JP2676700B2 - Magnetic label - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a marker used in a system for guiding an automatic guided vehicle or the like while detecting a marker placed along a guide path with a magnetic sensor.

(Prior Art) In a factory, a warehouse, a golf course, or the like, an automatic guided vehicle for transferring luggage is often used. The movement of this automated guided vehicle can be roughly divided into, for example, an electromagnetic induction method that detects a magnetic field due to a low-frequency current flowing through an embedded tow path wire, or a magnetic sheet such as ferrite or amorphous metal laid on the floor to There is a magnetic induction method that detects with a sensor. In addition to such a system, various systems such as an optical reflection system in which an aluminum or stainless steel sheet is laid on the floor surface and detected by an optical sensor, a laser beam system, and an image recognition system are also adopted.

Among them, the magnetic induction method is disclosed in Japanese Patent Laid-Open No. 61-230073, and an example thereof will be briefly described below with reference to FIG. An automated guided vehicle 1 is equipped with an electromagnet 2, a pair of magnetic sensors 3, an operational amplifier 4 and a controller 5. Lay the sheet sheet ferrite 6 on the floor and make the required track. In this example, the magnetic field from the electromagnet 2 is transmitted through the path of the electromagnet 2, the ferrite 6, and the magnetic sensor 3,
The magnetic sensor 3 outputs a detection signal of the ferrite 6. That is, when the electromagnet 2 and the magnetic sensor 3 are located symmetrically with respect to the central axis of the ferrite 6, the outputs of the two magnetic sensors 3 become positive and negative signals having the same absolute value of amplitude. When the signals are differentially amplified by the operation amplifier 4, the sum signal of the two magnetic sensors 3 is obtained. The magnitude of this sum signal is maximum when the center between the pair of magnetic sensors 3 is at the center of the ferrite 6, and becomes smaller as the center between the pair of magnetic sensors 3 deviates from the center of the ferrite 6. Therefore, according to the signal from the operational amplifier 4, the controller 5 can always control the center of the carrier vehicle 1 to the center of the ferrite 6. Therefore, the automated guided vehicle 1 can be moved along the marker body made of the ferrite 6.

As a magnetic marker used in this magnetic induction system, the present inventors have made a flaky soft magnetic amorphous alloy piece having a thickness of 5 to 100 μm and an aspect ratio of 10 to 15000, which is the ratio of the maximum length to the maximum thickness. Japanese Patent Application No. Sho-Kai, which has a structure in which 100 to 500 g / m ² is placed between films of non-magnetic material
Found in 62-290411.

(Problems to be Solved by the Present Invention) Since this magnetic guidance system detects the magnetic field to move the automatic guided vehicle, the marker is generally laid continuously on the floor. Target. However, if a part of the continuous marking body fails, for example, peeling,
When a chip or an edge is generated, it is necessary to peel off all the continuous magnetic markers and lay a new marker again, which is troublesome and costly to construct. In addition, when laying the sign on the floor, it is necessary to fix the floor and the sign with an adhesive, and if the laid sign is too thick, people will be stumped or the sign will Since it may cause peeling and edge hanging, it is necessary to give sufficient consideration to the laying.

Therefore, it is an object of the present invention to solve the above-mentioned problems of the conventional technology.

(Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention has a thickness of 5 to 100.
100 to 50 flakes of soft magnetic amorphous alloy flakes with aspect ratio of 10 to 15000, which is the ratio of maximum length to maximum thickness.
0 g / m ² disposed between thin plates of non-magnetic material, the opposite edges with a configuration that is not arranged amorphous alloy, has an adhesive on one side of the non-magnetic material, the thickness of the label Of 0.5 mm or less, and the length of the labeled body is 10 m or less.

(Operation) Since the above-mentioned marker of the present invention is thin, problems such as tripping, peeling and edge hanging are eliminated, and since it is laid locally, workability is improved and local correction is facilitated. . Further, since the adhesive is applied, it can be laid immediately and the workability becomes very easy.

