on operation post 2 by infrared ray.
In the present embodiment, transport path 3 is for example annularly set.But this is not necessarily limited to, such as can also wire
Ground is set.In addition it is also possible to multiple paths are set respectively.Further, multiple paths of ring-type and wire can also be set, into one
Step, can also set multiple paths respectively.For example, following operations can also be carried out：Main product is carried out on cricoid transport path 3
The assembling of product, and 2 kinds of miscellaneous parts are carried out on the transport path 3 in 2 paths of the inside for being arranged at cricoid transport path 3
Assembling operation, and when automatic running trolley 10 stops at 2 communications described later/charging station 20B, by mounter people 4
This 2 kinds of miscellaneous parts are assembled into major product.
Charging station 20 is made of the upright arranging plate 21,21 uprightly set relative to one another in both sides along transport path 3,
The upright arranging plate 21,21 is provided with the charging terminal being connected with power supply described later.Therefore, automatic running trolley 10 is in the charging
Stand 20 setting position is electrically charged.In the present embodiment, charging station 20 is for example set at 3 along transport path 3.Therefore, at this
In embodiment, automatic running trolley 10 moves between charging station 20 at 3, it is static at charging station 20 and to capacitance described later
Device charges, and the assembling operation of assembly is carried out during charging station 20 is still in.
Specifically, in the present embodiment, charging station 20 includes 1 communication/charging station 20A, 2 communications/charging station
This 3 charging stations 20 of 20B and 3 communications/charging station 20C.But be not necessarily limited to 3 charging stations 20 or other
Several charging stations 20.
Mounter people 4 is when automatic running trolley 10 stops at defined charging station 20 to charge, automatically
Into the mounter people for being about to various parts and being assembled into the operation for the assembly such as electric product for being equipped on automatic running trolley 10.
In the present embodiment, mounter people 4 is respectively arranged at 1 communication/charging station 20A and 2 communications/charging station
The side of 20B, carries out in 1 communication/charging station 20A and 2 communications/chargings of the charging station 20B to automatic running trolley 10
Assembling product, and finished product recycling is carried out by handwork in the stopping of 3 communications/charging station 20C, and pass through craft
Next assembling is equipped on automatic running trolley 10 by operation with product.This way it is not necessary to must be with charging station 20 one to one
Mounter people 4 is set.
As shown in Fig. 2, mounter people 4 has pillar 4a, arm 4b and tentacle portion 4c, based on from described later programmable
Controller (hereinafter referred to as " PLC ".) instruction, into the defined position etc. for being about to electronic unit and being automatically installed to assembly
Operation.Specifically, for example, automatically carrying out following assembling operations etc.：Turn in the arm 4b for making to be made of multi-joint and
Decline, captured with tentacle portion 4c after the component (not shown) such as screw that side is accumulated, arm 4b is risen and is reversely turned
It is curved, after aligning the defined position of the screw and assembly, screwed togather with assembly.
As shown in Figure 1, computer 5 is played function as the control device of the present invention, including computer body, monitor and key
Disk, side and automatic running trolley 10 and plc communication, side carry out control described later.
Then, based on Fig. 3~Fig. 6, the structure of automatic running trolley 10 is illustrated.Fig. 3 is indicated in no person conveying system 1
The stereogram of the structure of the rear side of automatic running trolley 10.Fig. 4 is automatic running trolley when representing to unload wall lid 11a
The stereogram of the structure of 10 face side.Fig. 5 is the side of the automatic running trolley 10 when representing to unload wall lid 11a
The stereogram of structure.Fig. 6 is to unload wall lid 11a and represent the shape that automatic running trolley 10 just charging in charging station 20
The front view of the structure of state.
As shown in figure 3, such as appearance with cylindrical shape, including covering wall of automatic running trolley 10 of present embodiment
Trolley body 11 around cover 11a, pair of wheels 12a, 12a for being installed in the downside of trolley body 11 and 2 pairs from
Driving wheel 12b, 12b and the discoid loading plate 11b installed to load assembly M in the upside of trolley body 11.
The size of automatic running trolley 10 is, for example, diameter 100mm × height 100mm, can convey the assembly of about 800g
The weight of M etc..
The back side of the wall lid 11a of the trolley body 11 is provided with power switch 13, can be by the way that power supply be opened
Close 13 to connect, automatic running trolley 10 is set to working status.
As shown in figure 4, the inside of trolley body 11 is driven by forming main substrate 30A above and forming following motor
Move substrate 30B and uprightly set between corner and center between these main substrates 30A and motor drive substrate 30B
5 pillar 11c form basic framework.
Face side in the inside of trolley body 11, including the position detecting device (PSD for collision free：
Position Sensitive Detector) 14 and display automatic running trolley 10 state LED light 15.Position detection fills
Putting 14 includes phototransistor 14a described later, the anti-collision sensor 14b being made of line sensor and is sensed by anticollision
The alarm buzzer of device 14b ring alarms when being changed into the distance of other automatic running trolleys 10 within distance set in advance
14c.LED light 15 shows the state of automatic running trolley 10, is lighted by the red colored lamp 15a that is lighted in exception and when normal
Green light 15b is formed.
