JPH051901A - Jig measuring device for unmanned vehicle - Google Patents

Abstract

PURPOSE:To easily perform a dimension inspection of receiving arms in a short time on a jig measuring device for an unmanned vehicle. CONSTITUTION:An unmanned vehicle 1, which travels on a traveling path composed of guidance lines, is provided with receiving arms 9a, 9b supporting a door being set on an upper surface of the unmanned vehicle 1. A jig measuring device for the unmanned vehicle is composed of a carriage 16, which advances toward the unmanned vehicle 1 halting at a predetermined standard position, and gauge portions 19a, 19b, which are installed on the carriage 16 and are for the measure of the displacement of the receiving arms 9a, 9b while touching or closely approaching the receiving arms 9a, 9b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a jig measuring device for an unmanned vehicle, and more particularly to a jig measuring device for an unmanned vehicle for measuring the displacement of a jig for supporting a work.

[0002]

2. Description of the Related Art Conventionally, as shown in FIGS. 5 and 6, a transfer device I is provided via a hydraulic lifter 7 on the upper surface of an unmanned vehicle 1 traveling on a traveling path formed by a guide wire. There is. The transfer device I is provided with receiving arms 9a and 9b via a pair of rotating shafts 8a and 8b, respectively. The receiving arms 9a, 9b are composed of support portions 10a, 10b having a U-shaped cross section and a pair of guide portions 11a, 11b, 12a, 12b having a U-shaped cross section.

Further, when the light receiver 2 of the unmanned vehicle 1 traveling at a high speed along the guide line on the traveling route receives the light from the stop light projector 3 provided at a predetermined position, the controller of the unmanned vehicle 1 Reference numeral 4 stops the rotation of the drive wheels 5 based on the detection signal from the light receiver 2 to stop the unmanned vehicle 1 suddenly. After that, the hanger 26 having the door 25 installed therein is placed on the receiving arms 9a and 9b by a carrying device (not shown). Then, the hanger 26 is delivered to the receiving arms 9a and 9b of the transfer device I by being dropped from the carrying device. That is, the hanger 26 has the receiving arms 9a, 9b.
Support portions 10a, 10b and a pair of guide portions 11a, 11
It will be in the state supported by b, 12a, and 12b.
The unmanned vehicle 1 is a hanger 2 having the door 25 installed therein.
The hanger 26 is run with the 6 mounted thereon, and the hanger 26 is conveyed to a predetermined place.

[0004]

However, the receiving arms 9a, 9b of the transfer device I are rotatable by the rotating shafts 8a, 8b, and the rotating shafts 8a, 8b are
It is a cantilever supported by 8b. Therefore, due to the impact of dropping the hanger 26, the parallelism, the verticality, etc. of the receiving arms 9a, 9b are likely to change.
That is, the support portions 10a of the receiving arms 9a and 9b,
The parallelism between 10b and the floor is lost, and the receiving arms 9a,
9b, a pair of guide portions 11a, 11b, 12a,
The verticality between 12b and the floor may collapse. When the unmanned vehicle 1 is used in a state in which the horizontality and verticality of the receiving arms 9a, 9b are deviated, when the hanger 26 is dropped from the transfer device (not shown) into the receiving arms 9a, 9b of the transfer device I, the hanger 26 On both sides and receiving arms 9a, 9b
The guide portions 11a, 11b, 12a, 12b interfere with each other and the hanger 26 cannot be smoothly dropped into the support portions 10a, 10b.

Therefore, the supporting portions 10a and 10b of the receiving arms 9a and 9b and the guide portions 11a, 11b and 12 are provided.
In order to confirm whether the horizontality, the verticality, etc. of a and 12b are maintained with a certain accuracy, it is necessary to inspect the unmanned vehicle 1 before traveling on the traveling route. However, when the dimension inspection of the receiving arms 9a and 9b is performed, the dimension measurement from the predetermined reference point to each important point must be performed three-dimensionally, and thus it is difficult to perform accurate measurement. Since the measurement time becomes long, there is a problem that the measurement work efficiency is poor.

The present invention has been made to solve the above problems, and an object thereof is to provide a jig measuring device for an unmanned vehicle capable of easily performing a size inspection of a receiving arm in a short time. Especially.

