JP2003118825A - Safety gear for conveyor device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To secure safety for workers by accurately discriminating vehicle bodies from the workers and detecting the workers. SOLUTION: The safety gear 4 comprises first sensors PS1, PS2 second sensors PS3, PS4 for detecting the location and shape of the vehicle body W to be carried by a conveyor device 1 within a safety fence 3 and an upper side sensor LC1 and a lower side sensor LC2 arranged at two places on the upper and lower sides for detecting the worker, the upper side sensor LC1 and the lower side sensor LC2 are switched in use depending on the location of the vehicle body W for detecting the worker.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety device in a conveyor device used to convey a vehicle body.

[0002]

2. Description of the Related Art In an automobile assembling process, a vehicle body is sometimes conveyed by a conveyor device and a robot automatically assembles and welds parts. In such an automatic assembly process, a safety fence is provided around the operating area of the robot and a safety device is provided inside the safety fence to detect a worker entering for inspection or the like. Here, as a conventional technique of a safety device for detecting a worker, Japanese Patent Laid-Open No. 11-3018
The one described in Japanese Patent Publication No. 35-35 is cited. This safety device determines whether or not an object is a worker based on a time difference when a plurality of detection means arranged in the convey direction of the conveyor sequentially detect the object such as the passage of the object such as a bucket. Deciding.

[0003]

However, in the case of a car body of an automobile in which the article is sufficiently large for the worker, the amount of change in the time difference when the worker is present falls within the error range, and the body and the work Sometimes it was difficult to identify them. Further, a plurality of vehicle bodies having different shapes may be transported to the vehicle body assembly line. If there is a difference in detection time due to a difference in vehicle body shape, there is a problem that it becomes more difficult to distinguish the vehicle body from the worker. Therefore, the present invention provides
Even if it is the body of the car
Its main purpose is to detect workers and ensure their safety.

[0004]

The invention according to claim 1 for solving the above-mentioned problems is a safety device for detecting the presence or absence of an operator within a predetermined area of a conveyor device for transporting a vehicle body. An upper sensor that is vertically spaced apart to detect a worker, and a lower sensor, and a first sensor that is arranged in front of and behind the upper sensor in the transport direction to detect the vehicle body, A second sensor and a control device for controlling these are provided, and the control device uses the upper sensor when the first sensor and the second sensor do not detect the vehicle body, and uses the first sensor or the second sensor. When the sensor detects the vehicle body, it is a safety device in the conveyor device that controls the lower sensor to detect the worker.

The safety device in the conveyor device constructed as described above surely detects the worker by the upper sensor and the lower sensor arranged in the vertical direction. In this safety device, switching between the upper sensor and the lower sensor is performed by detecting the position of the vehicle body in the transport direction with the first sensor and the second sensor. That is, when the first and second sensors do not detect the vehicle body, the worker is detected by the upper sensor located on the upper side so that an obstacle such as a pallet is not mistaken for the worker. When one of the first and second sensors detects the vehicle body, the worker is detected by the lower sensor located below so that the vehicle body is not mistaken for the operator.

According to a second aspect of the present invention, in the safety device for a conveyor device according to the first aspect, a protrusion provided on a pallet that carries a vehicle body and moves on the conveyor, and the arrival of the pallet. And a pallet sensor that detects the protrusion for each of the pallets, and the control device, when the pallet sensor detects the protrusion, the upper sensor, the lower sensor,
Also, the first sensor and the second sensor are configured to check the operation.

The safety device in the conveyor device thus constructed prevents malfunctions by checking the operation of each sensor each time a pallet arrives. here,
The operation confirmation includes, for example, a light amount in the case of an optical sensor, an optical axis check, and a calibration of a detection unit.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION (First Embodiment) A first embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a side view showing a part of an assembly line in which the safety device according to the present embodiment is installed, and FIG. 2 is a plan view of the assembly line. As shown in FIGS. 1 and 2, the assembly line L is connected to the floor conveyor (conveyor device) 1 that places and transports the vehicle body W on the pallet P, and is connected to the floor conveyor 1 to be a component of the automation area. The lifting device 2,
A safety fence 3 provided to divide the automation area,
Sensor P installed near the entrance opening 3a of the safety fence 3
The safety device 4 includes S1, PS2, PS3, PS4, LC1 and LC2. The safety device 4 in the present embodiment is provided in order to prevent the vehicle body W from being handed over to the lifting device 2 in a state where an operator is present in the automation area.

