JP4265460B2 - Parts supply device by automatic guided vehicle - Google Patents

Description

  The present invention relates to a component supply apparatus using an automatic guided vehicle.

  In a production line such as an automobile assembly line or an engine assembly line, it is necessary to sequentially supply a large number of parts to a supply station provided in the vicinity of the production line. The supply station is usually installed at a position far away from a parts station that stores a large number of parts. For this reason, the parts are transported from the parts station to the supply station using an automated guided vehicle. It has also been done.

In Patent Document 1, a loading platform provided in an automatic guided vehicle is provided so as to be movable in the conveyance direction, and the movable loading platform is used to supply workpieces to a machining station and to process workpieces that have been machined in the machining station. What has been made available for receipt is disclosed. That is, with the automated guided vehicle stopped at the processing station, the work placed on the loading platform is carried out to the processing station, and then the loading platform is moved to receive the processed workpiece on the loading platform. It is disclosed to do so.
Japanese Patent Laid-Open No. 9-100024

  By the way, when parts are transported to a supply station by an automated guided vehicle, the space in the width direction of the traveling route cannot be secured sufficiently due to the arrangement of the equipment around the traveling route (conveyance route) of the automated guided vehicle. There is. For this reason, the automatic loading vehicle, that is, the loading platform provided on the automatic guided vehicle is elongated in the traveling direction, that is, the parts are placed vertically in the traveling direction, so that the vehicle travels even in a traveling route having a narrow space in the width direction. It is possible to make it possible. In this way, even if the platform is elongated in the direction of travel and the components are mounted vertically, and the vehicle travels along a travel path with a small space in the width direction, the platform or parts of the automated guided vehicle interfere with surrounding equipment. It will be possible to avoid the situation. However, in this case, in order to unload the parts from the loading platform of the automated guided vehicle next to the supply station, it is necessary to make the supply station considerably longer in the conveyance direction in correspondence with the loading platform elongated in the conveyance direction. New problems arise. Due to the fact that the supply station is located near the production line, it is practically difficult to make the supply station too long in the conveying direction.

  The present invention has been made in view of the circumstances as described above, and its purpose is to allow the automatic guided vehicle to travel even on a narrow travel route and to shorten the length of the supply station in the transport direction. The object is to provide a parts supply device using an automatic guided vehicle.

In order to achieve the above object, the following solution is adopted in the present invention. That is, as described in claim 1 in the claims,
In a parts supply device with an automatic guided vehicle that supplies parts to a supply station of a production line by an automatic guided vehicle that travels along a predetermined traveling route,
The automatic guided vehicle is provided with a loading platform on which components are placed and rotatable in a substantially horizontal direction, and the loading platform mounts the components of the loading platform in a vertically long shape according to the rotation in the substantially horizontal direction. The longitudinal direction in which the loaded longitudinal direction is the traveling direction of the automatic guided vehicle, and the longitudinal direction in which the parts of the loading platform are placed in the longitudinal direction by being rotated approximately 90 degrees horizontally from the conveyed position The transfer position can be taken substantially perpendicular to the traveling direction,
In the automatic guided vehicle, driving means for driving the loading platform to change the posture between the conveying position and the transfer position, unloading means for unloading the components placed on the loading platform, Control means for controlling the driving means and the unloading means are provided,
The control means maintains the loading platform at the transfer position when the automatic guided vehicle is traveling toward the supply station, and moves the loading platform when the automatic guided vehicle is positioned at the supply station. wherein while the transfer position, no line control for unloading the part which is placed on the loading platform in the carry-out means is activated by該移mounting position in the feed station,
A receiving device for parts is provided at the supply station,
The control means is set so as to also control the traveling state of the automatic guided vehicle, and stops the automatic guided vehicle when the automatic guided vehicle is positioned immediately before the supply station to transfer the loading platform. Changing the posture from the position to the transfer position, and then moving the automatic guided vehicle slowly toward the supply station while maintaining the state that the loading platform is set to the transfer position, When the loading platform located at the position corresponding to the receiving device is stopped, the automatic guided vehicle is stopped, and the unloading means is operated in a state where the automatic guided vehicle is stopped to be placed on the loading platform. Control to carry out the parts to the receiving device;
It is like that.

According to the above solution, when the automatic guided vehicle is traveling toward the supply station, the posture of the transport position is such that the longitudinal direction in which the parts of the loading platform are placed vertically is the traveling direction of the automatic guided vehicle. Therefore, the automatic guided vehicle can be driven without interfering with surrounding facilities even in a narrow driving route. In the supply station, the longitudinal direction in which the parts of the loading platform are placed vertically is the transfer position that is substantially orthogonal to the traveling direction of the automatic guided vehicle. That is, the loading state of the parts of the loading platform is Since the posture in the traveling direction is shortened, the parts can be carried out from the loading platform to the supplying station even if the supply station is short in the traveling direction of the automatic guided vehicle. Of course, when the components are placed vertically, many components can be mounted vertically, which is preferable in supplying many components to the supply station at one time. In addition to the above, since the loading platform is changed to the transfer position in advance immediately before the supply station, the automatic guided vehicle is slowly moved to the supply station, so that the loading platform at the transfer position is moved to the receiving device at a predetermined unloading position. It can be approached and stopped accurately. Further, since the posture change toward the loading position of the loading platform is performed in a state where the automatic guided vehicle is stopped, it is preferable also in changing the posture of the loading platform in a stable state as much as possible.

A preferred mode based on the above solution is as described in claim 2 and the following claims. That is,

The loading platform has a first placement part on which a plurality of parts boxes containing parts are placed vertically, and a second placement part on which a plurality of empty parts boxes are placed vertically,
The supply station is provided with a delivery device for transferring an empty parts box to the second mounting unit,
When the first placement portion of the loading platform at the transfer position is in a position corresponding to the receiving device, the second placement portion is set to be in a position corresponding to the delivery device,
When carrying out the parts box from the first placement unit to the receiving device, an empty parts box is transferred from the delivery device to the second placement unit.
(Claim 2 ). In this case, not only can the parts box be carried out to the supply station, but also the empty parts box can be collected from the supply station to the automatic guided vehicle, and the stop time of the automatic guided vehicle at the supply station can be shortened or This is preferable in reducing the number of movements of the transport vehicle.

