JP2006164013A - Self-traveling carriage - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-traveling carriage which can immediately stop without making the detection of an obstacle too late and avoid colliding with the obstacle. <P>SOLUTION: Although this self-traveling carriage 1 travels along a main travel line 2 and any of branch travel lines 3, because in an AGV (automated guided vehicle) dolly 4 of the self-traveling carriage 1, wheels 44 are fixed to a lower end part of a rotational shaft 43 of an AGV dolly main body 41 and an obstacle detection sensor 48 for detecting an obstacle is provided on a mounting member 47 fixed to at a vertically middle position of the rotational shaft 43, the obstacle detection sensor 48 can quickly be turned in an advancing direction when an obstacle exists in the advancing direction because the rotational shaft 43 is first rotated together with the wheels 44 according to the turning of the AGV dolly main body 41 when the self-advancing carriage 1 turns either to the left or right to advance, and the obstacle is quickly detected to be able to stop driving by a driving source of the AGV dolly 4. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a self-propelled transport vehicle that mounts a component mounting box on which a component to be assembled to a product is mounted and transports it by wheels, and stops when an obstacle is detected when the obstacle detection device proceeds. Is.

For example, Patent Document 1 discloses a technique for providing a bumper provided with an obstacle detection unit that detects contact with an obstacle in the traveling direction of the vehicle body in the article transport vehicle.
Japanese Patent Laid-Open No. 10-181864

  In the article transport vehicle disclosed in Patent Document 1, especially when suddenly turning to the left or right, the direction of the transport vehicle and the direction of the wheels (drive wheels, auxiliary wheels, driven wheels) are different. In other words, the wheels are moving in the direction of turning, but the carriage is still in the straight direction, and the obstacle detection means provided in the bumper is delayed in detecting the obstacle. For this reason, since the detection of the obstacle is delayed, it cannot be stopped immediately, and it collides with the obstacle.

  Therefore, an object of the present invention is to provide a self-propelled transport vehicle that can stop immediately without delaying detection of an obstacle and avoid collision with the obstacle.

  For this reason, the first invention is a self-propelled that stops when an obstacle is detected when the obstacle detection device proceeds by placing a parts placement box on which a part to be assembled into a product is placed and transporting it by wheels. It is a type | mold conveyance vehicle, Comprising: The said obstacle detection apparatus was provided in the rotating shaft rotated with the said wheel.

  In addition, the second invention is a self-propelled type that places a component mounting box on which a component to be assembled to a product is mounted, conveys it by a wheel, and stops when an obstacle is detected when the obstacle detecting device proceeds. It is a carrier vehicle, and is composed of an AGV carriage that moves the self-propelled carriage along a running line and a jig carriage that mounts mounting parts, and a rotating shaft that rotates together with the wheels of the jig carriage. The obstacle detection device is provided. .

  According to the present invention, it is possible to provide a self-propelled transport vehicle that can stop immediately without delaying detection of an obstacle and avoid collision with the obstacle.

  Embodiments of the present invention will be described below with reference to the drawings. First, the overall configuration of the assembly line will be described with reference to FIG. Reference numeral 1 denotes a self-propelled conveyance vehicle made of AGV (Automated Guided Vehicle), and a confirmation device (not shown) confirms a closed-loop main traveling line 2 and any branch traveling line 3 made of magnetic tape attached to the floor. However, when the confirmation device confirms the stop command tape that is moved along the main traveling line 2 and any one of the branched traveling lines 3 by the drive device 5 and is attached separately from the main traveling line 2 at each station, The driving of the driving device 5 is stopped and the self-propelled transport vehicle 1 is stopped.

  The self-propelled transport vehicle 1 includes an AGV cart 4 provided with the driving device 5 and the confirmation device, and a box-shaped component mounting box (component mounting box) that opens an upper surface for housing various mounting components for assembling an assembly product. And a jig carriage 6 that is moved by the AGV carriage 4.

