JPS63258400A - Automatic loading controller for carrying system - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic loading control device for a conveyance system installed in a factory or the like.

[Prior Art] Conventionally, unmanned conveyance systems shown in Figs. 4 to 6 have been used in factories, etc. (Japanese Patent Publication No. 59-38603)
.

In FIGS. 4 to 6, reference numeral 1 denotes a lifter on which an object to be transported is placed. This lifter 1 has a vertically movable structure and is attached to a loading platform 3 located at the rear of the automatic guided vehicle 2. The height of this loading platform 3 is set so that when the lifter 1 is lowered, that is, when the lifter I is stored in the loading platform 3, the loading platform 3 can fit under the object to be transported. The distance the lifter I moves in the vertical direction is as follows:
The lifter l is set so that it can load objects to be transported.

Further, a first transported object detector 5 is provided on the rear surface 4 of the lifter 1. This first conveyed object detector 5 has a light emitting part using a lamp or a light emitting diode, etc., and a light receiving part using a phototransistor etc. installed at a certain angle. detects the presence or absence of a conveyed object placed on the ground at a certain distance,
Depending on the presence or absence of a transported object, a transported object detection signal is output from the output terminal 6. Further, an output terminal 6 of this first conveyance object detector 5 is connected to an input terminal 8 of a signal processing device 7. Further, in the rear direction of the drive unit 9 of the automatic guided vehicle 2, there is a second transported object detector which has a structure similar to the first transported object detector 5 and detects the presence or absence of the transported object on the lifter 1''. 10 are provided. Further, an output terminal 11 of this second conveyed object detector 1o is connected to an input terminal 12 of the signal processing device 7.

In addition, a first ground signal detector 13 is installed near the center of the loading platform 3 at the bottom. This first ground signal detector 13 detects the presence or absence of a position signal from the ground. It outputs a position detection signal from its output terminal 14 depending on the presence or absence of a position signal. A transistor, a Hall element, a coiled loop antenna, etc. are used.The output terminal 14 of the first ground signal detector 13 is connected to the input terminal 15 of the signal processing device 7.
connected to. In addition, there is a second base at the bottom of the loading platform 3.
A signal detector 16 is provided. This second ground signal detector 16 detects the presence or absence of a position signal from the ground, particularly a terminal position signal indicating the position of a conveyed object located at the final end of the conveyed objects arranged in a row, and It outputs a termination position detection signal from its output terminal 17 depending on the presence or absence of a signal, and similarly to the first ground signal detector 13, a phototransistor or the like is used. In addition, the second ground signal detector■
The output terminal 17 of 6 is connected to the input terminal 18 of the signal processing device 7. The signal processing device 7 also has respective input terminals 8 . +2.15.18, outputs a control signal from each of its output terminals 19.20.

This output terminal 19 is connected to a traveling mechanism section 21 that runs and stops the automatic guided vehicle 2, and the output terminal 20 is connected to a lifter drive section 22. This lifter drive section 2
Reference numeral 2 is for loading the transport section and lifting and lowering the lid 1.

On the other hand, there is a space on the conveyance path where the conveyed articles are placed, that is, a conveyed article placement space 23a.
o, 23 a++...23an are set, and this conveyed object arrangement space 23 ao+ 23 a+, -23an
Signal sources 24ao, 24al+, . This signal source 24 ao, 24 a
l+...24an each outputs a signal (hereinafter referred to as a position signal) indicating the loading/unloading position of the conveyed object, and is a signal line that generates a periodically changing magnetic field or a permanent magnet that generates lines of magnetic force. It consists of a signal light source (for example, an incandescent bulb or a light emitting diode), etc. Also,
The signal source 25 outputs a signal (hereinafter referred to as a final position signal) indicating the placement space for the conveyed object located at the final end on the conveyance path, and the signal sources 24 ao, 24 a, +.
At the same time as + 2 J an, it is composed of signal lines and the like. In addition, the signal sources 24 ao, 24 a+...24
an is installed at a position corresponding to the position of the first ground signal detector 13 of the automatic guided vehicle 2, and the signal source 25 is installed at a position corresponding to the position of the second ground signal detector 16.

Next, the automatic guided vehicle 2 carries objects 26ao, 26a+...
The operation of sequentially loading 26an will be explained. In addition,
The signal lines 24ao, 24a+, . Further, when the automatic guided vehicle 2 loads a transported object, the transported object is not loaded on the lifter l, and therefore the transported object detector 1o does not detect the transported object, and its output terminal 11
is not outputting the transported object detection signal. Therefore, the input terminal 12 of the signal processing device 7 is turned off.

