JPH11249736A - Automated guided vehicle and automated guided vehicle facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automated guided vehicle capable of reducing local wearing, namely, ruts on the surface of a road and relaxing adverse influence exerted upon wheels by the ruts. SOLUTION: At the front and rear end parts of a car body 2, plural guide sensors 3a-3j and 7a-7j are respectively arranged in the breadthwise direction of the car body 2, and respective paired guide sensors 3a (3b-3j) and 7a (7b-7j) in the same line at the front and rear end parts are opposed in longitudinal direction. For example, a pair of guide sensors 3a and 7a on the first line are operated and by operating these sensors and a guide body 4 buried on a road surface 5, the automated guided vehicle 1 is reciprocatively traveled along the same track on the road surface 5. When this reciprocative traveling is performed prescribed times, at the home position of the automated guided vehicle 1, for example, a pair of guide sensors 3b and 7b on the second line are operated, the automated guided vehicle 1 is moved in the breadthwise direction so that a pair of the guide sensors 3b and 7b are positioned on the guide body 4, and the traveling rut is changed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle for transporting a workpiece to a numerically controlled machine tool or another flexible machining system in a factory, for example.
In particular, the present invention relates to an unmanned transport truck for transporting a heavy transported object and its equipment.

[0002]

2. Description of the Related Art An automatic guided vehicle of this type is a computer-controlled transport system using an interface device such as a pallet, and is guided on a guide wire or the like buried on a road surface to automatically move on a predetermined track. It repeatedly and reciprocally travels at high speed. In addition,
There are various types of induction systems, and the most popular one is a magnetic induction system.

More specifically, as shown in FIGS. 7 to 9,
On the road surface 33, along the traveling track of the automatic guided vehicle 31,
A book derivative 34 is embedded. On the other hand, on the vehicle body 31a of the automatic guided vehicle 31, one at the front side and one at the rear side,
A total of two induction sensors 35a and 35b are provided.
Then, the automatic guided vehicle 1 is connected to each of the guidance sensors 35a, 35.
The b automatically reciprocates on the road surface 33 (see arrow A) while being guided on the derivative 34 (see FIG. 9). In FIG. 7, reference numeral 32 denotes a transferred object support that is mounted on the vehicle body 31 a and supports a transferred object (not shown). The plurality of wheels 3 of the automatic guided vehicle 1
Generally, urethane rubber or a pneumatic tire is used as 6a and 36b.

[0004]

The automatic guided vehicle can travel freely on a road surface through soft wheels such as urethane rubber or a pneumatic tire because a steel rail is not required. In general, concrete or asphalt) has a lower surface pressure strength than the steel rail, so that when the unmanned transport vehicle travels on the same track,
There is a problem that local road surface wear, that is, a rut occurs. Particularly, in recent years, in an unmanned transport vehicle for transporting a heavy object to be transported, for example, an unmanned transport vehicle for transporting an iron-made coil (the weight of which is 30 to 100 tons), the wheel load is greatly increased. The problem is that the wheels are more adversely affected than the rut.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and has been made in consideration of the above problems. It is intended to provide facilities.

[0006]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a vehicle having a front end portion and a rear end portion each provided with an induction sensor, wherein each of the induction sensors is guided by a derivative provided on a road surface. In the automatic guided vehicle traveling automatically on the road surface, at the front end and the rear end of the vehicle body,
A plurality of guidance sensors are arranged in the width direction of the vehicle body.

According to the present invention, of the pair of plural rows of guidance sensors at the front end and the rear end of the vehicle body, only the pair of guidance sensors in the same row are operated, and the automatic guided vehicle is driven by a pair of guidances. The sensor is reciprocated on the road surface so that the sensor is located on the derivative of the road surface. When this reciprocation is performed a predetermined number of times, for example, at the home position of the automatic guided vehicle, this time, only a pair of guidance sensors in different rows are operated, and the pair of guided sensors that operate the automatic guided vehicle are on the guide. Is moved in the width direction so as to be positioned at. In this state, when the automatic guided vehicle is moved along the guide, the traveling trajectory of the automatic guided vehicle is parallel to the previous traveling trajectory but different in the width direction. As a result, the traveling trajectory of the wheel is changed in the width direction. Can be changed to

According to the second aspect of the present invention, a pair of induction sensors in a desired row can be selectively operated by the control means among the pair of induction sensors in each row. The operation of the automatic guided vehicle can be completely automated by inputting the operation order of a plurality of pairs of inductive sensors in advance.