  As shown in FIG. 7, the AGV carriage 4 has a free wheel 44 fixed to a lower end portion of a rotating shaft 43 that rotates via a bearing 42 at the center of the left and right of the top lower portion of the AGV carriage body 41, and AGV In the middle lower part of the cart body 41, there are provided a free wheel 46A that rotates together with two rotating shafts 45A (driving wheels driven by the driving device 5) on the front left and right, and two fixed wheels on the rear left and right. 46B is provided. Further, an obstacle detection sensor (obstacle detection device) 48 for detecting an obstacle is provided on an attachment member 47 fixed at an intermediate position above and below the rotation shaft 43. When the obstacle detection sensor 48 detects an obstacle in the traveling direction, the rotation of the rotation shaft 45A by the drive device 5 of the AGV carriage 4 is stopped.

  The obstacle detection sensor 48 includes, for example, a light emitting element and a light receiving element, and can detect the presence of an obstacle when located at a predetermined distance from the detection sensor 48.

  Further, on the AGV carriage main body 41, one of the separating devices for separating the AGV carriage 4 and the jig carriage 6 is provided. That is, a motor attachment member 49 to which a drive motor 50 is attached is fixed on the AGV carriage main body 41, and a cam plate (cam disc) provided at a position where a rotation center shaft 51 rotated by the drive motor 50 is eccentric. ) 52 is provided, and a fitted member 53 is provided on the AGV carriage main body 41 in front of the motor mounting member 49.

  On the other hand, the jig carriage 6 is formed in a substantially U shape when viewed from the side, and is configured to house the AGV carriage 4 in its internal space and surround it from the outside, and a drive source for movement. In the middle lower part of the jig carriage main body 61, two universal wheels 62 on the front left and right are provided, and two fixed wheels 63 on the rear left and right are provided. The jig carriage main body 61 is provided with the other of the separating devices for separating the AGV carriage 4 and the jig carriage 6 from each other. That is, one end portion is provided with a fitting member 64 that is fitted and locked to the fitted member 53 of the AGV carriage 4 from above, and is configured to be swingable around a fulcrum 65 at the other end portion. A locking body 66 is provided.

  When the rotation center shaft 51 of the cam plate 52 provided at the position where the rotation center shaft 51 is eccentric is in the horizontal position of the center S, the fitting member 64 is fitted to the fitted member 53. Therefore, the AGV carriage 4 and the jig carriage 6 are connected to each other, and the jig carriage 6 is moved by the movement of the AGV carriage 4. However, when the drive motor 50 is driven, the cam plate 52 is rotated, and the locking body 66 pivots 90 degrees clockwise with the fulcrum 65 as a fulcrum as shown in FIG. When 51 is directly below the center S, the fitting member 64 is disengaged from the fitted member 53, the connection between the AGV carriage 4 and the jig carriage 6 is released, and the jig carriage is released. Only the AGV carriage 4 can be moved, leaving only six.

  Next, at the shipping station E shown in FIG. 1, the worker H drops the assembly product assembled with each mounting part from the self-propelled transport vehicle 1 and temporarily stores it in the storage place F. Then, the assembly products are loaded and shipped in a predetermined order on the self-propelled transport vehicle 1A transported from the storage location F along the travel line 2A of another assembly line. The product conveyed by the self-propelled conveyance vehicle 1A along the traveling line 2A is assembled with other products to become a final finished product.

  Then, from the first computer (not shown) disposed at a predetermined station of the other assembly line, the model information of the assembly product is sent from the first computer (not shown) in the office to the assembly product in the other assembly line. The assembly product model number information is sequentially transmitted from the second computer to the third computer 10 in the assembly order, and the specification identification label indicating the assembly product model number is transmitted to the third computer 10 in the assembly order. The printer 11 has already been printed out.

  Therefore, the specification reading station A is a station where the operator reads the specification identification label represented by the QR code by using the scanner 12 as a reading device.

