JP3691653B2 - Conveying device on the route of automatic guided vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a work line structure for an automated guided vehicle, and more particularly to a technique for using the automated guided vehicle as a work table.
[0002]
[Prior art]
2. Description of the Related Art In recent years, in a production factory for products and the like, a conveyance method is adopted in which parts are conveyed by an automated guided vehicle (AGV) that is driven by an electric motor using a storage battery as a drive source.
[0003]
[Problems to be solved by the invention]
In such an AGV system, parts are transported by AGV. In the assembly line, in the assembly process, it is necessary to unload parts transported from the AGV from an automatic guided vehicle and place them on a conveyor or the like.
That is, the conventional AGV system is provided with a transfer line of the automatic guided vehicle, but there is no component part for causing the operator to perform a predetermined operation using the automatic guided vehicle as a work table in the assembly line.
[0004]
In view of the above-described conventional problems, an object of the present invention is to make it possible to use an automatic guided vehicle as a work table in a work line such as an assembly line.
[0005]
[Means for Solving the Problems]
Therefore, the invention according to claim 1
By driving a traveling electric motor from a mounted storage battery, the automatic guided vehicle is transported at equal intervals along a predetermined traveling route along which a plurality of automatic guided vehicles travels. A conveyor system that can be used as a workbench for performing predetermined work , and at its exit, a conveyor system having a control function for temporarily stopping the automatic guided vehicle to prevent forgetting tow pin removal is provided. It is characterized by.
[0006]
The invention according to claim 2
The conveyor system is a fitting portion in which a drive chain embedded in a floor surface and a tow pin of an automatic guided vehicle are fitted, and a plurality of parts that are provided at equal intervals along the drive chain and move together with the drive chain. It is characterized by including the conveyor apparatus provided with this fitting part.
[0007]
The invention according to claim 3
The conveyor system includes an approach approach control function that synchronizes the movement of the conveyor system and the automatic guided vehicle at the entrance to direct the automatic guided vehicle to the conveyor system .
The invention according to claim 4
The conveyor system, at its inlet, in order to prevent missing teeth AGV, characterized in that a control function for temporarily stopping the conveyor system.
[0008]
The invention according to claim 5
The conveyor system includes a control function for controlling a toe pin exit position from the automatic guided vehicle at an entrance thereof.
The invention according to claim 6
The conveyor system has a function of controlling a toe pin removal position from the conveyor system at an outlet thereof.
[0010]
The operation of the present invention will be described.
In the invention according to claim 1, for example, parts are transported by an automated guided vehicle, and an assembly operation is performed by an operator using the automated guided vehicle as a work table in an assembly process, for example. At this time, since the automatic guided vehicle is temporarily stopped at the exit of the conveyor system to prevent forgetting to pull out the tow pin, the automatic guided vehicle is smoothly transferred from the conveyor system, and safety is improved by preventing collision.
In the invention which concerns on Claim 2, an automatic guided vehicle is conveyed by the conveyor apparatus.
[0011]
In the invention which concerns on Claims 3-5, at the entrance of a conveyor system , for example, a conveyor system synchronization approach approach command is output, and detection of missing teeth (pause) is performed at the subsequent stage, and at the subsequent stage. Since the toe pin out position command is output, the automatic guided vehicle is smoothly transferred to the conveyor system and controlled.
In the invention according to claim 6, at the exit of the conveyor system , for example, a toe pin removal position command is output, so that the automatic guided vehicle is smoothly transferred from the conveyor system , and safety is improved by preventing collision.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 shows an example of the layout of an engine assembly line configured by using a plurality of automated guided vehicles (for example, 28).
This engine assembly line includes an automated guided vehicle 10, an MRG1 process 20, an MRG2 process 22, a TOP1 process 24, a TOP2 process 26, a TOP3 process 28, a final assembly process 30, an ENG lowering process 34, a charging And step 40.
[0013]
As shown in FIG. 2, the automatic guided vehicle 10 includes a wireless receiver 11 that receives various control commands by radio, a control unit 12 that performs drive control of a traveling electric motor (not shown) according to the received various control commands, A voltage sensor 13 (charging state detecting means) for detecting a voltage V between terminals of a battery (storage battery) that does not perform, an optical communication transmitter 14 that transmits the detected voltage V between terminals of the battery to the outside by optical communication, and not shown And a toe pin lifting mechanism.
[0014]
The control unit 12 includes at least a central processing unit (CPU) and a memory, and performs various controls of the automatic guided vehicle 10 according to a program on the memory.
