JP2006072800A - Controller for automated transfer cart - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a controller capable of sending an instruction of a travel/stop to an automated transfer cart without using wireless communication by low-cost equipment. <P>SOLUTION: When a flat bar 251 allowing shaking-out/pulling-in by a link mechanism provided on the lower face of a worktable 20 is shaken out by pulling operation of a stop string 131 by a worker, a proximity switch 371 provided on the lower face of the fully automated transfer cart 30 detects the flat bar 251, and stops the automated transfer cart 30. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a control device for an automatic guided vehicle, and more particularly to a control device that sends a command for running / stopping to the automatic guided vehicle.

  In an assembly line for automobile bodies and engines, an automated guided vehicle equipped with a vehicle body, an engine, and the like circulates along a guidance path laid in parallel with a workbench to sequentially assemble parts. .

The operation of the automatic guided vehicle is controlled by a control mechanism as described in Japanese Patent Laid-Open No. 10-116114 (hereinafter referred to as “Patent Document 1”) and circulates according to the program.
On the other hand, in the station 9201 of the assembly line 910, as shown in FIG. 5, when a trouble in the work such as a work delay of the worker, a work mistake or an erroneous part missing occurs, the worker stops the stop strap 131. The immediate stop switch 13 connected to the line control panel 15 that controls the assembly line 910 by operating the line control command causes the line control panel 15 to issue a line stop command, and this command is transmitted from the transmitter 9151 wirelessly to all automatic guided vehicles. It is sent to the receiver 9371 provided in 930 and is commanded to stop immediately by a control device provided in the automatic guided vehicle 930 to stop.

When the trouble in the work is solved, the operator operates the stop strap 131 again, so that a signal for restarting traveling is sent from the transmitter 9151 to the receiver 9371, and the automatic guided vehicle 930 that has been stopped travels again. And start traveling as per the original program.
JP 10-116114 A

  However, in order to send a command for running / stop to an automated guided vehicle as described above, an expensive receiver must be provided on all automated guided vehicles having a scale of several tens on one line. In addition to the high cost, noise countermeasures are required to ensure the reliability of the radio signal, and there is a problem that the cost is further increased.

  Accordingly, an object of the present invention is to provide a control device capable of sending a command for running / stopping to an automatic guided vehicle with an inexpensive structure without using radio, in order to solve such a problem.

A control device for an automatic guided vehicle according to a first aspect of the present invention is a control device that sends a command for running / stopping to the automatic guided vehicle at a station in a traveling route, and the automatic guided vehicle includes the automatic guided vehicle. Proximity switch mounted on a transport vehicle and connected to a control means for controlling the operation of the transport vehicle is provided. The station has a flat bar provided in parallel with a travel route of the automatic guided vehicle, and both ends of the flat bar. There is provided a notification means comprising a parallel link arm that is rotatably supported and an actuator that moves the flat bar in the vicinity of the proximity switch via the parallel link arm so that the flat bar can swing out and retract. When the proximity switch detects the flat bar, the automatic guided vehicle is stopped, and when the flat bar is retracted, the vehicle travels. Characterized in that it was set to resume.
Therefore, since it is only necessary to attach an inexpensive proximity switch to a large number of automated guided vehicles, the equipment can be installed at a low cost, and the notification means is mechanically operated and thus receives noise from the surroundings. And can be operated reliably.

According to a second aspect of the present invention, there is provided the automatic guided vehicle control device according to the first aspect, wherein the automatic guided vehicle is an automatic guided vehicle, and the proximity switch includes the proximity switch. Provided on the lower surface of the automated guided vehicle, the station is a work table, the flat bar of the notification means is provided at the lower part of the work table, and the actuator is operated by a switch input by an operator. The flat bar swings out from the lower part of the work table to the vicinity of the proximity switch.
Therefore, since the proximity switch and the notification means are operated at the lower part of the work table and the automatic guided vehicle, the operation is surely performed without receiving noise, and the work is not disturbed and the worker is not conscious. Can concentrate on work.

  According to the present invention, an inexpensive proximity switch is provided in the automatic guided vehicle, and a command for running / stopping can be sent to the automatic guided vehicle only by providing a notification means that is mechanically operated on the station side. It can be set as the control apparatus of the automatic guided vehicle which operate | moves.

Next, an embodiment of a control device for an automatic guided vehicle according to the present invention will be described with reference to the drawings. The control device for the automatic guided vehicle of the present embodiment is provided in the engine assembly line of the automobile assembly factory.
Here, FIG. 1 is a schematic plan view of the engine assembly line, and FIG. 2 is a cross-sectional view of the automatic guided vehicle and the work table.

  The configuration of the engine assembly line will be described. As shown in FIG. 1, the engine assembly line 10 includes a guide wire 11 laid around the factory floor and a part of the factory floor on which the guide wire 11 is laid along the guide wire 11. A station 201 for performing the provided assembly work, a plurality of unmanned transport carts 30 guided around the guide wire 11 and the unmanned transport cart 30 equipped with the engine E as a mounted product, It is comprised from the drop lifter 12a, 12b etc. which are lifted.

