JPH08272445A - Switching device for changing route of automatic driving car - Google Patents

Abstract

PURPOSE: To provide the dependable and safe switching device for changing route of automatic driving car by accurately changing the route without electrical malfunction with simple execution at low cost and easily attaching it to the required place. CONSTITUTION: An induction plate 2 equipped with a guide plate 3 for sorting sideways is provided to move freely sideways around a supporting pin 5 at the branching point on a road 11 on which an induction tape 12 or the like is arranged. A guide bar 1 at the side of an automatic driving car 10 (AGV) is positioned sideways. The bar 1 is abutted to either of the left guide plate 3a or the right guide plate 3b of the guide plate 3. The induction plate 2 is rotated either right or left, changing the route.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a switching device for selectively diverting an automatic vehicle traveling straight on an induction tape such as a reflection induction tape or a magnetic induction tape at a branch point to the left or right. The present invention relates to a route changing device for an automatic vehicle which has a mechanically simple and inexpensive structure and can be installed at any place.

[0002]

2. Description of the Related Art Automated vehicles (hereinafter referred to as AGVs) are conveniently used in warehouses and factories. This AG
The V is guided to a destination on a guide tape on which goods are mounted and which is arranged on the road surface. As the guide tape, a reflective guide tape such as an aluminum foil or a magnetic guide tape made of a magnetic material is used, so that the detection device provided on the AGV side can detect the reflected light or the magnetic wave and travel along the guide tape. Is formed. In order for the AGV to reach the destination, it is necessary to change the course from the straight direction to the left and right directions. Therefore, a route change switching device is installed at a branch point that requires a route change.

As a route change switching device, a card reading system, a reflector controller system, a sequencer driving system, and the like have been conventionally adopted. The above-mentioned card reading method is to read the card before the branch point to determine the course, and the reflector controller method is to catch the light at the branch point to change the course. It is intended to change course according to the instructions typed into the computer.

On the other hand, as one of the known techniques relating to the course change switching device, there is one disclosed in Japanese Utility Model Laid-Open No. 4-55604. The branch point mark corresponds to the device described in the publication relating to the "guide path of the automatic guided vehicle", and is indicated by reference numeral 3 in the publication. This branch point mark is for recording beforehand information on which of the left and right directions the AGV should proceed at the branch point, and is configured to send information to the AGV side which has reached the location of the branch point mark. It corresponds to the above card reading method.

[0005]

In the card reading method described above, since it is necessary to input information by a computer when creating a card, at least a reading device attached to the computer, the card and the AGV is required. Therefore, there is a problem that the equipment cost becomes huge. Furthermore,
There is a problem that malfunction due to dirt or misreading is likely to occur. In addition, the reflector controller system requires a reflector, a photoelectric tube, a controller and a reading device, resulting in a large equipment cost, and the reflector and the photoelectric tube are misaligned due to vibration or interference, resulting in incomplete light catching and malfunction. There is a problem. In addition, the sequencer driving method requires that a computer be driven into the sequencer, at least an expensive sequencer and computer are required, which increases equipment costs and makes restarting difficult when stopped due to dirt or erroneous operation. And malfunctions are likely to occur.

The present invention solves the above-mentioned problems, and it is possible to implement a reliable course change without electrical malfunction, to improve reliability and safety, and to carry out the method easily and inexpensively. It is also an object of the present invention to provide a course change switching device for an automatic vehicle that can be easily attached to any desired location.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention changes the traveling path of an automatic vehicle automatically traveling on a guiding tape arranged on the road surface to right and left at a branch point. A route change switching device for operating the route change switching device, wherein the route change switching device includes a guide rod that is hung and supported on the autonomous vehicle side so as to be movable left and right, and a left and right guide plate for abutting engagement with the guide rod. A guide plate having an upper surface and rotatably supported around a support pin in the vicinity of the branch point, wherein the left-right distribution guide plate is disposed on the front side of the support pin and extends in the left-right direction. And a route changeover switching device for an automatic vehicle. More specifically, the left and right distribution guide plates are extended laterally toward the traveling direction of the autonomous vehicle.

