JPH048803B2 - - Google Patents
Info
- Publication number
- JPH048803B2 JPH048803B2 JP59228777A JP22877784A JPH048803B2 JP H048803 B2 JPH048803 B2 JP H048803B2 JP 59228777 A JP59228777 A JP 59228777A JP 22877784 A JP22877784 A JP 22877784A JP H048803 B2 JPH048803 B2 JP H048803B2
- Authority
- JP
- Japan
- Prior art keywords
- load
- vehicle body
- load carrier
- station
- loaded
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000001514 detection method Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Conveyors (AREA)
- Intermediate Stations On Conveyors (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、荷載置部を備えた荷搬送車側に、ス
テーシヨンに対する停止位置を検出するセンサー
を設けた荷搬送車の停止制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a stop control device for a load carrier in which a sensor for detecting a stop position with respect to a station is provided on the load carrier having a load loading section.
係る荷搬送車の停止制御装置において、従来で
は、停止位置検出センサーの情報に基づいて、常
にステーシヨンに対する一定位置に停止させるよ
うにしていた。
Conventionally, in such a stop control device for a load carrier, the vehicle is always stopped at a fixed position relative to the station based on information from a stop position detection sensor.
従来手段によると、荷載置部上の搭載荷の車体
に対する車体移動方向での位置変動にかかわら
ず、搬送車がステーシヨンに対する一定位置に停
止されるものとなるため、搭載荷のステーシヨン
に対する位置が荷受渡しに最適な位置から外れる
ことがあつた。尚、搭載荷の車体に対する車体移
動方向での位置が変動する原因としては、ステー
シヨンから荷搬送車に荷を受け渡す際の位置の誤
差や走行途中での振動による位置ズレ等が考えら
れる。
According to the conventional means, the transport vehicle is stopped at a constant position with respect to the station regardless of the positional fluctuation of the loaded load on the loading section with respect to the vehicle body in the direction of vehicle body movement, so the position of the loaded load with respect to the station is Occasionally, the machine would move out of the optimal position for delivery. Incidentally, possible causes of fluctuations in the position of the loaded load relative to the vehicle body in the vehicle body movement direction include positional errors when transferring the load from the station to the load carrier and positional deviations due to vibrations during travel.
そして、従来では、荷搬送（荷受渡し）に伴つ
て搭載荷をステーシヨンに対する適正位置に押圧
移動させるガイドを設けるようにしたり、搭載荷
を車体に対する適正位置に押圧移動させる押具を
備えたセンタリング機構を設けることが行われて
いるが、この手段は軽量な荷には適用できるもの
の、重量の大な荷に適用しようとすると、荷位置
合わせのための構造が大型で高価になる不都合が
あり、重量の大な荷には適用し難いものであつ
た。 In the past, a guide was provided to press and move the loaded load to an appropriate position relative to the station during load transfer (load delivery), or a centering mechanism equipped with a pusher to press and move the loaded load to an appropriate position relative to the vehicle body. Although this method can be applied to lightweight loads, when applied to heavy loads, the structure for positioning the load becomes large and expensive. This method was difficult to apply to heavy loads.
本発明は、上記実情に鑑みて為されたものであ
つて、その目的は、設備の簡素化を図るようにし
ながら、重量の大な荷もステーシヨンに対する適
正位置に位置させることができるようにする点に
ある。 The present invention has been made in view of the above-mentioned circumstances, and its purpose is to simplify equipment while also being able to position even heavy loads at appropriate positions relative to the station. At the point.
本発明による特徴構成は、前記荷載置部上の搭
載荷の車体に対する車体移動方向での位置を検出
する手段を設けるとともに、前記搭載荷が前記ス
テーシヨンに対する適正位置になるようにするべ
く、前記搭載荷位置検出情報に基づいて前記ステ
ーシヨンに対する荷搬送車停止位置を補正する手
段を設けた点にあり、その作用、効果は次の通り
である。
The characteristic configuration according to the present invention is to provide a means for detecting the position of the loaded load on the load loading section with respect to the vehicle body in the vehicle body movement direction, and also to The present invention is provided with a means for correcting the stop position of the load carrier relative to the station based on the load position detection information, and its functions and effects are as follows.
