JPS60167603A - Unmanned conveying vehicle - Google Patents
Unmanned conveying vehicleInfo
- Publication number
- JPS60167603A JPS60167603A JP59021133A JP2113384A JPS60167603A JP S60167603 A JPS60167603 A JP S60167603A JP 59021133 A JP59021133 A JP 59021133A JP 2113384 A JP2113384 A JP 2113384A JP S60167603 A JPS60167603 A JP S60167603A
- Authority
- JP
- Japan
- Prior art keywords
- battery
- origin
- station
- automatic
- conveying vehicle
- 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.)
- Pending
Links
- 238000012546 transfer Methods 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 7
- 238000012790 confirmation Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000003795 chemical substances by application Substances 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 235000021170 buffet Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
［発明の技術分野〕
本発明はステーションからの通信による指令に基づいて
走行、停止および荷物の積み下ろしを無人で行う無人搬
送車に関するもので、特−に動力源とするバッテリの交
換時に移載機構の把持部の原点合せを自動的に行うよう
にしたものである。[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to an automated guided vehicle that runs, stops, and loads and unloads cargo unmanned based on commands communicated from a station. The origin of the gripping portion of the transfer mechanism is automatically aligned when replacing the battery.
［従来技術］
従来の無人搬送車の走行システムにおいて、無人搬送車
には通信装置、走行装置および移載装置等が備えられて
いて、ステーションからの動作指令に基づいて誘導路に
沿って走行し、停止および荷物の積み下ろしが制御され
るようになされており、それら動作機構の動力源として
はバッテリが用いられる。[Prior Art] In a conventional automatic guided vehicle travel system, the automatic guided vehicle is equipped with a communication device, a traveling device, a transfer device, etc., and travels along a taxiway based on operation commands from a station. , stopping, and loading and unloading of cargo are controlled, and a battery is used as the power source for these operating mechanisms.
しかるに、無人搬送車の動力源として使用されるバッテ
リは放電があるところまでくると交換しなければならな
く、交換時に動作電源がオフされることになり、交換後
は移載装置の把持部を自動的に原点位置に復帰させる必
要がある。However, the battery used as a power source for an automatic guided vehicle must be replaced when it reaches the point where it is discharged, and the operating power is turned off at the time of replacement. It is necessary to automatically return to the home position.
［発明の［要］
本発明は上記のような点に鑑みてなされたもので、バッ
テリの交換後にも把持部の位置を交換前の原点位置に自
動的に復帰させて継続して自動走行可能な状態に復帰さ
せることができる無人搬送車を提供するものである。[Summary of the Invention] The present invention has been made in view of the above-mentioned points, and even after the battery is replaced, the position of the gripping portion is automatically returned to the original position before replacement, so that continuous automatic driving is possible. To provide an automatic guided vehicle that can be returned to a normal state.
［発明の実施例］
以下、本発明の一実施例を図面に基づいて説明する。第
１図において、無人搬送＊（１）の台車（２）ノ側面に
はステーションからの動作指令を受信する通信装置（３
）が設けられ、該動作指令が走行指令である時は図示し
ない走行装置により車輪（４）を回転させて誘導路に沿
って走行させ、逆に停電指令の時には停止制御するよう
になされている。[Embodiment of the Invention] Hereinafter, an embodiment of the present invention will be described based on the drawings. In Figure 1, a communication device (3
) is provided, and when the operation command is a travel command, the wheels (4) are rotated by a traveling device (not shown) to run along the taxiway, and conversely, when a power outage command is issued, the vehicle is controlled to stop. .
また、無人搬送車（１）の台車（２）上には移載装置（
５）が設けられていて、上記動作指令が移載指令である
時には移載装置（５）を駆動せしめて荷物の積み下ろし
制御がなされるようになっている。In addition, a transfer device (
5) is provided, and when the operation command is a transfer command, the transfer device (5) is driven to control the loading and unloading of cargo.
ここで移載装置（５）は、台車（２）上を上下動するプ
ランジャー（５ａ）と、プランジャー（５ａ）の軸心を
中心として回動する第１アーム（５ｂ）と、この第１ア
ーム（５ｂ）の先端との結合点を中心にして回動する第
２アーム（５ｃ）、及びその先端に取り付けられた把持
部（５ｄ）を有し、該把持部は三次元空間で移動制御さ
れる。Here, the transfer device (5) includes a plunger (5a) that moves up and down on the trolley (2), a first arm (5b) that rotates around the axis of the plunger (5a), and a first arm (5b) that rotates around the axis of the plunger (5a). It has a second arm (5c) that rotates around the connection point with the tip of the first arm (5b), and a grip part (5d) attached to the tip of the second arm (5c), and the grip part moves in three-dimensional space. controlled.