The first placement portion and the second placement portion can be arranged so as to be in a vertical relationship with each other (corresponding to claim 3 ). In this case, it is preferable in terms of improving work efficiency such as carrying out the parts box unloading from the first placement unit and the empty box recovery to the second placement unit simultaneously. In addition, it is also preferable in configuring the two placement portions while minimizing the width and length of the loading platform.

First detection means for detecting that a part has been carried out from the cargo bed to the receiving device is provided,
The control means changes the posture of the cargo bed toward the transport position after the first detection means detects carry-out of parts.
(Claim 4 ). In this case, it is preferable to change the posture of the loading platform to the transfer position after confirming that the parts have been carried out from the loading platform to the supply station.

First detection means for detecting that a parts box has been carried out from the first placement unit to the receiving device is provided,
Second detection means for detecting that the parts box has been transferred from the delivery device to the second placement unit is provided;
The control means changes the posture of the loading platform toward the transport position after the first detection means detects the carry-out of the parts box and the second detection means detects the transfer of the parts box. Do,
(Corresponding to claim 5 ). In this case, after confirming that the parts box has been carried out from the first mounting part to the supply station and after confirming that the empty box has been recovered from the supply station to the second mounting part, This is preferable in changing the posture of the loading platform to the transfer position.

The automatic guided vehicle includes a battery for driving and driving, and an air tank for storing compressed air.
The drive means and the carry-out means are each actuated by air pressure stored in the air tank.
(Corresponding to claim 6 ). In this case, while the rotation of the loading platform and the operation of the unloading means are reliably performed using the air pressure, the battery is exclusively used for driving the automatic guided vehicle, and the automatic guided vehicle is not used due to the battery running out. This is preferable for preventing a ready stop. Of course, it is also preferable from the viewpoint of explosion prevention that the rotation of the loading platform and the operation of the carrying-out means performed at or near the supply station are performed using air pressure.

According to the present invention, the automatic guided vehicle can be made to travel even in a narrow travel route, and the supply station can be shortened in the traveling direction of the automatic guided vehicle. In addition to the above, after changing the loading platform to the transfer position in advance immediately before the supply station, the automatic guided vehicle is slowly moved to the supply station. It can be approached and stopped accurately. Further, since the posture change toward the loading position of the loading platform is performed in a state where the automatic guided vehicle is stopped, it is preferable also in changing the posture of the loading platform in a stable state as much as possible.

  In FIG. 1, a traveling route of the self-propelled automatic guided vehicle AGV is denoted by reference numeral 1. The travel route 1 is configured to connect a parts station BS in which a large number of parts are integrated with two supply stations ST1 and ST2 provided in the vicinity of the production line. The parts station BS and the supply stations ST1 and ST2 are positioned far apart, and the two supply stations ST1 and ST2 are positioned close to each other.

  The travel route 1 is basically one, but in the vicinity of the supply stations ST1 and ST2, the two branch routes 1A and 1B are parallel to each other, and one branch route 1A is used for the forward route, and the other branch route. The route 1B is used for the return route. The supply stations ST1 and ST2 are arranged with respect to the return branch path 1B. In FIG. 1, the automatic guided vehicle AGV traveling on the forward path is indicated by hatching, and the automatic guided vehicle AGV traveling on the backward path is illustrated in white. Further, when each automatic guided vehicle AGV is distinguished, there may be a case where a numerical value is added, such as AGV1, AGV2, and AGV3. In the following description or drawings, a parts box containing parts may be called a real box, and an empty parts box containing no parts may be called an empty box.

  In the parts station BS, a plurality of parts boxes containing the parts are mounted on the automatic guided vehicle AGV. The automatic guided vehicle AGV on which the parts box is mounted moves along the travel route 1 and travels forward to the forward path end of the travel route 1 through the branch route 1A for the forward route. The moving path of the automatic guided vehicle AGV in the forward traveling is indicated by a wavy line in FIG. 1, and the automatic guided vehicles indicated by AGV1 to AGV3 in FIG. Thereafter, the automatic guided vehicle AGV travels backward, passes through the return path branch path 1B, and is temporarily stopped at the supply stations ST1 and ST2. The automatic guided vehicle AGV carries out a parts box to each of the supply stations ST1 and ST2, and receives an empty parts box from each of the supply stations ST1 and ST2. Thereafter, the automatic guided vehicle AGV travels backward again and returns to the parts station BS. The travel path of the reverse travel is indicated by a one-dot chain line in FIG. 1, and the automatic guided vehicle indicated by AGV4 to AGV8 in FIG.

  Each of the branch paths 1A and 1B described above is sufficiently shorter than the entire length of the travel path 1, and is an unmanned transport vehicle AGV that travels forward and an unmanned transport vehicle that travels backward. AGV can pass by using branch paths 1A and 1B. . Further, as will be described later, the traveling path 1 is configured so that the automatic guided vehicle AGV is smoothly switched between the forward traveling and the backward traveling so that the forward side end and the backward side end (near the parts station BS). The slant paths 1C and 1D are set so that the automatic guided vehicle AGV travels obliquely for a short distance.

