JPH01310407A - Conveying device using self-travelling vehicle - Google Patents

Abstract

PURPOSE:To monitor the travelling condition of a self-travelling vehicle and to change a destination, etc., by providing an ID card to write the information such as the destination in the self-travelling vehicle. CONSTITUTION:A self-travelling vehicle is guided by a rail device by bringing slidably a collector ring into contact with a feeding rail and travels on a fixed route. Then, the information such as the machine number, destination and actual and empty displaying is written in the ID card and the self-travelling vehicle self-travels to the aimed station including branching and confluence. The destination information of the self-travelling vehicle is read in the vicinity of the branching and confluence during the travelling or in the vicinity of the station and the judgement whether or not stopping is carried out is performed. In the stopped condition based on the judgement, the light transmission is executed between the ID card and the transmission unit, and thus, it is known by the identification of the machine number that which self-travelling vehicle exists where in the route and the new destination setting and the change of the setting conditions such as the unloading of a cargo can be executed.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a transport device using a self-propelled vehicle, which is used for transporting loads within a space or a factory, for example.

2. Description of the Related Art Conventionally, as this type of device, for example,
As seen in Publication No. 2769, two power supply rails and one signal rail are arranged on a rail device that supports and guides a self-propelled vehicle, and the self-propelled vehicle is provided with a structure that allows the self-propelled vehicle to freely slide on both power supply rails. A structure is provided in which two current collectors and one brush are provided which can freely contact the signal rail. Electricity is received by sliding the collector against the power supply rail, and various control signals are sent and received by sliding the brush against the signal rail.

Furthermore, a code magnet serving as a destination setting device is attached to the side of the self-propelled vehicle, and a detector for detecting this code magnet is provided at the station.

Problems to be Solved by the Invention According to the above-mentioned conventional method, the setting of the cord magnet is troublesome because it is done manually, and since the setting is done by slide adjustment, when the slide part becomes loose, it is difficult to set the cord magnet while driving. Vibration, tilting, and vertical paths can cause misalignment.
This means that the vehicle will not be able to run or stop as intended. Furthermore, at each station, after making a delivery reservation for a self-propelled vehicle with the central control device, until the self-propelled vehicle actually makes a reservation for delivery, it is necessary to check whether the self-propelled vehicle that was reserved for delivery has been delivered or not. I can't get any information about where it was shipped from.

The purpose of this light is to make it easy to set information such as destinations, and the information that has been set will not be disturbed until it is reset, which is advantageous in terms of cost and communication area, as well as delivery reservations. An object of the present invention is to provide a transport device using a self-propelled vehicle that can easily confirm from where the self-propelled vehicle is being delivered.

Means for Solving the Problems In order to achieve the above objects, the present invention provides a transport device using a self-propelled vehicle, in which a power supply rail is provided on a rail device that supports and guides the self-propelled vehicle, and the self-propelled vehicle is provided with the power supply rail. In addition to installing a sliding collector on the power supply rail, we also installed an optical ID card.
This ID card is connected to the collector side, and on the side of the rail, there is provided a transmission unit to which the ID card can freely face, and an operation panel connected to this transmission unit, and this operation panel has a monitor screen. and a delivery notice indicator light that lights up when receiving a delivery notice from the central control unit, and is further configured to display the source station of the delivery notice on the monitor screen.

Effects According to the configuration of the present invention, the self-propelled vehicle travels on a fixed route guided by the rail device by bringing the current collector into sliding contact with the power supply rail. At that time, information such as the R number, destination, and actual or empty display is stored in the ID card, and the self-propelled vehicle runs to the desired station, including branching and merging, and the branching, It reads the destination information of self-propelled vehicles near junctions or stations and decides whether to stop them. Then, by optical transmission between the ID card and the transmission unit while the vehicle is stopped based on the judgment, it is possible to identify which self-propelled vehicle is where by identifying the gate number, and to set a new destination via the operation panel. You can also make settings when there is a change in the sky at a stopped station. In addition, when a self-propelled vehicle is reserved for delivery at a station and a delivery notice is received from Chuo-dou@so-e, the delivery notice indicator light on the transmission unit will light up, and furthermore, when an empty or real self-propelled vehicle is The monitor screen will display whether the item has been delivered from the station.

Example An embodiment of the present invention will be described below based on the drawings.

