JP5835350B2 - Emergency stop method for automatic transfer machine, transfer work system, and emergency stop method for automatic transfer machine in transfer work system - Google Patents

Description

  The present invention relates to an emergency stop method for an automatic transfer machine, a transfer work system, and a technique for an emergency stop method for an automatic transfer machine in the transfer work system.

  An automatic conveyance machine (automated guided vehicle) is automatically operated by computer control in a production line or the like in a factory. The automatic transfer machine is used in a production line to transfer a workpiece in a work facility where welding work, processing work, or the like is performed, or to transfer a work between these work facilities.

In a production line including a work facility and an automatic transporter, an emergency stop device that stops the operation of the work facility and the automatic transporter in an emergency is necessary from the viewpoint of safety. Conventionally, the automatic transfer machine has an emergency stop button for stopping traveling in an emergency. However, it is difficult for an operator to press the emergency stop button of the automatic transfer machine in a work facility where welding work, processing work, or the like is performed. In addition, it is conceivable to stop the automatic transfer machine that has entered the work facility wirelessly. However, in an emergency, stopping the automatic transfer machine by wireless is not preferable from the viewpoint of safety for reliably stopping the automatic transfer machine. .

Therefore, in a production line, it is required to reliably stop the automatic transfer machine in an emergency in a work facility where welding work, processing work, and the like are performed.

JP 09-185413 A

  The problem to be solved by the present invention is to provide an automatic transfer machine emergency stop method, a transfer work system, and an automatic transfer machine emergency stop method in the transfer work system that can reliably stop the automatic transfer machine in an emergency. .

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

That is, in claim 1, the traveling carriage, the obstacle detecting means for detecting an obstacle existing in a predetermined detection range, and the stop for stopping the traveling carriage when the obstacle is detected by the obstacle detecting means. An emergency stop method for an automatic transporter comprising: an emergency button is pressed by an operator when the traveling carriage is to be stopped, and the obstacle detection unit is detected by pressing the emergency button. The automatic conveying machine is stopped by the stopping unit by expanding the range and detecting the obstacle by the obstacle detecting unit in the expanded detection range.

According to a second aspect of the present invention, a traveling carriage, obstacle detection means for detecting an obstacle present in a predetermined detection range, and stop means for stopping the traveling carriage when an obstacle is detected by the obstacle detection means, A transfer work system comprising: an automatic transfer machine comprising: a work facility that performs work on a work carried by the automatic transfer machine; and an emergency button provided in the work equipment , wherein the obstacle The obstacle detection unit is configured to be able to switch an obstacle detection range, and the work facility includes a detection range switching unit that switches a detection range of the obstacle detection unit when the emergency button is pressed , When the emergency button is pressed, the detection range switching means expands the detection range of the obstacle detection means of the automatic transport machine that has entered the work equipment, and At the obstacle detecting means range is enlarged, by detecting a working machine provided in the working equipment perform the operation on the workpiece, is intended to stop the automatic conveyor by said stopping means.

According to a third aspect of the present invention, a traveling carriage, obstacle detection means for detecting an obstacle present in a predetermined detection range, and stop means for stopping the traveling carriage when the obstacle detection means detects an obstacle. Of the automatic transfer machine in a transfer work system comprising: an automatic transfer machine comprising: a work facility for performing work on a work transferred by the automatic transfer machine; and an emergency button provided in the work equipment. In the stop method, the obstacle detection unit is configured to be able to switch an obstacle detection range, and the work facility is configured to detect the obstacle detection unit when the emergency button is pressed. The failure of the automatic transfer machine that has range switching means and has entered the work facility by the detection range switching means when the emergency button is pressed. The detection means expands the detection range, and the obstacle detection means with the expanded detection range detects the working machine provided in the work facility and performing the work on the workpiece, whereby the automatic transfer is performed by the stop means. The machine will be stopped.

  According to the emergency stop method, the transfer work system, and the automatic stop method of the automatic transfer machine in the transfer work system of the present invention, the automatic transfer machine can be reliably stopped in an emergency.