The floor conveyor 1 is laid on the floor of a factory, and has a structure in which a pallet P carrying a vehicle body W is sequentially pushed out by a large number of rollers (both not shown) which are rotated by the drive of a chain. . On this pallet P, a vehicle body W without tires is attached to the vehicle body receiving portions 5a, 5
It is supported so as to be lifted by b and 5c.

The lifting device 2 which is a component of the automation area in this embodiment is a pallet P of the floor conveyor 1.
A holding portion 22 having a side sill holding portion 21 for holding the side sill of the vehicle body W mounted on the slider 24 is provided on the slider 24 so as to be movable back and forth.
It is configured to be movable up and down along. Such a lifting device 2 is used for transfer from the floor conveyor 1 to a lift conveyor (not shown). Further, the automation area can be a work area in which a robot is combined with the lifting device 2 to assemble parts to the lower part of the vehicle body W and welding is performed, or a work area in which only the robot operates can be used. .

As shown in FIG. 3, the safety device 4 includes a sensor PS1 and a sensor PS which are first sensors for detecting a vehicle body.
2. Sensors PS3 and PS4 that are second sensors, upper sensor LC1 and lower sensor LC2 that are sensors for worker detection, limit switch LS, control device 6, and warning means 7, If necessary, a stop signal is output to the floor conveyor 1 and the lifting device 2. Of these, the control device 6 is a CPU (Central Proc
essing unit), a memory, and the like, and realizes a predetermined process described later by expanding and activating a predetermined program. Further, the warning means 7 includes a known means such as a warning light and a sound source for generating a warning sound to call the operator's attention.

Below, the sensors PS1 to PS4, LC1,
Each of the LC2 and the limit switch LS will be described. In the present embodiment, the sensor PS1
~ PS4, LC1 and LC2 are optical sensors. Although the limit switch LS is a contact type sensor, the limit switch LS may be an optical sensor.

First, sensors PS1 to PS4 for vehicle body detection
In the automation area, the sensors PS1 and PS2, which are the first sensors, and the sensors PS3 and PS4, which are the second sensors, are arranged in this order from the lifting device 2 toward the entrance opening 3a of the safety fence 3. ing. Figure 4
As shown in (a) and (b), the sensor PS1 has a light emitting unit PS11 including a light source, and a light receiving unit PS12 that converts received light into an electric signal and outputs the electric signal to the control device 6. The light receiving section PS12 is fixed to the upper part of a pillar 41 standing upright from the floor with a predetermined distance in the width direction of the pallet P, and the light receiving section PS12 sandwiches the pallet P between the pillars 41.
Is fixed to the lower part of a column 42 standing upright at a position opposite to. The light from the light emitting portion PS11 is emitted downward from above with a predetermined inclination angle. The sensor PS2 is
It has a light emitting part PS21 fixed to the lower part of the column 41 and a light receiving part PS22 fixed to the upper part of the column 42, and the light from the light emitting part PS21 has a predetermined inclination angle from the bottom to the top. Is irradiated.

As shown in FIGS. 4 (a) and 4 (b), the sensor PS3 has a light emitting portion PS fixed to the upper portion of the column 43.
31 and a light receiving portion PS32 fixed to the lower part of the support column 44 facing the support column 43. Light emitting unit PS31
Similarly to the light emitting portion PS11 of the sensor PS1, the light from is emitted downward from above with a predetermined inclination angle. The sensor PS4 includes a light emitting unit PS41 (see FIG. 4A) fixed to a lower portion of the support column 43 and the support column 43.
Light receiving part PS fixed to the upper part of the support column 44 facing to
42 (see FIG. 4B). Sensor PS4
The light emitting portion PS41 of the sensor PS2 is also the light emitting portion PS41 of the sensor PS2.
Similar to 21, the irradiation is performed from the lower side to the upper side with a predetermined inclination angle.