Side in the inside of trolley body 11, is provided with the trolley side infrared ray mould to communicate with charging station 20
Block 16.
In addition, as shown in the Fig. 5 observed from the opposite side of the inside of trolley body 11, in trolley body 11
Portion, the electricity for be provided with and drive motor 12c, 12c of wheel 12a, 12a respectively, rotation control being carried out to each motor 12c, 12c
Motivation drive substrate 30B and the capacitor 17 for supplying motor driving power to each motor 12c, 12c.In this implementation
In mode, capacitor (capacitor) 17 is by controlling power supply electricity container 17a to 1 of main substrate 30A supply electric powers and using
In 2 motor driving electricity container 17b, 17b to each motor 12c, 12c supply motor driving power, this is 3 total
Columned capacitance (condenser) is formed.
Here, capacitor 17 is different from secondary cell (storage battery), is not to accumulate electric energy by the chemical reaction of electrode, and
It is by ionic molecule accumulated charge.Therefore, deterioration is few caused by discharge and recharge, the deterioration of the electrode near proof voltage, electrolyte
The deterioration of ionic molecule only exists on a small quantity on long terms, can realize very more charge and discharge cycles.In addition, proof voltage is low, and
And the voltage that can be charged is up to several V or so, so, it is necessary to be connected in series in the case of needs are high-tension.Further, it is electric
Container (capacitor) 17 is capacitance (condenser), so while self-discharge, electric charge loses with the time, with passing through
The secondary cell (storage battery) of chemical reaction accumulation electricity is short compared to the time for being capable of electric power storage.On the other hand, it is not necessary to chemically react,
So the reaction being charged and discharged is fast, internal resistance is also few, therefore can carry out the discharge and recharge of high current.Due to not being chemical anti-
Should, so the voltage of discharge and recharge is non-constant, point-blank change in the scope from 0V to 2V or untill 2.5V.
Present embodiment is that automatic running trolley 10 for example probably stops 3 seconds in charging station 20 without person conveying system 1, is moved
System 1 second dynamic.
As shown in fig. 6, being provided with electrified terminal 30a, 30b for charging above main substrate 30A, charging
Power supply terminal 20a, the 20b for 20 brush set of standing are contacted with electrified terminal 30a, 30b, thus allow for charging.In addition,
In present embodiment, electrified terminal 30a, 30b are provided with above main substrate 30A.But this is not necessarily limited to, for example, can also
It is enough that in the bottom surface of automatic running trolley 10, electrified terminal 30a, 30b are set.In this case, power supply terminal 20a, 20b for example exists
Be provided with the transport path 3 of charging station 20 and pre-set 2 and movably supply electrical spring, so as to make the electrified terminal 30a,
30b contact power supplies.In addition, not necessarily have to be contact power supply can not or wireless power.
In addition, as shown in fig. 6, the middle section position in the two sides of trolley body 11 is provided with stopping positioner
18.The stopping positioner 18 is infrared by the infrared light illuminating part 18a that is set in upside and with being set with gap in downside
Light light accepting part 18b is formed, and irradiates infrared light from the infrared light light accepting part 18b of infrared light illuminating part 18a towards the downside of upside.Separately
On the one hand, the light shutter 22 of oriented side extension is set in charging station 20.Therefore, charging station is passed through in automatic running trolley 10
During 20, infrared light is blocked by the light shutter 22, so that automatic running trolley 10 reaches the situation quilt of charging station 20
Detect, automatic running trolley 10 stops at the position of the charging station 20.
In addition, in the present embodiment, positioner 18 will be stopped as infrared light illuminating part 18a and infrared light light accepting part
The detection device of infiltration type opposite 18b is illustrated.But this is not necessarily limited to, for example, it can be infrared light illuminating part
18a and infrared light light accepting part 18b are located at homonymy, and there is provided opposite with infrared light illuminating part 18a and infrared light light accepting part 18b anti-
Penetrate the stopping positioner 18 of the reflection mode of plate.
Then, based on Fig. 7, the charging system in the automatic running trolley 10 of present embodiment is illustrated.Fig. 7 is to represent automatic
The block diagram of the electric system of driving car 10.
As shown in fig. 7, in present embodiment without in the main substrate 30A in person conveying system 1, including anti-reverse connection electricity
Road 31, reduction voltage circuit 32, capacitator charging circuit 33a, 33b, power switch connector 34,2 booster circuit 35a, 35a, works
For voltage detecting circuit 35b, 35d, MPU36 and infrared ray (IrDA) transmission circuit 37 of the amount detection unit that charges.
In addition, motor driver 38,38 is provided with motor drive substrate 30B.
Further, power supply 23, the stabilized power supply 24 for charging to capacitor 17 are provided with charging station 20
With power supply terminal 20a, 20b.