Reference numeral 1 denotes a self-propelled vehicle, which has a pair of left and right first wheels 4 freely rotatably attached to a machine frame 2 via an axle 3, and a pair of left and right first wheels 4 mounted on a machine frame 2 via an axle 3, and a wheel mounted on the machine frame at a position distant from the first wheels 4 in any direction along a fixed path 5. The main body is constituted by a pair of left and right second wheels 7 which are freely rotatably attached to the axle 2 via an axle 6, and a lateral movement regulating wheel 8.9 which is attached to both axles 3.6. A motor 10 is disposed within a box-shaped machine frame 2 with at least the bottom open, and this motor 10 is attached to the machine frame 2 side so as to be vertically swingable via a pin 11 at an intermediate portion in the longitudinal direction. Further, the motor 70 is urged to swing downward by a spring 12 provided between the motor 70 and the machine frame 2. Reference numeral 13 denotes a stopper, which restricts the suspension of oscillation VJ against the spring 12. A speed reduction device 14 is provided at the swinging end of the motor 10.
are connected in series, and at one end of the drive shaft 15 taken out in the lateral direction is a propulsion rotary wheel located near the first wheel 4 (
1! Jm rotating wheel) 16 is fixed, and a pinion gear 17 is fixed to the other end. A pair of left and right collectors 18A and 183 are arranged on the stacking machine frame 2 side, and these collectors 18
The current collecting positions of A and 18B are near the second wheel 7. Sensors 1 are installed at both front and rear ends of the lower part of the machine frame 2, respectively.
9.20 is attached, and a permanent magnet 2 is installed in the middle part.
1 is installation.

These sensors 19, 20 and permanent magnet 21 are located at the center in the width direction. Note that a cargo storage section (not shown) and the like are attached to the upper side of the n-frame 2. A control box 22 is arranged in the heavy loading machine frame 2, and this control box 22 is connected to the lead I! j2
3 to the current collectors 18A and 18B.

An ID card 25 is attached to one side of the machine frame 2 via a plate 24, and this ID card 25 is connected to the control box 22 via a lead wire 26. The ID card 25 is provided with a display 27 in a transmission window 28 that can display a plurality of displays, ie, a car number, a destination, a complete display, etc., and is also provided with a lithium battery 29 for backup in the event of a power outage.

30 is a symmetrical rail device that supports and guides the self-propelled vehicle 1, and has a cross section C with a frontage 31 for the self-propelled vehicle running on the negative side.
It is composed of a letter-shaped self-propelled vehicle guide section 32 and a mouth-shaped device arrangement section 33 that is connected to the other surface of the self-propelled vehicle guide section 32 outwardly. Self-propelled vehicle guide section 3 with heavy load opening 31 facing upward
2 is a first travel guide surface 3 that comes into contact with the first vehicle transport 4 from above;
4, a second traveling guide surface 35 that contacts the second vehicle transport 7 and the propulsion rotating wheel 16 from below, and l! The third travel guide surface 37 contacts the lateral movement regulating wheel 8°9 from the outside, and near the second travel guide surface 35, there is a A rack 38 is provided with which the pinion gear 17 engages. A slit 39 for arranging rail-side equipment is formed over the entire length in the other side plate portion of the self-propelled vehicle guide portion 32, and both portions 32 and 33 are communicated through this slit 39. An insulating strip 4 is provided at the end of the self-propelled vehicle guide section 32 where the slit 39 is formed.
0A.

40f3 is externally fitted and installed, and these insulating strips 40A.

40[3 is equipped with power supply rails 41A and 413 on which the collectors 18A and 18B slide. The rail-side devices 42 arranged from the slit 39 into the device placement section 33 are, for example, a pair of left and right magnetic pole plates 43A.

433, a pair of front and rear coils 44.45 provided between these magnetic pole plates 43A and 438, and a sensor 46 provided between these coils 44.45. Both magnetic pole plates 4
The lower ends of the rails 3A and 43B engage with protrusions 47A and 473 integrally formed on the bottom plate of the equipment placement section 33, thereby positioning the rail-side equipment 42. Also, both magnetic pole plates 43
The upper ends of A and 43B are located within the slit 39.