すなわち、搭載荷の車体に対する車体移動方向
での位置を検出しながらステーシヨンに対する荷
搬送車停止位置を補正して、搭載荷が前記ステー
シヨンに対する適正位置になるように搬送車を停
止させるようにしてある。
That is, while detecting the position of the loaded load with respect to the vehicle body in the vehicle body movement direction, the load carrier stop position with respect to the station is corrected, and the carrier is stopped so that the loaded load is at an appropriate position with respect to the station. .
従つて、荷載置部上の搭載荷の車体に対する車
体移動方向での位置変動にかかわらず、搬送車が
停止した状態では、搭載荷をステーシヨンに対す
る適正位置に位置させることができるのであり、
そして、搬送車そのものの停止位置を補正して搭
載荷のステーシヨンに対する位置合わせを行わせ
るようにすることによつて、重量の大な荷に対し
ても的確に位置合わせできるものでありながらも
そのために全体構成が高価、複雑になることを抑
制できるのであり、もつて、重量の大な荷の搬送
にも便利に使用できる荷搬送車の停止制御装置を
得るにいたつた。
Therefore, regardless of the positional fluctuation of the loaded load on the loading section with respect to the vehicle body in the direction of movement of the vehicle body, the loaded load can be positioned at an appropriate position with respect to the station when the transport vehicle is stopped.
By correcting the stopping position of the transport vehicle itself and aligning the loaded load with the station, it is possible to accurately align even heavy loads. Therefore, it is possible to suppress the overall configuration from becoming expensive and complicated, and finally, we have obtained a stop control device for a load carrier that can be conveniently used for conveying heavy loads.
第１図及び第２図に示すように、荷載置部Ａを
備えた荷搬送車Ｂを設け、搬送車誘導路形成用の
光反射テープ１を、走行路面に設けると共に、誘
導路追従用の前後一対の光センサー２を選択使用
自在に荷搬送車Ｂに設け、そして、荷移載用ステ
ーシヨンSTを、誘導路の横側部に設け、もつて、
荷搬送車Ｂをステーシヨン間に亘つて走行させな
がらパレツトｄに積載した各種荷Ｄの運搬作業を
行わせるように構成してある。
As shown in FIGS. 1 and 2, a load transport vehicle B is provided with a load loading section A, and a light reflective tape 1 for forming a guide path for the transport vehicle is provided on the traveling road surface. A pair of front and rear optical sensors 2 are selectively provided on the cargo carrier B, and a cargo transfer station ST is provided on the lateral side of the taxiway.
The load carrier B is configured to transport various loads D loaded on pallets d while traveling between stations.
前記荷搬送車Ｂを構成するに、左右一対の推進
車輪３を、電動モータＭにて各別動駆自在に設
け、もつて、光センサー２の検出情報に基づいて
各電動モータＭを変速させて、操向するように構
成してある。又、荷移載用ステーシヨンSTに対
する停止位置を検出するための左右一対の投受光
器を４を、搬送車両側部に設けて、ステーシヨン
STに設けた反射体５からの反射光を受光するに
伴つて停止させることにより、ステーシヨンST
に対する定位置で停止させることができるように
構成してある。 To configure the load carrier B, a pair of left and right propulsion wheels 3 are provided so that they can be independently driven by electric motors M, and the speed of each electric motor M is changed based on the detection information of the optical sensor 2. It is configured so that it can be steered. In addition, a pair of left and right light emitters and receivers 4 are installed on the sides of the transport vehicle to detect the stop position relative to the load transfer station ST.
By stopping the station ST as it receives reflected light from the reflector 5 provided at the ST
It is constructed so that it can be stopped at a fixed position.
前記荷載置部Ａを構成するに、荷搬送ローラ６
の多数本を、車体前後方向に間隔を隔てる状態
で、車体横幅方向に並設すると共に、荷案内用ガ
イドローラ７の多数個を、荷搬送ローラ６の横脇
に並置してある。 The load carrying section A is composed of a load conveying roller 6.
A large number of guide rollers 7 are arranged side by side in the width direction of the vehicle body at intervals in the longitudinal direction of the vehicle body, and a large number of guide rollers 7 for guiding loads are arranged side by side beside the load conveying rollers 6.