Between the charging station 20 and automatic running trolley 10, if automatic running trolley 10 stops at charging station 20, by
Stabilized power supply 24 is converted to the constant voltage of stable direct current from the power supply 23 being for example made of exchange of charging station 20, from confession
Electric terminal 20a, 20b are supplied to electrified terminal 30a, 30b of automatic running trolley 10.Main substrate in automatic running trolley 10
30A such as will pass through reduction voltage circuit 32 by the powered electric power of electrified terminal 30a, 30b after anti-reverse connection circuit 31
Voltage 12V is dropped into voltage 5V.On the one hand voltage 5V fills control power supply electricity container 17a by capacitator charging circuit 33a
Electricity.In addition, on the other hand, by capacitator charging circuit 33b to motor driving electricity container 17b, 17b charging.That is, in this reality
Apply in mode, motor 12c, 12c are respectively arranged with to pair of wheels 12a, 12a, so in order to each motor 12c, 12c
Power supply, is provided with 2 motor driving electricity container 17b, 17b.Control power supply electricity container 17a and motor driving
Electricity container 17b, 17b can for example be charged to capacity 50F with voltage 2.7V in the present embodiment.In addition, be electrically charged
On the one hand electric power is supplied to MPU36 by power switch connector 34 and booster circuit 35a, electricity is received and dispatched for infrared ray (IrDA)
The electric power of road 37 and alarm buzzer 14c etc..In this case, in booster circuit 35a, such as voltage 2.6V is made to boost to electricity
5V is pressed, is supplied to equipment, the i.e. MPU36 of control.The voltage is detected by voltage detecting circuit 35b.
On the other hand, by the electric power of motor driving electricity container 17b, 17b charging by power switch connector 34 and
Booster circuit 35c is supplied to motor driver 38 and motor 12c, 12c.As the driving power of motor 12c, 12c, example
Voltage 5.2V is such as set to boost to voltage 6V and be supplied to motor driver 38 and motor 12c, 12c.The voltage is examined by voltage
Slowdown monitoring circuit 35d is detected.
Then, illustrate to implement the computer 5 without the overall control in person conveying system 1 of present embodiment, reality based on Fig. 8
Apply the PLC respectively acted and automatic running trolley 10 in each manufacturing operation when each charging station 20 stops and charged
Relation.Fig. 8 is the information communication for indicating computer 5 in no person conveying system 1, PLC, charging station 20 and automatic running trolley 10
The block diagram of network.Furthermore in fig. 8, omit the communication control net of 3 communications/charging station 20C.In addition, in present embodiment
In, automatic running trolley 10 is for example by conveying 2.But in the present embodiment, in order to illustrate simplification and by automatic running
Trolley 10 is set to 2, but is not necessarily limited to this, and many automatic running trolleys 10 can be conveyed on transport path 3.
As shown in figure 8, in present embodiment without in person conveying system 1, from computer 5 via infrared transceiver 6 and the 1st
The station side infrared rays communication module 25 of communication/charging station 20A, 2 communications/charging station 20B and 3 communications/charging station 20C
Communicate.In addition, from computer 5 via programmable controller (PLC) 7 and 1 communication/charging station 20A, 2 communications/charging station
20B and 3 communications/charging station 20C are for example communicated with LAN cables.The order is, for example, to travel order, trolley
ID, voltage, running time etc..In addition, communicate/fill from 1 communication/charging station 20A, 2 communications/charging station 20B and the 3rd
The station side infrared rays communication module 25 of power station 20C is communicated with trolley side infrared module 16.Furthermore in this embodiment party
In formula, communicated using infrared ray, but be not necessarily limited to this, additionally it is possible to used and include bluetooth (Bluetooth) (registration mark)
Deng wireless near field communication including other communication means.
Computer 5 and infrared transceiver 6,6 by with USB or cable connection, and the communication of infrared transceiver the 6,6 and the 1st/
Each station side infrared rays communication module 25 of charging station 20A, 2 communications/charging station 20B and 3 communications/charging station 20C are had
Line connects.In addition, received and sent messages from charging station 20 to automatic running trolley 10 using infrared communication.Based on infrared communication
Information is, for example, the trolley ID of automatic running trolley 10, voltage, driving conditions, traveling order.
In addition, for make the action command that mounter people 4 acts by via programmable controller (PLC) 7 from trolley side
Infrared module 16 is sent to mounter people 4.
Then, illustrate to assemble the group such as electric knife without person conveying system 1 with present embodiment based on Fig. 9~Figure 10
Communication system in the case of piece installing M.Fig. 9 is an example for indicating the communication sequence in no person conveying system 1.Figure 10 be indicate without
The figure of an example of the communication sequence of an example in person conveying system 1, represents the follow-up communication sequence of described Fig. 9.
As shown in figure 9, first, press the power switch 13 of automatic running trolley 10.Then, automatic running trolley 10 is carried
It is placed in the defined position of transport path 3.Thus, automatic running trolley 10 starts to move, and it is logical to be automatically moved to the 1st
Untill letter/charging station 20A.Furthermore if close to 1 communication/charging station 20A, automatic running trolley 10 carries out deceleration processing, lead to
Stopping positioner 18 is crossed, during automatic running trolley 10 is by 1 communication/charging station 20A, infrared light is blocked by light
Plate 22 blocks, so that the situation that automatic running trolley 10 reaches 1 communication/charging station 20A is detected, automatic running trolley
10 stop at the position of 1 communication/charging station 20A.