[0007]

In order to solve the above problems, the present invention provides an unmanned vehicle equipped with a jig for supporting a work provided on the upper surface of an unmanned vehicle traveling on a traveling path formed by a guide wire. A jig measuring device for a vehicle, which is a carriage for stopping at a predetermined reference position and advancing toward an unmanned vehicle, and a jig mounted on the carriage for contacting or approaching the jig to measure the displacement of the jig. Its gist is to consist of a gauge section.

[0008]

After the unmanned vehicle traveling on the traveling route stops at the predetermined reference position, the bogie is advanced on the traveling route. Then, the gauge portion provided on the carriage is brought into contact with or brought close to the jig of the unmanned vehicle. At this time, the displacement of the jig is measured based on the gauge portion, and it is inspected whether the jig holds a predetermined accuracy. Therefore, since the displacement of the jig can be measured only by bringing the gauge portion into contact with or approaching the gauge portion, the inspection can be easily performed.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment embodying the present invention will now be described with reference to FIGS.
It will be described with reference to FIG. The same members as those of the above-mentioned conventional technique are designated by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIGS. 1 and 2, a receiver 2 is provided in an unmanned vehicle 1 traveling on a traveling route formed by a guide wire.
Is provided, and the light from the stop light projector 3 can be received by the light receiver 2. When the light receiver 2 detects the light from the stop light projector 3,
Based on this detection, the controller 4 stops the rotation of the drive wheels 5 of the unmanned vehicle 1.

Further, the unmanned vehicle 1 outputs a detection signal to the controller 4 when the light receiver 2 detects the light from the stop light projector 3, and the controller 4 drives the drive wheel 5 based on the detection signal of the light receiver 2. Stop the rotation of. At this time,
As shown in FIG. 4, the four corners of the unmanned vehicle 1 are positioned above the four mark plates M provided on the floor for inspecting the stop position accuracy. That is, when the brake device (not shown) of the normal drive wheels 5 is normal, the four corners of the unmanned vehicle 1 are located above the four mark plates M. The size of the mark plate M is the allowable stop range when the unmanned vehicle 1 is stopped, and when the detection sensor 6 is no longer above the mark plate M, it is determined that the stop accuracy has deteriorated. It is supposed to do.

Then, each of the detection sensors 6 provided at the four corners of the lower surface of the unmanned vehicle 1 detects the mark plate M on the floor, and based on the detection signal of the detection sensor 6, the controller 4 moves above the mark plate M. Determine whether the four corners of the unmanned vehicle 1 are located. When the controller 4 determines that the four corners of the unmanned vehicle 1 are not located above the mark plates M based on the detection signals of the detection sensor 6, the controller 4 sounds a buzzer (not shown) notifying that the stop accuracy has deteriorated. It has become.

A transfer device I is provided on the upper part of the unmanned vehicle 1 via a hydraulic lifter 7 which can be raised and lowered. The transfer device I is composed of a pair of rotating shafts 8a and 8b and a pair of receiving arms as a jig and receiving arms 9a and 9b. Further, the receiving arms 9a, 9b are attached to the supporting portions 10a, 1
0b and the pair of guide portions 11a, 11b, 12a, 12
b.

As shown in FIG. 1, the receiving arms 9a,
A pair of guide pieces 13a and 13b facing upward are provided on the support portions 10a and 10b of 9b, and are formed to have a U-shaped cross section. Then, the supporting portions 10a and 10b
The rotating shafts 9a and 9b so that they are parallel to the floor surface.
Fixed to the upper surface of. The guide parts 11a and 11b
2 includes a pair of guide pieces 14a, 1 facing right in FIG.
4b is provided and is formed to have a U-shaped cross section. Similarly, the guide portions 12a and 12b are provided with a pair of guide pieces 15a and 15b directed to the left side in FIG. 2, and are formed to have a U-shaped cross section. The guide portions 12a and 12b are formed slightly shorter than the guide portions 11a and 11b.

Then, a hanger 26 having a door 25 as a work similar to that of the prior art is installed on the receiving arms 9a, 9b by dropping, and the hanger 26 is set on the supporting portions 10a, 10b of the receiving arms 9a, 9b. The lower part is supported and the guide parts 11a, 11b, 1
Both sides of the hanger are supported by 2a and 12b so that the hanger can be maintained in an upright state.

