JPS609847Y2 - Automatic retraction device for unmanned guided vehicles - Google Patents

Description

[Detailed explanation of the idea] This invention relates to an automatic retraction device for an unmanned guided vehicle.

An unmanned guided vehicle moves by itself along a guide wire stretched on the floor or the like while detecting a low-frequency current flowing through the guide wire using a pickup coil.

As shown in Fig. 1, a single guide wire 1 is stretched,
Loading stations 2a are located at required locations along this guide line 1.
, 2b and a collection station 3 are provided.

Unmanned guided vehicle A1 is an empty vehicle with no cargo loaded,
This station 2 was called from station 2a.
Baggage is loaded at a.

The unmanned guided vehicle A2 following the empty vehicle A1 has already been loaded with luggage at station 2b, and carries the loaded luggage to station 3.

There is no need for the loaded vehicle to stop at station 2a, and it is sufficient to pass through this station 2a, but since the empty vehicle A1 is ahead, the empty vehicle A□'s station 2a
Station 2a until the loading work at Station 2a is completed and the train departs.
You must wait in front of the

In addition, unmanned guided vehicle A3. A and A are both empty, and empty car A
3 is called in from station 2b and loaded at station 2b, and an empty car is called in from station 2a and loaded at station 2a, and then each carries the cargo to collection station 3.

In this case as well, since the empty car A3 is ahead of the empty car, the empty car cannot move forward until the empty car A3 completes its loading operation at station 2b and takes off.

As described above, when only one guide line is provided, the unmanned guided vehicle is subject to overheating and its operating rate is extremely low.

The greater the number of guided vehicles and stations, the greater the operational obstacles.

Therefore, it is desirable to install a lead-in guide line at each station.

The purpose of this invention is to automatically switch between passing and pulling in when a lead-in guide line is set up, thereby improving the operating rate of unmanned guided vehicles.

By the way, in the following description, "front and rear" refers to the side on which the guided vehicle is traveling, and the opposite side is referred to as the rear, with the direction of travel of the unmanned guided vehicle as a reference.

In addition, left and right refer to the front.

Hereinafter, an embodiment of this invention will be described in detail based on FIG.

In this embodiment, an empty vehicle with no cargo on board is pulled in and a loaded vehicle with cargo is allowed to pass.

In FIG. 2, the guide line 1 is divided into a passing guide line 1a and a lead-in guide line 1b at a branching point 4 behind the loading station 2.
Both lines 1a and lb are connected to each other at a return point 5 in front of the station 2.

A normally closed contact (changeover switch) llb of a relay 11, which will be described later, is connected to the passing line 1a, and a normally open contact (changeover switch) 11a1 of the relay 11 is connected to the lead-in line 1b.

Although the connection points of these contacts 11b, 11a□ are shown at the return point 5 in the drawing, they may be connected at any desired point.

At branch point 4, guide line 1 is located behind branch point 4a.
The first reed switch for detecting a loaded vehicle (
A passing vehicle first detector) 6 is provided.

In addition, at the return point 5, a reed switch (pulling vehicle detector) 7 for detecting a pulling vehicle is located at a position behind the connecting point 5a and to the left of the pulling line 1b, and a reed switch (pulling vehicle detector) 7 is located on the left side of the pulling line 1b and ahead of the connecting point 5a. A second reed switch (passing vehicle second detector) 8 for detecting a loaded vehicle is provided at the right position.

Contact 11bt911a□
The relay circuit (control circuit) 9 that controls the 11, 12, and 13 relays has four relays 11, 12, 13, and 14 that are connected in parallel.

The relay 11 has contacts 11a2, 14b, and 13b connected in series.

Contact 12a2 and switch 8 are connected in series, and this series circuit is the above-mentioned contacts 11a2 and 14b.

It is connected in parallel to the series circuit 13b.

The switch 10 is connected in parallel to the contact 11a2.

A parallel circuit consisting of contacts 11a3 and 12a□ is connected in series to the relay 12, and this parallel circuit is connected to a connection point between contacts 14b and 13b.

A switch 7 is connected in series to the relay 13, and a switch 6 is connected in series to the relay 14.

Contacts 11a2, 11a3 are normally open contacts of relay 11, contacts 12a□, 12a2 are normally open contacts of relay 12, contact 13
b is a normally open contact of the relay 13, and contact 14b is a normally closed contact of the relay 14.

The unmanned guided vehicle A is equipped with an electromagnet (passing signal generator) 15 and a magnet 16.

The electromagnet 15 is energized when cargo is loaded.

The magnet 16 may be either a permanent magnet or an electromagnet, and if it is an electromagnet, it is always excited.

The electromagnet 15 is attached to the right side of the guide vehicle A, and the magnet 16 is attached to the left side.

It is preferable that the electromagnet 15 is attached to the front of the lower surface of the guide vehicle A, and the magnet 16 is attached to the rear of the lower surface.

Now, switch 10 to pull in the empty car that is running on its own.
When turned on, the relay 11 is energized, the contact 11a2 is turned on and the relay 11 holds itself, the contact 11b1 is turned off and the contact 11a1 is turned on and the passing line 1 is turned on.
The energization to a is stopped, and a low-frequency induced current flows to the lead-in line 1b instead.

Furthermore, as a result of the contact 11a3 being turned on, the relay 12 is energized, the contact 12a1 is turned on, and the relay 12 is self-holding, and the contact 12a2 is also turned on.