  In the next mounting area B, an operator H installs various mounting parts in order to assemble one assembly product in a box-shaped part mounting box placed on the self-propelled transport vehicle 1 and having an upper surface opened. This is the area to install. In the mounting area B, when the scanner 12 connected to the third computer 10 provided in the mounting station B reads the content written on the specification identification label, the third computer 10 reads the assembly product and the assembly. Corresponding data (see FIG. 9) with a plurality of supply boxes 16 storing various attachment parts and attachment parts in the parts supply devices 15A and 15B in order to assemble the product are read out from the storage device in the third computer 10 to correspond. Each supply box 16 on the box mounting plate 17 fixed to the extruded rod is pushed by operating the cylinder 18. For this reason, the worker H can take out the attached components from the supply boxes 16 of the opposing component storage devices 15A and 15B and load them in the component placement boxes on the self-propelled transport vehicle 1.

  At this time, when the worker H takes out the attached parts from all the necessary supply boxes 16 and loads them into the parts placement box on the self-propelled transport vehicle 1, it is assumed that the removal is completed and the AGV carriage 4 When the take-out completion switch (not shown) provided is operated, the third computer 10 operates the corresponding cylinder 18 based on the operation of the take-out completion switch to retract the rod, and retract each supply box 16.

  When the assembly work of the attachment parts to the parts to be assembled on the jig carriage 6 (the AGV carriage 4 is separated) at the work position X of the work station C is completed, the worker H is provided in the AGV carriage 4. When the instruction switch (not shown) is operated, the self-propelled transport vehicle 1 that has finished loading the mounting parts in the component mounting box branches to the position Y before the jig cart 6 that has been assembled. Since the AGV carriage 4 and the jig carriage 6 are separated from each other by the separating device as described above, the AGV carriage 4 only moves forward from the front position Y to the working position X as described above. It connects with the jig trolley | bogie 6 which the assembly | attachment operation was complete | finished, and it progresses further downstream. Thereafter, the operator H moves the jig carriage 6 in the near position Y where the AGV carriage 4 and the jig carriage 6 are separated and become only the jig carriage 6 to the working position X.

  The next inspection station D is a station where the worker H visually inspects whether the mounting parts are correctly assembled to the product according to the specifications of the specification, and inspects the appearance, and inspects using the inspection device. .

  The next shipping station E is a station where the worker H removes the assembly product in which each mounting part is assembled from the self-propelled transport vehicle 1 and moves it to the storage location F.

  The first computer, the second computer, and the third computer 10 are connected via a LAN (local area network).

  The operation will be described below with the above configuration. First, in the shipping station E shown in FIG. 1, when a confirmation device (not shown) confirms a stop command tape attached separately from the main travel line 2, the driving of the driving device 5 is stopped, and this shipping station E In the meantime, the self-propelled transport vehicle 1 stops. Therefore, the worker H drops the assembly product in which each mounting part is assembled from the self-propelled transport vehicle 1 and temporarily stores it in the storage place F. Then, the assembly products are loaded and shipped in a predetermined order on the self-propelled transport vehicle 1A transported from the storage location F along the travel line 2A of another assembly line. The product conveyed by the self-propelled conveyance vehicle 1A along the traveling line 2A is assembled with other products to become a final finished product.

  Then, at the shipping station E, after the worker H drops the assembly product from the self-propelled transport vehicle 1 and temporarily stores it in the storage place F, when the start switch (not shown) is operated, the self-propelled type The transport vehicle 1 moves along the main travel line 2.

  Then, from the first computer (not shown) disposed at a predetermined station of the other assembly line, the model information of the assembly product is sent from the first computer (not shown) in the office to the assembly product in the other assembly line. The assembly product model number information is sequentially transmitted from the second computer to the third computer 10 in the assembly order, and the specification identification label indicating the assembly product model number is transmitted to the third computer 10 in the assembly order. The printer 11 has already been printed out.