Four engaging parts 48A, 48B are formed on the opposing inner surfaces of the power supply rails tIA, 41B, and the insulating cover 49, which can freely open and close the slit 39, can be attached and detached via these engaging parts 48A, 48B. It is set up in

The fixed route 5 is formed of, for example, an annular main route part 5a, a storage part 5b connected to the main route part 5a via a branching and merging device 51, a branch route part 50, etc. A station 52 is formed in 5C, and each station 52 and main station 53 is provided with a transmission unit 54 that can freely face the ID card 25, and an operation panel 59 to which this transmission unit 54 is connected. These transmission units 54 have a transmission window 55 on the rail device 30 side, and each lead wire 56
is connected to the operation panel 59 and then to a central control 11 device 57 provided at the main station 53 or the like. Further, a monitor screen 60 is provided on the operation side of the operation panel 59, and further includes a group of operation buttons 61 and a group of indicator lights 62. The operation button group 61 includes a station code display 63, a self-propelled vehicle insertion/extraction button 64, a trouble release button 65, and a destination setting button 66.
, monitor button 67, self-propelled vehicle reservation button 68, stop button 69,
It has a starting key 70, a set key 71, etc. The indicator light group 62 also includes a delivery notice indicator light 72 that lights up when a delivery notice is received from the central control device 57.

Said rail Ill! The 1111 device 42 is disposed at a predetermined location along a fixed route in five directions, and each lead wire 58 is connected to the central control device 57.

Next, the traveling operation of the self-propelled vehicle 1 in the above embodiment will be explained.

When the self-propelled vehicle 1 is running, the rotational force of the motor 10 is transferred to the deceleration device 14.
, is transmitted to the propulsion rotating wheel 16 via the drive shaft 15, and the propulsion rotating wheel 16 is pressed and rolled on the friction rolling surface 36. At this time, traveling involves the transfer of the first wheel 4 with respect to the first travel guide surface 34, the rolling of the second wheel 7 with respect to the second travel guide surface 35, and the rolling of the lateral movement regulating wheel 8 with respect to the third travel guide surface 37. 9, the transfer is carried out stably on a fixed path 5, such as horizontal or inclined, without shaking. And on sloped paths of ascending and descending, the rack 38
By engaging the nion gear 17, slip-free running can be achieved.

During such traveling, when the coils 44, 45 are not energized, both magnetic pole plates (convex portions) 43A, 4
Sensors 19 and 20 passing between 3B do not receive the stop signal. However, as shown in FIG.
Since the sensor 46 is detected, it is detected that the self-propelled vehicle 1 has passed through the area where the sensor 46 is installed (and the area occupied by the vehicle), and the detection signal is given to the control unit 57. When the designated self-propelled vehicle 1 is stopped at the designated station 52.53, the coil 44.45 corresponding to the designated location is stopped before the self-propelled vehicle 1 arrives.
energize. Then, as shown in FIGS. 1 and 8, a horizontal magnetic flux (stop signal) B is formed between the upper ends of both magnetic pole plates 43A and 43B, and therefore the magnetic flux (stop signal) B moves together with the self-propelled vehicle 1. Sensors 19 and 20 detect the magnetic flux B, thereby stopping the motor 10 and applying the brake. As a result, the self-propelled vehicle 1 is stopped after traveling the braking distance.

Due to this stop, the permanent magnet 21 faces the sensor 46,
The magnetic flux A is detected in the same way as described above, and the control unit 57 stops the operation! V verification is carried out.

While the self-propelled vehicle 1 is traveling, the destination information of the self-propelled vehicle 1 is read near a branch junction or a station, and it is determined whether or not to stop the self-propelled vehicle 1. Then, optical transmission is performed between the ID card 25 and the transmission unit 54 while the self-propelled vehicle 1 is stopped at the stations 52 and 53 based on the judgment. At this time, by reading the car number display on the display 27, the central control unit 57 can know which self-propelled vehicle 1 is located at which station 52. In addition, if necessary, by displaying the actual/empty identification number and destination station number on the display 27 using a signal from the ground side, it is possible to tell whether the self-propelled vehicle 1 is empty or real or the destination. You can read and determine where it is. Furthermore, when the loading condition changes during loading/unloading work, the button is operated accordingly to give a write optical signal from the transmission unit 54, and the ID card 2
Perform 5 swaps. Then, a new destination is set for the stopped self-propelled vehicle 1 by an output optical signal from the transmission unit 54, and then the self-propelled vehicle 1 is started. To the [) card 25, the collectors 18A, 18
3 is supplied via the control box 22, the power source can be easily secured. Further, in the event of a power outage, the information will not be erased due to the backup of the lithium battery 29.

When a free self-propelled vehicle 1 is needed at the station 52, the user presses an empty self-propelled vehicle reservation button 68 to make a reservation to the central control device 57. And central control! l When a delivery notice is received from the device 57, the delivery notice indicator light 72 on the operation panel 59 lights up.
By visually observing this, one hour of delivery notice can be obtained. Furthermore, if you want to know where self-propelled vehicle 1 will be delivered from,
In FIGS. 6 and 7, the monitor button 67 is first pressed.