The schematic diagram which shows the structure of the production line which concerns on embodiment of this invention. The schematic diagram which similarly shows the structure of an automatic conveyance machine. The schematic diagram which similarly shows the structure of work equipment. The flowchart which similarly shows the flow of work equipment approach control of an automatic conveyance machine. Similarly schematic diagram The flowchart which similarly shows the flow of automatic conveyance machine emergency stop control. Similarly schematic diagram.

The production line 100 will be described with reference to FIG.
The production line 100 is a production line including an automatic transfer machine and a transfer work system according to an emergency stop method, a transfer work system, and an emergency stop method of an automatic transfer machine in the transfer work system of the present invention. The production line 100 is provided in the automobile factory 200.

  The production line 100 according to the present embodiment is a production line in which work such as processing and assembly of parts is performed on the work W transported by the automatic transporter 10 by the work facility 60. The workpiece W of this embodiment is an underbody of an automobile. Further, in the production line 100, a transfer work system including the automatic transfer machine 10 and the work facility 60 is configured.

  The production line 100 includes a plurality of work facilities 60 and a transfer path of the automatic transfer machine 10. Each work facility 60 is arranged close to or away from each other. In the production line 100, the automatic transporter 10 transports the work W in the work facility 60 or transports the work W between the work facility 60 and the work facility 60 in the next process. The automatic transporter 10 travels along the transport path and transports the work W by pulling the carriage 20 on which the work W is placed. The work facility 60 includes a plurality of work devices 61, and the work devices 61 are disposed on both sides of the transport path of the automatic transport machine 10 (see FIG. 3).

The automatic transfer machine 10 will be described with reference to FIG.
2A shows a plan view of the automatic transfer machine 10, and FIG. 2B shows a front view of the automatic transfer machine 10. As shown in FIG. Below, it demonstrates according to the conveyance direction shown in FIG.2 and FIG.3, the width direction, and the height direction.

  The automatic transporter 10 pulls the carriage 20 on which the work W is placed and transports the work W. The automatic transfer machine 10 is automatically operated by an integrated controller (not shown) of the production line 100. The automatic transfer machine 10 includes a traveling carriage 11, a coupler 12, a proximity switch 15, an obstacle sensor 16 as an obstacle detection unit, and a stop device 17 as a stop unit.

  The traveling carriage 11 is a self-propelled type equipped with a power source. The coupler 12 connects the traveling carriage 11 and the carriage 20.

  The obstacle sensor 16 detects an obstacle in front of the automatic conveyance machine 10 in the conveyance direction. The obstacle sensor 16 is provided on the front side in the transport direction of the traveling carriage 11. The obstacle sensor 16 can detect the presence or absence of an obstacle in the detection area D ahead of the conveyance direction. The detection range D is a range formed with a predetermined width and a predetermined depth on a horizontal plane having a predetermined height.

  In the obstacle sensor 16, a standard detection range Dn is set as one of the detection ranges D, and the predetermined width of the standard detection range Dn is larger than the width of the workpiece W. Further, the obstacle sensor 16 is set with a reduction detection range Ds as one of the detection ranges D, and the predetermined width of the reduction detection range Ds is the passage width of the work equipment 60 (both sides of the transfer route through which the automatic transfer machine 10 passes). The width is smaller than between the working device 61 and the working device 61 arranged at the same position. Hereinafter, the simple detection range D includes the standard detection range Dn and the reduced detection range Ds.

  The proximity switch 15 changes the size of the detection area D of the obstacle sensor 16 to either the standard detection range Dn or the reduced detection range Ds. The proximity switch 15 extends on the one side in the width direction to the outer side in the width direction than the longer one of the traveling cart 11 and the cart 20 of the automatic transporter 10 in the width direction, and on the upper side in the vertical direction. It extends beyond the vertical height of 10 and is provided upward. In addition, in order to operate the proximity switch 15 reliably, it is good also as a structure which provides two proximity switches 15 in parallel in a conveyance direction.