  The details of the automatic guided vehicle AGV will be described with reference to FIGS. 2 and 3, reference numeral 10 denotes a base (frame) that is elongated (longitudinal) in the traveling direction. The base 10 is configured by combining angle materials, etc., and the portions other than the outer peripheral edge portion are set so as to have as much space as possible except for the portions necessary for mounting various devices, thereby reducing the weight. Is planned. The wheels 11 attached to the base 10 are a total of six casters, two on the left and two on the front end, the rear end, and the middle. Of the wheels 11, two at the front end and two at the rear end are drive wheels and steering wheels, and are an electric motor (not shown) that receives power supply from the battery 12 mounted on the lower surface of the base 10. ). The intermediate wheel 11 is a driven wheel. The base 10 is provided with three sensors 13 at intervals in the width direction at the front end thereof, and the position of the electromagnetic induction wire embedded in the road surface along the traveling route 1 is confirmed by the sensor 13. The automatic guided vehicle AGV is self-propelled while changing the direction as appropriate. The driving wheel may be provided separately from the caster type wheel, and the steering wheel may be a driven wheel without being a driving wheel. Since various types of automatic guided vehicles AGV that self-propelled along the traveling route 1 have been well known, further description of the configuration for self-propelling is omitted.

  Two loading platforms 20 and 21 are mounted on the base 10 at intervals in the traveling direction. Since each of the loading platforms 20 and 21 is configured in the same manner, the details will be described by focusing on the loading platform 20. First, the loading platform 20 is vertically long (in the embodiment, the outer peripheral edge portion forms a substantially rectangular shape when viewed from above), and is substantially horizontal with respect to the base 10 around the rotation shaft 31. It can be freely rotated in the direction. The rotating shaft 31 extends to the lower surface of the base 10, and a bottom plate 32 integrated therewith is connected to a piston rod 34a of the air cylinder 34 via a link 33 (see FIG. 4). . Each end of the link 33 is rotatable by a bearing. As a result, for example, when the air cylinder 34 is expanded and contracted, the loading platform 20 is rotationally driven in a substantially horizontal direction. Thus, the air cylinder 34 constitutes a driving means for driving the loading platform 20 to rotate in a substantially horizontal direction. In FIG. 4, reference numeral 35 denotes a guide rod for ensuring smooth expansion and contraction of the air cylinder 34.

  By the rotation of the loading platform 20 in the substantially horizontal direction, the loading platform 20 has a conveyance position in which the longitudinal direction is the longitudinal direction of the base 10 (that is, the traveling direction of the automatic guided vehicle AGV), and the longitudinal direction is the longitudinal direction of the base 10. The posture can be changed between the transfer position that is substantially orthogonal to the direction. FIG. 2 shows a state where the loading platform 20 is set as the transfer position and the loading platform 21 is set as the transfer position, and FIG. 3 shows a state where the loading platforms 20 and 21 are set as the transfer positions, respectively. In addition, when the loading platform 20 is rotated from the transfer position to the transfer position, a stopper that abuts against the load platform 20 and restricts further rotation is provided, and the loading platform 20 is rotated from the transfer position to the transfer position. A stopper that abuts against the loading platform 20 and restricts further rotation is provided, and the operation of the air cylinder 34 is stopped when the stopper 20 abuts against this stopper, so that the loading platform 20 can be transferred to the transfer position or It can be stopped at the transfer position.

  The loading platform 20 is configured by combining an angle material, a pipe material, and the like, and includes a first placement portion 41 and a second placement portion 42 that are disposed at intervals in the vertical direction. The first mounting portion 41 located above is an inclined chute that extends in the longitudinal direction of the loading platform 20, and a plurality of component boxes 5 in which components are stored are placed vertically. One end portion (the end portion on the part box unloading side) that is the lowest position of the first placement portion 41 is denoted by reference numeral 41a (particularly see FIG. 5-FIG. 5 shows the first placement portion 41 and the second placement portion). The hatching is given to clarify the location of the portion 42). In addition, although illustration is abbreviate | omitted, the 1st mounting part 41 is comprised by the several pipe material arrange | positioned at intervals in the longitudinal direction of the loading platform 20, and provides the roller etc. which were provided in this pipe material. Thus, it is possible to set so that the mounted component box 5 smoothly moves from the high position toward the one end 41a which is the low position. In addition, in the embodiment, the first mounting portions 41 are six in series in the longitudinal direction of the loading platform 20, and such six in-line component boxes 5 can be mounted in two rows, and the total Twelve parts boxes 5 can be placed at a time.

  The first placement portion 41 is provided with a stopper mechanism 45 that prevents the component box 5 placed thereon from dropping from the one end portion 41a side at a low position. The stopper mechanism 45 is configured using an air cylinder 46 attached to the loading platform 20, and a stopper position where the stopper portion 45 a has advanced to a position higher than the placement surface of the first placement portion 41, and a stopper portion 45a can be selectively set to a release position that has retracted to a position lower than the placement surface of the first placement portion 41 (change between the stopper position and the release position due to the expansion and contraction of the air cylinder 46).

  An unloading mechanism 51 as unloading means is further provided for the first placement unit 41. The carry-out mechanism 51 includes a pressing portion 52 that is reciprocated in the longitudinal direction of the loading platform 20 and an air cylinder 53 that extends in the longitudinal direction of the loading platform 20 and is attached to the lower surface of the first placement portion 41. The pressing portion 52 reciprocates in the longitudinal direction of the loading platform 20 in accordance with the expansion and contraction of the air cylinder 53. The pressing portion 52 is positioned at a position slightly higher than the mounting surface of the first mounting portion 41, and presses the component box 5 on the first mounting portion 41 toward the one end portion 41a that is at a lower position. It is supposed to be. Such a pressing part 52 is normally a retracted position located near the highest position of the first placement part 41.