The guide wire 11 guides the traveling of the automated guided vehicle 30. As the travel guide method, there are an electromagnetic guide method, a magnetic guide method, a light reflection guide method, and the like. A reflective tape is used, any of which may be used.
As shown in FIG. 2, the station 201 has substantially the same height as the floor surface 31 of the automatic guided vehicle 30 at intervals slightly wider than the width of the automatic guided vehicle 30 described later, parallel to both sides of the guide wire 11. The work table 20, a plurality of immediate stop switches 13 provided above one work table 20, and a stop string 131 passed between the immediate stop switches 13 are installed.

Each immediate stop switch 13 is connected to the line control panel 15. When the stop string 131 is pulled, the unmanned transport cart 30 is stopped via the line control panel 15, and when the stop string 131 is pulled again, the unmanned transport cart 30 is Traveling is resumed, and it can be operated by pulling any stop string 131.
The stop strap 131 shown in FIG. 2 is provided parallel to the traveling direction of the automatic guided vehicle 30 (perpendicular to the paper surface of FIG. 2), and the engine E mounted on the automatic guided vehicle 30 is also similar to the paper surface. Although it is placed at a right angle to FIG. 2, it is expressed by changing it by 90 ° as shown in FIG.

  The work table 20 includes a step 21 that serves as a walking path for the worker, and a plurality of legs 23 that hold the step 21 at substantially the same height as the floor 31 of the automatic guided vehicle 30. The length of one workbench 20 is set to approximately 2 m, and the stations 201 are formed by arranging the same number on the left and right. In the present embodiment, twelve cars are arranged on one side, which corresponds to the length of eight automated guided vehicles 30.

As shown in FIG. 3, the lower end of each work table 20 on one side is arranged in parallel with the length direction of the work table 20 from the start end to the end of the entire work table 20. A pair of flat bars 251 having substantially the same length as the length of the flat bar 251, one end of which is rotatably connected to the flat bar 251 at both ends of the flat bar 251, and the other end of which is rotatably supported on the lower surface of the step platform 21. A notification means 25 comprising a parallel link arm 253 and an actuator 255 having a piston rod tip connected to the parallel link arm 253 is provided.
Although the notification means 25 of the present embodiment is omitted from the drawing, the flat bar 251 is divided into a plurality of parts, and both ends thereof are rotatably supported by the parallel link arms 253, and The actuator 255 employs a structure provided at two locations, the leading end and the final end of the connected flat bar 251. Therefore, when the length of the station 201 is changed, the number of divided flat bars 251 can be increased or decreased.

  The actuator 255 is an air cylinder that is connected to an electromagnetic valve operated by the line control panel 15 so as to expand and contract. When the actuator 255 contracts and the flat bar 251 is swung out, the flat bar 251 protrudes from the end of the step 21 and enters the lower surface of the automated guided vehicle 30.

  The automatic guided vehicle 30 has a substantially rectangular floor surface 31, a wheel 35 that is supported on a lower surface thereof so as to be able to rotate 360 degrees in plan view, is driven by a drive motor 33, and an engine E mounted on the upper surface. The mounting table 301 has a projection area smaller than 31 and a control unit 37 that is housed in the mounting table 301 and controls the drive motor 33. As described above, the height of the floor 31 is set to be substantially the same as the height of the work table 20.

  As shown in an enlarged view in FIG. 4, a proximity switch 371 is attached to a substantially central portion in the front-rear direction of the lower surface of the floor surface 31 of each automated guided vehicle 30, and an end portion on one work table 20 side. The proximity switch 371 is installed at a position where the flat bar 251 is detected when the flat bar 251 is swung out.

Control of the automatic guided vehicle 30 in the assembly line 10 configured as described above will be described. The automated guided vehicle 30 is guided by the guide wire 11 and circulates, temporarily stops at a position S1 next to the drop lifter 12a provided in front of the station 201, and the parts such as an auxiliary machine from the drop lifter 12a on the mounting table 301. The engine E for assembling is mounted.
After detecting that the engine E is mounted, the automatic guided vehicle 30 is fast-forwarded and proceeds to the station 201 where the left and right work tables 20 are provided. At the position S3 where the work table 20 is arranged in the station 201, the automated guided vehicle 30 continues with a slight gap in the front and rear, and determines between the left and right work tables 20 at the same constant speed (part assembly tact). Travel based on the programmed program.

While the automatic guided vehicle 30 travels at the position S3, the worker assembles the determined parts into the engine E. The operator pulls the stop string 131 when a work trouble such as a work delay, a work mistake, or an erroneous part missing part occurs during the assembling work.
When the stop string 131 is pulled, the immediate stop switch 13 connected to the stop string 131 is operated, and the actuator 255 is operated in a contracting direction via the electromagnetic valve connected to the line control panel 15.
When the actuator 255 is reduced, as shown by a two-dot chain line in FIG. 3, the flat bar 251 rotates the parallel link arm 253 in the clockwise direction from the end surface of the work table 20 on the guide wire 11 side of the unmanned transport cart 30. Swinged out to the bottom.