  The proximity switch 15 detects the presence or absence of a nearby object without contact. The proximity switch 15 of the present embodiment reduces the size of the detection area D of the obstacle sensor 16 when the object is detected in the vicinity without contact (when the proximity switch 15 is turned on). Set to Ds. Further, when the proximity switch 15 does not detect an object in the vicinity without contact (when the proximity switch 15 is turned OFF), the size of the detection area D of the obstacle sensor 16 is set to the standard detection range Dn. Set.

  The stop device 17 is for stopping the traveling carriage 11 of the traveling automatic carrier 10. When the obstacle sensor 16 detects an obstacle in the detection range D, the stopping device 17 stops the traveling carriage 11 that travels.

The work facility 60 will be described with reference to FIG.
FIG. 3A is a plan view showing a state in which the automatic transfer machine 10 enters the work facility 60. FIG. 3B shows a state in which the automatic transfer machine 10 enters the work facility 60 in a front view.

  The work facility 60 includes a plurality of work devices 61 and a switch bar 65 as detection range switching means. The work device 61 is for processing the workpiece W, welding the workpiece W, or assembling parts to the workpiece W by a robot or the like. In the present embodiment, detailed description of each working device 61 is omitted.

  The switch bar 65 is detected by the proximity switch 15 of the automatic transfer machine 10 that has entered the work facility 60 immediately before entering the work facility 60 and in an emergency (described later) in normal times (when it is in a standard position Sn described later). When the emergency stop position Ss is set), it is not detected by the proximity switch 15 of the automatic transfer machine 10 immediately before entering the work facility 60 and in the state of entering the work facility 60.

  The switch bar 65 is provided on one side in the width direction in parallel with the conveyance path of the automatic conveyance machine 10 in the work facility 60, and extends over substantially the entire range in the conveyance path direction of the work facility 60. Furthermore, the switch bar 65 extends from the upstream end in the transport path direction of the work facility 60 toward the upstream side.

  The switch bar 65 includes a proximity portion 66, a main body 67, a support shaft 68, and a support base 69. The main body 67 is configured in a substantially L shape in a sectional view in the transport direction. The proximity portion 66 is provided on the distal end side of the main body 67. The support shaft 68 supports the main body 67 and the support stand 69 so as to be rotatable about the transport direction. The support base 69 is provided on one side in the width direction in the work facility 60.

  The switch bar 65 is configured to switch between two positions of the standard position Sn and the emergency stop position Ss by a cylinder mechanism. The standard position Sn is a position where the main body 67 and the proximity portion 66 are rotated downward so that the main body 67 comes into proximity to the proximity switch 15 of the automatic transfer machine 10 that has entered the work facility 60 (FIG. 3 ( The position of the switch bar 65 indicated by B). When the switch bar 65 is at the standard position Sn, the proximity unit 66 is detected by the proximity switch 15 of the automatic transfer machine 10 when the automatic transfer machine 10 enters the work facility 60.

  The emergency stop position Ss is a position where the main body 67 and the proximity portion 66 are rotated upward from the standard position Sn so that the main body 67 is separated from the proximity switch 15 of the automatic transfer machine 10 that has entered the work facility 60. (Position of the switch bar 65 shown in the upper right of FIG. 3B). When the switch bar 65 is in the emergency stop position Ss, the proximity unit 66 is not detected by the proximity switch 15 of the automatic transfer machine 10 when the automatic transfer machine 10 enters the work facility 60.

  Whether the switch bar 65 is in the standard position Sn or the emergency stop position Ss can be switched by driving a cylinder mechanism by an equipment controller (not shown) of the work equipment 60.

The work facility entry control S50 will be described with reference to FIGS.
In addition, in FIG. 4, the flow of work facility approach control S50 is shown with the flowchart. In FIG. 5, for easy understanding of the work facility entry control S <b> 50, a schematic plan view is shown on the left side, and a schematic front view is shown on the right side.

  In step S <b> 40, the automatic conveyance machine 10 conveys the workpiece W and approaches the work facility 60 on the conveyance path of the automatic line 100. At this time, the detection range D of the obstacle sensor 16 is set to the standard detection range Dn because the proximity switch 15 is not detecting anything. Therefore, the automatic transport machine 10 stops when it detects an obstacle (particularly an operator) in front of the transport. The automatic transfer machine 10 is automatically operated by the integrated controller of the production line 100.