  The 2nd mounting part 42 located below is made into the inclined chute type extended in the vertical direction of the loading platform 20, and the empty component box 5 is mounted. One end portion (the empty component box receiving side end portion) that is the highest position of the second placement portion 42 is indicated by reference numeral 42a (particularly see FIG. 5-FIG. 5 shows the first placement portion 41 and the second placement portion). The hatching is applied to clarify the position of the mounting portion 42). The one end portion 42 a that is the highest position of the second placement portion 42 is located on the one end portion 41 a side that is the lowest position of the first placement portion 41. Although not shown, the second mounting portion 42 is composed of a plurality of pipe members arranged at intervals in the longitudinal direction of the loading platform 20, and is provided with, for example, a roller or the like provided on the pipe member. Thus, the placed component box 5 can be set so as to move smoothly from the one end portion 42a at the high position toward the low position. The second mounting portion 42 is provided with a stopper 42b that prevents the component box 5 placed thereon from falling from the other end side at a low position. In addition, in the embodiment, the second mounting portions 42 are six in series in the longitudinal direction of the loading platform 20, and such six in-series component boxes 5 can be mounted in two rows, and the total Twelve parts boxes 5 can be placed at a time (the same number of parts boxes 5 as the first placement part 41 can be mounted).

  On the base 10 of the automatic guided vehicle AGV, a control box (controller) 15 is installed at a front end portion thereof, and an air tank 16 is attached at a rear end portion thereof. As will be described later, the control box 15 controls the rotation of the loading platforms 20 and 21 in the substantially horizontal direction (of the air cylinder 34), the operation control of the stopper mechanism 45 (control of the air cylinder 46), and the operation of the carry-out mechanism 51. In addition to the control (control of the air cylinder 53), the running state of the automatic guided vehicle AGV is also controlled. The air tank 16 stores air pressure necessary for operating the various cylinders 34, 46, 53 described above. The control of the air cylinders 34, 46, 53 by the control box 15 is performed by solenoid valves provided in the air piping connecting the air tank 16 and the air cylinders 34, 46, 53 (not shown). This is done by controlling. Note that the piping for supplying air pressure to each of the air cylinders 34, 46, 53 is made to pass through the rotary shaft 31 of the loading platform 20, so that the piping is twisted according to the rotation of the loading platform 20 in the substantially horizontal direction. Etc. are prevented.

  Next, the supply stations ST1 and ST2 will be described with reference to FIGS. Since supply stations ST1 and ST2 are configured in the same manner, the description will be given focusing on supply station ST1. First, at the supply station ST1, a receiving device 61 and a delivery device 62 for the parts box 5 are disposed. Each of the devices 61 and 62 is of a chute type and is arranged in a vertical relationship. The devices 61 and 62 are supported by a common frame. The delivery device 61 is for receiving the parts box 5 from the automatic guided vehicle AGV, and the parts in the received parts box 5 are used on the production line. On the other hand, the delivery device 62 is for receiving the empty parts box 5 from the production line side and transferring it to the automatic guided vehicle AGV. The delivery device 62 is installed below the receiving device 61.

  The receiving device 61 (the chute 61A) positioned above extends in a direction substantially orthogonal to the travel route 1 and becomes lower as the distance from the travel route 1 (position close to the automatic guided vehicle AGV stopped at the supply station ST1) increases. Has been. The parts box mounting surface of the receiving device 61 (the chute 61A in the receiving device 61) is constituted by a plurality of pipe materials arranged at intervals, and by providing, for example, a roller or the like provided on the pipe material, It is also possible to set so that the mounted component box 5 smoothly moves from the one end 61a at the high position toward the low position. In addition, the receiving device 61 can mount six parts boxes 5 in series and two series of parts boxes 5 on the same ground. That is, the number of parts boxes 5 that can be placed on the receiving device 61 is the same as the number of parts that can be placed on the placement parts 41 and 42 in the automatic guided vehicle AGV.

  A feed mechanism 65 is provided at the lower end of the receiving device 61. The feed mechanism 65 includes a swing member 66 that swings in a seesaw manner, and an air cylinder 67 that changes the swing position of the swing member 66. The swing member 66 has a pair of stopper portions 66 a and 66 b that are slightly larger than the interval of one component box 5. The swinging member 66 is in a state in which one component box 5 is sandwiched between the stopper portions 66a and 66b in the intermediate position which is substantially horizontal. Thereby, the component box 5 is brought into the locked state without falling from the lower position side of the receiving device 61.

  When the swinging member 66 is swung so that the stopper portion 66a is lowered, the stopper action by the stopper portion 66a is released, and the component box 5 is moved to the right in FIG. 6 (from the receiving device 61). Export). At this time, the other stopper portion 66b locks the next component box 5, and two or more component boxes 5 are prevented from being unloaded from the receiving device 61. Thereafter, when the swinging member 66 is swung so that the other stopper portion 66b is lowered, the locking action by the other stopper portion 66b is released, and the next component box 5 is moved to the lowest position. . At this time, since the one stopper portion 66a is at a high position, a situation in which the component box 5 is unloaded from the receiving device 61 is prevented. Thereafter, the swinging member 66 is returned to the intermediate position (returned to the state of FIG. 6). In this way, by repeating the above-described procedure, the component boxes 5 are carried out one by one from the receiving device 61. Of course, the parts box 5 unloaded from the receiving device 61 becomes an empty box as a result of using the parts stored therein in the production line.

  The delivery device 62 (the chute 62A thereof) extends in a direction substantially orthogonal to the travel route 1 and is increased as the distance from the travel route 1 (position close to the automatic guided vehicle AGV stopped at the supply station ST1) increases. The parts box mounting surface of the chute 62A in the delivery device 62 is constituted by a plurality of pipe materials arranged at intervals, and by placing, for example, rollers or the like provided on the pipe material, It is also possible to set the component box 5 so as to move smoothly from the high position toward the one end 62a that is at the low position. In addition, the delivery device 62 can mount six parts boxes 5 in series and two series of parts boxes 5 on the same ground. That is, the number of parts that can be placed on the parts box 5 of the delivery device 62 is the same as the number of parts that can be placed on the placement parts 41 and 42 in the automatic guided vehicle AGV.

  The delivery device 62 is provided with a stopper mechanism 70 that restricts the falling of the component box 5 on the one end portion 62a side which is a low position. The stopper portion 70 a of the stopper mechanism 70 is moved up and down by the air cylinder 71. Since the stopper mechanism 70 itself is the same as the stopper mechanism 45 provided on the loading platform 20 described above, further detailed description is omitted.