If the guided vehicle A is empty, it is not loaded with cargo, so the electromagnet 15 is not excited, and even when the guided vehicle A enters the branch point 4, the switch 6 remains off.

The empty car A is guided by the induced current in the lead-in line 1b and reaches the loading station 2 along the lead-in line 1b.

Here, cargo is loaded into the empty car A, and then the car A starts.

Then, when entering the return point 5 and passing the connection point 5a, the switch 7 is turned on by the magnet 16, so
The relay 13 is energized and the contact 13b is turned off.

Therefore, the power supply to the relay 11 is stopped, and the contact 1
1 is turned on, contact 11a□ is turned off, the induced current flows through the passing line 1a, the original state is returned, and the device is reset.

Note that by turning off the contact 13b, the relay 12
The energization to is also stopped, and the contact 12a2 is turned off.

The electromagnet 15 is energized because the guided car A is loaded with cargo at station 2, and this guided car A is activated by the switch 8.
Although the switch 8 is turned on by the electromagnet 15 when passing through the point, since the contact point 12a2 is already turned off, there is no effect on the device.

When the guided vehicle A moving toward the branch point 4 is a loaded vehicle, the electromagnet 15 is energized, so the switch 6 is turned on by the electromagnet 15 before the loaded vehicle A reaches the branch point 4a. Ru.

Therefore, the relay 14 is energized and the contact 14b is turned off.

As a result, energization to the relay 11 is stopped, the contact 11N is turned on, the contact 11a1 is turned off, and the induced current is switched to the passing line 1a.

Therefore, the loaded vehicle A does not head toward the drop-in line 1b, but proceeds along the passing line 1a.

Even if the contact 14b is turned off, the relay 12 continues to be energized.

When the loaded vehicle A reaches the point 5 and passes the connection point 5a, the switch 8 is turned on by the electromagnet 15, and the contact 12a is turned on.
2 is on, the relay 11 starts to be energized again.

The contact 11a2 is turned on and the relay 11 is self-holding, and the contact 11bI is turned off and the contact 11a1 is turned on, causing an induced current to flow through the lead wire 1b, returning to the initial state when the switch 10 was turned on.

In this way, when the switch 10 is turned on and an empty car is called in, if the guided car A that reaches the branch point 4 is a loaded car, the loaded car is passed along the passing line 1a, and After that, return to the call-in state again, and guide car A.
If the car is empty, this car is pulled into the siding line 1b, and after loading, when the guided car A returns from the siding line 1b to the main line, it is returned to the state without a call, and one call is completed.

When the switch 10 is not calling in, the relay 11 is not energized, so the contact 11b1 is on, the contact 11a□ is off, and an induced current flows through the passing line 1a.

Even if the switch 6.8 is turned on by the electromagnet 15 of the loaded car A, it does not have any effect on the relay circuit 9, so whether the guided car A is loaded or empty, the guided car is on the passing line. It passes through 1a.

In the above embodiment, only empty cars are pulled in, but it is also possible to pull loaded cars into the collection station, or only a desired one of the loaded cars can be pulled in.

This can be arbitrarily set depending on how the passing signal generator (electromagnet 15) is operated.

As explained above in detail, according to this invention, only the desired guided vehicle can be automatically pulled into the siding line, other guided vehicles can be allowed to pass, and furthermore, It can be reset to the original state later, so the guided vehicle does not become jammed.
This will make the operation of unmanned guided vehicles smoother, improve operating rates, and dramatically increase transportation capacity.

[Brief explanation of drawings]

FIG. 1 is a wiring diagram showing a conventional example, and FIG. 2 is a wiring diagram showing an embodiment of this invention. 1...guidance line, 1a...passing guide line,
1b... Pull-in guide line, 4... Branch point, 5... Return point, 6... Reed switch (passing vehicle first detector), 7...Reed switch (pulling vehicle detector), 8...Reed switch (passing vehicle second detector), 9...
Relay circuit (control circuit), 10... Call-in switch, 111), lla□... Contact (changeover switch), 15... Electromagnet, 16...
·magnet.

Claims (1)

[Scope of Claim for Utility Model Registration] An automatic pull-in device for an unmanned guided vehicle that runs on a taxiway where the guide line is divided into a passing guide line and a pull-in guide line between a branch point and a return point, The guided vehicle is equipped with a driving route designation signal generator that generates a signal indicating whether the unmanned guided vehicle is to travel along the passing guidance line or along the pull-in guidance vehicle. and a changeover switch that is connected to the lead-in guide wire and switches between energizing the passing guide wire and energizing the lead-in guide wire, and a signal from the running route designation signal generator to drive the vehicle along the passing guide wire. a passing vehicle first detector for detecting when an unmanned guided vehicle that is about to reach a branch point; and an unmanned guided vehicle that has traveled along at least the passing guidance line of the passing guidance line and the pulling guidance line. A second passing vehicle detector for detecting that the unmanned guided vehicle has reached the return point, and a pulling vehicle detector for detecting that the unmanned guided vehicle that has traveled along the pull-in guide line has reached the return point. , A call-in switch to call unmanned guided vehicles to the lead-in guide line to run along the lead-in guide line, and a changeover switch to energize the lead-in guide line with this call-in switch, and a pull-in vehicle inspection. In response to the output signal of the passing vehicle, the above-mentioned switching is reset, and in response to the output signal of the passing vehicle first detector, the changeover switch is switched so as to energize the passing guide wire. An automatic retracting device for an unmanned guided vehicle, comprising a control circuit that resets the switching according to the output signal of the automatic guided vehicle.