JPH04120606A - Unmanned carrier with arm - Google Patents

Abstract

PURPOSE:To transfer a work from an unmanned carrier equipped with an arm to a facility so as to shorten the unit process time by mounting two distance sensors, an index scale, a mark sensor, and a stop-position computer on the unmanned carrier. CONSTITUTION:When this unmanned carrier approaches, a mark sensor 6 detects the vertical stripes of an index scale and a stop-position computer 7 counts the number of the vertical stripes of the scale 5. Since the vertical stripes of the scale 5 are set at regular intervals, the distance to the facility 10 can be calculated from the number of the vertical stripes of the scale 5. When the carrier 2 stops, distance sensors (a) 3 and (b) 4 calculate the distance from the carrier 2 to the facility 10. The computer 7 calculates the stop position of the carrier from the measured results of the sensors (a) 3 and (b) 4 and a controlling section 8 operates an arm for transferring a work 9 from the carrier 2 to the facility 10 after correcting the positional error in the stop position of the carrier 2.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic guided vehicle with an arm, and particularly to an automatic guided vehicle with an arm that corrects errors in the stop position of the automatic guided vehicle and transports a workpiece.

[Conventional technology]

As a conventional technology, for example, Cell Carry Ace (AVHo, 5-
R5/1).

A conventional automated guided vehicle with an arm includes an arm that transports workpieces to equipment, an automated guided vehicle equipped with the arm, a CCD camera attached to the tip of the arm, and an image processing device that processes information read by the CCD camera. It consists of a control section that operates the arm.

Next, a conventional automatic guided vehicle with an arm will be described in detail with reference to the drawings.

FIG. 3 is a perspective view showing a conventional automatic guided vehicle with an arm.

The conventional automatic guided vehicle with an arm shown in FIG. 3 includes an arm 1, an automatic guided vehicle 2, a control section 8, a CCD camera 11,
It is composed of an image processing device 12.

Here, when the automatic guided vehicle 2 arrives in front of the equipment 10, the arm 1 is operated, and the CCD camera 11 and the image processing device 1
2, the error in the stop position of the automatic guided vehicle 2 is read. Then, the control unit 8 corrects this stop position error, operates the arm, and transports the workpiece 9 between the automatic guided vehicle 2 and the equipment 10.

[Problem to be solved by the invention]

The above-mentioned conventional automated guided vehicle with an arm operates the arm after the automated guided vehicle arrives in front of the equipment and stops, and the CCD
Since the error in the stopping position is measured using a camera, the disadvantage is that the takt time becomes longer.

[Means to solve the problem]

The automated guided vehicle with an arm of the present invention includes an arm for transporting a workpiece to equipment, an automated guided vehicle equipped with the arm, and two installed at both ends of the equipment-side side of the automated guided vehicle to measure the distance between them and the equipment. distance sensor, an Intex scale that is attached to the side of the equipment and writes vertical stripes at equal intervals, and a mark sensor that detects the vertical stripes of the index scale.
It has a stop position calculator that calculates the stop position of the automatic guided vehicle from the measured values of two distance sensors and a mark sensor, and a control unit that corrects errors based on the stop position calculated by the stop position calculator and operates the arm. There is.

〔Example〕

Next, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a perspective view showing an automatic guided vehicle with an arm according to an embodiment of the present invention.

The automatic guided vehicle with an arm shown in FIG. 1 includes an arm 1, an automatic guided vehicle 2, a distance sensor a3, a distance sensor b4, an index scale 5, a mark sensor 6, a stop position calculator 7, and a control section. It consists of 8.

Here, when the automatic guided vehicle 2 approaches the equipment 10, the mark sensor 6 detects vertical stripes on the index scale 5, and the stop position calculator 7 counts the number of vertical stripes on the index scale 5 until the automatic guided vehicle 2 stops. Since the interval between the vertical stripes on the index scale 5 is constant, the distance can be calculated from the number of vertical stripes on the index scale 5. When the automatic guided vehicle 2 stops, the distance between the automatic guided vehicle 2 and the equipment 10 is measured using the distance sensor a3 and the distance sensor b4.

The stop position calculator 7 calculates the stop position based on the above measurement results, and the control unit 8 corrects the stop position error and operates the arm to transport the work 9 between the automatic guided vehicle 2 and the equipment 10.

FIG. 2 is a plan view illustrating a method for calculating the stop position of an automatic guided vehicle.

In FIG. 2, la, lb, and lc are measured by distance sensor a3, distance sensor b4, and mark sensor 6 before automatic guided vehicle 2 stops. The width W and length of the automatic guided vehicle, the distances A and B between the distance sensor a3, distance sensor b4, and mark sensor 6, and the distance C between the specified center line of the automatic guided vehicle stop position and the equipment 10 are known. For,
The stop position errors x, y, and θ of the automatic guided vehicle are calculated using the following equations.

x= l c-(Btanθ+l, +W/2) sinθ
V=[(Btanθ10lb+W/2)cosθ]−C
θ=tan 1 (for LA river)/(A+B) The above measurements and calculations are performed by the stop position calculator 7.

〔Effect of the invention〕

As explained above, according to the present invention, by mounting two distance sensors, an index scale, a mark sensor, and a stop position calculator on an automatic guided vehicle with an arm, it is possible to calculate the stop position error when the automatic guided vehicle stops. Therefore, the workpiece can be transferred between the automatic guided vehicle and the equipment immediately after the automatic guided vehicle stops, which has the effect of shortening the takt time.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing an automatic guided vehicle with an arm according to an embodiment of the present invention, Fig. 2 is a plan view illustrating a method for calculating the stop position of the automated guided vehicle, and Fig. 3 is a conventional automated guided vehicle with an arm. It is a perspective view showing a car. 1... Arm, 2... Automatic guided vehicle, 3... Distance sensor a, 4... Distance sensor b, 5... Index scale, 6... Mark sensor, 7... Stop position Computer, 8... Control unit, 9... Work, 10.
...Equipment, 11...CCD camera, 12...Image processing device, 1a...Distance between automatic guided vehicle of 8 distance sensors and equipment, 1b...Automatic guided vehicle of 5 distance sensors and equipment distance, 1c...distance measured by the index scale and mark sensor, W...width of the automatic guided vehicle, L...length of the automated guided vehicle, A... distance between the distance sensor a and the mark sensor. Interval, B... Distance between distance sensor b and mark sensor, C... Distance between the specified center line of the automatic guided vehicle stop position and the equipment, X... Error in the stopped position of the automatic guided vehicle in the traveling direction, y ... Stop position error in the equipment direction of the automated guided vehicle, θ... Tilt of the automated guided vehicle.

Claims (1)

[Scope of Claims] An arm for transporting a workpiece to equipment; an automated guided vehicle equipped with the arm; and 2 installed at both ends of a side surface of the automated guided vehicle on the equipment side to measure the distance between the automated guided vehicle and the equipment. an index scale that is attached to the side of the equipment and has vertical stripes written at equal intervals; a mark sensor that detects the vertical stripes of the index scale; An automatic guided vehicle with an arm, comprising: a stop position calculator that calculates a stop position of the automatic guided vehicle; and a control unit that corrects an error based on the stop position calculated by the stop position calculator and operates an arm.