  The delivery device 62 is further provided with an unloading mechanism 75 as unloading means. The carry-out mechanism 75 includes a pressing portion 76 that is reciprocated in a direction substantially orthogonal to the travel path (the left-right direction in FIGS. 6 and 7), and an air cylinder 77 that extends long. The pressing portion 76 is reciprocated according to the expansion and contraction of the air cylinder 77. The pressing portion 76 is positioned at a position slightly higher than the component box mounting surface of the delivery device 62, and presses the component box 5 on the delivery device 62 toward the one end portion 62a that is at a lower position. ing. Such a pressing portion 76 is normally a retracted position located near the highest position of the delivery device 62.

  Here, each of the first loading part 41 and the second loading part 42 of the loading platforms 20 and 21 of the automatic guided vehicle AGV has detection sensors (for example, detecting the presence / absence of the component box 5 at the four corners). A proximity switch S1 is provided (see FIG. 2). The receiving device 61 and the delivery device 62 are also provided with detection sensors for detecting the presence or absence of the component box 5 at their four corners (see FIG. 7).

  In order to check whether or not the automatic guided vehicle AGV has stopped at a predetermined position of the supply stations ST1 and ST2, the photoelectric tube S10 is attached to the automatic guided vehicle AGV, while the supply stations ST1 and ST2 (the receiving device 61 and the delivery device). The phototube S11 is provided in correspondence with the phototube S10. It should be noted that information such as the presence / absence of the parts box 5 is exchanged between the automatic guided vehicle AGV, the receiving device 61, and the delivery device 62 by using communication between the photoelectric tubes S10 and S11. Such communication can also be performed by a communication means provided separately.

  Next, the operation of the above-described configuration will be described. First, based on FIG. 1, the supply (unloading) of the parts box 5 from the automatic guided vehicle AGV to the supply stations ST1 and ST2 and the emptying to the automatic guided vehicle AGV are performed. The collection of the parts box 5 will be described in relation to the movement of the automatic guided vehicle AGV along the travel route 1. Thereafter, with reference to FIGS. 8 to 15, the parts box 5 is unloaded from the automatic guided vehicle AGV to the receiving device 61, and the empty parts box 5 is collected (transferred) from the delivery device 62 to the automatic guided vehicle AGV. And will be described.

  First, in FIG. 1, the automatic guided vehicle AGV that has departed from the parts station BS travels forward (self-propelled) along the travel route 1, and once the position of the oblique road 1 </ b> C that is the forward side end of the travel route 1. Stop at. During traveling on the forward path, the parts box 5 containing the parts is placed in a vertically long state in the traveling direction, so that the loading platforms 20 and 21 are respectively transported positions in which the longitudinal direction is the traveling direction (FIG. 2). State of the cargo bed 20). In this way, the loading platforms 20 and 21 are set to the transfer positions, so that the width of the automatic guided vehicle AGV, that is, the loading platforms 20 and 21 is narrow, and even if the width of the travel route 1 is narrow, it interferes with surrounding facilities and the like. There is nothing.

  When the automatic guided vehicle AGV is stopped on the oblique road 1 </ b> C, the caster-type wheel 11 is slightly inclined with respect to the center line in the width direction of the base 10. That is, when viewed from above, the line connecting the vertical rotation axis of the caster and the contact point at which the wheel 11 contacts the road surface is inclined with respect to the central axis of the base 10 and is more than the vertical rotation axis. In addition, the contact point is located behind the automatic guided vehicle AGV. When the automatic guided vehicle AGV starts to be retracted in this state, the caster-type wheel 11 is retracted while being rotated about the vertical axis so that the contact point is positioned at the rear of the vertical rotation axis ( Especially for driven wheels). At this time, when viewed from above, since the vertical axis and the contact point have an inclination angle smaller than 180 degrees with respect to the backward direction, the caster type wheel 11 can be easily rotated around the vertical axis. The automatic guided vehicle AGV continues to run smoothly while moving. On the other hand, when viewed from above, if the line connecting the vertical axis and the contact point remains coincident with the retracting direction of the automatic guided vehicle AGV, the caster type wheel 11 rotates around the vertical axis. It is also conceivable that a large resistance force is generated when attempting to rotate the vehicle and the automatic guided vehicle AGV stops immediately after retreating (particularly when the road surface is uneven). However, by providing the oblique path 11C, it is possible to reliably ensure such reverse traveling of the automatic guided vehicle AGV. Similarly, the slant path 11D in the parts station BS is to ensure forward travel when the automatic guided vehicle AGV shifts from reverse travel to forward travel.

  The automatic guided vehicle AGV traveling backward from the oblique route 11C travels on the return route branch route 1B. When the automatic guided vehicle AGV reaches a predetermined position (position of AGV4 in FIG. 1) immediately before the supply station ST1, the sensor 13 of the automatic guided vehicle AGV detects a magnetic address plate (not shown) of the branch path 1B. Thus, the automatic guided vehicle AGV is temporarily stopped by the control of the control box 15. In this stopped state, the posture of only one loading platform 20 is changed from the transfer position to the transfer position under the control of the control box 15. When the posture change is confirmed, the control box 15 slowly moves the automatic guided vehicle AGV backward, and the sensor 13 detects the address plate (not shown) of the supply station ST1, whereby the position of the supply station ST1 is detected. Stop at. In this stop state, the control box 15 uses the phototubes S10 and S11, and the stop position of the automatic guided vehicle AGV at the supply station ST1 is that the corresponding positional relationship between the loading platform 20, the receiving device 61, and the delivery device 62 is predetermined. If it is outside the allowable error range, an abnormality is reported. If it is outside the allowable error range, the stop position of the automatic guided vehicle AGV may be finely adjusted so as to be within the allowable error range. Thereafter, the parts box 5 in the first mounting portion 41 of the loading platform 20 is carried out to the receiving device 61. At the same time, the empty parts box 5 is transferred (collected) from the delivery device 62 to the second placement portion 42 of the loading platform 20.

