JPH0512908U - Trolley traveling equipment - Google Patents

Abstract

(57) [Summary] [Purpose] The purpose is to minimize the meandering of the traveling track of the dolly and minimize the distance between the dolly and the workbench to facilitate the loading and unloading work of the set placed on the dolly. It is what [Structure] A multi-color strip-shaped color running detection tape, which is provided on the running track surface of the truck and is color-coded into a plurality of colors, a light source provided on the track surface side of the truck, a plurality of color detecting sensors, and a color detecting sensor A color filter provided on the input surface for reflected light, and configured to control the traveling direction control motor by the output control signal of the color detection sensor that receives the reflected light of the color traveling detection tape from the light source. ..

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a traveling device for a truck on a production line, and more particularly to a traveling device for a truck that is suitable for minimizing the meandering of the truck.

[0002]

[Prior art]

 2. Description of the Related Art Conventionally, many traveling devices for trolleys have been provided as shown in the sectional view of FIG. In the figure, 1 is a bogie, 5a is a left traveling direction control motor that controls the traveling direction of the bogie 1, 5b is a right traveling direction control motor that controls the traveling direction of the bogie 1, and 7a is a left wheel of the bogie 1. 7b is the right wheel of the trolley 1, 8 is the track surface on which the trolley 1 travels, 9 is the workbench of the production process installed in contact with the trolley 1, and 10a is the first track mounted on the track side of the trolley 1. A retroreflective sensor, 10b is a second retroreflective sensor mounted on the track surface side of the carriage 1, and 11 is a running detection tape mounted on the track surface.

In the production process, the trolley 1 generally travels along the workbench 9, and the set mounted on the trolley 1 is transferred to the workbench 9 to proceed with the work. For this reason, the carriage 1 is required to travel along a fixed track without separating from the workbench 9.

In order for the trolley 1 to travel stably, two first and second retroreflective sensors 10a and 10b are attached to the track surface 8 side of the trolley 1, and the first and second retroreflective sensors are installed. A track detecting tape 11 on which the sensors 10a and 10b operate is provided on the raceway surface 8, and the reflected light from the track detecting tape 11 is received to perform sensor detection, and the left and right running directions are controlled by this sensor detection voltage. The traveling direction of the trolley 1 was controlled by controlling the rotation of the motors 5a, 5b.

That is, for example, when the sensor detection of the first retroreflective sensor 10a deviates from the traveling detection tape 11, the emitted light from the first recursive reflective sensor 10a is reflected by the traveling detection tape 11. As a result, the sensor detection voltage due to the reflected light of the first retroreflective sensor 10a decreases. With this reduced sensor detection voltage, the left traveling direction control motor 5a of the vehicle 1 is controlled to operate so as to reverse the traveling direction, and the traveling trajectory of the vehicle 1 can be corrected.

In this way, the traveling of the carriage 1 is controlled by detecting that one of the first and second retroreflective sensors 10a, 10b has come off the travel detection tape 11, and the carriage 1 is determined. It is possible to drive stably on the specified track.

[0007]

[Problems to be solved by the device]

 However, it is difficult for the above-mentioned conventional traveling device for a bogie to set the interval between the first and second retroreflective sensors 10a and 10b and the width of the traveling detection tape 11. For example, if the distance between the first and second retroreflective sensors 10a, 10b is narrowed to improve running accuracy, both the first and second retroreflective sensors 10a, 10b may be misaligned in the same direction. In addition, if the width of the running detection tape 11 is narrowed, both the first and second retroreflective sensors 10a and 10b cannot detect the sensor, and the trolley 1 stops. It was

That is, the width of the running detection tape 11 is required to be at least about 50 mm, so that the running track of the carriage 1 meanders within a range of ± 50 mm. The space B between the trolley 1 and the workbench 9 shown in FIG. 2 needs to have a margin of at least 50 mm, and there is also a disadvantage that it is necessary to install other equipment with the horizontal distance of the trolley 1 being ± 50 mm or more. ..

Further, if the distance B between the trolley 1 and the workbench 9 becomes large, it becomes difficult to transfer the set or unit placed on the trolley 1, and small parts are separated between the trolley 1 and the workbench 9. Sometimes it fell from the gap.

The present invention has been made in view of the above points, and an object of the invention is to solve the drawbacks of the conventional example, to minimize the meandering of the traveling track of the carriage 1, and to make the carriage 1 and the worktable 9 It is an object of the present invention to provide a traveling device for a trolley that can make the loading and unloading work such as a set smooth by minimizing the interval between them.