And the automatic guided vehicle 10 functions as a work table in the final assembly process 30 while conveying an engine and its component parts to each process.
In the MRG 1 process 20, the MRG 2 process 22, the TOP 1 process 24, the TOP 2 process 26, and the TOP 3 process 28, the engine or the components are lowered from the automatic guided vehicle 10 to another process (not shown), or another process. The engine is loaded into the automatic guided vehicle 10.
[0015]
In the final assembly process 30, the automatic guided vehicle 10 is caused to travel at equal intervals by the conveyor system 31, and the final engine assembly is performed by the operator using the automatic guided vehicle 10 as a work table.
As shown in FIG. 4, the conveyor system 31 is a chain dock 82 as a fitting portion into which a drive chain 80 embedded in a floor surface and a tow pin 81 (see FIG. 3) of the automatic guided vehicle 10 are fitted. And a conveyor device (for example, a dolly conveyor device with a low floor type chain dock) provided with a plurality of chain docks 82 provided at equal intervals along the drive chain 80 and moving together with the drive chain 80. .
[0016]
The mechanism for running the automatic guided vehicle 10 causes the tow pin 81 to protrude from the automatic guided vehicle 10 at a predetermined timing at the entrance of the conveyor system 31 and fits the tow pin 81 into the chain dock 82 of the conveyor device.
Then, the automatic guided vehicle 10 is caused to travel by the toe pin 81 that moves together with the drive chain 80.
[0017]
When the automatic guided vehicle 10 travels to the exit of the conveyor system 31, the tow pin 81 is accommodated at a predetermined timing, and the automatic guided vehicle 10 starts traveling by itself.
The details of the conveyor system 31 will be described later.
In the ENG lowering step 34, the assembled engine is lowered from the automatic guided vehicle 10, and the engine is transferred to the engine mounting step by another step, for example, an overhead conveyor.
[0018]
And on the floor of the factory, the MRG1 process 20, the MRG2 process 22, the TOP1 process 24, the TOP2 process 26, the TOP3 process 28, the final assembly process 30, and the ENG lowering process 34 are connected. A main guide path 50 serving as a main travel path of the automatic guided vehicle 10 is embedded in a loop shape. Further, a plurality of branch taxiways 50A are embedded as branch travel paths that branch from the main taxiway 50 that becomes the main travel path and then merge again.
[0019]
Examples of the guide paths 50 and 50A include a guide line used in the electromagnetic induction system, a route tape used in the optical induction system, and a magnetic generator used in the magnetic tape induction system. In the present embodiment, the magnetic tape induction method is employed in consideration of the fact that the floor surface is soiled with oil or the like, and that heavy objects are conveyed.
In the charging step 40, the battery of the automated guided vehicle 10 is charged.
[0020]
In this charging step 40, a revolving charging station 41 that replenishes power consumed by traveling on the loop-shaped main taxiway 50 in a predetermined short time, and relief charging that replenishes power consumed over a predetermined time. And stations 42 to 46.
The orbital charging station 41 is provided only for the main taxiway 50 and performs rapid charging in a relatively short time (for example, 1 minute).
[0021]
Further, the relief charging stations 42 to 46 are respectively provided in the branch guiding paths 50A formed by branching the guiding path 50 as described above, and perform quick charging in a relatively long time (for example, one hour).
A round charger 41a is installed in the round charge station 41, and first to fifth chargers 42a to 46a are installed in the relief charge stations 42 to 46, respectively.
[0022]
Whether charging is performed at the round charging station 41 or whether the charging is performed at the relief charging stations 42 to 46 depends on, for example, the voltage V between terminals of the battery of the automatic guided vehicle 10 by the voltage V between terminals. If it is above, it will charge by the round charge station 41, and if the voltage V between terminals is less than predetermined value V1, operation of the automatic guided vehicle 10 is controlled so that it may charge by the relief charge stations 42-46 ( Automatic charging pit-in control).
[0023]
This will be described in detail later.
In addition to the configuration described above, the MRG1 process 20, the MRG2 process 22, the TOP1 process 24, the TOP2 process 26, the TOP3 process 28, the final assembly process 30, the ENG lowering process 34, and the charging process 40 include Control panels 21, 23, 25, 27, 29, 32, 35 and 48 are provided as control devices for performing control in each process.
[0024]
Each control panel includes a control unit incorporating a microcomputer and an operation unit that activates each process.