A trolley 16 that moves along a rail 15c provided on the floor and advances toward the unmanned vehicle 1 is provided on the lateral side of the travel route. As shown in FIG. 1, a pair of support members 17, which are perpendicular to the floor surface, are provided upright on the front surface of the carriage 16. The side surfaces of the pair of support members 17 are provided with connecting members 18a and 18b that are at right angles to the support members 17, and the connecting members 18a and 18b
Gauge portions 19a and 19b are provided on 18b, respectively. The gauge portion 19a is arranged in the vicinity of the receiving arm 9a and measures the displacement of the gauge portion 19a. Further, the gauge portion 19b is arranged in the vicinity of the receiving arm 9b, and the displacement of the gauge portion 19b is measured.

Further, the gauge portion 19a and the gauge portion 19
b is arranged with a predetermined interval, and the receiving arms 9a, which are provided with a predetermined interval in advance by this interval,
It is possible to perform a measurement inspection between 9b. That is, as shown in FIG. 1, the receiving arms 9a, 9b
When the distance between them is accurate, the side surfaces of the gauge portions 19a and 19b and the side surfaces of the receiving arms 9a and 9b are flush with each other at the same time.

As shown in FIGS. 2 and 3, the gauge portion 1
9a is a horizontal gauge portion 20a which is horizontal to the floor surface,
It is provided on both sides of the horizontal gauge portion 20a and is composed of vertical gauge portions 21a and 22a which are perpendicular to the floor surface. Then, in a normal state in which the accuracy of the receiving arm 9a is not disturbed, the horizontal gauge portion 20a and the vertical gauge portions 21a and 22a of the gauge portion 19a have the receiving arm 9a.
They are arranged close to each other on the outside of a with a predetermined gap (for example, 5 mm).

The gauge portion 19b is a horizontal gauge portion 20b which is horizontal to the floor surface, and the horizontal gauge portion 20b.
And vertical gauge portions 21b and 22b which are provided on both sides of and are perpendicular to the floor surface. A connecting member 23 is provided between the vertical gauge portions 21a and 22a of the gauge portion 19a, and the connecting member 18a is connected to the connecting member 23. Further, the width of the vertical gauge portions 21a and 22a of the gauge portion 19a is shorter than the width between the guide pieces 14b and 15b of the receiving arm 9b, and they are arranged close to each other with a predetermined gap (for example, 5 mm). It is like this. In addition, the horizontal gauge portion 20a of the gauge portion 19a is the guide piece 13 of the receiving arm 9b.
The height is higher than that of a and 13b, and they are arranged close to each other with a predetermined gap (for example, 5 mm).

As a result, when the gauge portion 19a is placed close to the receiving arm 9a, the gauge portion 19a does not interfere with the receiving arm 9b. Next, the operation of the jig measuring device for an unmanned vehicle configured as described above will be described.

After the light receiver 2 of the unmanned vehicle 1 detects the light of the stop light projector 3 after the hanger 26 has been removed from the receiving arms 9a, 9b of the unmanned vehicle 1 traveling on the traveling route at high speed, this detection is performed. Based on this, the controller 4 immediately stops the rotation of the drive wheels 5 and suddenly stops the unmanned vehicle 1.
At this time, it is detected whether the detection sensors 6 provided at the four corners of the lower surface of the unmanned vehicle 1 are located above the mark plate M. When the controller 4 determines based on this detection that the four corners of the unmanned vehicle 1 are not located above the mark plate M, a buzzer (not shown) that sounds that the stopping accuracy of the unmanned vehicle 1 has deteriorated is sounded. As a result, it is possible to easily know the timing for performing maintenance or replacement work of the brake device for the drive wheels 5.

When the stopping accuracy is normal, the carriage 16
Are advanced to the side of the unmanned vehicle 1 along the rail 15. The gauge portion 19a is passed from the inside of the receiving arm 9b, and the horizontal gauge portion 20a and the vertical gauge portions 21a and 22a of the gauge portion 19a are connected to the guide pieces 14b and 15b of the guide portions 11a and 12a and the supporting portion of the receiving arm 9a. It is arranged inside the guide piece 13b of 10a. And
As shown in FIG. 1, the horizontal gauge portion 20a and the vertical gauge 2
The gauge portion 19a is arranged so that the side surfaces of the lapping pieces 1a and 22a are flush with the side surfaces of the guide pieces 14b and 15b and the guide piece 13b.
Are brought close to the receiving arm 9a.