If automatic running trolley 10 reaches 1 communication/charging station 20A, automatic running trolley 10 sends out information at this time
It is sent to computer 5.Specifically, ID, error code, the capacity of capacitor 17, state are sent.If computer 5 receives the information,
Identical content is sent to programmable controller (PLC) 7 immediately.Thus, programmable controller (PLC) 7 sends out control signal
Mounter people 4 is sent to, carries out the defined assembling installation exercise of 1 communication/charging station 20A.
If the end of job of the mounter people 4 based on programmable controller (PLC) 7, programmable controller (PLC) 7
Signal is completed into action and is sent to computer 5.Thus, the data such as by move, moving parameter, job state of computer 5 are sent out
It is sent to automatic running trolley 10.
Thus, automatic running trolley 10 is moved.Then, untill being automatically moved to 2 communications/charging station 20B.Again
Person, if close to 2 communications/charging station 20B, automatic running trolley 10 carries out deceleration processing, by stopping positioner 18,
During automatic running trolley 10 is by 2 communications/charging station 20B, infrared light is blocked by light shutter 22, so that automatic row
Sail trolley 10 and reach the situation of 2 communications/charging station 20B and be detected, automatic running trolley 10 stops at the 2nd and communicates/fill
The position of power station 20B.
If automatic running trolley 10 reaches 2 communications/charging station 20B, automatic running trolley 10 sends out information at this time
It is sent to computer 5.Specifically, ID, error code, the capacity of capacitor 17, state are sent.If computer 5 receives the information,
Identical content is sent to programmable controller (PLC) 7 immediately.Thus, programmable controller (PLC) 7 sends out control signal
Mounter people 4 is sent to, carries out the defined assembling installation exercise of 2 communications/charging station 20B.
If the end of job of the mounter people 4 based on programmable controller (PLC) 7, programmable controller (PLC) 7
Signal is completed into action and is sent to computer 5.Thus, computer 5 for example will right-hand bend instruction, the transmission of right-hand bend parameter, job state
To automatic running trolley 10.
Thus, the loading plate 11b of automatic running trolley 10 turns right.Specifically, for example, by using electricity (not shown)
Motivation rotates loading plate 11b, and loading plate 11b turns right in the position of 2 communications/charging station 20B.That is, by making loading plate
11b turns, and the direction of assembly M changes, and in the position for changing its direction, mounter people 4 carries out defined operation.Again
Person, in the present embodiment, in the case where automatic running trolley 10 is present on cricoid transport path 3, loading plate 11b can
Turn, U-turn.But such as on the transport path 3 of straight line, by deviateing the transport path 3 of the straight line, make automatic row
Motor 12c, 12c rotation reversely with each other of trolley 10 are sailed, so as to make the automatic running trolley 10 in 2 communications/charging
Stand 20B position turn, U-turn.
Furthermore in the turning of loading plate 11b, if stopping close to turning, loading plate 11b is also to carry out at deceleration
Stop after reason.
As shown in Figure 10, terminate if turning, information at this time is sent to computer 5 by automatic running trolley 10.It is specific and
Speech, sends ID, error code, the capacity of capacitor 17, state.If computer 5 receives the information, immediately by identical content
It is sent to programmable controller (PLC) 7.Thus, programmable controller (PLC) 7 sends control signals to mounter people 4,
Carry out the defined assembling installation exercise of 2 communications/charging station 20B under turn condition.
Then, if the defined assembling installation exercise of 2 communications/charging station 20B under turn condition terminates, may be programmed
Controller (PLC) 7 will act completion signal and be sent to computer 5.Thus, computer 5 for example will turn left instruction, left-hand bend parameter,
Job state is sent to automatic running trolley 10.
Thus, loading plate 11b turns left in the position of 2 communications/charging station 20B.That is, loading plate 11b is turned, recover
To original state.
Furthermore when making the turning of automatic running trolley 10 return to original state, if stopping close to turning, automatic row
It is also to stop after deceleration processing has been carried out to sail trolley 10.
If automatic running trolley 10 reverts to original state, automatic running trolley 10 in 2 communications/charging station 20B
Information at this time is sent to computer 5.Specifically, ID, error code, the capacity of capacitor 17, state are sent.Computer 5 connects
Receive the information.Thus, programmable controller (PLC) 7 confirms situation about having terminated of turning left.
Then, if the end of job of the mounter people 4 when being based on the turning of programmable controller (PLC) 7, may be programmed
Controller (PLC) 7 will act completion signal and be sent to computer 5.Thus, computer 5 is for example by move, moving parameter, operation
State is sent to automatic running trolley 10.
Thus, automatic running trolley 10 is moved.Then, untill being automatically moved to 3 communications/charging station 20C.Again
Person, if close to 3 communications/charging station 20C, automatic running trolley 10 carries out deceleration processing, by stopping positioner 18,
During automatic running trolley 10 is by 3 communications/charging station 20C, infrared light is blocked by light shutter 22, so that automatic row
Sail trolley 10 and reach the situation of 3 communications/charging station 20C and be detected, automatic running trolley 10 stops at the 3rd and communicates/fill
The position of power station 20C.