前記荷移載用ステーシヨンSTについて説明す
れば、荷搬送用ローラコンベヤ８を、駆動自在に
設けて、ステーシヨン脇に停止された荷搬送車Ｂ
の搭載荷Ｄを受け入れること、あるいは、荷を荷
搬送車Ｂに供給することを行えるように構成して
ある。 To explain the load transfer station ST, a load transfer roller conveyor 8 is provided so as to be freely drivable, and a load transfer vehicle B is stopped at the side of the station.
The vehicle is configured to be able to receive loaded loads D or to supply loads to the load carrier B.
前記荷搬送車Ｂを操向させながら自動走行させ
ること、ステーシヨン脇の停止位置で自動停止さ
せること、及び、荷搬送ローラ６を自動駆動させ
ること夫々は、荷搬送車Ｂのコントローラの指令
情報に基づいて行なわれるものである。（第７図
参照）
第３図乃至第６図に示すように、左右一対の投
受光器取付枠部１０ａ、前記ガイドローラ７のう
ちの車体横幅方向中央に位置するガイドローラ７
ａに対する取付枠部１０ｂ、及び、それらを一体
状態に接続する中継枠部１０ｃからなる可動枠１
０を、左右一対のガイドレール１１にて車体前後
方向にスライド移動自在に係合支持し、電動モー
タ１２に付設のピニオン１３咬合するラツク付部
材１４を、モータ回転に伴つて車体前後方向にス
ライド自在に設け、ラツク付部材１４を、引張ス
プリング１５によつて可動枠１０に接続し、もつ
て、走行開始前においてガイドローラ７ａを投載
荷Ｄ側い移動操作して投載荷Ｄに接触させるに伴
つて、前記荷載置部Ａ上の搭載荷Ｄの車体に対す
る車体移動方向での位置を検出することができる
ように、しかも、前記搭載荷Ｄが前記ステーシヨ
ンSTに対する適正位置になるようにするべく、
前記投受光器４の位置を車体前後方向に変更して
前記ステーシヨンSTに対する荷搬送車停止位置
を補正することができるように構成してある。但
し、図中L1，L2は、ラツク付部材１４を一定範
囲で移動させるようにするべく、電動モータ１２
の作動を停止させるリミツトスイツチであり、前
記ガイドローラ７ａがパレツトｄに接当した状態
でのモータ１２の作動を、スプリング１５の伸び
で吸収することになる。 Automatically driving the load carrier B while steering it, automatically stopping it at a stop position next to the station, and automatically driving the load carrier roller 6 are determined by the command information of the controller of the load carrier B. This is done based on the following. (See FIG. 7) As shown in FIGS. 3 to 6, the pair of left and right light emitter/receiver mounting frames 10a, the guide roller 7 located at the center in the width direction of the vehicle body among the guide rollers 7.
A movable frame 1 consisting of a mounting frame portion 10b for a and a relay frame portion 10c that integrally connects them.
0 is engaged and supported by a pair of left and right guide rails 11 so as to be slidable in the longitudinal direction of the vehicle body, and a member with a rack 14 that engages with a pinion 13 attached to the electric motor 12 slides in the longitudinal direction of the vehicle body as the motor rotates. The rack member 14 is connected to the movable frame 10 by a tension spring 15, and the guide roller 7a is operated to move sideways to the loaded load D to bring it into contact with the loaded load D before starting traveling. Accordingly, in order to be able to detect the position of the loaded load D on the load loading section A with respect to the vehicle body in the vehicle body movement direction, and to ensure that the loaded load D is at an appropriate position with respect to the station ST. ,
The structure is such that the position of the light projector/receiver 4 can be changed in the longitudinal direction of the vehicle body to correct the stop position of the cargo carrier relative to the station ST. However, L 1 and L 2 in the figure are electric motors 12 in order to move the rack member 14 within a certain range.
The operation of the motor 12 when the guide roller 7a is in contact with the pallet d is absorbed by the expansion of the spring 15.
さらに詳述すれば、ガイドローラ７ａと投受光
器４との車体前後方向の間隔が、パレツトｄの車
体前後方向幅の２分の１であり、ガイドローラ７
ａをパレツトｄに接触触させるようにすれば、投
受光器４の位置がパレツトｄの車体前後方向幅の
中央になる。又、前記反射体５が、荷搬送用ロー
ラコンベヤ８の車体前後幅方向の中央に位置され
ており、その結果、搭載荷Ｄの車体に対する車体
移動方向での位置が変動しても、荷搬送車Ｂの停
止状態においては搭載荷ＤをステーシヨンSTに
対する適正位置に位置させることができる。 More specifically, the distance between the guide roller 7a and the light emitter/receiver 4 in the longitudinal direction of the vehicle body is one half of the width of the pallet d in the longitudinal direction of the vehicle body.