さらに、（６）は第２図に詳細に示す操作スイッチ盤で
、サーボモータのオン・オフ釦スィッチ（６ａ）と、管
理ステーションとの交信に基づく自動連転モードか手動
運転モードかを選択するための切換釦（６ｂ）と、起動
押釦（６ｃ）、及びラッチ機構の非常停止釦（６ｄ）を
備えている。なお、（７）はショックアブソーバを示す
。Furthermore, (6) is an operation switch panel shown in detail in Figure 2, which selects automatic continuous mode or manual operation mode based on communication with the servo motor on/off button (6a) and the management station. A switching button (6b), a start push button (6c), and an emergency stop button (6d) of a latch mechanism are provided. Note that (7) indicates a shock absorber.
ここで、上記無人搬送車（１）は、第３図に示されるよ
うに、無人工場内の管理ステーション（８）からの動作
指令を受けてループを成して伝達する中継ステーション
（８ａ）〜（９ｆ）から該動作指令を受けるようになさ
れ、動作指令に基づいてこのループ内に敷設された誘導
路に沿って中継ステーション間を走行し、荷物の積み下
ろしを行う。なお、各中継ステーションはそれぞれ動作
指令をパスするパス機能をも有している。Here, as shown in FIG. 3, the automatic guided vehicle (1) receives operation commands from a management station (8) in an unmanned factory and transmits them in a loop to relay stations (8a) to (9f), and based on the operation command, the vehicle travels between relay stations along a guideway laid within this loop, and loads and unloads cargo. Note that each relay station also has a pass function for passing operation commands.
さらに、上記無人搬送車（１）内には、第３図に示す主
要構成が備えられていて、各部動作が制御される。すな
わち、第３図において、（１ｏ）はステーションからの
動作指令（光信号）を受光・発光する受光拳発光素子部
（３ａ）及び通信回路（３ｂ）を介して入力すると共に
操作スイッチ盤（６）の操作指令を受けて制御指令を送
出する制御部、（１１）は該制御指令に基づいてモータ
（１２）への供給電圧を制御することにより無人搬送車
（１）を走行、停止、及び移載装置を制御する駆動部、
（１３）は誘導路を検出する走行センサ部、（１４）は
バッテリを動力源とし、上記制御部（１０）、駆動部（
１１）、及びセンサ部（１３）に電源供給する電源部で
ある。なお、（１５）はエンコーダを示す。Furthermore, the automatic guided vehicle (1) is equipped with the main components shown in FIG. 3, and the operations of each part are controlled. That is, in FIG. 3, (1o) inputs operation commands (optical signals) from the station via the light-receiving fist light-emitting element part (3a) that receives and emits light, and the communication circuit (3b), and also inputs the operation command (light signal) from the station. ), the controller (11) sends a control command in response to an operation command of the automatic guided vehicle (1), and controls the supply voltage to the motor (12) based on the control command to run, stop, and control the automatic guided vehicle (1). a drive unit that controls the transfer device;
(13) is a running sensor unit that detects the taxiway; (14) is powered by a battery;
11), and a power supply section that supplies power to the sensor section (13). Note that (15) indicates an encoder.
しかして、上記制御部（１０）は図示しない入力回路、
ｃｐｕ 、メモリ、出力回路を有し、電源切換時の把持
部の原点位置制御を行うと共に、下位の搬送車管理部（
１０ｂ）に動作指令を与えるマイクロコンピュータ（１
０ａ）と、該動作指令に基づいて台車（２）及び移載装
置（５）の速度及び方向、起動と停止Ｉ：制御指令を送
出する搬送車管理部（１０ｂ）と、各車輪（４）及び移
載装Ｍ（５）の各動作軸の速度及び方向、起動と停止Ｆ
信号を送出する操舵制御部（１０ｃ）と、駆動部（１１
）にモータ電圧、電流信号とモータ電源オンφオフ指令
を送出するモータ駆動制御部（ｌｏｄ）を備えている。Therefore, the control section (10) includes an input circuit (not shown),
It has a CPU, memory, and output circuit, and controls the origin position of the gripping part when switching the power supply, and also controls the lower-level guided vehicle management part (
microcomputer (10b) which gives operation commands to
0a), the speed and direction, starting and stopping of the trolley (2) and transfer device (5) based on the operation command I: a transport vehicle management unit (10b) that sends control commands, and each wheel (4) and the speed and direction of each operating axis of the transfer equipment M (5), start and stop F
A steering control section (10c) that sends out signals and a drive section (11
) is equipped with a motor drive control unit (LOD) that sends motor voltage, current signals, and motor power on/off commands.