[0011]

[Means for Solving the Problems]

 The trolley traveling device of the present invention is equipped with a travel detection tape on the track surface on which the trolley travels, a light source provided on the track surface side of the trolley, and a plurality of sensors for detecting reflected light from the light source. In the traveling device of the truck capable of controlling the traveling direction of the truck by controlling the traveling direction control motor provided in the truck by the light detection voltage of the plurality of sensors, a plurality of vehicles provided on the traveling track surface of the truck are used. It is equipped with a multi-color band-shaped color running detection tape that is color-coded by color, a plurality of color detection sensors provided on the carriage, and a color filter provided on the input surface of the reflected light of the color detection sensor. It is configured to control the driving direction control motor by the light detection voltage of the sensor.

In addition, the above-mentioned multi-color strip color travel detection tape is colored differently on one strip tape to control the traveling speed of the carriage to enable deceleration stop and deceleration. It is a thing.

[0013]

[Action]

 According to this invention, the track surface on which the carriage travels is provided with a color-detecting tape for detecting color running in a multi-color band, and the light emitted from the light source provided on the track surface side of the truck is used for detecting the color travel. It is reflected by the tape and this reflected light is detected by multiple color detection sensors.

A color filter is provided on the input surface of the reflected light of the plurality of color detection sensors, and when the reflected light from the color running detection tape has the same color as the tape color and the color filter, the color detection sensor receives light. As the amount increases, the sensor light detection voltage increases. On the other hand, when the tape colors of the reflected light are different, the amount of light that has passed through the color filter is attenuated and the sensor light detection voltage becomes small.

By using the light detection voltage of the color detection sensor, the traveling direction control motor provided on the truck can be controlled, and the traveling of the truck can be performed accurately in a predetermined direction.

That is, the color running detection tape is provided with the same color tape color as that of the color filter determined at the center, and the tapes of different colors are formed in a multi-color band outside the center tape color, thereby forming a sensor. The photo-detection voltage is subdivided so that the traveling direction of the bogie can be finely and finely corrected and controlled.

Further, different tape colors are arranged at predetermined positions on one strip tape of the above-mentioned multi-color strip color running detection tape, and the reflected light of the different tape colors is detected. It is possible to control the traveling speed control motor that controls the traveling speed of the bogie by the sensor light detection voltage of the detection sensor, thereby enabling the bogie to decelerate, stop and decelerate.

As described above, the traveling control of the carriage can be finely controlled by the color traveling detection tape, the color detection sensor, and the color filter, and the distance between the carriage and the workbench can be minimized.

[0019]

【Example】

 An embodiment of a traveling device for a truck according to the present invention will be described with reference to the sectional view of FIG. The same parts as those of the conventional example are designated by the same reference numerals and the description thereof will be omitted.

In the figure, 2 is a light source provided on the track surface side of the truck 1, 3 a is a first color detection sensor provided near the light source 2, and 3 b is a second color detection sensor provided near the light source 2. -, 4a is the first color filter provided on the first color detection sensor 3a, 4b is the second color filter provided on the second color detection sensor 3b, and 6a is a predetermined position on the raceway surface 8. The first color running detection tape 6b is provided, 6b is the second color running detection tape 6a adjacent to the first color running detection tape 6a, and 6c is the second color running detection tape 6b adjacent to the second color running detection tape 6b. 3 is a color running detection tape of No. 3.

A predetermined running track of the carriage 1 is equipped with a multi-color strip-shaped color running detection tape that is color-coded into a plurality of colors. As shown in FIG. 1, the color running detection tapes are, for example, first, second and third color running detection tapes 6a, 6b and 6c of three colors. The color of the first color running detection tape 6a is arranged in the center of the, and the color of the second color running detecting tape 6b is arranged on both sides adjacent to the first color running detection tape 6a. The third color running detection tape 6c is colored adjacent to both outer sides of the second color running detection tape 6b.

A plurality of color detection sensors provided on the track surface side of the trolley 1, for example, as shown in FIG. 1, two first and second color detection sensors 3a, 3b The color of the second color filters 4a and 4b is the same as the color of the first color running detection tape 6a, and the color of the second color running detection tape 6b is the same as the first color running detection tape 6a. The color of the detection tape 6a and the color of a color similar to the same system, for example, may be arranged, and the color can be detected separately from the first color running detection tape 6a. Further, the third color running detection tape 6c is colored in a different color, and is a color that can be detected separately from the first and second color running detection tapes 6a and 6b.

With this configuration, the emitted light from the light source 2 provided on the carriage 1 is reflected by the first color running detection tape 6a of the three colors of color running detection tapes 6a, 6b, 6c. The reflected light passes through the first and second color filters 4a and 4b and is input to the first and second color detection sensors 3a and 3b.

Since the reflected light reflected by the first color running detection tape 6a passes through the first and second color filters 4a and 4b of the same color, the amount of light received by the color detection sensors 3a and 3b is large, The light detection voltage of the color detection sensors 3a, 3b increases, and the large light detection voltage controls the left and right traveling direction control motors 5a, 5b, so that the trolley 1 can perform normal linear traveling. ..