Then, a monitor screen is displayed on the monitor menu screen 60 as shown in FIG. 7(A). There are four screens: [1] Arrival information, [2] Delivery notice information, [3] Conveyance information, and [4] Error information, and selections are made using the numeric keys [1] to [4]. The numbers entered manually are displayed in the (X) portion, and by inputting the set key 71, the screen moves to the respective screen.

At the initial screen of delivery notice information [2], the central control device 57
If there is a shipping source station for which a delivery notice has been given, the display shown in FIG. 7 (8) will be displayed. Further, if there is no shipping notice from the central control unit @57, the display shown in FIG. 7(C) is displayed. After displaying FIG. 7(B), if there is other data, press the up key 73 or down key 74 to move the display up or down. By pressing the monitor button 67, the screen shown in Fig. 7 (A
) to return to the screen. Regardless of the manual key operation, the delivery notice indicator light 72 is turned on if notified by the central control device 57, and is turned off when an empty or real self-propelled vehicle 1 arrives.

Effects of the Invention According to the present invention having the above configuration, the self-propelled vehicle can be guided by the rail device and run on a fixed route by bringing the current collector into sliding contact with the power supply rail.

At that time, by writing information such as the ticket number, destination, and actual or empty display on the ID card, light transmission between the 10 card and the transmission unit can be performed while the self-propelled vehicle is running or stopped at a station. Through transmission, it is possible to determine whether or not to stop the self-propelled vehicle at the next branch, junction, or station, and it is also possible to confirm which self-propelled vehicle is where by identifying the machine number, and to check whether the vehicle is real or empty at the stopped station. It is possible to set a new destination when there is a change in the number of destinations, and also to set a new destination, allowing the bond to be restarted. In this way, the destination setting can be easily done by remote control without direct manual operation, and the information set can be suitably maintained until it is reset without being disturbed by driving vibrations or the like. Furthermore, since it is an optical transmission, it is advantageous in terms of cost and communication area compared to electromagnetic waves or magnetism. And! [) Power for the card can be easily secured from the current collector for self-propulsion.

In particular, according to the present invention, when a self-propelled vehicle is reserved for delivery at a station and a delivery notice is received from the central control unit,
The delivery notice indicator light on the control panel lights up, and by visually observing this, it can be confirmed that the self-propelled vehicle has been given a delivery notice. Furthermore, it is possible to display on the monitor screen which station or storage area the empty or real self-propelled vehicle has delivered from.
By visually checking this, you can confirm the approximate arrival time.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a longitudinal sectional front view;
Figure 2 is a partially cutaway side view, Figure 3 is a partially cutaway plan view, Figure 4 is a side view of the 10 card, Figure 5 is a front view of the transmission unit, and Figure 6 is the operation panel. Front view, Figures 7A-C are monitor views, Figure 8 is a schematic side view showing the operating state, Figure 9
The figure is a schematic route diagram. 1... Self-propelled vehicle, 5... Fixed route, 16... Rotating wheel for propulsion, 78A, 183... Electric collector, 19.20.
...Sensor, 21...Permanent magnet, 22...Control box, 23.26...Lead wire, 25...ID card,
27...Display device, 28...Transmission window, 29 River lithium battery, 30...Rail device 1.32...Self-propelled vehicle guide section, 33...Equipment arrangement section, 36...Friction Rolling surface, 4
1A, 41B...Power supply rail, 42...Rail side equipment, 43A, 43B...Magnetic pole plate, 44.45...
- Coil, 46... Sensor, 52... Station, 53... Main station, 54... Transmission unit, 55... Transmission window, 57... Central controller,
59...Operation panel, 60...Monitor screen, 62...
・Monitor button, 71...Set key, 72...Delivery notice indicator light. Agent Yoshihiro Morimoto 1st figure/-Self-propelled car f3A, /8B-11 Hataden 18-・ID1J-130・-Shiru outfit! 41A, 41B -1 Mto threat-ruu,,, if,! ni-ni5q-Busakuo No. 4x Figure S

Claims (1)

[Claims] 1. A power supply rail is arranged on a rail device that supports and guides a self-propelled vehicle, and a current collector that can be slidably contacted with the power supply rail is provided on the self-propelled vehicle, and an optical ID card is attached to the self-propelled vehicle. The card is connected to the collector side, and a transmission unit, in which the ID card can freely face, is provided on the side of the rail device, and an operation panel connected to this transmission unit, and this operation panel has a monitor screen and a central A delivery notice indicator light that lights up when a delivery notice is received from the control device, and the monitor screen is configured to display the source station of the delivery notice. Conveyance device.