When the vehicle body W is carried into the safety fence 3, the sensors PS1 to PS4 have optical paths in which the second sensor (sensor PS3 and sensor PS4) on the side of the entrance opening 3a and the first sensor on the side of the lifting device 2 are arranged. The sensors are blocked in the order of (sensor PS1 and sensor PS2). When the light path is blocked and the light receiving parts PS12, PS22, PS32, PS42 do not receive light, the light receiving parts PS12, PS22, PS32,
Since the output from PS42 becomes zero, the control device 6 determines that the vehicle body W has been carried into the corresponding arrangement positions of the sensors PS1 to PS4. Note that the sensors PS1 and P
In S2, the vehicle body W is detected at substantially the same position, but since the respective optical paths are different, it is possible to detect the difference in vehicle body shape depending on the order and timing of detecting the vehicle body W. Similarly, sensor PS3 and sensor PS4
Detects the vehicle body W at substantially the same position on the side of the entrance opening 3a, but since the respective optical paths are different, it is possible to detect the difference in vehicle body shape depending on the order and timing of detecting the vehicle body W. is there.

An upper sensor LC1 for detecting a worker
4A, a light emitting unit LC11 having a configuration in which circular light sources are arranged in the horizontal direction, and a light emitting unit L
The light receiving unit LC12 includes a plurality of light receiving elements (not shown) corresponding to the respective light sources of C11. Figure 4
As shown in (b), the light emitting unit LC11 is provided with a holding member 4 that stands upright from the floor with a predetermined distance in the width direction of the pallet P.
It is located at the top of the 5. The light receiving unit LC12 is arranged above the holding member 46 which is erected while sandwiching the pallet P. Similarly, the lower sensor LC2 has a light emitting unit LC21 and a light receiving unit LC22. The light emitting unit LC21 has a configuration in which light sources having a circular shape are arranged below the holding member 45 in FIG. 4A, and the light receiving unit LC22 shown in FIG. 4B is below the holding member 46. , A plurality of light receiving elements arranged corresponding to the light sources. The lower sensor LC2 is located closer to the inlet opening 3 than the upper sensor LC1 in the pallet P transport direction.
The position is shifted to the a side (see FIG. 4A).

The upper sensor LC1 and the lower sensor LC2 are
Since the light source and the light receiving element are arranged in parallel in the vertical direction, two parallel, wide (curtain-shaped) light beams are formed. As shown in FIG. 4B, since the light flux from the upper sensor LC1 is formed above the vehicle body receiving portion 5a of the pallet P (and the vehicle body receiving portions 5b and 5c), the sky without the vehicle body W mounted therein. Even if the pallet P passes through, the light flux is not blocked. On the other hand, the light flux from the lower sensor LC2 is blocked by passing through the vehicle body receiving portion 5a. When the upper sensor LC1 and the lower sensor LC2 are in operation and the optical path is blocked, the light receiving unit LC1
2, since the output from LC22 becomes zero, the control device 6
Determines that the worker is present (enrolled) in the safety fence 3.

Further, the limit switch LS is used as a trigger for performing a self-check (operation confirmation) of each of the sensors PS1 to PS4, LC1 and LC2.
As shown in FIG. 1, the limit switch LS is fixed to the bottom surface of the floor conveyor 1 in front of the safety fence 3, and when pressed by a rod 8 projecting from the lower surface of the pallet P, the contact is connected and the rod 8 When is passed, the contact is separated again. When the contacts of the limit switch LS are connected, the control device 6 causes the sensors PS1 to PS4, L
By operating C1 and LC2 in sequence or simultaneously, confirm the presence or absence of damage to the light source and misalignment of the optical axis.
Perform a self-check. Such self-checks
This is performed for each arrival of the pallet P regardless of the presence or absence of the vehicle body W, and when the light receiving units PS12, PS22, PS32, and PS42 cannot receive the light of the proper light amounts, the control device 6 determines that it is in an abnormal state. . Similarly, the light receiving unit LC1
When the LC2 and the LC22 cannot receive the light of the proper light amounts, the control device 6 determines that the state is abnormal. The control device 6 in the case of determining the abnormal state activates the warning means 7 to notify the operator of the sensors PS1 to PS4, LC1, LC2.
Promote maintenance and inspection of.