According to a third aspect of the present invention, the guideless sensors are provided at the front end and the rear end of the vehicle body of the automatic guided vehicle, respectively, while a guide is provided on the road surface. In an unmanned transport facility in which each guidance sensor automatically travels on the road surface while being guided by the derivative, the derivative comprises a plurality of parallel derivatives.

In the present invention, only one of the plurality of derivatives is operated, and the automatic guided vehicle is reciprocated on the road surface so as to be positioned on the derivative on which the pair of induction sensors is operated. If this reciprocation is performed a predetermined number of times, for example, at the home position of the unmanned transport vehicle, this time, while operating only a different guidance sensor, the unmanned transport vehicle is positioned on the derivative operated by the pair of guidance sensors. Then, it is moved in the width direction. In this state, when the automatic guided vehicle is moved along the guide, the traveling trajectory of the automatic guided vehicle is parallel to the previous traveling trajectory but different in the width direction. As a result, the traveling trajectory of the wheel is changed in the width direction. Can be changed to

According to the fourth aspect of the present invention, a desired derivative can be selectively operated by the control means out of the plurality of derivatives, so that the control means controls the operation order of the plurality of derivatives. By inputting the information in advance, the operation of the automatic guided vehicle can be completely automated.

[0012]

Next, embodiments of the present invention will be described with reference to the drawings. 1 is a schematic plan view of one embodiment of the automatic guided vehicle of the present invention, FIG. 2 is a schematic side view of the automatic guided vehicle shown in FIG. 1, and FIG. 3 is traveling of the automatic guided vehicle shown in FIGS. FIG. 4 is a schematic plan view showing a state of changing a trajectory.

First, as shown in FIG. 1 and FIG. 2, an unmanned transport vehicle 1 of the present embodiment is for transporting heavy objects such as iron-made coils (the weight of which is 30 to 100 tons). Automated guided vehicle =
AGV). Four sets of wheels 6a, 6b, 6c, 6d are provided at four lower corners of the body 2 of the automatic guided vehicle 1. For example, urethane wheels or pneumatic tires are used as the wheels 6a, 6b, 6c, 6d.
Each direction can be changed in synchronization by a steering mechanism (not shown). In FIG. 1, the two-dot chain line 6a indicates a state where the direction of the wheel 6a is changed by 90 degrees. A plurality of (in this example, ten) guidance sensors 3a to 3
j, guidance sensors 7a to 7j are arranged at equal intervals in the width direction of the vehicle body 2 (the direction of arrow B). Inductive sensors 3 in each row
a (3b to 3j) and 7a (7b to 7j) are opposed to the front-rear direction (length direction, arrow A direction) of the vehicle body 2.

The automatic guided vehicle 1 is provided with a magnetic induction system.
That is, the induction sensors 3a to 3j and the induction sensor 7
3A and 7A in FIG. 3A, and 3E and 7B in FIG. 3B.
e, 3j, 7j in FIG. 3 (c) is located on the dielectric 4 embedded in the road surface 5 (for example, a factory floor surface and made of asphalt or concrete).
It reciprocates along this derivative 4.
In addition, in the automatic guided vehicle 1, as shown in FIG. 4, the control unit 8 performs the operation based on a command set in the setting unit 9 in advance.
A total of 20 inductive sensors 3a to 3j on the front side and the rear side,
7a to 7j, a desired pair of inductive sensors 3a in the same row
(3b to 3j) and 7a (7b to 7j) are selectively operated. Note that a control unit is configured by the setting unit 9 and the control unit 8.