上記制御部（ｌＯ）のマイクロコンピュータ（１０ａ）
のシステム構成としては、第５図に示すように、バッテ
リの交換時に操作スイ・ンチ盤（６）による指令が自動
運転モードか否かを確認する自動モード確認手段（２１
）と、自動運転モード時にステーションとの交信に基づ
いて把持部位置の原点合せを実行する原点合せ実行手段
（２２）とを備え、バッテリ交換後は速やかに自動走行
可能状態に自動復帰させる機能が付与されており、具体
的には第６図のフローチャートに従って動作する。Microcomputer (10a) of the control unit (lO)
As shown in Figure 5, the system configuration includes automatic mode confirmation means (21
) and an origin alignment execution means (22) that executes origin alignment of the grip part position based on communication with the station during automatic operation mode, and has a function to automatically return to an automatic driving state immediately after battery replacement. Specifically, it operates according to the flowchart shown in FIG.
第６図において、先ず、バッテリの交換後、操作スイッ
チ盤（６）のサーボモータのオン・オフ釦スィッチがオ
ンとして投入されているか否かを判断（Ｓｌ）し、ノー
の場合はサーボオフ処理を実行（Ｓ２） Ｌ、イエスの
場合は次に自動モードの切換釦（６ｂ）が投入されてい
るか否かを判断（Ｓ３）する。この時、ノーであればサ
ーボオン処理を手動モードで実行（Ｓ４）Ｌ、イエスで
あれば自動モード状態であることが確認され、把持部の
原点合せが完了しているか否かを判断（Ｓ５） ｌ、
、 イエスの場合はステーションからの次の指令を待つ
ことになる（Ｓ６）。In Fig. 6, after replacing the battery, it is first determined whether the servo motor on/off button on the operation switch panel (6) is turned on (Sl), and if no, the servo off process is performed. Execution (S2) If the answer is L, then it is determined whether the automatic mode switching button (6b) is turned on (S3). At this time, if no, execute the servo-on process in manual mode (S4); if yes, it is confirmed that the automatic mode is active, and it is determined whether or not the origin alignment of the grip part is completed (S5) l,
, If yes, the next command from the station will be waited for (S6).
他方、ノー５腐合は原点合せを実行しＣ５８〜Ｓ８）。On the other hand, in the case of no-5 failure, origin alignment is executed (C58 to S8).
これをアラーム表示（Ｓ、９）する。This is displayed as an alarm (S, 9).
［発明の効果１
したがって、上記構成を備える本発明の無人搬送車にお
いては、動力源となるバッテリの交換時に、自動モード
運転状態か否かを判断して管理ステーションとの交信に
基づいて把持部の原点合せを行うようにしたので、バフ
テリの交換後は自動走行可能状態に即時自動復帰するこ
とができ完全無人化が達成できる。[Effect of the Invention 1] Therefore, in the automatic guided vehicle of the present invention having the above configuration, when replacing the battery serving as a power source, it is determined whether or not the automatic mode operation state is performed, and the gripping portion is activated based on communication with the management station. Since the origin is adjusted, after replacing the buffet battery, the vehicle can immediately and automatically return to a state in which automatic travel is possible, and complete unmanned operation can be achieved.
第１図は無人搬送車を説明する側面図、第２図は第１図
の操作スイッチ盤を説明する説明図、第３図はステーシ
ョンとの交信を説明するシステムレイアウト図、第４図
は第１図の内部駆動関係構成図、第５図と第６図は本発
明の一実施例による制御機構の構成図とその動作フロー
シャー１・である。
（１）・・・無人搬送車、 （３）・・・通信装置、（
５）・・・移載装置、 （５ｄ）・・・把持部、（８）
、（８ａ）〜（９ｆ）・・・ステーション（１０）・・
・制御部、（１０ａ）・・・マイクロコンピュータ、（
１４）・・・電源部、（２１）・・・自動モード確認手
段、（２２）・・・原点合せ実行手段。
代理人 大 岩 増 雄
第６図
手続補正書にｙ目で）
昭和 ５ｇ４已１１月１３ Ｆ−１
、発明の名称 ′
フ１し人搬送車
３、補正をする者
代表者片山仁へ部
４代理人
５、浦ｒＥのｋ・ｊ象
明細ｉ［：の発明の詳細な説明の４１′ｄｌ 、図面の
簡単な説明の６、補正の内容
（１）明細書第４頁第１７行の「第３図」という記載を
「第４図」と補正する。
（２）同書第７頁第４行ないし第５行の「他方、・・・
表示（Ｓ９）する。」という記載を下記のように補正す
る。
［他方、ノーの場合は原点合せを実行中か判断（８７）
Ｌ、現在はまだ行なっていないためノーとなり管理ス
テーションに原点合ぜを実行してよいか通信装置（３）
を介して間合せる（Ｓ８）。管理ステーションよりノー
の返事の場合アラーム表示（ＳｔＯ）する。他方、オー
ケーの場合サーボ−オン処理し自動原点合せを実行して
（Ｓ５）に移る。原点合せを完了していないなら′ばノ
ーとなり現在原点合せを開始し−Ｃいるため（Ｓ７）に
おいてイエスとな０ （８５）へ移る。すなわち原点合
せが完了するまで（８５’） −（８７） −（８５）
を繰り返す。原点合せが完了すると（Ｓ６）へ移りステ
ーションから次の指令を待つことになる。」
（３）同書第７頁第２０行の「動作フローシャート」と
いう記載を「動作フローチャート」と補正する。
（４）図面中筒６図を別紙の通り補正する。
７、 添付書類の目録
図 面 １通
以上Figure 1 is a side view to explain the automatic guided vehicle, Figure 2 is an explanatory diagram to explain the operation switch panel in Figure 1, Figure 3 is a system layout diagram to explain communication with the station, and Figure 4 is the diagram to explain the operation switch panel in Figure 1. FIG. 1 is a block diagram of the internal drive relationship, and FIGS. 5 and 6 are a block diagram of a control mechanism and its operation flow chart 1 according to an embodiment of the present invention. (1)...Automated guided vehicle, (3)...Communication device, (