Furthermore, a centralized control panel 60 (centralized control device) that performs centralized operation control of the automatic guided vehicle 10 is provided.
The centralized control panel 60 includes a wireless transmitter 61 that transmits various control commands to the automatic guided vehicle 10 wirelessly, a control unit 62 that incorporates a microcomputer, and a monitor 63 that displays the operating state of the automatic guided vehicle 10. Composed.
[0025]
The control panel 21 and the like that control each process and the centralized control panel 60 are connected via a PC link 70 so that data can be exchanged with each other.
Each charger in the final assembly process 30, the ENG lowering process 34, and the charging process 40 is provided with an optical communication receiver 72 that receives the inter-terminal voltage V of the battery transmitted from the automatic guided vehicle 10. The inter-terminal voltage V transmitted from the automatic guided vehicle 10 is received by the optical communication receiver 72 and transmitted to the centralized control panel 60 via the PC link 70.
[0026]
As described above, the control panel 35 is charged at the round charging station 41 based on the inter-terminal voltage V of the battery transmitted from the automatic guided vehicle 10, or relief charging stations 42 to 46. Determination means for determining whether to perform charging, and travel command means for instructing the automatic guided vehicle 10 to travel toward the charging station to be bit-in based on the determination result by the determination means. It has been.
[0027]
In addition, the central control panel 60 includes a first condition after the charging time of the storage battery at the relief charging stations 42 to 46 has elapsed for a predetermined time (for example, 1 hour), and the charging current value to the storage battery is reduced to a predetermined value. (E.g., reduced from 50A to 10A) When any one of the second conditions is satisfied, it is determined that the charging is completed, and the start commanding the start from the relief charging stations 42 to 46 of the automatic guided vehicle 10 Command means are provided.
[0028]
Next, details of the conveyor system will be described.
First, the structure of the tow pin 81 on the automatic guided vehicle 10 side will be described with reference to FIG.
At the bottom of each automatic guided vehicle 10, a tow pin 81 capable of moving back and forth in the vertical direction and a drive device for moving the tow pin 81 back and forth are provided.
[0029]
The drive device includes a motor cylinder device 83, and an upper end portion of a toe pin 81 is connected to a distal end portion of a drive rod 84 extending above the motor cylinder device 83 via a connecting member 85.
The toe pin 81 is slidably disposed inside the cylindrical guide member 86, and is moved up and down by the vertical movement of the drive rod 84, that is, the position A stored in the bottom side of the automatic guided vehicle 10, and the bottom portion Is moved forward and backward to a position B protruding downward from the position B.
[0030]
Further, two proximity switches 87 and 88 for detecting the position of the tow pin 81 by detecting the position of the connecting member 85 are provided at two upper and lower positions facing the upper peripheral surface of the tow pin 81. The upper proximity switch 87 detects the storage state of the toe pin 81, and the lower proximity switch 88 detects the protruding state of the toe pin 81.
[0031]
Next, the structure of the conveyor apparatus will be described with reference to FIG.
The drive chain 80 is arranged in an elongated loop shape in the final assembly step 30 that extends linearly, and the chain dock 82 is fixedly attached to the side surface of each chain portion 80A at predetermined intervals of the drive chain 80. ing.
The chain dock 82 has a configuration in which a main dock 82A and an auxiliary dock 82B are provided adjacent to each other.
[0032]
The chain dock 82 includes a pair of support portions 82a, and a pair of engagement claw portions 82b that incline with a predetermined angle in directions approaching each other from the support portions 82a and extend sideways. The tip portion of the tow pin 81 is fitted between the claws 82b.
Next, a method for controlling transfer at the entrance and exit of the conveyor device of the automatic guided vehicle 10 will be described.
[0033]
At the entrance of the conveyor device, a conveyor device synchronized approach entry command is output, detection of tooth loss prevention (temporary stop) is performed at the subsequent stage, and a toe pin out position command is output at the subsequent stage.
At the exit of the conveyor device, a tow pin removal position command is output, and tow pin removal forgetting prevention detection (temporary stop) is performed at the subsequent stage, and at the subsequent stage, full work detection stop control for preventing collision of the automated guided vehicle Is executed.
[0034]
Such control will be described with reference to FIGS.
First, the transfer control at the conveyor device entrance will be described with reference to FIG.
The position of TOP3 step 28 is address A, the subsequent stage is B address, and the subsequent stage is C address.