[0008]

Function: The guide rod supported on the AGV side is set in advance to the desired position on the left or right. When the AGV reaches the branch point, the guide bar hits the left or right side of the guide plate for left / right distribution. Since the left and right distribution guide plates are inclined toward the left or right toward the end, when the AGV goes straight on, the guide rod kicks the left and right distribution guide plates and rotates the guide plate left or right by a predetermined angle. As a result, the guide plate is positioned at a position matching the guide tape arranged in the left or right direction. Therefore, the AGV diverts to the left or right along the guide plate and the guide tape.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a perspective view for explaining the overall structure of this embodiment, FIG. 2 is a plan view of a guide plate, FIG. 3 is a sectional view taken along the line AA of FIG. 2, and FIG. 4 shows a guide rod and its supporting structure. Front view,
5 is a sectional view taken along line BB of FIG. 4, and FIGS. 6 to 8 are plan views for explaining the operation of this embodiment.

As shown in FIG. 1, a guide tape 12 for straight traveling, a left guide tape 13 and a right guide tape 14 are arranged on the road surface 11. On the other hand, the AGV 10 is equipped with a detection device 15 that detects reflected light or magnetic force waves from the guiding tape 12 or the like, and guides the AGV 10 to the path of the guiding tape 12 or the like. On the other hand, the guide bar 1 is held on the front plate 16 of the AGV 10. Further, a guide plate 2 is installed at a branch point between the guide tape 12 for going straight and the left or right guide tapes 13, 14.

First, the guide plate 2 will be described with reference to FIGS. The guide plate 2 includes a guide plate 3 for left / right distribution and a guide plate member 4 on which the guide plate 3 is placed. The guide plate member 4 is made of the same material as the guide tape 12 and the like.
One end side of the guide plate member 4 is pivotally supported by a support pin 5 fixed to the road surface 11. Therefore, the guide plate 2 is supported on the road surface 11 so as to be rotatable left and right around the support pin 5. The left / right distribution guide plate 3 is composed of a left guide plate 3a and a right guide plate 3b, which are arranged in a V-shape in a V-shape with respect to the longitudinal direction of the guide plate member 4 (the direction of travel of the AGV 10) and are inclined left and right. This inclination angle is appropriately set according to the route of the guide tape 12 or the like.

Next, the guide rod 1 and its supporting structure will be described with reference to FIGS. 1, 4 and 5. The guide rod 1 is made of a slender rod-shaped member made of plastic, iron or the like and is arranged along the vertical direction. A guide shaft 6 is fixed to the guide rod 1, and a knob 7 is fixed to the guide shaft 6. On the other hand, the guide panel 8 is fixed to the front plate 16 of the AGV 10. The guide panel 8 has a long hole 9 extending in the left-right direction.
Is formed. The guide rod 1 is inserted into the gap between the front plate 16 and the guide panel 8 and the guide shaft 6 thereof is inserted into the elongated hole 9. With the above structure, the guide rod 1 is moved and positioned at an arbitrary position on the left and right of the elongated hole 9 by gripping the knob 7 and moving the guide shaft 6 along the elongated hole 9.
Further, as shown in FIG. 5, the guide rod 1 is hung toward the road surface 11 side, and the lower end portion thereof is arranged so as to be capable of abuttingly engaging with the left and right guide plate 3 of the guide plate 2.

Next, the operation of changing the route of the AGV according to this embodiment will be described. As shown in FIG. 6, the AGV 10 travels straight on the guide tape 12. The guide plate 2 is arranged straight along the extension direction of the guide tape 12. The guide rod 1 is positioned and set at an appropriate position on the right side in the traveling direction of the AGV. As shown in FIG. 7, when the AGV 10 advances straight along the guide tape 12 from the state of FIG. 6, the guide rod 1 comes into contact with the right guide plate 3b of the left / right distribution guide plate 3. When the AGV 10 further advances straight as it is, the guide rod 1 kicks the right guide plate 3b and the guide plate member 4 rotates leftward about the support pin 5 as shown in FIG. By adjusting the shape of the guide plate 3 for left and right distribution and the setting position of the guide rod 1, the guide rod 1 and the left guide plate 13 are moved in the direction in which the guide rod 1 is released from the abutting engagement with the right guide plate 3b. The directions of can be matched. Since the guide plate member 4 is made of the same material as the left guide tape 13, the AGV 10 moves forward along the guide plate member 4 and the left guide tape 13 while changing its course to the left. When the next AGV 10a succeeds the AGV 10 and reaches the branch point, the guide plate 2 is rotated leftward and held, so that the AG
V10a moves leftward like AGV10.