If automatic running trolley 10 reaches 3 communications/charging station 20C, automatic running trolley 10 sends out information at this time
It is sent to computer 5.Specifically, ID, error code, the capacity of capacitor 17, state are sent.If computer 5 receives the information,
Confirm all to make situation about already having terminated.
Furthermore if automatic running trolley 10 reaches 3 communications/charging station 20C, by handwork from automatic running platform
Car 10 takes out the assembly M after assembling.Then, the assembly M before new assembling is carried to automatic running trolley 10.
Here, in foregoing explanation, illustrate automatic running trolley 10 with 1 communication/charging station 20A, the 2nd communication/
The situation about sequentially travelling of charging station 20B and 3 communications/charging station 20C.But this is not necessarily limited to, such as can also tie
After the beam operation of 2 communications/charging station 20B, implement other processes back to 1 communication/charging station 20A.
In addition, in foregoing explanation, loading plate 11b is turned in 2 communications/charging station 20B, but be not necessarily limited to this,
Can turn in 1 communication/charging station 20A and implement other processes.
Further, in foregoing explanation, loading plate 11b is only carried out 1 time in 2 communications/charging station 20B and turn, instead
To turning, but be not necessarily limited to this, can repeatedly be turned, U-turn, and can make automatic running trolley 10 without
Any action ground passes through charging station 20.
In addition, in the present embodiment, action only substantially is completed signal for programmable controller (PLC) 7 and trolley is sent out
These simple signals of dynamic signal are sent to computer 5.Thus, computer 5 makes automatic row based on having preset the data how to start
Trolley 10 is sailed to start.But this is not necessarily limited to, for example, can also be at the time of whole operations in multiple charging stations 20 be completed
Simultaneously move automatic running trolley 10.
As above-mentioned, present embodiment without person conveying system 1, using the automatic running as automatic running waggon
Trolley 10 without in person conveying system, including the charging as multiple charging units being provided independently from automatic running trolley 10
Stand 20, and automatic running trolley 10 is included in the capacitor 17 and carried out sufficient power from capacitor 17 that charging station 20 charged
Motor 12c, 12c as movement motor of power supply driving.
Currently, it is necessary to the battery for driving automatic running waggon be carried, so not in this no person conveying system
It can realize miniaturization and cheap.In addition, the storage battery for the battery for carrying out electric power storage as the electric power to large capacity needs for a long time
Charging interval, so when wanting to make automatic running waggon to work, it is difficult to continuous work always.
Therefore, in present embodiment without in person conveying system 1, including it is provided independently from automatic running trolley 10 more
A charging station 20, and automatic running trolley 10 is included in the capacitor 17 and carried out self-capacitance that charging station 20 charged
Motor 12c, 12c as movement motor of the power supply driving of device 17.
That is, capacitor (capacitor) 17 is capacitance (condenser), with secondary cell (storage battery：So-called battery) no
Together, it is not that electric energy is accumulated by the chemical reaction of electrode, but by ionic molecule accumulated charge.It therefore, there is no need to chemically react,
So the reaction being charged and discharged is fast, and internal resistance is also few, therefore can carry out the discharge and recharge of high current.Therefore, it is possible to
Make motor 12c work, and discharge and recharge can the number of occurrence it is also more than secondary cell.
Therefore, as no person conveying system 1, if being set to include capacitor 17, and charging station 20 is set at multiple positions,
Charge in a charging station 20 to capacitor 17, automatic running trolley 10, can be transported to by the capacitance to have been charged using this
System untill next charging station 20, then become be capable of continuous work without person conveying system 1.
If for example, this to be used as to the product group wiring at workshop without person conveying system 1, a series of work can be carried out continuously
Sequence so that carry out charging and the operation of an assembling procedure in the setting place of a charging station 20, be then moved to next
Charging and the operation of next assembling procedure are carried out untill the setting place of charging station 20.
Therefore, it is possible to provide make 10 continuous work of automatic running trolley without person conveying system 1.
More specifically, as shown in Figure 11 (a), if the base machine of synchronous interlock type is arranged in order according to process sequence,
It then can obtain multiple smectic thing working procedure of coating.In this case, in present embodiment without in person conveying system 1, such as Figure 11 (b)
It is shown, by the way that transport path 3 is set 2 systems, smectic thing working procedure of coating can be carried out at a position.Therefore, it is possible to keep away
Exempt to carry out same treatment process at 2 positions, can realize the reduction of sharedization and processing space of process.Furthermore it is possible to
Carry out free process configurations.
Further, even if addition there are process, deleting, also can easily and inexpensively tackle.Therefore, can be according to customer
Requirement, ensure the manufacture of appropriate profit with a small amount of produce.
Additionally it is possible to the number of units by increasing automatic running trolley 10, improves production capacity.
Further, it is cheap compared with special base machine, and can easily tackles the variation of process.Therefore,
Variation, multi items production etc. on a small quantity of order can neatly be tackled.