At the same time, the horizontal gauge portion 20b and the vertical gauge portions 21b and 22b of the gauge portion 19b are connected to the guide portions 11b and 12b and the support portion 10 of the receiving arm 9b.
It is arranged outside b. Then, as shown in FIG. 1, the gauge portion 19b is brought close to the receiving arm 9b so that the side surfaces of the horizontal gauge portion 20b and the vertical gauge portions 21b and 22b are flush with the guide pieces 14b and 15b and the guide piece 13b. Let

When the receiving arm 9a is tilted in FIG. 2, the parallelism between the gauge portion 19a and the horizontal gauge portion 20a is broken, and the gap formed between the guide piece 14b and the vertical gauge portion 21a and the guide piece are formed. The gap formed between 15b and the vertical gauge portion 22a becomes uneven. Further, when the receiving arm 9a is tilted in FIG. 1, the guide piece 14b of the guide portion 11a in the receiving arm 9a.
The parallelism between the vertical gauge portion 21a and the vertical gauge portion 21a collapses. By inspecting these, it is possible to know whether the receiving arm 9a is held with a certain accuracy.

Similarly, when the receiving arm 9b is tilted in FIG. 2, the parallelism between the gauge portion 19b and the horizontal gauge portion 20b is broken, and the gap and guide formed between the guide piece 14b and the vertical gauge portion 21b. The gap formed between the piece 15b and the vertical gauge portion 22b becomes uneven. Further, when the receiving arm 9b is tilted in FIG. 1, the guide piece 14b of the guide portion 11b of the receiving arm 9b.
The parallelism between the vertical gauge portion 21b and the vertical gauge portion 21b collapses. By inspecting these, it is possible to know whether the receiving arm 9b is held with a certain accuracy.

Further, with respect to the side surfaces of the receiving arms 9a and 9b,
When the gauge portions 19a and 19b are brought close to each other so as to be flush with each other, when the side surfaces of one of the receiving arms 9a and 9b of the gauge portions 19a and 19b are flush with each other, the receiving arms 9a and 9b. You can see that the dimensional accuracy of the distance between them is wrong.

Therefore, the receiving arms 9a, 9b of the unmanned vehicle 1
It is possible to easily and quickly inspect whether or not holds the predetermined dimensional accuracy. As a result,
Unlike the prior art, it is not necessary to remove the unmanned vehicle 1 from the traveling route and perform three-dimensional measurement of the receiving arms 9a and 9b.
It is possible to improve the dimensional work efficiency of the mounting arms 9a and 9b.

Further, since the accuracy of the receiving arms 9a and 9b can be always stabilized, the delivery by dropping the hanger 26 can be smoothly performed. Further, since it is determined whether or not the detection sensor 6 of the unmanned vehicle 1 is located above each mark plate M, the stopping accuracy of the unmanned vehicle 1 can always be within the allowable range. As a result, the unmanned vehicle 1 can be accurately stopped at the position where the hanger 26 is dropped.

In the present embodiment, the receiving arm 9
The displacements of the receiving arms 9a, 9b were measured by disposing the gauge portions 19a, 19b close to the a, 9b, but the displacements were measured by bringing the gauge portions 19a, 19b into contact with the receiving arms 9a, 9b. You may do so.

[0030]

As described above in detail, according to the present invention, there is an excellent effect that the dimension inspection of the receiving arm can be easily performed in a short time.

[Brief description of drawings]

FIG. 1 is a side view showing a state in which a jig measuring device is brought into contact with a receiving arm of an unmanned vehicle.

FIG. 2 is a front view showing a state in which a jig measuring device is brought into contact with a receiving arm of an unmanned vehicle.

FIG. 3 is a perspective view of a jig measuring device.

FIG. 4 is an explanatory diagram showing a position where an unmanned vehicle stops with respect to a mark plate.

FIG. 5 is a front view showing a state in which a hanger is delivered to a receiving arm of an unmanned vehicle.

FIG. 6 is a side view showing a state in which a hanger is delivered to a receiving arm of an unmanned vehicle.

[Explanation of symbols]

1 ... unmanned vehicle, 9a, 9b ... receiving arm as a jig, 1
6 ... Bogie, 19a, 19b ... Gauge part, 25 ... Door as work, M ... Mark plate

Claims (1)

What is claimed is: 1. A jig measuring device for an unmanned vehicle, comprising a jig for supporting a work provided on an upper surface of the unmanned vehicle traveling on a traveling path formed by a guide wire. , A repair of an unmanned vehicle comprising a trolley stopped at a predetermined reference position and advancing to the unmanned vehicle side, and a gauge portion mounted on the trolley to measure the displacement of the jig by contacting or approaching the jig. Tool measuring device.