[0035]
(1) Restart of automatic guided vehicle 10 from TOP3 step 28 (address A) (automated guided vehicle A address arrival, work completion in TOP3 step 28, entrance 1 OTR (optical communication device) synchronization OFF)
(2) Restart of automatic guided vehicle 10 from address B (arrival of automatic guided vehicle B, front seated LS (limit switch) ON, entrance 2 OTR synchronous OFF)
(3) Restart of automatic guided vehicle 10 from address C (tow pin lowering of automatic guided vehicle at address C, arrival of automatic guided vehicle C, toe pin lowering timing LS (limit switch) ON)
In addition, the automatic guided vehicle 10 arrives at the OTR position of the entrance 2 of the conveyor device, and when the front seat LS is turned on while lowering the tow pin and moving forward, the unmanned transport is performed backward (the entrance 1 and the OTR position of the entrance 2). When there is no car, the conveyor device is temporarily stopped. Thereafter, when the automatic guided vehicle 10 arrives at the OTR position of the entrance 2, the conveyor device is restarted.
[0036]
That is, when the automatic guided vehicle 10 arrives and descends the tow pin to move forward and there is no automatic guided vehicle 10 behind, the conveyor device is temporarily stopped so that the interval of the automatic guided vehicle 10 does not increase. Thus, the automatic guided vehicle can be prevented from missing teeth.
Next, transfer control at the conveyor device outlet will be described with reference to FIG.
[0037]
The conveyor apparatus outlet position is D address, the subsequent stage is E address, and the subsequent stage is F address.
(1) Automatic guided vehicle 10 arrives at address D (tow pin rises, driving ready, automatic start, self-running start)
(2) Automatic guided vehicle 10 arrives at address E a. The address E is read and an arrival confirmation signal is sent from the automatic guided vehicle 10 to the conveyor device side.
[0038]
b. The conveyor device receives the arrival confirmation signal and sends an “automatic guided vehicle external activation signal (operation preparation command, toe pin raising command, automatic startup command)” to the automated guided vehicle 10.
c. An "automatic guided vehicle work completion signal (operation preparation entered, tow pin rising end, during automatic activation)" is sent from the automated guided vehicle 10 to the conveyor device side.
d. The conveyor device receives an “automatic guided vehicle work completion signal” and sends an automatic guided vehicle restart command.
[0039]
e. The automatic guided vehicle 10 is restarted. The above-mentioned signal transfer is executed at the exit OTR.
With the above control, the automatic guided vehicle 10 loaded with parts and the like waits at the entrance of the conveyor device of the conveyor system 31 in the final assembly step 30, advances based on the entry command, and is temporarily stopped at the toe pin out position. The After waiting for the tow pin to come out in response to the tow pin output command, the automatic guided vehicle 10 is pulled by the movement of the chain dock fitted to the tow pin, and then the transfer is started and pulled to the exit of the conveyor device. After the tow pin is pulled out of the chain dock by the command at the toe pin unloading position, the automatic guided vehicle 10 runs on its own.
[0040]
As described above, in order to cause the automatic guided vehicle 10 to be transported at equal intervals in the middle of a predetermined travel route on which the plurality of automatic guided vehicles 10 travel, and to cause the automatic guided vehicle to perform predetermined work by an operator. As a result of providing the conveyor system 31 that can be used as a work table, an assembly operation by an operator using the automatic guided vehicle 10 as a work table in the final assembly process 30 while carrying parts and the like by the automatic guided vehicle 10. As in the past, there is no need to unload the parts transported from the automated guided vehicle from the automated guided vehicle and transfer them to the conveyor, etc., and the system can be operated smoothly and productivity can be improved. .
[0041]
In addition, according to such a configuration, the conveyor device synchronization approach entry command is output at the conveyor device entrance, the tooth missing prevention detection (temporary stop) is performed at the subsequent stage, and the tow pin out position command is output at the subsequent stage. Therefore, it is possible to smoothly control the transfer of the automatic guided vehicle to the conveyor device, and in particular, when the automatic guided vehicle 10 arrives, descends the tow pin, and there is no automatic guided vehicle 10 in the rear while moving forward, the conveyor device is temporarily stopped. As a result, the gap of the automatic guided vehicle 10 is not increased and the automatic guided vehicle 10 is prevented from being pulled out. As a result, the flow of the automatic guided vehicle in the assembly process can be made smooth. The flow can be smoothed.
[0042]
Further, at the conveyor device exit, a tow pin removal position command is output, and detection of tow pin removal forgetting prevention (temporary stop) is performed at the subsequent stage. At the subsequent stage, full work for preventing collision of the automatic guided vehicle 10 is performed. Since detection stop control is executed, the automatic guided vehicle 10 can be smoothly transferred from the conveyor device, and safety can be improved by preventing collisions.