In addition, in the present embodiment without the computer 5 in person conveying system 1, being provided with as control device, the control
Device is controlled so that automatic running trolley 10 is stopped at the setting position of charging station 20 and in the charging station 20 to electricity
It is next at this again untill the setting position for being moved to next charging station 20 that should be charged after container 17 charges
The charging station 20 that should be charged charges capacitor 17.I.e., in the present embodiment, computer 5 exports automatic running trolley
10 movement directive.
Thus, the charging and movement that computer 5 can be to automatic running trolley 10 are managed concentratedly.
Furthermore in the preamble, be set to it is next should charge charging station 20 the reasons why be, for example, in this reality
Apply in mode, in the case of there is provided multiple charging stations 20, it is not necessary to must charge in adjacent charging station 20.It is specific and
Speech, additionally it is possible to which after the charging of some charging station 20, the charging station 20 3 destinations charges.In this case, for example, passing through
The stopping positioner 18 for having passed through charging station 20 is counted several times, can be charged in desired charging station 20.
In addition, in the present embodiment without the mobile road in person conveying system 1, being provided with guiding automatic running trolley 10
The transport path 3 in footpath.
Thus, automatic running trolley 10 is guided and moved by transport path 3, so as to reliably along setting road
Footpath, i.e. transport path 3 move.
In addition, in the present embodiment without in person conveying system 1, if including automatic running trolley 10 stop at should be into
The setting position of the charging station 20 of row charging, then set in electrified terminal 30a, 30b of the setting of charging station 20 and in charging station 20
Power supply terminal 20a, 20b contact and the mechanism that charges.Specifically, the mechanism is for example by stopping automatic running trolley 10
Terminate in the setting stopping positioner 18 of position of charging station 20, electrified terminal 30a, 30b and with movably for electrical spring etc.
Power supply terminal 20a, 20b form.
Thus, if automatic running trolley 10 stops at the setting position for the charging station 20 that charge, automatic
Driving car 10 set electrified terminal 30a, 30b and charging station 20 set power supply terminal 20a, 20b automatically contact and
Charge.
In addition, in the present embodiment without in person conveying system 1, automatic running trolley 10 includes sensing capacitor 17
Charge volume is detected as voltage detecting circuit 35b, 35d of charging amount detection unit, by the voltage detecting circuit 35b, 35d
The charge volume of capacitor 17 infrared ray (IrDA) transmission circuit as transmitting element of computer 5 is sent to via charging station 20
37 and trolley side infrared module 16 and station side infrared rays communication module 25.
Thus, automatic running trolley 10 detects the charge volume for the capacitor 17 that voltage detecting circuit 35b, 35d are detected, and
And the charge volume of the capacitor 17 is infrared by infrared ray (IrDA) transmission circuit 37 and trolley side infrared module 16 and station side
Line communication module 25 is sent to charging station 20, is further transmitted to computer 5.As a result, programmable controller (PLC) 7 can hold
Untill can judgement of changing places be moved to next charging station 20.
In addition, in the present embodiment without in person conveying system 1, automatic running trolley 10 is reaching charging station 20
When, by the situation for having reached charging station 20, traveling time, failure diagnosis information and check that information is sent via transmitting element
To computer 5.Thus, programmable controller (PLC) 7 can interpolate that in automatic running trolley 10 with the presence or absence of abnormal.Furthermore
In present embodiment, it is assumed that carry out whole judgements by computer 5, but be not necessarily limited to this, additionally it is possible to be set to by automatic running trolley 10
Carry out foregoing judgement.
In addition, in the present embodiment without in person conveying system 1, transmitting element is transmitted by infrared communication.
Thereby, it is possible to carry out cheap and few power consumption wireless communication.
In addition, in the present embodiment without in person conveying system 1, computer 5 includes judging to send out from automatic running trolley 10
The charge volume of the capacitor 17 sent whether be the traveling that can be achieved untill next charging station 20 that should be charged amount
Judging unit 5a.
Thus, computer 5 can judge the charge volume of the capacitor 17 sent from automatic running trolley 10 with judging unit 5a
Whether be the traveling that can be achieved untill next charging station 20 that should be charged amount.I.e., in the present embodiment, may be used
Programmable controller (PLC) 7 monitors the charge volume of the condenser voltage in automatic running trolley 10 etc., is confirming wheeled voltage
On the basis of judge to convey.
Therefore, the situation untill automatic running trolley 10 cannot move into next charging station 20 that should be charged disappears
Remove.
Furthermore in the present embodiment, it has been observed that judging unit 5a judge automatic running trolley 10 whether be can be achieved to
The amount of traveling untill next charging station 20 that should be charged.But this is not necessarily limited to, for example, can also note in advance
The distance of volume untill next charging station 20 that should be charged etc., makes charge volume needed for judging unit 5a judgements.In addition,
Can also predefine can realize the charge volume of 1 second traveling, judge whether to have reached the charge volume.
In addition, in the present embodiment without in person conveying system 1, automatic running trolley 10 include pair of wheels 12a,
12a and 2 motor 12c, 12c for driving the pair of wheels 12a, 12a respectively, can carry out advancing mobile and retreat movement, and
And it can turn.