Further, as shown in FIG. 1, guide sensors 22a and 22b for lateral movement are provided at the widthwise end of the vehicle body 2.
Are provided in a form arranged in the width direction. On the other hand, reference numeral 23 denotes a derivative for lateral movement buried in the road surface 5, and when the automatic guided vehicle 1 is located at the home position, the guidance sensors 22a and 22b are located on the derivative 23. It has become. With such a configuration, when the automatic guided vehicle 1 is located at the home position, each of the wheels 6a to 6d is turned by 90 degrees (see a two-dot chain line 6a), and the automatic guided vehicle 1 is connected to its guidance sensors 22a, 22b can be moved in the width direction while being guided by the derivative 23.

Next, an example of the operation of the automatic guided vehicle 1 having the above configuration will be described. First, as shown in FIG. 3A, the control unit 8 operates the first-row guidance sensors 3 a and 7 a and their control circuits, and places the guidance sensors 3 a and 7 a of the automatic guided vehicle 1 on the derivative 4. Position.
In this state, the automatic guided vehicle 1 is reciprocated along the guide 4 to convey an object (for example, an iron-made coil). The automatic guided vehicle 1 travels on the same track a predetermined number of times (for example, five times,
After traveling reciprocally (0 times, 15 times, 20 times, etc.), the automatic guided vehicle 1 is temporarily positioned at the home position (the state of FIG. 1). Here, each of the wheels 6a to 6d is turned by 90 degrees, and the automatic guided vehicle 1 is moved in the width direction while the guide sensors 22a and 22b for lateral movement are guided by the guide 23, and The inductive sensors 3b and 7b in the second column, which operate in the above-described manner, are positioned on the derivative 4. On the other hand, the control unit 8 switches the operation from the first row to the guidance sensors 3b and 7b in the second row and operates the control circuit.

Thereafter, when the automatic guided vehicle 1 is reciprocated along the guide 4, the traveling locus of the automatic guided vehicle 1 is changed in the width direction, and as a result, the traveling locus of each wheel 6a to 6d is changed. It can be shifted in the width direction. When the reciprocating traveling on the changed traveling locus has been performed a predetermined number of times, similarly to the above, another guiding locus is secured by operating only each of the guidance sensors 3c and 7c in the third row. As described above, 1
A pair of inductive sensors 3a, 7a (3b to 3j, 7b
When the reciprocating traveling of the automatic guided vehicle 1 using the steps (7) to (7j) is completed, the above operation is repeated. 3 (a),
(B) and (c) show the traveling trajectory of the automatic guided vehicle 1 when using the pair of guidance sensors 3a and 7a in the first row, respectively, when using the pair of guidance sensors 3e and 7e in the fifth row. The traveling locus of the automatic guided vehicle 1 is shown when the pair of guidance sensors 3j and 7j in the tenth row are used.

As described above, according to the present embodiment, the operation of the pair of guidance sensors 3a, 7a (3b to 3j, 7b to 7j) in 10 rows is selectively performed every predetermined number of reciprocating runs of the automatic guided vehicle 1. By switching, the movement locus of the wheels 6a to 6d with respect to the road surface 5 can be selected and changed to any one of ten ways. Therefore, the trajectories of the wheels 6a to 6d can be shifted in the width direction, and the wheels 6a to 6d and the road surface 5 can be shifted.
The number of times of contact with the same place is reduced to reduce local wear on the road surface 5, that is, the occurrence of a rut.
6d can be alleviated. The setting unit 9
In addition, a plurality of pairs of inductive sensors 3a, 7a (3b to 3b)
By inputting the operation order of j, 7b to 7j) in advance, the pair of inductive sensors in a desired row can be selectively operated by the control unit 8, so that the operation of the automatic guided vehicle 1 is completely automated. it can.

In the above embodiment, the guide sensors are provided at equal intervals of 10 rows each on the front side and the rear side of the vehicle body. However, the present invention is not limited to this. It may be provided.