FIG. 8 shows a subsequent A which requires a diversion to the right.
It shows a course change switching operation of the GV 10b. AG
V10b positions and sets the guide rod 1 to the left.
When the AGV 10b goes straight in this state, the guide rod 1 has already rotated to the left, and the left guide plate 3 of the guide plate 2 has already rotated.
Contact a. Therefore, when the AGV 10b advances straight as it is, the guide plate 2 rotates rightward about the support pin 5 as shown by the dotted line. Therefore, the direction of the guide plate 2 coincides with the right guide tape 14, and the AGV 10b changes its course to the right along the right guide tape 14 as shown by the alternate long and short dash line in FIG.

As described above, by moving and positioning the guide rod 1 to an appropriate position in the left or right direction, the course of the AGV 10 or the like can be freely changed to the left or the right. Since all the constituent elements of this embodiment are mechanical, no electrical malfunction occurs. Therefore, the course can be changed surely. In the above description, the guide rod 1 is a square rod, but the guide rod 1 is not limited thereto and the supporting structure thereof is not limited to that shown in the drawings. Also,
The guide plate 3 for distributing the guide plate 2 to the left and right is also V-shaped.
The shape is not limited to a mold, and may be, for example, a curved shape or a shape that extends straight in the left-right direction.

[0016]

According to the present invention, the following remarkable effects are obtained. 1) Since no electric device is used, equipment cost can be reduced. 2) Since the route change is switched by mechanical engagement, no malfunction or electrical misreading occurs. That is, reliability and safety can be improved. 3) The device structure is simple and can be easily attached to any place.

[Brief description of drawings]

FIG. 1 is a perspective view showing the overall structure of an embodiment of the present invention.

FIG. 2 is a plan view of a guide plate of the same embodiment.

FIG. 3 is a sectional view taken along line AA of FIG. 2;

FIG. 4 is a plan view showing a guide rod and its supporting structure of the embodiment.

FIG. 5 is a sectional view taken along line BB of FIG. 4;

FIG. 6 is an explanatory plan view for explaining the operation of the embodiment.

FIG. 7 is an explanatory plan view for explaining a course changing state to the left of the embodiment.

FIG. 8 is an explanatory plan view for explaining a course change to the right in the embodiment.

[Explanation of symbols]

 1 guide rod 2 guide plate 3 guide plate for left / right distribution 3a left guide plate 3b right guide plate 4 guide plate member 5 support pin 6 guide shaft 7 knob 8 guide panel 9 long hole 10 automatic vehicle (AGV) 10a automatic vehicle ( AGV) 10b Automated vehicle (AGV) 11 Road surface 12 Guide tape 13 Left guide tape 14 Right guide tape 15 Detector 16 Front plate

Claims (2)

[Claims] 1. A route change switching device for changing and switching a traveling route of an automatic vehicle automatically traveling on a guiding tape disposed on a road surface at a branch point, the route changing switching device comprising: A guide rod that is movably supported to the left and right on the side of the automatic vehicle, and a left and right distribution guide plate that abuts and engages with the guide rod are provided on the upper surface, and are rotatable around a support pin near the branch point. And a guide plate supported by the guide plate, and the guide plate for allocating left and right comprises a plate member arranged in front of the support pin and extending in the left-right direction. 2. The left and right distribution guide plate,
2. The course change switching device for an automatic vehicle according to claim 1, wherein the automatic vehicle is extended in a lateral direction toward the left in the traveling direction of the automatic vehicle.