If a is brought into contact with the pallet d, the position of the light emitter/receiver 4 will be at the center of the width of the pallet d in the longitudinal direction of the vehicle body. Further, the reflector 5 is located at the center of the load conveying roller conveyor 8 in the longitudinal width direction of the vehicle body, and as a result, even if the position of the loaded load D relative to the vehicle body changes in the vehicle body movement direction, the load transfer When the vehicle B is stopped, the load D can be positioned at an appropriate position relative to the station ST.
前記搭載荷位置検出手段を構成するに、搭載荷
側に移動操作自在な位置検出用可動部材としての
１個のガイドローラ７ａを設けるようにする他、
各種変更できる。例えば、搭載荷Ｄの両側に接触
作用する一対のガイドローラ７ａを設けるととも
に、それらガイドローラ７ａの車体に対する位置
を検出するセンサーを設けて、搭載荷Ｄの車体前
後方向の幅が未知の場合にも、搭載荷Ｄの車体に
対する車体移動方向での位置を検出できるように
してもよい。そして、その場合、荷搬送車停止位
置補正手段を構成するに、前記停止位置検出セン
サーとしての投受光器４を前記可動部材７ａに一
体移動自在に連結するに代えて、停止位置検出用
投受光器４を車体前後方向に移動操作する駆動装
置を設けるようにしたり、あるいは、停止位置検
出用投受光器４の多数個を、搭載荷位置検出情報
に基づいて選択使用される状態で、車体前後方向
に並べて設けてもよい。
The loaded load position detecting means is configured by providing one guide roller 7a as a position detecting movable member that can be moved and operated on the loaded load side.
Various changes can be made. For example, by providing a pair of guide rollers 7a that come into contact with both sides of the loaded load D, and by providing a sensor that detects the position of the guide rollers 7a with respect to the vehicle body, when the width of the loaded load D in the longitudinal direction of the vehicle body is unknown, Alternatively, the position of the loaded load D relative to the vehicle body in the vehicle body movement direction may be detected. In that case, in configuring the load carrier stop position correction means, instead of connecting the light projector/receiver 4 as the stop position detection sensor to the movable member 7a so as to be integrally movable, the stop position detection sensor emits and receives light. A driving device for moving the device 4 in the longitudinal direction of the vehicle body may be provided, or a plurality of light emitting/receiving devices 4 for detecting stop positions may be selectively used based on information on detecting the loaded cargo position. They may be arranged in the same direction.
又、荷搬送車停止位置補正手段としては、例え
ば停止位置よりも上手側に設けた基準点から設定
距離進行させて停止させるようにする場合におい
ては、搭載荷位置検出手段の情報に基づいて前記
進行させる設定距離を自動調整させるようにする
等、荷搬送車停止用制御構成に応じて種々変更で
きる。 In addition, when the load carrier stop position correcting means is configured to advance a set distance from a reference point provided on the upper side of the stop position and then stop, the load carrier stop position correcting means may adjust the load carrier position based on the information of the loaded load position detecting means. Various changes can be made depending on the control configuration for stopping the load carrier, such as automatically adjusting the set distance to travel.
要は、搭載荷Ｄの車体前後方向の位置を検出し
て、荷搬送車停止位置を補正させるようにすれば
よい。 In short, the position of the loaded load D in the longitudinal direction of the vehicle body may be detected and the load carrier stop position may be corrected.
又、定位置検出センサーとしては、投受光器４
を使用する他、各種のものが使用できる。例え
ば、反射体５に代えて投光器をステーシヨン側に
設ける場合においては、受光器をセンサーとして
荷搬送車側に備えさせるとよい。 Also, as a fixed position detection sensor, the light emitter/receiver 4
In addition to using , various other types can be used. For example, when a light projector is provided on the station side instead of the reflector 5, a light receiver may be provided as a sensor on the load carrier side.
