JPS60191855A - Collision detecting device in unmanned carrier vehicle - Google Patents

Abstract

PURPOSE:To make it possible to further use a collision detecting device as a collision damper, by providing a resilient tube in which fluid is charged, on the outside of a vehicle body so that a collision is detected in accordance with the output of a pressure sensor for detecting variations in the internal pressure due to deformation of the tube. CONSTITUTION:In a carrier vehicle in which a shifting member 3 for shifting a substance to be transferred is provided on the top surface of a vehicle body 1 having traveling wheels 2 at the front and rear positions and as well at the right and left positions thereof, there is provided an annular resilient tube 11 along the outer peripheral section of the lower part of the vehicle body 1. This tube 11 is so arranged that it has an air-tightness, having a strength resisting against the internal pressure of fluid contained in the tube. A pressure switch 13 is connected to a valve 12 which is attached to a part of the tube 11. Accordingly, a rise in the internal pressure of the tube 11 upon collision of the traveling vehicle against an obstacle is detected by the pressure switch 13 to detect a collision.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a collision detection device used for safety and emergency stop in the event of a collision of an automatic guided vehicle.

[Technical background of the invention and its problems]

In recent years, automatic guided vehicles have been increasingly used to automatically transport materials and products within factories and the like.

Normally, an automated guided vehicle receives some kind of driving command from a center on the ground and repeats the transport cycle, but if an unexpected obstacle occurs while driving or a worker approaches, the automatic guided vehicle will stop moving. It is equipped with a collision detection device to ensure safety by stopping suddenly after slowing down.

2. Description of the Related Art Collision detection devices of this type are conventionally known, such as those shown in FIGS. 1 and 2, for example. That is, FIG. 1 is a side view showing a schematic configuration of the transport vehicle, and FIG. 2 is a plan view thereof.

In the figure, reference numeral 1 denotes the body of a transport vehicle, and running wheels 2 with drive devices are disposed at the front and rear of the bottom of the vehicle body 1, respectively. Further, a transfer device 3 for transferring objects to be transported is provided on the upper surface of the vehicle body 1. A collision detection device 4 is provided at the lower part of the outer circumferential side of the vehicle body 1.

This collision detection device 4 is attached to the vehicle body 1 via a link 5... to A:/A-6.
. . are urged by springs 7 . . . and held at a constant position. Further, on the outer peripheral side of the vehicle body 1, detection sensors 8, such as micro switches or proximity switches, facing the inner surfaces of the pans 4-6, respectively.
is installed.

When the transport vehicle collides with an obstacle while moving, the bumper 6 comes into contact with the obstacle, moves toward the vehicle body 1 against the urging force of the spring 7, and comes into contact with the detection sensor 8, or The detection sensor 8 is activated by the proximity.

When this detection sensor 8 operates, the traveling control electric circuit is cut off and an alarm is issued, such as issuing a separately provided alarm.

3 shows another conventional example, in which the vehicle body 1 and pants f-5 are movably connected by a link 5, and positioned by a spring 1.

Then, a part of the link 5 is extended to attach an intermediate closing plate 9, and a proximity switch 10 is attached at a position facing the intermediate closing plate 9.

When an obstacle collides with the bumper, the spring 7 loosens and the link 5 rotates, which causes the breaker plate 9 provided on a part of the link 5 to separate from the proximity switch 10.
Obstacle detection is thereby performed. .

However, although the conventional type has the advantage of being able to configure a mechanically reliable detection mechanism, the biasing force of the spring 7 is strengthened to a certain extent in order to prevent the detection sensor 8 or the proximity switch 10 from being activated due to vibrations during driving. However, there was an inconvenience in that when it collided with a human body, it would give a considerable shock to the human body.

Therefore, in order to reduce the impact, it has been considered to attach a cushioning material to the bumper 6..., but in this case, the structure would be complicated, and the cost would be high and maintenance would be troublesome. [Objective of the Invention] The present invention has been made in view of the above-mentioned circumstances, and its purpose is to provide a collision avoidance system for automatic guided vehicles that has a simple structure but has excellent cushioning properties. The purpose is to provide a detection device.

[Summary of the invention]

In order to achieve the above object, the present invention provides an elastic tube filled with fluid on the outside of the vehicle body, and uses a pressure sensor to detect changes in internal pressure due to deformation of this tube, thereby detecting a collision of the vehicle body. be.

[Embodiments of the invention]

The present invention will be explained below with reference to an embodiment shown in FIGS. 4 to 7. Note that the same parts as those shown in FIGS. 1 to 3 are given the same numbers, and the explanation thereof will be omitted.