Next, the detection of the worker by the safety device 4 will be described with reference to the flowchart of FIG. In the following description, for easy understanding, the outputs of the sensors PS1 to PS4, LC1 and LC2 when the vehicle body W and the worker are detected are on and the outputs when they are not detected are off. In each of the following steps,
It is assumed that the floor conveyor 1 and the lifting device 2 continue to operate until the work stop command is output by the safety device 4.

When the assembly line is operated and the assembly work of the vehicle body W is started, the vehicle body W is loaded on the pallet P and is transported. At this time, the safety device 4 determines whether or not a trigger for self-check has been applied (step S51). When the rod 8 of the pallet P presses the limit switch LS, that is, when a trigger is applied (YES), the process proceeds to step S52, and each sensor PS1
~ Perform a self-check on PS4, LC1, LC2. On the other hand, if the trigger is not applied, step S is performed as it is.
Proceeding to 54, vehicle body detection and worker detection are performed.

The self-check in step S52 is a step of confirming whether the light sources of the sensors PS1 to PS4, LC1 and LC2 are damaged or whether the optical axis is deviated as described above.
If the self-check results in an abnormal condition (N
In (O), the process proceeds to step S53, a warning is issued to notify the worker, etc., the floor conveyor 1 and the lifting device 2 are stopped, and the process is ended. At this time, after performing necessary maintenance, the floor conveyor 1 and the lifting device 2 are again
Will be activated. On the other hand, as a result of the self-check, if it is determined to be in the normal state (YES), the process proceeds to step S54 and the vehicle body detection is started.

Steps S54 to S56 are steps for detecting the position of the vehicle body W using the sensors PS1 to PS4. Further, the subsequent steps S57 to S61 are steps for detecting the operator based on the detection result of the vehicle body position. Note that step S5
Since the details of the processes from 4 to step S61 will be described later, only the outline will be described here. Moreover, since there is no order in the order in which the control device 6 checks the sensors PS1 to PS4, the steps S54, S
The processes of 55 and step S56 are performed almost at the same time.

In response to the detection result of the position of the vehicle body W performed in steps S54 to S56, the control device 6 switches the operating states of the upper sensor LC1 and the lower sensor LC2 (steps S57, S58,
Step S59). Then, when the process of step S57 or step S58 is performed and the predetermined sensors LC1 and LC2 detect the worker (upper sensor LC1 = on or lower sensor LC2 = on), A warning is issued (step S53) and the work is stopped. On the other hand, when both the upper sensor LC1 and the lower sensor LC2 are in the operation stop state (step S59), or when the upper sensor LC1 or the lower sensor LC2 in operation does not detect the worker (the upper sensor LC1 = off, or , The lower sensor LC2 = off) respectively returns to step S51.

Here, steps S54 to S6
The processes up to 1 will be described for each position of the vehicle body W with reference to FIGS. 6 to 9. First, FIG. 6 (a)
When there is no vehicle body W in the safety fence 3 as described above, that is, the control device 6 detects from the vehicle body detection sensors PS1 to PS4 that
When the detection result as shown in FIG. 6 (b) is acquired, through steps S54 to S55 of FIG.
It proceeds to step S57. As a result, the lower sensor LC2 is deactivated and only the upper sensor LC1 is activated. This is to prevent erroneous recognition that an operator is present when the lower sensor LC2 blocks the light flux of the lower sensor LC2 by the vehicle body receiving portions 5a, 5b, 5c of the empty pallet P.

In this state, case C in FIG. 6 (c)
As shown in FIG. 1, when the upper sensor LC1 is turned on (YES in step S60 in FIG. 5), that is, when the light flux is blocked, the control device 6 controls the worker to be in the safety fence 3. When it is determined that the operation is being performed, necessary measures such as turning on the patrol lamp, stopping the floor conveyor 1 and stopping the elevating device 2 are taken. On the other hand, when the upper sensor LC1 remains off (NO in step S60 of the figure) as shown in the case C2 of FIG. 6C, that is, when the light flux is not blocked, the control device 6 is safe. The next pallet P is carried into the safety fence 3 when it is determined that no worker is in the fence 3.