(Example) FIG. 1 illustrates the magnetic label of the present invention. Between the thin films 8 having a thickness of 5 to 100 μm and flaky or scaly soft magnetic amorphous alloy pieces 7 having an aspect ratio of 10 to 15000, which is the ratio of the maximum length to the maximum thickness, at least partially overlapping each other. Then, calender and distribute. The width of the film 8 can be set to 25 to 150 mm. In this case, a blade is inserted in the longitudinal direction to obtain the film 8 having a required width. The pieces of amorphous alloy 7 sandwiched by the films 8 are then placed between lamellas 9 that are thicker than the films 8 but sufficiently elastic. The side edge of the thin plate 9 is the film 8
It is located outside the side edges of the soft magnetic amorphous alloy piece 7 and prevents the soft magnetic amorphous alloy piece 7 from directly going out. The film 8 and the thin plate 9 are brought into close contact with each other by using an adhesive under pressure while warm, or by a vacuum packing method in which both films and the thin plate are brought into close contact by depressurizing them.

The soft magnetic amorphous alloy piece 7 has a cavitation method disclosed in Japanese Unexamined Patent Publication (Kokai) No. 58-6907, that is, it has a surface layer having a small leak property to molten metal, and the surface of a roll rotating at high speed. It is manufactured by the cavitation method in which the molten metal is supplied to and the molten metal is divided into fine molten metal droplets, and subsequently the molten metal droplets are collided with a metal rotating body rotating at high speed to rapidly solidify the molten metal droplets. Is desirable. As molten metal, Co6 8.8 / Fe4.2.Si16 / B11 or Co75
A material composed of Fe5, Si4, and B16, or a mixture thereof, or the like is used. The soft magnetic amorphous alloy piece 7 thus obtained has a saturation magnetic flux density of 7000 G to 12000 G and magnetostriction (−10 G).
~ + 10) × 10 ^-6 , indicating a value of magnetic permeability of 1000 or more.

When the soft magnetic amorphous alloy piece 7 has a thickness of 5 μm or less, it is difficult to manufacture the same.
This thickness is 5-100 μm, preferably 20-60 μm. When the aspect ratio (the ratio of the maximum length to the maximum thickness) of the soft magnetic amorphous alloy is set to 10 or less, the magnetic permeability decreases,
If it is 15,000 or more, the productivity is reduced. Therefore, it is set to 50-10000, preferably 200-500.

The dispersion weight of the amorphous alloy between the films is sufficient to be 100 to 500 g / m ² in view of the sensitivity of the magnetic sensor, but 150 to 300 g / m ² is preferable in view of cost and the like.

The film 8 and the thin plate 9 are polyester, polyethylene, polypropylene, vinyl chloride film, acrylic resin plate, epoxy resin plate, phenol resin plate, cloth,
Although it can be made of paper, metal or the like, since a part of the wheels of the automatic guided vehicle may come into contact with the sign, the thin plate 9 is made of a material having mechanical strength and abrasion resistance. Is desirable. It is preferable to use a metal such as stainless steel, but the cost is high. Therefore, it is generally possible to solve the problem by using a polyester film. Since it is necessary to further reduce the thickness of the marker, the thickness of the film used here is 25
A thickness of ~ 100 μm is suitable.

Next, it is possible to improve the workability by having a pressure sensitive adhesive on one side of the non-magnetic material. As this pressure sensitive adhesive, a general rubber pressure sensitive adhesive, an acrylic pressure sensitive adhesive, or a silicone pressure sensitive adhesive is used. Can be used.

As the rubber adhesive, natural rubber, synthetic natural rubber, styrene-butadiene rubber, thermoplastic rubber, butyl rubber or the like is used, and as the tackifying resin, rosin, rosin derivative, terpene resin, petroleum resin or the like is used. In addition, if necessary, a filler, a softening agent, an antiaging agent, etc. can be added.
Acrylic adhesives include 2-ethylhexyl acrylate, n-butyl acrylate, etc., short-chain alkyl acrylates and methacrylates such as methyl acrylate, ethyl acrylate, vinyl acetate, etc., or acrylic acid, methacrylic acid, acrylamide derivatives, Hydroxyethyl acrylate, chrysidyl acrylate, etc. are copolymerized. The tackifier and the additives are the same as those of the rubber type.

The silicone adhesive contains polydimethylsiloxane rubber as a main component, and a silicone resin containing dimethylsiloxane as a main component is added.

Although any of the pressure-sensitive adhesives used in the present invention is good, it may damage the underlying P tile or the like at the time of layout change or local repair.
It does not have to have strong adhesion, and a moderate amount of adhesion is sufficient. Generally, it is a re-peeling type acrylic adhesive, and the adhesive layer is
20-30 μm is desirable.

Although the details of constructing the sign body have been described above, the sign body guides the automatic guided vehicle, and it is preferable that the sign body has no thickness. Since it has a thickness, it cannot be set to zero, but it must be thick enough to prevent people from tripping, catching, or peeling off the markings, or causing edge hooking. Yes, it is desirable to have a thickness of 0.5 mm or less. The thickness is more preferably 0.3 to 0.4 mm in consideration of handleability.

Next, when the marker is continuously laid on the floor, it needs to be completely redone if misalignment occurs, and if a local problem occurs during use, it must be completely replaced. It is necessary, resulting in unnecessary man-hours and costs. Since the magnetic induction method detects the magnetic field to move the automatic guided vehicle, the marker laid on the floor does not have to be a completely continuous sheet, and it can be used within the detection sensitivity of the magnetic sensor. Continuous intermittent laying is possible. Therefore, considering the handleability, the length of the marker is preferably 10 m or less, and more preferably 0.5 to 2 m in terms of workability and repairability.

By the cavitation method described above, Co _68.8 Fe _4.2 S
i ₁₆ B ₁₁ , zero magnetostriction, saturation magnetic flux density 7000G, magnetic permeability 10000,
A soft magnetic amorphous alloy piece with an average thickness of 40 μm and an aspect ratio of 200 to 500 is made and this is 250 g / m ² between polyethylene films.
And press it into close contact, then with a 50 mm width,
It was cut to a length of 800 mm, was formed by interposing it between polyester films with a thickness of 50 μm, and was cut at a region of 5 mm at each end in the area where no amorphous alloy was present to create a marker body with a width of 60 mm and a length of 900 mm. . In addition, the re-peelable acrylic adhesive with a thickness of 30 μm is applied to one side of the marker, and the total thickness is 0.4 m.
m. By laying this sign body along the line drawn in advance so that the sign body is butted, it is possible to construct it for a very short time.Because the total thickness is thin, there is no tripping and the butt part There is a region where the amorphous alloy does not intervene about 10 mm, but the detection region of the magnetic sensor is 25 mm
Since it is φ, it can be detected sufficiently and there was no problem in running the automated guided vehicle.

(Effect) In the marker according to the present invention, the flaky soft magnetic amorphous alloy pieces are interposed between the non-magnetic thin plates, so that the thin plates can be easily selected in any shape and any length. Therefore, it is extremely easy to partially replace the marking body or change the guide path (for example, make a straight line into a curved line or newly create a branch line).

[Brief description of the drawings]

FIG. 1 is an exploded sectional view of a magnetic marker, and FIG. 2 is a perspective view showing the basic configuration of an unmanned transportation system. In the figure: 6 ... Marker, 7 ... Amorphous alloy piece, 8 ... Film, 9 ... Thin plate, 10 ... Adhesive.

Claims (1)

(57) [Claims] 1. An unmanned transportation system in which an automated guided vehicle is moved along a sign while magnetically sensing the marked body, wherein the marked body has a thickness of 5 to 100 μm and a maximum length with respect to a maximum thickness. A flaky soft magnetic amorphous alloy piece with an aspect ratio of 10 to 15000, which is the ratio, is placed between thin plates of 100 to 500 g / m ² non-magnetic material, and no amorphous alloy is placed on both edges. A magnetic marker having a pressure-sensitive adhesive layer on one side of a non-magnetic material, wherein the marker has a thickness of 0.5 mm or less and the marker has a length of 10 m or less.