Thus, for automatic running trolley 10, motor 12c, 12c are separately installed with pair of wheels 12a, 12a,
It is free to be advanced, retreats, turns, U-turn.
In addition, in the present embodiment without being provided with person conveying system 1 by automatic running trolley 10 or charging station
Either one of 20 be provided as the infrared light illuminating part 18a of light-emitting device and infrared light light accepting part 18b as infrared rays receiver,
Any the opposing party of automatic running trolley 10 or charging station 20 set block from infrared light illuminating part 18a towards infrared light by
The stopping positioner 18 that the light shutter 22 as shutter for the light that light portion 18b is projected is formed.
Thus, automatic running trolley 10 can stop at charging station 20.
In addition, stop positioner 18 by being provided as shining in either one of automatic running trolley 10 or charging station 20
The infrared light illuminating part 18a of device and infrared light light accepting part 18b as infrared rays receiver, in automatic running trolley 10 or charging station
What 20 any the opposing party was set blocks from infrared light illuminating part 18a towards the conduct of the infrared light light accepting part 18b light projected screening
The light shutter 22 of baffle is formed.Accordingly, it is capable to enough simple structures are set to accurately stop automatic running trolley 10
Stopping positioner 18 only.Furthermore in the present embodiment, during stopping before positioning, by using make motor 12c,
Short-circuit brake short-circuit on circuit 12c, the reduction and the contracting of dwell time that the stop position before being positioned disperses
It is short.
In addition, assembling product system in present embodiment include present embodiment without person conveying system 1.
Thereby, it is possible to provide the assembling product system without person conveying system 1 including making 10 continuous work of automatic running trolley
System.
In addition, in assembling product system in the present embodiment, near charging station 20, mounter people is provided with
4, as the assembling operation for being controlled by programmable controller (PLC) 7 and being carried out the assembly M carried in automatic running trolley 10
Work robot.
Thus, using the mounter people 4 controlled by programmable controller (PLC) 7, can automatically carry out in automatic row
Sail the assembling operation of the assembly M of the carrying of trolley 10.
Furthermore the present invention is not limited to above-mentioned each embodiment, can be carried out respectively in the scope represented by claims
Kind change, by the appropriately combined obtained embodiment of disclosed technological means is also contained in this respectively in various embodiments
The technical scope of invention.
Claims (11)
1. a kind of without person conveying system, be used automatic running waggon without person conveying system, it is characterised in that
Including the multiple charging units being provided independently from the automatic running waggon, also,
The automatic running waggon includes the capacitor to be charged with the charging unit and by from the capacitor
The movement motor of power supply driving.
2. as claimed in claim 1 without person conveying system, it is characterised in that
Control device is provided with, the control device, which is controlled such that, makes the automatic running waggon stop at described fill
The setting position of electric installation and after being charged with the charging unit to the capacitor, move the automatic running waggon
Move untill the setting position of next charging unit that should be charged, again with this it is next should charge fill
Electric installation charges the capacitor.
3. as claimed in claim 1 or 2 without person conveying system, it is characterised in that
It is provided with the transport path for the mobile route for guiding the automatic running waggon.
4. as claimed in claim 2 without person conveying system, it is characterised in that
If stopping at the setting position for the charging unit that charge including the automatic running waggon, make described
The electrified terminal that automatic running waggon is set and the machine to charge in the power supply terminal contact that the charging unit is set
Structure.
5. as claimed in claim 2 without person conveying system, it is characterised in that
The automatic running waggon includes：Charge amount detection unit, detects the charge volume of the capacitor；And send single
Member, the charge volume for the capacitor which is detected are sent to the control via the charging unit and fill
Put.
6. as claimed in claim 5 without person conveying system, it is characterised in that
The transmitting element is transmitted by infrared communication.
7. as described in claim 5 or 6 without person conveying system, it is characterised in that
The control device include judge from automatic running waggon transmission the capacitor charge volume whether be can be real
The now judging unit of the amount of the traveling untill next charging unit that should be charged.
8. as any one of claim 1 to 7 without person conveying system, it is characterised in that
The automatic running waggon includes pair of wheels and drives 2 motor of the pair of wheels respectively, before can carrying out
Into mobile and retrogressing movement, and can turn.
9. such as no person conveying system described in any item of the claim 1 to 8, it is characterised in that
Be provided with light-emitting device by being set in either one of the automatic running waggon or charging unit and infrared rays receiver and
Filled in blocking from the light-emitting device towards light for any the opposing party of the automatic running waggon or charging unit setting
Put the stopping positioner that the shutter of the light of injection is formed.
A kind of 10. assembling product system, it is characterised in that
Any one of them including claim 1~9 is without person conveying system.