When the pallet P moves forward and the front portion W1 of the vehicle body W enters the safety fence 3, that is, the vehicle body detection sensors PS1 to PS4 output as shown in FIG. 7 (b). If so, step S54 to step S5
After step 5, the process proceeds to step S58, where the upper sensor LC1 is deactivated and only the lower sensor LC2 is activated. This is due to the loading of the front part W1 of the vehicle body W,
This is to prevent erroneous detection of the nose portion as an operator when the nose portion, which is the leading edge of the vehicle body W, blocks the light flux of the upper sensor LC1.

In this state, the case C in FIG. 7 (c)
As shown in FIG. 3, when the output of the lower sensor LC2 is turned on (YES in step S61), that is, when the light flux is blocked, the control device 6 controls the worker to be in the safety fence 3. If so, take necessary measures such as turning on the patrol lights, stopping the floor conveyor, and stopping the lift device. On the other hand, as shown in case C4, the lower sensor L
If C2 remains OFF (N in step S61)
O), that is, while the light flux is not blocked, the control device 6
Judges that there are no workers in the safety fence 3,
Continue loading the vehicle body W into the safety fence 3.

Further, when the pallet P moves forward and the sensors PS1 to PS4 for vehicle body detection output as shown in FIG. 8B, steps S54 to S5.
After 6, the process proceeds to step S59. In this case,
As shown in the case C5 of (c), the upper sensor LC1 and the lower sensor LC2 are both deactivated, and no worker is detected. This is to prevent the upper sensor LC1 from erroneously identifying the vehicle body W as an operator and the lower sensor LC2 from erroneously detecting the vehicle body receiving portions 5a, 5b, 5c of the pallet P as an operator.

When the pallet P further advances and only the rear portion W2 of the vehicle body W is in the area of the vehicle body detection sensors PS1 and PS2, the vehicle body detection sensors PS1 to PS4 are shown in FIG. 9B. Produces output like In this case, the process proceeds from step S54 to step S56 and then to step S58, in order to avoid the influence of the tail portion which is the rearmost end of the vehicle body W, only the lower sensor LC2 operates. At this time, in the control device 6, as shown in the case C6 of FIG. 9C, when the lower sensor LC2 is turned on (YES in step S61), the worker is in the safety fence 3. Therefore, take the necessary measures, and select the lower LC as in case C7.
When 2 remains off (NO in step S61)
Judges that there is no worker in the safety fence 3 and continues the work.

The safety device 4 as described above switches the operating state of the upper sensor LC1 and the lower sensor LC2 for detecting the operator depending on the position of the vehicle body W, so that the operator and the vehicle body W can be switched.
The identification can be made reliable, and the safety of the worker can be ensured. Further, since the sensors PS1 to PS4, LC1 and LC2 are self-checked each time the pallet P arrives, stable worker detection and vehicle body detection can be performed.

(Second Embodiment) Next, a second embodiment of the present invention will be described in detail with reference to FIGS. The same components as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIGS. 10 (a) and 10 (b), the safety device 4 in this embodiment is provided for detecting a worker or a vehicle body at the exit opening 3b carried out from the automation area. The configuration is such that the control device 6 is connected to the sensors PS1 to PS4, LC1 and LC2, and the limit switch LS (not shown in FIGS. 10A and 10B), and the floor conveyor 1 and the lifting device are provided. 2. It is configured so that the information necessary for the warning means can be output. The limit switch LS for self-check is preferably provided on the front side of the automation area, but it is provided outside the exit opening 3b to confirm the passage of the pallet P and perform the self-check for the next pallet P. It may be configured to perform.

Sensors PS1 to PS4 for vehicle body detection
Is an optical sensor, and is a sensor PS4 and a sensor PS3 that are second sensors, a sensor PS2 and a sensor PS that are first sensors from the side of the lifting device 2 to the outlet opening 3b.
They are arranged in the order of 1. As shown in FIG. 10B, the sensor PS4 on the side of the lifting device 2 detects the front portion W1 of the vehicle body W that is descending, so that a long pillar is provided so that detection can be performed from a high position. It is arranged so that an optical path is formed from the upper part of 61 to the lower part of the supporting column 62 which faces it. The sensor PS3 is arranged so as to form an optical path having an inclination angle different from that of the sensor PS4 in order to detect the shape of the vehicle body W from the upper part of the support column 62 toward the lower part of the support column 61. The sensor PS1 on the outlet opening 3b side is
It is arranged so that an optical path is formed from the upper part of the pillar 63 toward the lower part of the pillar 64 facing the pillar 63. Sensor PS2
Are arranged so that an optical path is formed from the lower part of the column 63 to the upper part of the column 64.