  In step S51 (work equipment entry control S50), the switch bar 65 is detected by the proximity switch 15 of the automatic transport machine 10 before the automatic transport machine 10 enters the work equipment 60 (the proximity switch 15 is turned ON). ) More specifically, since the switch bar 65 is at the standard position Sn in the work facility 60, the proximity unit 66 is detected by the proximity switch 15 of the automatic transport device 10 immediately before the automatic transport device 10 enters the work facility 60. Is done.

  In step S52 (work equipment entry control S50), the proximity switch 15 of the automatic transfer machine 10 is turned ON, so that the setting of the detection area D of the obstacle sensor 16 is changed from the standard detection range Dn to the reduction detection range Ds. The

According to the work facility entry control S50, the standard detection range Dn is set to the reduction detection range Ds, and the detection range D is reduced, so that the automatic transfer machine 10 that has entered the work facility 60 moves the work device 61 to the obstacle. Can be detected and stopped.

In step S <b> 60, the automatic transport machine 10 enters the work facility 60 without transporting the work device 61 as an obstacle, and transports the workpiece W in the work facility 60. The work device 61 of the work facility 60 performs work on the workpiece W transported by the automatic transport machine 10.

The emergency stop control S100 will be described with reference to FIGS.
In addition, in FIG. 6, the flow of emergency stop control S100 is shown with the flowchart. In FIG. 7, for easy understanding of the explanation, the emergency stop control S <b> 100 shows a schematic plan view on the left side and a schematic front view on the right side.

  In step S60, the automatic conveyance machine 10 in which the detection area D of the obstacle sensor 16 is set to the reduction detection range Ds enters the work facility 60 without recognizing the work device 61 as an obstacle.

  In step S110 (emergency stop control S100), the equipment controller confirms whether an emergency stop button (not shown) of the work equipment 60 has been pressed by the operator. When the emergency stop button is pressed by the operator, the process proceeds to step S120. If the emergency stop button has not been pressed by the operator, the process proceeds to step S200.

  In step S120 (emergency stop control S100), when the emergency stop button is pressed by the operator, the equipment controller switches the switch bar 65 of the work equipment 60 from the standard position Sn to the emergency stop position Ss. When the switch bar 65 is switched to the emergency stop position Ss, the proximity switch 15 of the automatic transport machine 10 does not detect the switch bar 65 (the proximity switch 15 is turned OFF). At this time, all the work devices 61 in the work facility 60 are stopped by pressing the emergency stop button by the worker.

  In step S130 (emergency stop control S100), when the proximity switch 15 of the automatic transport machine 10 is turned OFF, in the automatic transport machine 10, the setting of the detection area D of the obstacle sensor 16 is standard detection from the reduction detection range Ds. The range is changed to Dn.

  In step S140 (emergency stop control S100), the obstacle sensor 16 changes the work device 61 in the work facility 60 by changing the detection area D of the obstacle sensor 16 of the automatic transporter 10 to the standard detection range Dn. Detect as an obstacle. When the obstacle sensor 16 detects the work device 61 as an obstacle, the automatic transfer machine 10 is stopped by the stop device 17.

  That is, when the emergency stop button is operated by the operator, the detection area D of the obstacle sensor 16 is expanded to become the standard detection range Dn, and the obstacle sensor 16 causes the work device 61 to move to the obstacle in the expanded standard detection range Dn. Therefore, the automatic transfer machine 10 is stopped by the stop device 17.

In step S200, the automatic conveyor 10, without detecting the working device 61 as an obstacle, in the work equipment 60, conveys the word over click W. When the work of the work W of the work device 61 is completed in the work facility 60, the automatic transfer machine 10 leaves the work facility 60.