FIG. 5 is a schematic plan view of one embodiment of the unmanned transfer facility (unmanned transfer system) of the present invention. In the present embodiment, the automatic guided vehicle 1 itself has the same configuration as that of the related art, and is provided with one guidance sensor 35a and 35b before and after it. The difference is that the derivatives 4a to 4e of the present invention are buried in parallel and at equal intervals. Then, as shown in FIG. 6, in the automatic guided vehicle 1, the control unit 10 controls the plurality of derivatives 4 a to 4 e based on a command set in the setting unit 11 in advance.
Are selectively operated. Note that control means is configured by the setting unit 11 and the control unit 10.

Next, an example of the operation of the above-described unmanned transport facility will be described. First, only the first derivative 4a is selectively operated by the control unit 10, and the automatic guided vehicle 1 is moved
The guide sensors 35a and 35b are reciprocated on the same track so as to be positioned on the derivative 4a, and convey an object (for example, an iron-made coil). When the automatic guided vehicle 1 has reciprocated a predetermined number of times (for example, 5, 10, 15, 20,..., Etc.) on the same track, the automatic guided vehicle 1 is once positioned at the home position (the state of FIG. 5). Here, while only the second derivative 4b is selectively operated, each of the wheels 6a to 6d is turned by 90 degrees, and the automatic guided vehicle 1 is moved to the guidance sensors 22a and 22b for lateral movement.
Is guided in the width direction while being guided by the derivative 23, and the respective guide sensors 35a and 35b are positioned on the operated derivative 4b.

Thereafter, when the automatic guided vehicle 1 is guided by the guide 4b and reciprocates, the traveling trajectory of the automatic guided vehicle 1 is changed in the width direction from the preceding traveling trajectory. The movement locus of 6d can be shifted in the width direction. After a predetermined number of round trips on the changed traveling track have been performed, similarly to the above, only the third derivative 4c is operated to secure another traveling track (FIG. 5).
reference). As described above, the reciprocating traveling of the automatic guided vehicle 1 using the derivatives 4a to 4e is sequentially performed, and when this is completed, the above operation is repeated.

As described above, in the present embodiment, the five guides 4a to 4e are provided for every predetermined number of reciprocating runs of the automatic guided vehicle 1.
Is selectively operated to select one of five types of movement trajectories of the wheels 6a to 6d with respect to the road surface 5. Therefore, the trajectories of the wheels 6a to 6d can be shifted in the width direction, and the number of times of contact between the wheels 6a to 6d and the same portion of the road surface 5 is reduced, thereby reducing the local wear of the road surface 5, that is, the occurrence of ruts. , Wheels 6a to 6
The adverse effect on d can be reduced. Setting unit 1
1. By inputting the operation order of the plurality of derivatives 4a to 4e in advance, the control unit 10 can selectively operate the derivatives in a desired row.
Operation can be fully automated.

In the present embodiment, five derivatives are embedded in the road surface in parallel with each other and at equal intervals. However, the present invention is not limited to this, and another plurality of derivatives may be embedded or provided at non-equal intervals. . However, it is essential that a plurality of derivatives are buried in parallel with each other in accordance with a predetermined traveling track of the automatic guided vehicle.

[0025]

Since the present invention is configured as described above, it has the following effects. The invention according to claim 1 operates only one pair of guidance sensors in the same row among a pair of guidance sensors in a plurality of rows at each of a front end portion and a rear end portion of the vehicle body, and causes the unmanned transport vehicle to operate the pair of guidance sensors. The guide sensor is reciprocated on the road surface so as to be located on the road surface derivative. If this reciprocation is performed a predetermined number of times, for example, at the home position of the automatic guided vehicle,
This time, only the pair of guide sensors in different rows are operated, and the unmanned transport vehicle is moved in the width direction so that the pair of operated guide sensors are positioned on the dielectric.
In this state, when the automatic guided vehicle is moved along the guide, the traveling trajectory of the automatic guided vehicle is parallel to the previous traveling trajectory but different in the width direction. As a result, the traveling trajectory of the wheel is changed in the width direction. Can be changed to Therefore, the number of times of contact between the wheel and the same portion of the road surface is reduced, so that the local wear of the road surface, that is, the occurrence of a rut is reduced, and the adverse effect exerted on the wheel by the rut can be reduced.