5)... Transfer device, (5d)... Gripping part, (8)
, (8a) to (9f)...Station (10)...
・Control unit, (10a)...microcomputer, (
14)...power supply section, (21)...automatic mode confirmation means, (22)...origin alignment execution means. Agent Masuo Oiwa (with y eyes on Figure 6 procedural amendment form) Showa 5g4 November 13 F-1, title of the invention ' F1, people carrier 3, person making the amendment Representative Hitoshi Katayama Part 4 Agent 5, Ura rE's detailed description of the invention i [: 41'dl of the detailed description of the invention, 6 of the brief description of the drawings, contents of the amendment (1) "" on page 4, line 17 of the specification The description “Fig. 3” has been corrected to “Fig. 4.” (2) On page 7, lines 4 and 5 of the same book, “On the other hand,...
Display (S9). ” has been amended as follows. [On the other hand, if no, determine whether origin alignment is being executed (87)
L. Since it has not been done yet, the answer is NO and asks the management station if it is OK to perform origin alignment. Communication device (3)
(S8). If the answer is no from the management station, an alarm will be displayed (StO). On the other hand, if it is OK, servo-on processing is performed, automatic origin alignment is executed, and the process moves to (S5). If the origin alignment has not been completed, the result is NO, and since the origin alignment is currently started, the answer is YES in S7 (S7), and the process moves to 0 (85). That is, until the origin alignment is completed (85') - (87) - (85)
repeat. When the origin alignment is completed, the process moves to (S6) and waits for the next command from the station. (3) The description ``Operation flowchart'' on page 7, line 20 of the same book is corrected to ``Operation flowchart.'' (4) Correct Figure 6 of the cylinder in the drawing as shown in the attached sheet. 7. Catalog of attached documents: 1 or more copies
Claims (1)
部の原点合せを行う原点合せ機構と、バッテリを各動作
機構の動力源とする電源部とを備えた無人搬送車におい
て、バッテリ交換後、自動モード状態か否かを確認する
自動モード確認手段と、管理ステーションとの交信によ
ってバッテリ交換前の把持部位置に原点合せを実行させ
る原点合せ実行手段とを備え、自動走行可能状態に自動
復帰する機能を付与したことを特徴とする無人搬送車。In an automatic guided vehicle equipped with an origin alignment mechanism that aligns the origin of the gripping part of the transfer mechanism based on communication with a management station, and a power supply section that uses a battery as a power source for each operating mechanism, after replacing the battery, Equipped with automatic mode confirmation means for checking whether the vehicle is in automatic mode or not, and origin alignment execution means for performing origin alignment to the position of the grip before battery replacement through communication with a management station, and automatically returns to a state in which automatic travel is possible. An unmanned guided vehicle characterized by the addition of functions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59021133A JPS60167603A (en) | 1984-02-08 | 1984-02-08 | Unmanned conveying vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59021133A JPS60167603A (en) | 1984-02-08 | 1984-02-08 | Unmanned conveying vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60167603A true JPS60167603A (en) | 1985-08-31 |
Family
ID=12046393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59021133A Pending JPS60167603A (en) | 1984-02-08 | 1984-02-08 | Unmanned conveying vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60167603A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01149201U (en) * | 1988-04-05 | 1989-10-16 |
-
1984
- 1984-02-08 JP JP59021133A patent/JPS60167603A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01149201U (en) * | 1988-04-05 | 1989-10-16 |
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