11. assembling product system as claimed in claim 10, it is characterised in that
Near the charging unit, it is provided with and is controlled by programmable controller and carried out what is carried in automatic running waggon
The Work robot of the assembling operation of assembly.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-204710 | 2016-10-18 | ||
| JP2016204710A JP2018067110A (en) | 2016-10-18 | 2016-10-18 | Unmanned Conveyance System and Product Assembly System |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107954162A true CN107954162A (en) | 2018-04-24 |
Family
ID=61953540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710845588.4A Pending CN107954162A (en) | 2016-10-18 | 2017-09-19 | Without person conveying system and assembling product system |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2018067110A (en) |
| CN (1) | CN107954162A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109008806B (en) * | 2018-06-25 | 2023-06-20 | 东莞市光劲光电有限公司 | Floor sweeping robot positioning system and method based on LED intelligent lamp positioning |
| CN113386608B (en) * | 2021-06-30 | 2023-05-12 | 钟求明 | Automatic driving automobile-based charging overall ranking method and intelligent charging station |
| CN113894537B (en) * | 2021-10-11 | 2023-02-28 | 常州富鸿达电子有限公司 | Automatic buzzer assembling machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010055183A (en) * | 2008-08-26 | 2010-03-11 | Nippon Yusoki Co Ltd | Automatic conveyance system |
| CN101925869A (en) * | 2008-01-31 | 2010-12-22 | 丰田自动车株式会社 | The charging management method of automatic guided vehicle and system |
| CN103692923A (en) * | 2012-09-27 | 2014-04-02 | 中西金属工业株式会社 | Self-propelled conveyor system as power supply by capacitor and secondary battery |
| CN204777053U (en) * | 2015-07-02 | 2015-11-18 | 北京中科奥特自动化设备有限公司 | Automatic logistics system of flexible manufacturing |
| CN105874482A (en) * | 2013-10-25 | 2016-08-17 | 力拓艾尔坎国际有限公司 | System for managing logistics flows in an electrolysis plant, aluminum smelter comprising the system, vehicle for using the system, and method for introducing said system into a pre-existing electrolysis plant |
-
2016
- 2016-10-18 JP JP2016204710A patent/JP2018067110A/en not_active Abandoned
-
2017
- 2017-09-19 CN CN201710845588.4A patent/CN107954162A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101925869A (en) * | 2008-01-31 | 2010-12-22 | 丰田自动车株式会社 | The charging management method of automatic guided vehicle and system |
| JP2010055183A (en) * | 2008-08-26 | 2010-03-11 | Nippon Yusoki Co Ltd | Automatic conveyance system |
| CN103692923A (en) * | 2012-09-27 | 2014-04-02 | 中西金属工业株式会社 | Self-propelled conveyor system as power supply by capacitor and secondary battery |
| CN105874482A (en) * | 2013-10-25 | 2016-08-17 | 力拓艾尔坎国际有限公司 | System for managing logistics flows in an electrolysis plant, aluminum smelter comprising the system, vehicle for using the system, and method for introducing said system into a pre-existing electrolysis plant |
| CN204777053U (en) * | 2015-07-02 | 2015-11-18 | 北京中科奥特自动化设备有限公司 | Automatic logistics system of flexible manufacturing |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2018067110A (en) | 2018-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106314594B (en) | A kind of storage transfer robot for modern logistics industry | |
| CN110545953B (en) | Conveying system and method for simultaneously transporting workpieces and workers | |
| CN103507659B (en) | Management system embedded in industrial vehicle | |
| CN106708045A (en) | Large heavy-duty unmanned navigation intelligent electric flat carriage with automatic correction function | |
| EP2974992B1 (en) | Tyre-type gantry crane for receiving supply of power in contactless fashion | |
| CN102707718B (en) | Automatic guidance system controls the communication means of industrial vehicle | |
| CN206400350U (en) | A kind of unmanned navigation intelligent electric flatcar of large-scale heavy duty formula with automatic deviation rectifying function | |
| CN107954162A (en) | Without person conveying system and assembling product system | |
| US20060273756A1 (en) | Opportunity charging system for battery powered mining equipment | |
| EP2744741B1 (en) | Mobile part | |
| CN103038975A (en) | Systems and methods for automatic connection and charging of an electric vehicle at a charging station | |
| CN107444823A (en) | A kind of intelligent Shuttling trolley applied to piler | |
| CN206336351U (en) | A kind of trackless self-aiming transport vehicle | |
| CN108147322A (en) | A kind of laser navigation formula fork truck | |
| CN208037952U (en) | A kind of electronic unpiloted fork truck | |
| CN113302111A (en) | Transport device, processing plant, method for transporting and/or processing objects | |
| CN202694147U (en) | Automatic guided vehicle and driving control system of automatic guided vehicle | |
| CN113733968A (en) | Electric vehicle battery replacing system, battery replacing station and battery replacing method | |
| CN113272216A (en) | Transport method and transport device | |
| CN209719283U (en) | Charge robot | |
| CN107985447A (en) | A kind of AGV cars and its control method with manipulator | |
| CN209765333U (en) | AGV commodity circulation delivery system | |
| CN207529213U (en) | The feed system of intelligent unmanned surface treatment workshop | |
| CN108628325A (en) | Control method, device and the automatic guided vehicle of automatic guided vehicle | |
| CN106354142A (en) | Intelligent transportation system based on Internet of Things and application |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180424 |