  The control box 15 starts the backward movement of the automatic guided vehicle AGV after confirming the carrying out of the parts box 5 from the loading platform 20 and the collection of the empty parts box 5. When the automatic guided vehicle AGV reaches a predetermined position (position of FIG. 1 AGV5) immediately before the supply station ST2, the sensor 13 detects the corresponding address plate (not shown), and the control box 15 includes the automatic guided vehicle AGV. Stop. In this stop state, the control box 15 changes the posture of the loading platform 21 from the transfer position to the transfer position. When the control box 15 confirms the change of the attitude of the loading platform 21, the automatic guided vehicle AGV is slowly retracted, and when the loading platform 21 reaches a predetermined position (the position of AGV6 in FIG. 1) of the supply station ST2, the sensor 13 Detects the corresponding address plate (not shown) and stops the automatic guided vehicle AGV. The stop position is confirmed using the phototubes S10 and S11. In the supply station ST2, as in the case of the supply station ST1, the parts box 5 is carried out from the loading platform 21 to the receiving device 61 and the empty parts box 5 is transferred (collected) from the delivery device 62. .

  The control box 15 confirms the unloading of the parts box 5 and the recovery of the empty parts box 5 at the supply station ST2, and then retracts the automatic guided vehicle AGV to a predetermined position (position of FIG. 1 AGV7) slightly retracted. If it is confirmed by the sensor 13 and the address plate (not shown), the automatic guided vehicle AGV is stopped. Then, the control box 15 changes the posture of each loading platform 20, 21 at the transfer position to the transfer position (AGV7 in FIG. 1 shows a state immediately after the posture is changed to the transfer position). The control box 15 confirms that the loading platforms 20 and 21 are respectively in the transfer position, and then causes the automatic guided vehicle AGV to travel backward to the parts station BS.

  Next, the transfer of the parts box 5 between the automatic guided vehicle AGV, the receiving device 61, and the delivery device 62 will be described with reference to FIGS. 8 to 15. However, the loading platforms 20 and 21 are the same. Since the parts box 5 is exchanged, the description will be made by paying attention to the loading platform 20. It should be noted that the space between the loading platforms 20 and 21 and the receiving device 61 and the delivery device 62 is set to be an interval at which the parts box 5 can be transferred. The operation control of various devices on the loading platform 20 side is performed by the control box 15.

  8 to 11 show the unloading of the parts box 5 from the automatic guided vehicle AGV to the receiving device 61. FIG. First, as shown in FIG. 8, the fact that the automatic guided vehicle AGV (the loading platform 20) has a corresponding positional relationship with the receiving device 61 and that the automatic guided vehicle AGV is surely stopped are shown in the photoelectric tube S10. , S11 is used for confirmation. In addition, it is confirmed that the parts box 5 exists in the first placement portion 41 of the loading platform 20 using the detection sensor S1, and the parts box 5 does not exist in the receiving device 61 using the detection sensor S2. Is confirmed.

  Next, as shown in FIG. 9, the stopper 45 (the stopper portion 45a) of the loading platform 20 is lowered. Thereafter, as shown in FIG. 10, the pressing portion 52 of the carry-out mechanism 51 in the first placement portion 41 of the loading platform 20 is driven toward the receiving device 61, so that a plurality of pieces on the first placement portion 41 are provided. The parts box 5 is carried out to the receiving device 61 at once. As shown in FIG. 11, when it is confirmed by the detection sensors S <b> 1 and S <b> 2 that the carry-out of the component box 5 to the receiving device 61 is completed, the pressing portion 52 is returned to the original retracted position, and the stopper portion. 45a is the raised position.

  12 to 15 show a procedure for transferring (collecting) an empty parts box 5 from the delivery device 62 to the second placement part 42 of the loading platform 20. The operation control of various devices on the delivery device 62 side is performed by a controller provided separately on the delivery device 62 side. First, as shown in FIG. 12, the fact that the automatic guided vehicle AGV (the loading platform 20) is in a corresponding positional relationship with the delivery device 62 and that the automatic guided vehicle AGV is surely stopped are shown in the photoelectric tube S10. , S11 is used for confirmation (same as the confirmation in FIG. 8; actually, either confirmation in FIG. 8 or FIG. 12 may be used). Moreover, it is confirmed that the parts box 5 does not exist in the 2nd mounting part 42 of the loading platform 20 using the detection sensor S1, and the parts box 5 exists in the delivery apparatus 62 using the detection sensor S2. Is confirmed.

  Next, as shown in FIG. 13, the stopper 70 (the stopper portion 70a) of the delivery device 62 is lowered. After that, as shown in FIG. 14, the pressing portion 76 of the carry-out mechanism 75 of the delivery device 62 is driven toward the second placement portion 42 of the loading platform 20, and a plurality of empty parts boxes on the delivery device 62. 5 are transferred (collected) to the second mounting portion 42 at once. As shown in FIG. 15, when it is confirmed by the detection sensors S <b> 1 and S <b> 2 that the transfer of the empty component box 5 to the second mounting portion 42 is completed, the pressing portion 76 returns to the original retracted position. And the stopper portion 70a is set to the raised position.

  Here, the operator can directly access the parts box 5 in the receiving apparatus 61 to take out the parts, and the operator can return the empty parts box 5 from which the parts have been taken out to the delivery apparatus 62. . However, as shown in FIGS. 17 and 18, in view of reducing the burden on the operator and from the viewpoint of a buffer function that secures more parts boxes 5 than the number of automatic guided vehicles AGV that can be conveyed by one unit. It is preferable that such a device is connected to the receiving device 61 and the delivery device 62. The apparatus shown in FIGS. 17 and 18 will be described below.