11 in the figure indicates a tube provided at the lower part of the vehicle body 1 on the circumferential side thereof, and this tube 11 is made of an elastic material. This tube 11 has airtightness to enclose a fluid and has strength to withstand the internal pressure of the fluid. Air, water, oil, etc. are used as the fluid. Further, as shown in FIG. 6, a pulp 12 is attached to the tube I, and a pressure switch 13 is connected to this valve 12. Further, a lead wire 14 is led out from the pressure switch 13, and this lead wire 14 is connected to a control circuit (not shown).

On the other hand, the tube 11 is attached as shown in FIG. That is, a mounting seat 31 is integrally constructed of the same material continuously along the longitudinal direction of a part of the tube 11, and the mounting seat 31 is connected to the mounting delt 16,
16 or the like, by fixing it to the vehicle body 1.

However, in the above-described configuration, when the transport vehicle collides with an obstacle while traveling, the tube 11 is deformed and the fluid chamber 1 is deformed.
The pressure within 1 h increases.

This pressure rise causes the pressure switch 13 to operate and send an electrical command to a control circuit (not shown). As a result, the control circuit issues signals necessary for operation, such as a brake command, and also issues a warning command, etc., in order to cope with a vehicle collision.

Note that the present invention is not limited to the above embodiment,
As shown in FIG. 8, there are a plurality of fluid chambers 11 within the tube 1.
A... are provided, pressure switches 13 are attached to these fluid chambers 11a... via the pulp 12, and lead wires 14... of these pressure switches 13... are connected in parallel for control (not shown). It may also be connected to a circuit.

According to this embodiment, the pressure change inside the fluid chambers 11h can be made much larger, and even more reliable detection is possible.

Alternatively, the tube 1 may be attached as shown in FIG. That is, several consecutive ears 31 are integrally formed in a part of the tube 11 in the longitudinal direction thereof, and a mounting bracket 32 having a shape corresponding to the mounting ears 31 is welded to the vehicle body 1 side. Fix this mounting metal 32 in advance with a bolt, etc.
The tube 1 may be attached by fitting the mounting ears 31 into the tubes.

According to this embodiment, the tube 1 can be attached and detached extremely easily.

In addition, the tube 11 is not configured in an annular shape, but the first
As shown in Figure 0, two pieces of tube material, front and back, 41.42
Glue it on any attachment surface 43 and attach it to the car body 1 in a place that does not impair airtightness? It may be constructed by fixing with sheets 44 or adhesive.

According to this, even when a large number of stages is required, a multi-stage fluid chamber 11a can be easily obtained without winding many tubes 11, and the fluid chamber 11a shown in FIG. 11a... can also be obtained by a similar method.

It goes without saying that the present invention can be implemented in various other modifications.

〔Effect of the invention〕

As explained above, the present invention provides an elastic tube filled with fluid on the outside of the vehicle body, and uses a pressure sensor to detect changes in internal pressure due to deformation of this tube to detect a collision with the vehicle body. It functions as a bread and has high cushioning properties. Therefore, there is no need for a special cushioning material as in the conventional case, and the structure can be simplified and costs can be reduced, and maintenance can also be facilitated. Furthermore, since a pressure sensor is used, the structure can be further simplified.

[Brief explanation of drawings]

Figures 1 and 2 show a first conventional example.
The figure is a side view showing a carrier equipped with a collision detection device, FIG. 2 is a plan view thereof, FIG. 3 is a plan view showing a second conventional example, and FIGS. 4 to 7 are one embodiment of the present invention. Examples are shown in Fig. 4, a side view of a carrier equipped with a collision detection device, Fig. 5, a plan view thereof, Fig. 6, a cross-sectional plan view of the collision detection device, and Fig. 7, a side view of a transport vehicle equipped with a collision detection device. 8 is a plan sectional view showing the first other embodiment of the present invention, FIG. 9 is a side sectional view showing the second other embodiment, and FIG. 10 is a sectional view showing the installed state. It is a side sectional view showing a third other example. 1... Vehicle body, 11... Tube, 13... Pressure sensor. Applicant's agent Patent attorney Takehiko Suzue Figure 1 Figure 2 @ Figure 3 Figure 4 Figure 5 Figure 6

Claims (3)

[Claims] (1) It is characterized by comprising a vehicle body, an elastic tube provided on the outside of the vehicle body and filled with fluid, and a pressure sensor that detects a change in internal pressure due to deformation of this tube and detects a collision of the vehicle body. Collision detection device for automated guided vehicles. (2) A collision detection device for an automatic guided vehicle according to claim 1, characterized in that a plurality of fluid chambers are formed in the tube, and a pressure sensor is connected to each of these fluid chambers. (3) An unmanned vehicle according to claim 1 or 2, characterized in that a mounting portion is integrally formed on the tube from the same material, and the tube is attached to the vehicle body via this mounting portion. Collision detection device for transport vehicles.