On the other hand, when the traveling track of the trolley 1 is deviated and the first color detection sensor 3a receives the reflected light reflected by the second color traveling detection tape 6b of a color different from that of the first color filter 4a, for example. This reflected light is attenuated by the first color filter 4a, the amount of light received by the first color detection sensor 3a is reduced, and the light detection voltage of the first color detection sensor 3a is also reduced. The voltage can control the left traveling direction control motor 5a to correct the traveling direction of the carriage 1.

Furthermore, when the traveling of the trolley 1 suddenly deviates greatly for some reason, for example, when the first color detection sensor 3a receives the reflected light reflected by the third color traveling detection tape 6c, The reflected light from the third color running detection tape 6c of a color different from that of the first color filter 4a is greatly attenuated by the first color filter 4a and supplied to the first color detection sensor 3a. The light detection voltage of the color detection sensor 3a becomes even smaller. The smaller light detection voltage controls the motor 5a for controlling the left traveling direction, and the orbit of the trolley 1 is largely corrected so that the trolley 1 travels normally. Can be on orbit.

As described above, since the traveling direction of the carriage 1 can be finely controlled by using the color traveling detection tape and the color filter effect which are color-coded in the multicolor band, it is possible to eliminate the meandering of the carriage 1 as much as possible. For example, if the traveling of the carriage 1 is a straight traveling, the meandering width of the carriage 1 can be maintained up to about ± 2 to 3 mm. Therefore, the distance A between the trolley 1 and the workbench 9 shown in FIG. 1 can be made as small as possible.

Further, by narrowing the width of the multi-color band tape for color running detection and identifying a large number of colors, it is possible to control the running direction more finely and finely correct the meandering of the carriage 1. Therefore, the carriage 1 can travel stably.

Further, for example, by changing the color of the position at which the carriage 1 is stopped with respect to the first color running detection tape 6a in the multicolor band, the carriage 1 can be decelerated and stopped. That is, the reflected light of different tape colors of the first color running detection tape 6a at the stop position is attenuated by the first color filter 4a and input to the first color detection sensor 3a. By controlling the traveling speed control motor (not shown) by the light detection voltage of the detection sensor 3a, the traveling speed of the carriage 1 can be reduced.

Similarly, when the trolley 1 starts from the stop position, the color of the first color running detection tape 6a is gradually changed so that the first color traveling detection tape 6a receives the gradually changing reflected light. The vehicle can be decelerated and started by controlling the traveling speed control motor of the color detection sensor 3a.

In this way, arbitrary control is performed by color-coding the multi-color strip-shaped color detection tape provided on the track surface for the meandering and deceleration control of the traveling of the carriage 1 and the color detection sensor that receives light through the color filter. It can be performed accurately and stably.

[0032]

[Effect of the device]

 As described above, the trolley traveling device according to the present invention detects the reflected light from the multi-color band tape for color traveling detection, so that the trolley can travel while centering on the same color tape. The meandering width can be reduced to reduce the limit width of the bogie running, the bogie does not swing to the left and right, the distance between the bogie and the workbench can be narrowed, and the set and small parts for production can be carried in and out. There is an effect that it becomes easier.

Further, since the vehicle can be decelerated and stopped or decelerated and started, it is possible to improve the accuracy of the stop position of the trolley, and moreover, it is possible to maintain stable traveling operation. It is also possible to install a conveyor or the like on the running track surface of the trolley, which has the effect of enabling an efficient production system to be constructed.

Moreover, it has excellent features such as a simple structure and easy implementation because it can be constructed at low cost.

[Brief description of drawings]

FIG. 1 is a sectional view showing an embodiment of a traveling device for a trolley of the present invention.

FIG. 2 is a cross-sectional view showing a conventional example.

[Explanation of symbols]

 Light source 3a 1st color detection sensor 3b 2nd color detection sensor 4a 1st color filter 4b 2nd color filter 5a Left running direction control motor 5b Right running direction control Motor 6a 1st color running detection tape 6b 2nd color running detection tape 6c 3rd color running detection tape 7a Left wheel 7b Right wheel 8 Raceway surface 9 Platform

Claims (2)

[Scope of utility model registration request] 1. A travel detecting tape is provided on a track surface on which a truck travels, and a light source provided on the track surface side of the truck and a plurality of sensors for detecting reflected light from the light source are provided. In a traveling device of a bogie capable of controlling the traveling direction of the bogie by controlling the traveling direction control motor provided in the bogie by the output signal of the It is equipped with a belt-shaped color running detection tape, a plurality of color detection sensors provided on the carriage, and a color filter provided on the input surface of the reflected light of the color detection sensor, and the running direction is determined by the output control signal of the color detection sensor. A traveling device for a trolley, which is configured to control a control motor. 2. The multi-color strip color travel detection tape controls the traveling direction of the trolley by controlling different traveling tape colors on one strip of tape and controls the traveling speed of the trolley to decelerate. The traveling apparatus for a bogie according to claim 1, wherein the vehicle can be stopped and decelerated.