The upper sensor LC1 for detecting a worker forms a horizontal light flux from the upper part of the holding member 65 to the upper part of the holding member 66 facing it between the sensors PS3, PS4 and the sensors PS1, PS2 in the transport direction. It is arranged to. The lower sensor LC2 is arranged so as to form a horizontal light flux from the lower portion of the holding member 65 to the lower portion of the holding member 66. Note that, as shown in FIG. 10A, the lower sensor LC2 is arranged at a position closer to the outlet opening 3b side than the upper sensor LC1 in the transport direction.

Like the first embodiment, the safety device 4 controls the operating states of the upper sensor LC1 and the lower sensor LC2 in accordance with the flowchart shown in FIG. 5 to detect the operator. Specifically, the first sensor PS1,
PS2 and the second sensors PS3 and PS4 are both the vehicle body W
When the vehicle body W is detected, the worker is not detected.
When is not detected, the worker is detected by the upper sensor LC1. On the other hand, the first sensor PS1, PS2, or
One of the second sensors PS3 and PS4 is the vehicle body W (front portion W
1 or the rear portion W2) is detected, the lower sensor LC2 detects the worker. Also, in step S54,
The processes of steps S55 and S56 are performed almost at the same time, and the vehicle shape is identified and the vehicle type is determined based on the detection timings of the sensors PS1 and PS2, the detection timings of the sensors PS3 and PS4, and the like.

(Third Embodiment) Further, a third embodiment of the present invention will be described in detail with reference to FIGS. The same components as those of the first and second embodiments are designated by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIGS. 11 (a) and 11 (b), the safety device 4 according to the present embodiment has a floor conveyor 71 which conveys the vehicle body W after the tire T is assembled to the entrance, which is carried out to the automation area. The opening 3a is provided for worker detection and vehicle body detection. The configuration is such that the control device 6 has each sensor PS1 to PS4, LC1, L
C2 and a limit switch LS are connected to the floor conveyor 71, the lifting device 2, and the warning means so that necessary information can be output. Pallet P in this embodiment
Holds the vehicle body W by fixing the tire T with the car stops 5d and 5e.

The sensors PS1 to PS4 for detecting the vehicle body in the safety device 4 are optical sensors, and the lifting device 2 is used.
It is arranged from the side to the inlet opening 3a. Figure 11
As shown in (b), the sensor PS1 is arranged so as to form an optical path that is inclined from the upper portion of the support column 71 toward the lower portion of the opposing support column 72. The sensor PS2 is a column 7
It is arranged so as to form an optical path that is inclined from the lower part of 1 toward the upper part of the column 72. Further, the sensor PS3 is
An optical path inclined from the upper part of the support column 73 toward the lower part of the opposing support column 74 is formed, and the sensor PS4 forms an optical path inclined from the lower part of the support column 73 toward the upper part of the support column 74.

The upper sensor LC1 for detecting a worker forms a horizontal light flux from the upper part of the holding member 75 to the upper part of the holding member 76 which faces the sensor PS3, PS4 and the sensors PS1, PS2 in the transport direction. It is arranged to. The lower sensor LC2 is arranged so as to form a horizontal light flux from the lower portion of the holding member 75 to the lower portion of the holding member 76. As shown in FIG. 11A, the lower sensor LC
2 is displaced from the upper sensor LC1 on the inlet opening 3a side in the transport direction. The upper sensor LC1 and the lower sensor LC in the present embodiment
2 are arranged at positions lower than those of the above-described first embodiment. This is because the vehicle body W is placed on the pallet P at a low position, and particularly the lower sensor LC2
Is so low that the light flux is not blocked by the vehicle body W (however, the tire T blocks the light flux).