  Accordingly, when the specification reading station A is reached and stopped, the worker H operates the start switch of the self-propelled transport vehicle 1 to move the self-propelled transport vehicle 1, and the worker H is represented by a QR code. The specification identification label is read using the scanner 12 which is a reading device. The information read by the scanner 12 is stored in a storage device of the third computer 10, and the third computer 10 stores the assembly product, various attachment parts of the assembly product, and attachment parts in the component supply devices 15A and 15B. The relation data (see FIG. 9) with the plurality of supply boxes 16 stored is read from the storage device, the corresponding cylinder 18 is operated, and each supply box 16 on the box mounting plate fixed to the extruded rod is Extrude (see FIG. 12). Then, as shown in FIG. 10, the worker H takes out one attachment component from the supply box 16 with the extruded numbers “7”, “12”, [18], “19”, and mounts the mounting area. The mounting part is loaded in a part mounting box on the self-propelled transport vehicle 1 moving in B.

  At this time, when the worker H has taken out the mounting parts from all the necessary supply boxes 16 and loaded them into the component placement boxes on the self-propelled transport vehicle 1, the self-propelled transport vehicle is assumed to have been removed. When the take-out completion switch provided in 1 is operated, the third computer 10 operates the corresponding cylinder 18 based on the operation of the take-out completion switch, pulls the rod, and pulls each supply box 16 (see FIG. 11). Then, the start switch of the self-propelled transport vehicle 1 that has stopped after reaching the specification reading station A is actuated to move the self-propelled transport vehicle 1, and as described above, the specification identification label is displayed on the scanner 12. It will be repeated, such as reading using.

  Then, distribution control is performed by a distribution control device (not shown) provided at the branch point Z. For example, the self-propelled transport vehicle 1 moves along the branch travel line 3A to a position Y before the work station C. Stop. When the assembling work of the mounting parts is completed to produce the assembly product on the jig carriage 6 separated from the AGV carriage 4 at the work position X, the worker H is the self-propelled transport vehicle 1 at the front position Y. The self-propelled conveyance vehicle 1 is separated from the AGV carriage 4 and the jig carriage 6 by the separation device, and only the AGV carriage 4 is at the front position Y based on the operation of the start switch. To the work position X, and is connected to the jig carriage 6 which has already been assembled, and further proceeds downstream.

  That is, as shown in FIG. 5, the rotation center shaft 51 of the cam plate 52 provided at the position where the rotation center shaft 51 is eccentric is located at the horizontal position of the center S, and the cam plate 52, the locking body 66, The drive motor 50 is driven based on the operation of the instruction switch from the state in which the fitting member 64 is fitted to the fitting member 53 and the AGV carriage 4 and the jig carriage 6 are connected. Then, the cam plate 52 rotates and the locking body 66 swings 90 degrees clockwise with the fulcrum 65 as the fulcrum 65, so that the rotation center shaft 51 of the cam plate 52 is directly below the center S. When moved to the position, the fitting of the fitting member 64 to the fitted member 53 is completely released, and the connection between the AGV carriage 4 and the jig carriage 6 is released. Then, based on the operation of the start switch, only the AGV carriage 4 moves, leaving only the separated jig carriage 6 at the front position Y.

  As a result, the moved AGV carriage 4 is connected to the jig carriage 6 at which the assembly work at the work position X is completed, and further proceeds downstream. That is, in the process in which the AGV carriage 4 moves to the work position X, the advancing cam plate 52 hangs the locking body 66 of the jig carriage 6 stopped at the work position X, but the lower limit position is the stopper ( The AGV carriage 4 that has been swung upward from the fulcrum 65 as a fulcrum from the state restricted by the not shown) and then moved to the work position X and stopped is driven by rotating the cam plate 52 by driving the drive motor 50. The stop body 66 is swung clockwise by 270 degrees with the fulcrum 65 as a fulcrum, and the rotation center shaft 51 of the cam plate 52 is moved to the horizontal position of the center S, so that the fitting member 64 is fitted to the fitted member 53. The AGV carriage 4 is coupled to the jig carriage 6 and further advanced downstream based on the operation of the start switch. Then, the worker H moves the jig carriage 6 that has been cut off and left at the front position Y to the work position X.

  At the next inspection station D, the assembly product on the self-propelled transport vehicle 1 stopped by visual inspection is inspected whether the mounting parts are correctly assembled to the product as in the specification, and the appearance is inspected. If necessary, an inspection is performed using an inspection device, and the inspection result table (for example, only defective products) is placed or pasted somewhere on the product or the self-propelled transport vehicle 1. Thereafter, when a start switch (not shown) is operated, the process proceeds to the next shipping station E.