  First, the device shown in FIG. 17 is a transfer device 81, which has a function of receiving the component boxes 5 sent out one by one from the receiving device 61 from the front side of the page and moving the component boxes 5 to the right in the drawing. Have. The component picking device 91 shown in FIG. 18 is positioned in the immediate vicinity of the operator, receives the component box 5 from the transfer device 81, and transfers the empty component box 5 after the components are taken out by the operator. It has a function to return to. The device 91 is mounted on a synchronous cart on which an operator rides. That is, the synchronous cart is reciprocated between the supply station ST1 (the same applies to ST2) and a predetermined position on the downstream side of the production line in synchronism with the moving speed of the production line. Assemble parts on the production line while riding on the board. Although the illustration of the synchronous carriage is omitted, an example of the arrangement positional relationship between the automatic guided vehicle AGV, the receiving device 61, and the delivery device 62 is simply shown in FIG.

  The transfer device 81 includes a feed chute 82 that is inclined so as to be lowered toward the right in the figure, and a return that is positioned below the feed chute 82 and is inclined so as to be lowered toward the left in the figure. And a chute 83. A receiving base 84 that can be moved up and down from the mounting surface is provided for the feed chute 82, and its vertical movement is performed by the air cylinder 85. With the receiving table 84 in the raised position shown in FIG. When the receiving table 84 that has received the parts box 5 is lowered, the parts box 5 is transferred onto the feed chute 82. The component box 5 transferred to the feed chute 82 slides toward a lower position and is transferred to a chute 92 of a component picking device 91 described later.

  The return chute 83 is provided with two feed bases 86 that can move up and down and two air cylinders 87 that drive the feed base 86 up and down. The reason why the two sets of the feed base 86 and the air cylinder 87 are provided corresponds to the fact that the receiving device 61 and the like can mount two series of component boxes 5 in two rows. The second row of component boxes is for the second row of component boxes. Further, a stopper 88 that can be moved up and down from its mounting surface is provided at a substantially middle portion of the return chute 83, and this stopper 88 is moved up and down by an air cylinder 89. In the state of FIG. 17 in which the feed base 86 is at a position lower than the mounting surface of the return chute 83, an empty part box 5 from a chute 92 of a part picking device 91 described later is supplied from a higher position of the return chute 83. The When the stopper 88 is in a low position, the empty parts box 5 supplied to the return chute 83 reaches a position where it abuts against a stopper 82a provided at the lowest end of the return chute 83. In this state, by raising one of the feed bases 86, the parts box 5 is lifted from the return chute 83 and transferred to the delivery device 62. When the row corresponding to one of the feed bases 86 on the mounting surface of the parts box 5 of the delivery device 62 is full, the stopper 88 is raised and the empty parts box 5 supplied to the return chute 83 is filled. Is stopped at the position of the stopper 88. At this time, the empty parts box 5 on the return chute 83 is transferred to the delivery device 62 using the other feed base 86.

  A component picking device 91 shown in FIG. The chute 92 can swing up and down around a fulcrum 92a provided at one end thereof. The swing drive of the chute 92 is performed by the air cylinder 93. At the position shown by the solid line (hatching) in FIG. 18, the tip of the chute 92 is aligned with the feed chute 81 in FIG. The chute 92 is inclined so as to be lowered toward the right side in FIG. 18 in the receiving posture, and the component box 5 can be slid from the left side to the right side in the drawing. In order to prevent the parts box 5 from sliding more than necessary and dropping from the chute 92, a stopper 92b is provided in the vicinity of the fulcrum 92a. When the posture of the chute 92 is changed to a return posture in which the tip portion is lowered as shown by a one-dot chain line in FIG. 18, the tip portion of the chute 92 is aligned with the return chute 83 of the transfer device 81, and the parts on the chute 92 are arranged. The box 5 is moved toward the return chute 83.

  In the vicinity of the tip portion (free end portion) of the chute 92, a feed mechanism 94 that performs a temporary locking action of the component box 5 and feeds the component box 5 toward the stopper 92b is provided. The feed mechanism 94 includes a stopper 95 that can advance and retract from below with respect to the mounting surface of the chute 92, and an air cylinder 96 that drives the stopper 95. Immediately after the parts box 5 is transferred to the chute 92, the stopper 95 is set to the raised position, and the parts box 5 is temporarily stopped. When there is no component box other than the component box 5 locked by the stopper 95 on the chute 92, the component box 5 is moved to the stopper 92b by lowering the stopper 95. The operator takes out the parts from the parts box 5 locked to the stopper 92b and assembles them on the production line. The parts box 5 that has been emptied by taking out the parts is moved to the delivery device 62 via the return chute 83 of the transfer device 81 by setting the chute 92 to the return posture shown by the one-dot chain line in FIG. The stopper 95 is set to a raised position in preparation for the next parts box 5 being supplied after the parts box 5 is once sent toward the stopper 92b.

  Although the embodiment has been described above, the present invention is not limited thereto, and can be appropriately changed within the scope described in the claims. For example, the automatic guided vehicle AGV is switched from a forward travel to a reverse travel in a switchback manner because the forward end of the travel route 1 is a bag path. Thus, the vehicle may always travel forward. Only one or three or more loading platforms may be provided in the automatic guided vehicle AGV. The supply station may be arranged so as to be located in the forward path of the automatic guided vehicle AGV, and the number of supply stations to which parts are supplied by the automatic guided vehicle AGV may be 1 or 3 or more. The two placement portions 41 and 42 provided on the loading platforms 20 and 21 may be arranged not only in a vertical relationship but also in a horizontal relationship such as a lateral relationship or a longitudinal relationship. However, when the loading platform is set to the transfer position, the two mounting parts each secure an arrangement relationship (position relationship in which both the supply of the component box and the recovery of the empty component box can be performed) facing the supply station. It is preferable to keep it. The parts can be placed directly on the loading platforms 20 and 21 without being stored in the parts box 5. The object of the present invention is not limited to what is explicitly stated, but also implicitly includes providing what is substantially preferred or expressed as an advantage.