[0043]
【The invention's effect】
As described above, according to the first aspect of the present invention, the automatic guided vehicle is transported at equal intervals in the middle of a predetermined traveling route on which a plurality of automatic guided vehicles travel, and the automatic guided vehicle is operated. As a result of providing a conveyor system that can be used as a work table for allowing a person to perform a predetermined work, while carrying parts and the like with an automatic guided vehicle, for example, in an assembly process, the automatic guided vehicle is used as a work table. Assembling work by workers can be performed, and as in the past, there is no need to unload parts transported from the automated guided vehicle from the automated guided vehicle and place them on a conveyor, etc. Productivity can be improved. At this time, for example, detection of detection of forgetting tow pins (temporary stop) is performed at the entrance of the conveyor system, so that the automatic guided vehicle can be smoothly transferred from the conveyor system, and safety can be improved by preventing collisions.
[0044]
According to the invention which concerns on Claim 2, since the conveyor system was comprised including the drive device and the conveyor apparatus provided with the fitting part which the tow pin of an automatic guided vehicle fits, conveyance of an automatic guided vehicle is easy. Can be done reliably with the structure.
According to the inventions according to claims 3 to 5, at the entrance of the conveyor system , for example, a conveyor system synchronization approach entry command is output, and detection of missing teeth (temporary stop) is performed at the subsequent stage. Since the tow pin output position command is output at, the automatic guided vehicle can be smoothly transferred to the conveyor system and controlled.
[0045]
In the invention according to claim 6 , since, for example, a tow pin removal position command is output at the exit of the conveyor system , the automatic guided vehicle can be smoothly transferred from the conveyor system , and safety can be improved by preventing collision.
[Brief description of the drawings]
FIG. 1 is a diagram showing an example of the layout of an engine assembly line for explaining an embodiment of a control system for an automatic guided vehicle according to the present invention. FIG. 2 is a configuration diagram showing an embodiment of the system according to the embodiment. Front view explaining the structure of the tow pin on the automatic guided vehicle side [FIG. 4] Plan view explaining the structure of the conveyor device [FIG. 5] Diagram explaining the transfer control at the entrance of the conveyor device [FIG. 6] Diagram explaining transfer control 【Explanation of symbols】
DESCRIPTION OF SYMBOLS 10 Automatic guided vehicle 13 Electric motor 14 Storage battery 15 Control unit 21,23,25,27,29,32,35 and 48 Control panel 31 Conveyor system 80 Drive chain 81 Toe pin 82 Chain dock 83 Motor cylinder apparatus 60 Centralized control panel (centralized) Control device)

Claims (6)

By driving a traveling electric motor from a mounted storage battery, the automatic guided vehicle is transported at equal intervals along a predetermined traveling route along which a plurality of automatic guided vehicles travels. A conveyor system that can be used as a workbench for performing predetermined work , and at its exit, a conveyor system having a control function for temporarily stopping the automatic guided vehicle to prevent forgetting tow pin removal is provided. A transport device in a travel route of an automatic guided vehicle.   The conveyor system is a fitting portion in which a drive chain embedded in a floor surface and a tow pin of an automatic guided vehicle are fitted, and a plurality of parts that are provided at equal intervals along the drive chain and move together with the drive chain. The conveyor apparatus in the driving | running route of the automatic guided vehicle of Claim 1 comprised including the conveyor apparatus provided with this fitting part. 3. The unmanned unmanned vehicle according to claim 1, wherein the conveyor system has an approach approach control function that synchronizes the movement of the conveyor system and the automatic guided vehicle at an entrance thereof to direct the automatic guided vehicle toward the conveyor system. A transport device in the travel route of the transport vehicle. The conveyor system, at its inlet, the automatic guided vehicle for toothless prevention, according to any one of claims 1 to 3, further comprising a control function to pause the conveyor system A transfer device in the travel route of an automated guided vehicle. The route of the automatic guided vehicle according to any one of claims 1 to 4, wherein the conveyor system has a control function of controlling a toe pin exit position from the automatic guided vehicle at an entrance thereof. Conveying device. The said conveyor system was equipped with the function which controls the toe pin extraction position from a conveyor system in the exit , The conveyance in the driving | running route of the automatic guided vehicle as described in any one of Claims 1-5 characterized by the above-mentioned. apparatus.

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