According to the second aspect of the present invention, a pair of guidance sensors in a desired row can be selectively operated by the control means among the pair of guidance sensors in each row. By inputting the operation order of a plurality of pairs of inductive sensors in advance, the operation of the automatic guided vehicle can be completely automated.

According to a third aspect of the present invention, only one derivative of the plurality of derivatives is operated, and
The pair of guide sensors is reciprocated on a road surface so as to be located on the operated derivative. If this reciprocation is performed a predetermined number of times, for example, at the home position of the unmanned transport vehicle, this time, while operating only a different guidance sensor, the unmanned transport vehicle is positioned on the derivative operated by the pair of guidance sensors. Then, it is moved in the width direction. In this state, when the automatic guided vehicle is moved along the guide, the traveling trajectory of the automatic guided vehicle is parallel to the previous traveling trajectory but different in the width direction. As a result, the traveling trajectory of the wheel is changed in the width direction. Can be changed to Therefore, as in the case of the first aspect, the number of times of contact between the wheel and the same portion of the road surface is reduced, so that the local wear of the road surface, that is, the occurrence of a rut is reduced, and the adverse effect exerted on the wheel by the rut can be reduced.

According to the fourth aspect of the present invention, a desired derivative can be selectively operated by the control means out of the plurality of derivatives, and the control means can determine the operation order of the plurality of derivatives in advance. By inputting, the operation of the automatic guided vehicle can be completely automated, as in the second aspect.

[Brief description of the drawings]

FIG. 1 is a schematic plan view of an embodiment of an automatic guided vehicle according to the present invention.

FIG. 2 is a schematic side view of the automatic guided vehicle shown in FIG.

FIG. 3 is a schematic plan view showing a manner in which a traveling locus of the automatic guided vehicle shown in FIGS. 1 and 2 is changed.

FIG. 4 is a control block diagram for selectively operating a certain pair of induction sensors among a plurality of pairs of induction sensors.

FIG. 5 is a schematic plan view of one embodiment of the unmanned transport facility of the present invention.

FIG. 6 is a control block diagram for selectively operating a certain derivative among a plurality of sets of derivatives.

FIG. 7 is a schematic perspective view of a conventional automatic guided vehicle.

FIG. 8 is a schematic side view of a conventional automatic guided vehicle.

9 is a sectional view of the vicinity of the road surface of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Unmanned conveyance vehicle 2 Body 3a-3j Guidance sensor 4, 4a-4e Derivative 5 Road surface 6a, 6b, 6c, 6d Wheel 7a-7j Guidance sensor 8,10 Control part 9,11 Setting part

Claims (4)

[Claims] 1. An unmanned transport vehicle having guidance sensors at a front end and a rear end of a vehicle body, wherein each of the guidance sensors is automatically guided on a road surface while being guided by a derivative provided on the road surface. An automatic guided vehicle, wherein a plurality of guidance sensors are arranged at a front end and a rear end of the vehicle body, respectively, in a width direction of the vehicle body. 2. The automatic guided vehicle according to claim 1, further comprising control means for selectively operating a desired pair of guidance sensors among a pair of guidance sensors in each row of a front end portion and a rear end portion. . 3. An automatic guided vehicle having an induction sensor at each of a front end and a rear end of a vehicle body, and a guide provided on a road surface. An unmanned transport facility that automatically travels on the road surface while being guided by a derivative, wherein the derivative includes a plurality of parallel derivatives. 4. The unmanned transport facility according to claim 3, further comprising control means for selectively operating a desired derivative among the plurality of derivatives.