  Then, at the next shipping station E where the self-propelled transport vehicle 1 is stopped, the operator drops the assembly product assembled with each mounting part from the self-propelled transport vehicle 1 and moves it to the storage location F. Thereafter, this assembly product is loaded and shipped from the storage location F to the self-propelled transport vehicle 1A transported along the travel line 2A of another assembly line, and if the result is poor, the worker stores the assembly product. Transfer from the location F onto the correction jig cart 6A to repair / correct the defective part, return to the storage location F after the repair / correction, load this product on the self-propelled transport vehicle 1A and ship it To do.

  It should be noted that assembly products loaded in accordance with the production sequence of the final finished product on the self-propelled transport vehicle 1A transported along the travel line 2A of another assembly line are transferred to the self-propelled transport in the other production lines in the factory. It is taken down from the car 1A and assembled to another product to become a final finished product.

  As shown in FIG. 1, the self-propelled transport vehicle 1 moves along the main travel line 2 and any one of the branch travel lines 3. The AGV cart 4 of the self-propelled transport vehicle 1 is an AGV cart main body. An obstacle detection sensor 48 for detecting an obstacle is provided on a mounting member 47 fixed to the lower end portion of the rotation shaft 43 of 41 and fixed at the upper and lower intermediate positions of the rotation shaft 43. Therefore, when the self-propelled conveyance vehicle 1 is bent to the left or right and the AGV carriage main body 41 is bent, the rotation shaft 43 is also rotated together with the wheels 4 (see FIG. 8). If there is an obstacle in the traveling direction), the obstacle detection sensor 48 can also quickly turn in the traveling direction. The obstacle can be quickly detected and the free wheel 46A by the driving device 5 of the AGV carriage 4 can be detected. Detection can be delayed because the rotation of the Collision of the obstacle due can be prevented.

  Although the embodiments of the present invention have been described above, various alternatives, modifications, and variations can be made by those skilled in the art based on the above description, and the present invention is not limited to the various alternatives described above without departing from the spirit of the present invention. It includes modifications or variations.

It is a top view of an assembly line. It is a side view of a self-propelled conveyance vehicle. It is a side view of an AGV cart. It is a side view of a jig trolley. It is a principal part side view of the self-propelled conveyance vehicle with which the AGV cart and the jig cart were connected. It is a principal part side view of the self-propelled conveyance vehicle which the connection of AGV cart and jig cart was canceled. It is a side view of the head part of a self-propelled conveyance vehicle. It is a top view of the head part of a self-propelled conveyance vehicle. It is a figure which shows the relationship data of the supply box which accommodated the product and the various attachment components which should be assembled | attached to this product, and the attachment components in a component supply apparatus. It is a perspective view of a components supply apparatus. It is a side view of the components supply apparatus in the state where the supply box is not pushed out It is a side view of the component supply apparatus of the state by which the supply box was extruded

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Self-propelled conveyance vehicle 4 AGV cart 6 Jig cart 41 AGV cart body 43 Rotating shaft 44 Wheel 47 Mounting member 48 Obstacle detection sensor

Claims (2)

  A self-propelled transport vehicle that mounts a component mounting box on which a component to be assembled to a product is mounted and transports it by wheels, and stops when an obstacle is detected when the obstacle detection device proceeds, A self-propelled transport vehicle characterized in that the obstacle detection device is provided on a rotating shaft that rotates together with a wheel.   A self-propelled transport vehicle that mounts a component mounting box on which components to be assembled to a product are mounted and transports them by wheels, and stops when an obstacle is detected when the obstacle detection device proceeds. The traveling conveyance vehicle is composed of an AGV carriage that moves along a running line and a jig carriage that mounts mounting parts, and the obstacle detection device is provided on a rotating shaft that rotates together with the wheels of the jig carriage. A self-propelled transport vehicle characterized by that.

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