又、搭載荷位置検出手段を作動させるに、実施
例で述べた如く、走行開始前に作動させるに代え
て、走行途中で作動させるようにしてもよい。 Furthermore, the loaded cargo position detection means may be activated during travel, instead of being activated before the start of travel as described in the embodiment.
図面は本発明の実施例を示し、第１図は荷搬送
車をステーシヨン脇に停止させた状態の平面図、
第２図は同状態の正面図、第３図はガイドローラ
と投受光器との連結構造を示す正面図、第４図は
第３図における−線断面図、第５図は電動モ
ータと可動枠との連結構造を示す平面図、第６図
は第５図における−線断面図、第７図は制御
作動を示すフローチヤートである。
４……停止位置検出センサー、７ａ……可動部
材、Ａ……荷載置部、Ｂ……荷搬送車、ST……
ステーシヨン。
The drawings show an embodiment of the present invention, and FIG. 1 is a plan view of the load carrier stopped beside the station;
Figure 2 is a front view of the same state, Figure 3 is a front view showing the connection structure between the guide roller and the light emitter/receiver, Figure 4 is a sectional view taken along the - line in Figure 3, and Figure 5 is the electric motor and movable FIG. 6 is a plan view showing the connection structure with the frame, FIG. 6 is a sectional view taken along the line -- in FIG. 5, and FIG. 7 is a flowchart showing the control operation. 4...Stop position detection sensor, 7a...Movable member, A...Loading section, B...Load carrier, ST...
station.
Claims (1)
シヨンSTに対する停止位置を検出するセンサー
４を設けた荷搬送車の停止制御装置であつて、前
記荷載置部Ａ上の搭載荷Ｄの車体に対する車体移
動方向での位置を検出する手段を設けるととも
に、前記搭載荷Ｄが前記ステーシヨンSTに対す
る適正位置になるようにするべく、前記搭載荷位
置検出情報に基づいて前記ステーシヨンSTに対
する荷搬送車停止位置を補正する手段を設けてあ
る荷搬送車の停止制御装置。 ２ 前記搭載荷位置検出手段を構成するに、移動
操作により搭載荷Ｄに接触可能な位置検出用可動
部材７ａを設け、前記荷搬送車停止位置補正手段
を構成するに、前記停止位置検出センサー４を、
前記可動部材７ａに一体移動自在に連結してある
特許請求の範囲第１項に記載の荷搬送車の停止制
御装置。[Scope of Claims] 1. A stop control device for a load carrier, which is provided with a sensor 4 for detecting a stop position relative to a station ST on the side of a load carrier B that is equipped with a load carrier A, the load carrier B having a load carrier A A means for detecting the position of the upper loaded load D relative to the vehicle body in the vehicle body movement direction is provided, and in order to ensure that the loaded load D is at an appropriate position with respect to the station ST, the above loaded load D is detected based on the loaded load position detection information. A stop control device for a load carrier, which is provided with means for correcting the stop position of the load carrier with respect to the station ST. 2. The loaded load position detection means is provided with a position detecting movable member 7a that can come into contact with the loaded load D by a movement operation, and the load carrier stop position correction means is configured by the stop position detection sensor 4. of,
The stop control device for a load carrier according to claim 1, which is connected to the movable member 7a so as to be integrally movable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59228777A JPS61107408A (en) | 1984-10-30 | 1984-10-30 | Stop controller of truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59228777A JPS61107408A (en) | 1984-10-30 | 1984-10-30 | Stop controller of truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61107408A JPS61107408A (en) | 1986-05-26 |
| JPH048803B2 true JPH048803B2 (en) | 1992-02-18 |
Family
ID=16881678
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59228777A Granted JPS61107408A (en) | 1984-10-30 | 1984-10-30 | Stop controller of truck |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61107408A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63167909A (en) * | 1986-12-27 | 1988-07-12 | Nippon Yusoki Co Ltd | Stopping and positioning device for unmanned carrying car |
| JPS63284608A (en) * | 1987-05-15 | 1988-11-21 | Tsubakimoto Chain Co | Transfer positioning device for object to be carried by truck |
| JP5255366B2 (en) * | 2008-08-11 | 2013-08-07 | 株式会社日立産機システム | Transfer robot system |
-
1984
- 1984-10-30 JP JP59228777A patent/JPS61107408A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61107408A (en) | 1986-05-26 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |