JP3303596B2 - Route change switching device for automatic driving vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a switching device for selectively changing the course of an automatic traveling vehicle traveling straight on a guide tape such as a reflection guide tape or a magnetic guide tape to the left or right at a junction. The present invention relates to a route change switching device for an automatic traveling vehicle, which has a mechanically simple and inexpensive structure and can be installed at an arbitrary location.

[0002]

2. Description of the Related Art Automated vehicles (hereinafter referred to as AGVs) are conveniently used in warehouses and factories. This AG
V is guided to a destination on a guide tape mounted on a road surface with an article mounted thereon. As the induction tape, a reflection induction tape such as an aluminum foil or a magnetic induction tape made of a magnetic material is used, and a detection device provided on the AGV side detects reflected light or a magnetic wave so that it can travel along the induction tape. Formed. In order for the AGV to reach the destination, it is necessary to change the course from the straight traveling direction to the left and right directions. Therefore, a course change switching device is installed at a branch point where a course change is required.

As the course change switching device, techniques such as a card reading system, a reflector controller system, and a sequencer driving system have been conventionally employed. The card reading method is to read a card before a branch point to determine a course, the reflector controller method is to catch light at a branch point and change the course, and the sequencer driving method is The course is changed according to the instructions entered into the computer.

On the other hand, as one of known techniques relating to a course change switching device, there is one disclosed in Japanese Utility Model Laid-Open No. 4-55604. A branch point mark corresponds to the device described in the gazette related to this “guidance path of the automatic guided vehicle”, and is denoted by reference numeral 3 in the gazette. This branch point mark is for recording in advance in which direction the AGV proceeds in the left or right direction at the branch point, and is configured to send information to the AGV side that has reached the location of the branch point mark. Corresponds to the above card reading method.

[0005]

The above-mentioned card reading method requires a computer to input information at the time of card creation, and therefore requires at least a computer, a card and a reading device mounted on the AGV. Therefore, there is a problem that the equipment cost becomes enormous. Furthermore,
There is a problem that a malfunction due to dirt or misreading easily occurs. In addition, the reflector controller method requires a reflector, a phototube, a controller, and a reading device, which increases equipment costs, and the reflector and the phototube are displaced due to vibration and interference, so that light catch is incomplete and malfunctions occur. There is a problem. In addition, the sequencer driving method requires a computer to drive the sequencer with a computer, which requires at least an expensive sequencer and a computer, which increases the equipment cost and makes it difficult to restart when stopped due to dirt or erroneous operation. And malfunctions are likely to occur.

The present invention solves the above-mentioned problems, does not cause an electrical malfunction, allows a reliable course change, improves reliability and safety, and can be implemented simply and inexpensively. It is another object of the present invention to provide an automatic traveling vehicle route change switching device that can be easily attached to a desired arbitrary place.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above objects, the present invention is to change the traveling path of an automatic traveling vehicle that automatically travels on a guide tape provided on a road surface at a branch point to the left or right. A route change switching device, the route change switching device comprising: a guide rod vertically supported to be movable left and right on the automatic traveling vehicle side; and a left and right distribution guide plate abuttingly engaged with the guide rod. A guide plate provided on the upper surface and rotatably supported around a support pin in the vicinity of the branch point, wherein the guide plate for right and left distribution is disposed forward of the support pin and extends in the left and right direction. Of the automatic traveling vehicle. More specifically, the guide plate for right and left distribution extends divergently in the left and right direction toward the traveling direction of the automatic traveling vehicle.

[0008]

The guide bar supported on the AGV side is set at a desired position on the left or right in advance. When the AGV reaches the branch point, the guide bar hits the left or right side of the left / right distribution guide plate. Since the left and right distribution guide plate is inclined to spread leftward or rightward, when the AGV goes straight on, the guide rod kicks the left and right distribution guide plate and rotates the guide plate to the left or right by a predetermined angle. As a result, the guide plate is positioned at a position corresponding to the guide tape provided in the left or right direction. Therefore, the AGV turns left or right along the guide plate and the guide tape and proceeds.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view for explaining the overall structure of the present embodiment, FIG. 2 is a plan view of a guide plate, FIG. 3 is a sectional view taken along line AA of FIG. 2, and FIG. 4 shows a guide rod and its support structure. Front view,
FIG. 5 is a sectional view taken along line BB of FIG. 4, and FIGS. 6 to 8 are plan views for explaining the operation of the present embodiment.

As shown in FIG. 1, a guide tape 12, a left guide tape 13 and a right guide tape 14 are provided on a road surface 11 for going straight. On the other hand, the AGV 10 is equipped with a detecting device 15 for detecting reflected light or magnetic waves from the guide tape 12 or the like, and guides the AGV 10 to the course of the guide tape 12 or the like. On the other hand, the guide bar 1 is held on the front plate 16 of the AGV 10. The guide plate 2 is provided at a branch point between the straight guide tape 12 and the left or right guide tapes 13 and 14.

First, the guide plate 2 will be described with reference to FIGS. The guide plate 2 includes a guide plate 3 for right and left sorting and a guide plate member 4 on which the guide plate 3 is placed. The guide plate member 4 is formed of the same material as the guide tape 12 and the like.
One end of the guide plate member 4 is pivotally supported by a support pin 5 fixed to the road surface 11. Therefore, the guide plate 2 is supported on the road surface 11 so as to be rotatable left and right around the support pins 5. The left and right distribution guide plate 3 is composed of a left guide plate 3a and a right guide plate 3b which are disposed in a V-shape and divergently inclined left and right with respect to the longitudinal direction of the guide plate member 4 (the traveling direction of the AGV 10). This inclination angle is set appropriately according to the route of the guide tape 12 or the like.

Next, the guide rod 1 and its support structure will be described with reference to FIGS. 1, 4 and 5. FIG. The guide rod 1 is formed of an elongated rod-shaped member made of plastic, iron, or the like, and is disposed along the vertical direction. A guide shaft 6 is fixed to the guide rod 1, and a knob 7 is fixed to the guide shaft 6. On the other hand, the guide panel 8 is fixed to the front plate 16 of the AGV 10. The guide panel 8 has a long hole 9 extending in the left-right direction.
Is formed. The guide rod 1 is inserted into the gap between the front plate 16 and the guide panel 8 and the guide shaft 6 is inserted into the elongated hole 9. By grasping the knob 7 and moving the guide shaft 6 along the elongated hole 9 by the above structure, the guide rod 1 is moved and positioned at any position on the left and right of the elongated hole 9.
As shown in FIG. 5, the guide rod 1 is hung down toward the road surface 11 and its lower end is arranged so as to be able to abut and engage with the guide plate 3 for right and left distribution of the guide plate 2.

Next, the operation of changing the course of the AGV according to this embodiment will be described. As shown in FIG. 6, the AGV 10 runs straight on the guide tape 12. The guide plate 2 is arranged straight along the extension direction of the guide tape 12. The guide bar 1 is positioned and set at an appropriate position on the right side in the direction of travel of the AGV. As shown in FIG. 7, when the AGV 10 moves straight along the guide tape 12 from the state shown in FIG. 6, the guide rod 1 hits the right guide plate 3 b of the right and left sorting guide plate 3. When the AGV 10 moves further straight as it is, the guide bar 1 kicks the right guide plate 3b, and the guide plate member 4 rotates leftward about the support pin 5, as shown in FIG. By adjusting the shape of the guide plate 3 for right and left distribution and the setting position of the guide bar 1, the direction of the guide plate 2 and the left guide plate 13 at the position where the guide bar 1 is released from contact with the right guide plate 3b. Direction can be matched. Since the guide plate member 4 is made of the same material as the left guide tape 13, the AGV 10 changes the course to the left along the guide plate member 4 and the left guide tape 13 and moves forward as shown in FIG. 7. When the next AGV 10a reaches the branch point following the AGV 10, the guide plate 2 is held while being rotated leftward.
V10a advances to the left similarly to AGV10.

FIG. 8 shows a subsequent A requiring a course change to the right.
This shows a course change switching operation of the GV 10b. AG
V10b positions and sets the guide bar 1 in the left direction.
When the AGV 10b goes straight in this state, the guide rod 1 is moved to the left by the left guide plate 3 of the guide plate 2 which has already turned to the left.
a. Therefore, when the AGV 10b goes straight as it is, the guide plate 2 rotates rightward about the support pin 5 as shown by the dotted line. Therefore, the direction of the guide plate 2 matches the right-direction guide tape 14, and the AGV 10b changes the course to the right along the right-direction guide tape 14 as shown by the one-dot chain line in FIG.

As described above, the path of the AGV 10 or the like can be freely changed to the left or right by moving and positioning the guide bar 1 to an appropriate position in the left or right direction. Since all the components of the present embodiment are mechanical, no electrical malfunction occurs. Therefore, a course change can be performed reliably. In the above description, the guide rod 1 is a square rod, but the present invention is not limited to this, and the support structure is not limited to the illustrated one. Also,
The shape of the guide plate 3 for right and left distribution of the guide plate 2 is also V
The shape is not limited to a mold, and may be, for example, a curved shape or a straight line extending in the left-right direction.

[0016]

According to the present invention, the following remarkable effects are obtained. 1) Since no electrical device is used, the equipment cost can be reduced. 2) Since the course change switching is performed by mechanical engagement, no erroneous operation or electrical misreading occurs. That is, reliability and safety can be improved. 3) The device has a simple structure and can be easily attached to any place.

[Brief description of the drawings]

FIG. 1 is a perspective view showing the overall structure of an embodiment of the present invention.

FIG. 2 is a plan view of the guide plate of the embodiment.

FIG. 3 is a sectional view taken along line AA of FIG. 2;

FIG. 4 is a plan view showing the guide rod and its support structure of the embodiment.

FIG. 5 is a sectional view taken along line BB of FIG. 4;

FIG. 6 is an explanatory plan view for explaining the operation of the embodiment.

FIG. 7 is an explanatory plan view for explaining a leftward course change state in the embodiment.

FIG. 8 is an explanatory plan view for explaining a course change to the right in the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Guide rod 2 Guide plate 3 Guide plate for right and left distribution 3a Left guide plate 3b Right guide plate 4 Guide plate member 5 Support pin 6 Guide shaft 7 Knob 8 Guide panel 9 Slot 10 Automatic traveling vehicle (AGV) 10a Automatic traveling vehicle (AGV) AGV) 10b Automatic traveling vehicle (AGV) 11 Road surface 12 Guide tape 13 Left guide tape 14 Right guide tape 15 Detector 16 Front panel

Claims (2)

(57) [Claims] 1. A route change switching device for switching a traveling route of an automatic traveling vehicle that automatically travels on a guide tape provided on a road surface to a left or right at a branch point, wherein the route change switching device is A guide rod vertically suspended and movably supported on the side of the autonomous vehicle, and a guide plate for right and left distribution which abuts and engages with the guide rod is provided on an upper surface, and is rotatable around a support pin near the branch point. And a guide plate supported by the guide plate, wherein the guide plate for right and left distribution is a plate member disposed forward of the support pin and extending in the left-right direction. 2. The guide plate for right and left sorting,
2. The route change switching device for an automatic traveling vehicle according to claim 1, wherein the device extends in a divergent manner in the left-right direction toward the traveling direction of the automatic traveling vehicle.