The effect of the emergency stop control S100 will be described.
Conventionally, the automatic transfer machine 10 has an emergency stop button for stopping traveling in an emergency. However, it is difficult for an operator to press the emergency stop button of the automatic transfer machine 10 in the work facility 60 where welding work, processing work, and the like are performed. In addition, it is conceivable to stop the automatic transfer machine that has entered the work facility 60 wirelessly. However, in the event of an emergency, the wireless automatic stop of the automatic transfer machine 10 can be surely stopped. It was not preferable.

  According to the emergency stop control S100, the automatic transport machine 10 can be reliably stopped in an emergency. That is, by changing the setting of the detection area D of the obstacle sensor 16 from the reduced detection range Ds to the standard detection range Dn in the work equipment 60, the size of the detection area D is expanded, and the work equipment 60 is intentionally Thus, it is possible to cause the obstacle sensor 16 to detect the work device 61 and to stop the automatic transfer machine 10 reliably.

  In addition, the automatic conveyance machine 10 shall be equipped with the emergency stop button different from the emergency stop button of the work equipment 60 used in emergency stop control S100. For example, at a place other than the work facility 60 in the production line 100, the operator can stop the traveling carriage 11 of the automatic transfer machine 10 by pressing an emergency stop button provided in the automatic transfer machine 10.

  INDUSTRIAL APPLICABILITY The present invention can be used for an emergency stop method for an automatic transfer machine, a transfer work system, and an emergency stop method for an automatic transfer machine in a transfer work system.

DESCRIPTION OF SYMBOLS 10 Automatic conveyance machine 11 Traveling cart 15 Proximity switch 16 Obstacle sensor 17 Stop device 20 Dolly 60 Working equipment 61 Working device 65 Switch bar 100 Automatic line 200 Automobile factory D Detection range Dn Standard detection range Ds Reduction detection range Sn Standard position Ss Emergency Stop position W Workpiece

Claims (3)

Automatic transport comprising a traveling carriage, obstacle detection means for detecting an obstacle present in a predetermined detection range, and stopping means for stopping the traveling carriage when an obstacle is detected by the obstacle detection means Emergency stop method of the machine,
When an emergency stop is performed on the traveling carriage, an emergency button is pressed by an operator, the detection range of the obstacle detection unit is expanded by pressing the emergency button, and the obstacle detection unit in the expanded detection range By detecting an obstacle, the automatic conveying machine is stopped by the stopping means.
Emergency stop method for automatic conveyor. Automatic transport comprising a traveling carriage, obstacle detection means for detecting an obstacle present in a predetermined detection range, and stopping means for stopping the traveling carriage when an obstacle is detected by the obstacle detection means Machine,
Working equipment for working on the workpiece conveyed by the automatic conveyance machine,
An emergency button provided in the work facility;
A transfer work system comprising:
The obstacle detection means is configured to be able to switch an obstacle detection range,
The work facility includes a detection range switching unit that switches a detection range of the obstacle detection unit when the emergency button is pressed ,
When the emergency button is pressed, the detection range switching means expands the detection range of the obstacle detection means of the automatic transfer machine that has entered the work facility,
In the obstacle detection means whose detection range is expanded, by detecting a work machine that is provided in the work facility and performs work on the work,
Stopping the automatic transfer machine by the stopping means;
A conveyance work system characterized by that. Automatic transport comprising a traveling carriage, obstacle detection means for detecting an obstacle present in a predetermined detection range, and stopping means for stopping the traveling carriage when an obstacle is detected by the obstacle detection means Machine,
Working equipment for working on the workpiece conveyed by the automatic conveyance machine,
An emergency button provided in the work facility;
An emergency stop method for an automatic transfer machine in a transfer work system comprising:
The obstacle detection means is configured to be able to switch an obstacle detection range,
The work facility includes a detection range switching unit that switches a detection range of the obstacle detection unit when the emergency button is pressed,
When the emergency button is pressed, the detection range switching means expands the detection range of the obstacle detection means of the automatic transfer machine that has entered the work facility,
In the obstacle detection means whose detection range is expanded, by detecting a work machine that is provided in the work facility and performs work on the work,
Stopping the automatic transfer machine by the stopping means;
An emergency stop method for an automatic transfer machine in a transfer work system.

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