The simplified system diagram which shows an example of the driving | running route of an automatic guided vehicle. The top view which shows an example of an automatic guided vehicle. In the side view of FIG. 2, the attitude | position state of a loading platform is changed and shown in the case of FIG. The principal part top view which shows the example of a mechanism which rotates a loading platform. The figure which shows the arrangement | positioning relationship of the two mounting parts provided in the carrier, and was seen from the traveling route direction. The side view which shows an example of the receiving device and delivery device which were provided in the supply station. The top view of FIG. 6 which abbreviate | omits a parts box and shows. Explanatory drawing for demonstrating transfer of the parts box between an automatic guided vehicle and a supply station. Explanatory drawing for demonstrating transfer of the parts box between an automatic guided vehicle and a supply station. Explanatory drawing for demonstrating transfer of the parts box between an automatic guided vehicle and a supply station. Explanatory drawing for demonstrating transfer of the parts box between an automatic guided vehicle and a supply station. Explanatory drawing for demonstrating transfer of the parts box between an automatic guided vehicle and a supply station. Explanatory drawing for demonstrating transfer of the parts box between an automatic guided vehicle and a supply station. Explanatory drawing for demonstrating transfer of the parts box between an automatic guided vehicle and a supply station. Explanatory drawing for demonstrating transfer of the parts box between an automatic guided vehicle and a supply station. The simplified top view which shows the example of arrangement | positioning of the transfer apparatus and component pick-up apparatus which are attached to a receiving apparatus and a delivery apparatus. The principal part side view which shows an example of a transfer apparatus. The principal part side view which shows an example of a parts picking apparatus.

Explanation of symbols

AGV: automatic guided vehicle ST1, ST2: supply station BS: parts station S1: parts box detection sensor (parts box detection on the loading platform side)
S2: Parts box detection sensor (parts box detection on the supply station side)
S10, S11: Phototube (for checking stop position, etc.)
1: Traveling route 5: Parts box 12: Battery 15: Control box (control means)
16: Air tank 20, 21: Loading platform 31: Rotating shaft 34: Air cylinder (for rotating the loading platform)
41: 1st mounting part 42: 2nd mounting part 51: Unloading mechanism (loading platform)
52: Press part 53: Air cylinder 61: Receiving device 62: Delivery device 75: Unloading mechanism (delivery device)
76: Pressing part 77: Air cylinder

Claims (6)

In a parts supply device with an automatic guided vehicle that supplies parts to a supply station of a production line by an automatic guided vehicle that travels along a predetermined traveling route,
The automatic guided vehicle is provided with a loading platform on which components are placed and rotatable in a substantially horizontal direction, and the loading platform mounts the components of the loading platform in a vertically long shape according to the rotation in the substantially horizontal direction. The longitudinal direction in which the loaded longitudinal direction is the traveling direction of the automatic guided vehicle, and the longitudinal direction in which the parts of the loading platform are placed in the longitudinal direction by being rotated approximately 90 degrees horizontally from the conveyed position The transfer position can be taken substantially perpendicular to the traveling direction,
In the automatic guided vehicle, driving means for driving the loading platform to change the posture between the conveying position and the transfer position, unloading means for unloading the components placed on the loading platform, Control means for controlling the driving means and the unloading means are provided,
The control means maintains the loading platform at the transfer position when the automatic guided vehicle is traveling toward the supply station, and moves the loading platform when the automatic guided vehicle is positioned at the supply station. wherein while the transfer position, no line control for unloading the part which is placed on the loading platform in the carry-out means is activated by該移mounting position in the feed station,
A receiving device for parts is provided at the supply station,
The control means is set so as to also control the traveling state of the automatic guided vehicle, and stops the automatic guided vehicle when the automatic guided vehicle is positioned immediately before the supply station to transfer the loading platform. Changing the posture from the position to the transfer position, and then moving the automatic guided vehicle slowly toward the supply station while maintaining the state that the loading platform is set to the transfer position, When the loading platform located at the position corresponding to the receiving device is stopped, the automatic guided vehicle is stopped, and the unloading means is operated in a state where the automatic guided vehicle is stopped to be placed on the loading platform. Control to carry out the parts to the receiving device;
A component supply device using an automatic guided vehicle. In claim 1 ,
The loading platform has a first placement part on which a plurality of parts boxes containing parts are placed vertically, and a second placement part on which a plurality of empty parts boxes are placed vertically,
The supply station is provided with a delivery device for transferring an empty parts box to the second mounting unit,
When the first placement portion of the loading platform at the transfer position is in a position corresponding to the receiving device, the second placement portion is set to be in a position corresponding to the delivery device,
When carrying out the parts box from the first placement unit to the receiving device, an empty parts box is transferred from the delivery device to the second placement unit.
A component supply device using an automatic guided vehicle. In claim 2 ,
The parts supply device using an automatic guided vehicle, wherein the first placement unit and the second placement unit are disposed so as to be in a vertical relationship with each other. In claim 1 ,
First detection means for detecting that a part has been carried out from the cargo bed to the receiving device is provided,
The control means changes the posture of the cargo bed toward the transport position after the first detection means detects carry-out of parts.
A component supply device using an automatic guided vehicle. In claim 2 ,
First detection means for detecting that a parts box has been carried out from the first placement unit to the receiving device is provided,
Second detection means for detecting that the parts box has been transferred from the delivery device to the second placement unit is provided;
The control means changes the posture of the loading platform toward the transport position after the first detection means detects the carry-out of the parts box and the second detection means detects the transfer of the parts box. Do,
A component supply device using an automatic guided vehicle. In claim 1 or claim 2 ,
The automatic guided vehicle includes a battery for driving and driving, and an air tank for storing compressed air.
The drive means and the carry-out means are each actuated by air pressure stored in the air tank.
A component supply device using an automatic guided vehicle.

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