As in the first embodiment, the safety device 4 controls the operating states of the upper sensor LC1 and the lower sensor LC2 according to the flowchart shown in FIG. 5 to detect the operator. Specifically, the first sensor PS1,
PS2 and the second sensors PS3 and PS4 are both the vehicle body W
When the vehicle body W is detected, the worker is not detected.
When is not detected, the worker is detected by the upper sensor LC1. On the other hand, the first sensor PS1, PS2, or
One of the second sensors PS3 and PS4 is the vehicle body W (front portion W
1 or the rear portion W2) is detected, the lower sensor LC2 detects the worker. Also, in step S54,
The processes of steps S55 and S56 are performed almost at the same time, and the vehicle shape is identified and the vehicle type is determined based on the detection timings of the sensors PS1 and PS2, the detection timings of the sensors PS3 and PS4, and the like.

The present invention is not limited to the above-mentioned embodiments but can be widely applied. For example, the number of the first sensors PS1 and PS2 and the number of the second sensors PS3 and PS4 can be set to the number necessary for detecting the vehicle type of the vehicle body W. On the other hand, when vehicle type detection is not performed, one sensor can be used for each. In addition, the sensors PS1 to
PS4 may be arranged such that the optical path is parallel to the floor surface. The upper sensor LC1 and the lower sensor LC2 may be arranged such that their optical paths have an inclination angle.

[0042]

【The invention's effect】 [Brief description of drawings]

According to the safety device in the conveyor device according to claim 1 of the present invention, the upper sensor and the lower sensor arranged in the vertical direction are switched depending on the vehicle body position.
The distinction between the vehicle body and the worker can be made clear, the worker can be reliably detected, and the safety of the worker can be secured. According to the safety device in the conveyor device of claim 2,
Since the configuration is such that the operation of each sensor is checked every time a pallet arrives, it is possible to prevent malfunction and ensure the safety of the operator.

FIG. 1 is a side view showing a configuration of a safety device and an assembly line in which the safety device is installed according to an embodiment of the present invention.

FIG. 2 is a plan view showing a configuration of a safety device according to an embodiment of the present invention and a conveyor device to which the safety device is applied.

FIG. 3 is a block diagram showing a configuration of a safety device.

FIG. 4A is a side view and FIG. 4B is a front view for explaining the arrangement of sensors in the safety device.

FIG. 5 is a flowchart of a vehicle body detection process and a worker detection process performed by the safety device.

FIG. 6A is a side view when the vehicle body is not detected,
It is a figure which shows the output of the sensor for body detection (b), and the figure which shows the output of the sensor for operator detection (c).

7A is a side view when only the front portion of the vehicle body is detected, FIG. 7B is a diagram showing the output of the vehicle body detection sensor, and FIG. 7C is a diagram showing the output of the worker detection sensor. .

8A and 8B are a side view, a view showing an output of a vehicle body detection sensor, and a view showing an output of a worker detection sensor, respectively, when the entire vehicle body is being detected.

9 (a) is a side view when only the rear part of the vehicle body is detected, FIG. 9 (b) is a diagram showing the output of the vehicle body detection sensor, and FIG. 9 (c) is a diagram showing the output of the worker detection sensor. .

FIG. 10 is a side view (a) and a front view (b) of a safety device provided at an exit portion of an automation area.

11 (a) is a side view and FIG. 11 (b) is a front view of a safety device provided at the entrance of the automation area.

[Explanation of symbols]

1 Floor conveyor (conveyor device) 2 lifting device 3 safety fences 4 safety devices 6 control device PS1, PS2 sensor (first sensor) PS3, PS4 sensor (second sensor) LC1 upper sensor LC2 lower sensor W body

Claims (2)

[Claims] 1. A safety device for detecting the presence / absence of an operator in a predetermined area of a conveyor device for transporting a vehicle body, the upper sensor being vertically spaced to detect the operator, A lower sensor, a first sensor and a second sensor arranged in front of and behind the upper sensor in the transport direction to detect the vehicle body, and a control device for controlling these sensors. When the first sensor and the second sensor are not detecting the vehicle body, the upper sensor is used, and the first sensor,
Alternatively, when the second sensor is detecting the vehicle body, the safety device in the conveyor device is controlled so as to detect the worker by using the lower sensor. 2. A pallet sensor provided on a pallet that carries the vehicle body and moves on a conveyor, and a pallet sensor that detects the pallet each time the pallet arrives. When the sensor detects the protruding portion, the upper sensor, the lower sensor, and the first sensor and the second sensor are configured to perform operation confirmation, respectively. A safety device in the conveyor device described.