When the flat bar 251 is swung out to the lower surface of the automatic guided vehicle 30, the flat bar 251 faces with a slight gap below the proximity switch 371 provided on the lower surface of each automatic guided vehicle 30, as shown in FIG. The proximity switch 371 detects the flat bar 251 and sends a stop signal to the control means 37 of the automated guided vehicle 30.
The control means 37 stops the rotation of the drive motor 33 based on the stop signal, and stops the automatic guided vehicle 30.
The flat bar 251 is provided over a length substantially the same as the length from the start end to the end of the work table 20 provided in the station 201, and the entire flat bar 251 is swung out. All the unmanned transport carts 30 that are present stop simultaneously when the proximity switch 371 detects the flat bar 251.

While the unmanned transport cart 30 is stopped, the above-mentioned troubles in work are solved, and then the stop string 131 is pulled again to instruct the line control panel 15 to extend the actuator 255.
When the actuator 255 is extended, the flat bar 251 is drawn into the lower surface of the work table 20 by the counterclockwise rotation of the parallel link arm 253, and is separated from the lower side of the proximity switch 371 of the automated guided vehicle 30. Then, the control means 37 of the automated guided vehicle 30 instructs the drive motor 33 to rotate, and the automated guided vehicle 30 resumes traveling at the same time.

The unmanned transport cart 30 that has finished the assembling work and exited from the position S3 is temporarily stopped at the lateral position S5 of the drop lifter 12b, and the engine E is lifted by the drop lifter 12b and the mounting table 301 becomes empty.
The automatic guided vehicle 30 in this state is rapidly fed to the direction changing position S7 and turned 90 °, and then turns around the guide line 11 and returns to the position S1 again.

  As described above, in the control device for the automatic guided vehicle according to the present embodiment, the flat bar 251 that can be pulled out and retracted by the link mechanism provided on the lower surface of the work table 20 is unmanned by the operator pulling the stop string 131. Since the proximity switch 371 provided on the lower surface of all unmanned transport carts 30 detects the flat bar 251 when it is swung out on the lower surface of the transport cart 30, the unmanned transport cart 30 is stopped. It has become possible to provide a highly reliable automatic guided vehicle control device.

In addition, this invention is not limited to the thing of the said embodiment, A various change is possible in the range which does not deviate from the meaning.
For example, in the above-described embodiment, the flat bar is positioned below the proximity switch when the flat bar is swung out. However, the present invention is not limited to this, and the flat bar is positioned on the side surface with the proximity switch facing sideways. Is also possible.
Further, the flat bar is swung out when the actuator is contracted, but the flat bar may be swung out when the actuator is extended.

  According to the present invention, it is used as a control device for an automatic guided vehicle that operates at low cost and reliably operates and stops the automatic guided vehicle in a production / assembly line using the automatic guided vehicle that travels in a straight line. can do.

1 is a schematic plan view of an engine assembly line according to an embodiment of the present invention. It is front sectional drawing of the engine assembly line which concerns on one embodiment of this invention. It is a top view before and behind operation | movement of the notification means which concerns on one embodiment of this invention. It is the IV section enlarged view of FIG. It is a perspective view of the conventional engine assembly line.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Engine assembly line 11 Guide line 13 Immediate stop switch 131 Stop string 15 Line control apparatus 20 Work table 201 Station 25 Notification means 251 Flat bar 253 Parallel link arm 255 Actuator 30 Wireless conveyance cart (automatic conveyance vehicle)
37 Control means 371 Proximity switch

Claims (2)

A control device that sends a command for running / stopping to the automatic guided vehicle at a station in the running route,
The automatic guided vehicle is provided with a proximity switch that is mounted on the automatic guided vehicle and connected to a control unit that controls the operation of the automatic guided vehicle.
In the station, a flat bar provided in parallel with the travel path of the automatic guided vehicle,
A parallel link arm that rotatably supports both ends of the flat bar;
A notification means comprising an actuator for moving the flat bar in the vicinity of the proximity switch via the parallel link arm so as to be swingable and retractable;
An automatic guided vehicle that stops the automatic guided vehicle when the flat bar is swung out and the proximity switch detects the flat bar, and resumes when the flat bar is retracted. Control device. In the control device of the automatic guided vehicle according to claim 1,
The automatic guided vehicle is an automatic guided vehicle, and the proximity switch is provided on a lower surface of the automatic guided vehicle;
The station is a work table, and the flat bar of the notification means is provided at the lower part of the work table,
A control device for an automatic guided vehicle, wherein the actuator is operated by a switch input by an operator so that the flat bar swings out from a lower part of a work table to the vicinity of the proximity switch.

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