JPS61241809A - Unmanned carrier - Google Patents

Abstract

PURPOSE:To omit the installation of a positioning device on the surface of a course and to obtain a positioning device having the inexpensive cost of construction, by providing a display device on the side face of an equipment at the remote side to show the standard of the stop position and shifting the bed of an unmanned carrier after recognizing said display device. CONSTITUTION:The cross-shaped marks 2 and 2 are put on the side face 1a of a machine tool 1 at two points in the horizontal direction. When a carrier 5 stops at the side face 1a of the tool 1, the contacts 20 and 20 of the carrier 5 are protruded until they touch the face 1a of the tool 1. Then an angle of the bed 6 is obtained against the face 1a from the difference of amount of protrusion between both contacts 20. A motor 9 is controlled to set the tool 1 in parallel with the carrier 5. While the distance between the face 1a and the carrier 5 for decision of the amount of protrusion of a fork 6a. both marks 2 are detected by TV cameras 21 and 21. Then a front-back shift if detected is corrected with operation of a hydraulic cylinder 18; while a hydraulic cylinder 15 is operated for correction of the variation of height and the front-back slope respectively.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a positioning device at a stopping point of an automatic guided vehicle that moves a white article along a guide line such as a mark installed on the ground.

[Background of the invention]

Since the automatic guided vehicle transfers workpieces to and from the processing equipment at the stopping point, it is necessary to accurately stop the automated guided vehicle relative to the processing equipment. To stop the vehicle, it is necessary that the positions of three points in the front-rear direction, left-right direction, and height direction be accurate.

For this reason, Japanese Patent Application Laid-open No. 18030/1983,
- As shown in Publication No. 224842, a plurality of cones are provided on the ground at a stopping point, and a cone of the same shape as the cone is pressed from the loading platform side of the truck to push up the loading platform,
Positioning is performed at the three points.

According to this, accurate positioning is possible with a simple configuration, but it is necessary to accurately install the cone on the road surface. It is also necessary to install it firmly to prevent it from sinking.

[Purpose of the invention]

The purpose of the present invention is to stop the installation of positioning devices on the road surface,
An object of the present invention is to provide an inexpensive positioning device.

[Summary of the invention]

According to the present invention, a display device is provided on the side of the equipment of the other party to indicate the standard of the stop position, and the display device is recognized and the loading platform is moved to the full position.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

] is a machine tool, and the side surface 1atj on the running road side is installed parallel to the running road. As shown in Fig. 2, cross marks 2.2 are provided at two points in the horizontal direction on the side surface 1a to mark V.
do.

A loading platform 6 having a fork hammer for transportation is provided at the upper center of the transportation vehicle 5. The 6-cargo platform is rotatably mounted on a vertically movable platform 7. An arc-shaped gear 8 is provided on a part of the outer surface of the lower surface of the cargo platform 6 which is rotatable with respect to the vertically movable platform 7, and is rotated via a pinion 10 by data 9 provided on the vertically movable platform 7. Seven vertically movable tables are provided on a horizontally movable table 16 via hydraulic cylinders 15 provided at two points, respectively, at two points in the front and rear in the traveling direction.

The horizontal moving table]6 is on the trolley 5 via the roller]7,
The trolley 50 can be moved in the running direction. 18 is a hydraulic cylinder during its movement.

The loading platform 6 is provided with contacts 20, 20 protruding from the sides of the machine tool at the front and rear in the traveling direction.

A control circuit (not shown) is provided to control the motor 9 according to the amount of protrusion of the contactor portion 20. Further, on the side of the vertically movable table 7, a television camera 2], 2] of an image mystery detection device for detecting the mark 22 is installed, and its control device controls a single hydraulic cylinder 15.18.

In this configuration, when the cart 5 stops at the side of the machine tool 1, the contactor m% is projected from the cart 1 until it comes into contact with the side. There is a switch at the tip of the contact part, and when the switch is turned on, the protrusion is stopped, and the angle of the loading platform 60 with respect to the side surface 1a is determined based on the difference in the amount of protrusion between the two contact parts, and the motor 9 is controlled to move it in parallel. do. In addition, the distance from the side surface is determined by the average amount of protrusion of the two contact parts,
The amount of protrusion of the fork 6a is determined.

Also, the mark 22 is detected by the television camera 21.21. If the position is shifted in the front-rear direction, operate the hydraulic cylinder 18 to adjust the position in the front-rear direction. For height and longitudinal inclinations, the hydraulic cylinder 15 is operated to level the fork 6a.

With this configuration, the book can be positioned with high accuracy.

The stuttering is not limited to the shape of the mark and the written book.

They may be stacked in the order of 1 shift in the rotational, up-down, and running directions, respectively.

〔Effect of the invention〕

According to the present invention, there are no problems with the flatness of the conveyor path and the placement accuracy of the positioning cone, which were conventionally required when installing the conveyance vehicle line, and this not only helps in reducing the cost of the entire system. This prevents obstacles from accumulating on the conveyance path, which also serves as a passageway for people, and has a great effect in terms of safety and appearance.

[Brief explanation of the drawing]

FIG. 1 is a plan view of a truck according to an embodiment of the present invention, FIG. 2 is a front view of the mark shown in FIG. 1, and FIG. 3 is a side view of the truck shown in FIG.

Claims (1)

[Claims] 1. The loading platform is movable horizontally, vertically, and in the traveling direction, and includes a pair of contacts that can protrude toward the other side of the loading platform, and a pair of image recognition devices that recognize marks on the side. An unmanned conveyance vehicle, characterized in that a device is provided on the loading platform, and the loading platform is moved in each direction by a contact and an image recognition device.