Then, the automatic guided vehicle 2 travels backward with the lifter l raised, and when the first conveyed object detector 5 detects a conveyed object arranged above the conveyed object arrangement space 23a, the first conveyed object The conveyed object detector 5 outputs a conveyed object detection signal from its output terminal 6, and supplies the output conveyed object detection signal to an input terminal 8. As a result, the input of the input terminal 8 of the signal processing device 7 is turned on. Then, the signal processing device 7 changes the reverse running signal outputted from the output terminal 19 to a stop signal by turning the input terminal I2 "off" and the input terminal 8 "on". A stop signal is supplied to the travel mechanism section 21. As a result, the traveling mechanism section 21 stops the automatic guided vehicle 2 from traveling backward. Further, at the same time that the stop signal is output from the output terminal 19, the signal processing device 7 outputs a lowering signal from its output terminal 20, and supplies this to the lifter drive unit 22. As a result, the lifter driving section 22 lowers the lifter 1, whereby the lifter 1 is housed in the loading platform section 3. Then, when the lifter I is stored in the loading platform section 3, the signal processing device 7 outputs a reverse travel signal from the output terminal 19 instead of the stop signal that was output from the output terminal 19. As a result, the automatic guided vehicle 2 starts traveling backwards again. Then, the first ground signal detector 13 detects the position signal output from the signal line 24ao in the conveyed object placement space 2aao, and inputs the position detection signal to the signal processing device 7 via the output terminal 14. Supplied to terminal 15,
As a result, the input of the input terminal I5 of the signal processing device 7 is “
Then, the input of input terminal 15 becomes “on”.
As a result, the signal processing device 7 outputs its output terminal 19
A stop signal is output from the output terminal 19 instead of the reverse running signal that was output from the output terminal 19.

As a result, the automatic guided vehicle 2 has its loading platform 3 connected to the transported object 26.
Reverse travel is stopped when the vehicle is below ao. After the automatic guided vehicle 2 stops traveling backwards, the signal processing device 7 is transmitted to the lifter drive unit 22 via the output terminal 20.
Provides a 1-up signal. The lifter drive unit 22 raises the lifter 1 by "1" by being supplied with a rise signal, and as the lifter 1 rises, the transported object 26ao is loaded. When the lifter ■ loads the transported object 26ao, the signal processing device 7 supplies a forward traveling signal to the traveling mechanism section 21 through its output terminal 19, and as a result, the automatic guided vehicle 2 loads the transported object 26ao onto the lifter 1. In this state, start moving forward.

Similarly, when loading the transported objects 26a1 to 26an, the first transported object detector 5 detects the transported objects 26a, 26a.
At the position where n is detected, the first operation, that is, the operation in which the automatic guided vehicle 2 stops traveling backwards and the lifter 1 starts descending, is performed, and after the lifter l is stored in the loading platform 3. , the automatic guided vehicle 2 starts traveling backwards again. Then, the first ground signal detector 13 is the signal source 24a1...
At the position where any of the position signals output by 24 an is detected, the second operation is performed, that is, the automatic guided vehicle 2 stops traveling backwards, the lifter 1 rises, and the transported objects 26a+, .
...The operation of loading 26an and starting forward travel is performed.

If there is no object to be transported in the object arrangement spaces 23ao to 2aan, the automatic guided vehicle 2 travels backward with the lifter I raised, and sequentially passes over the object arrangement spaces 23ao to 2aan. Then, when the loading platform 3 of the automatic guided vehicle 2 comes to the conveyed object arrangement space 23anl:, the first ground signal detector 13 detects the position signal output from the signal source 2Jan, and the output terminal A position detection signal is supplied to an input terminal 15 of the signal processing device 7 via 14. As a result, the input to the input terminal 15 is turned on. Also, at approximately the same time that the first ground signal = 8-detector I3 detects the position signal, the second ground signal detector 16 detects the terminal position signal output from the signal source 25, and outputs A termination position detection signal is supplied to an input terminal 18 of the signal processing device 7 via a terminal 17 . As a result, the input of the input terminal 18 is turned on. Then, the signal processing device 7 outputs an output from its output terminal 19 when the input to its input terminal 12 becomes "off", the input to its input terminal 15 becomes "on", and the input to its input terminal 18 becomes "on". A stop signal is output from the output horn terminal 19 instead of the reverse running signal. Therefore, the automatic guided vehicle 2 stops traveling backwards and stops at a position where its loading platform 3 is above the conveyed object placement space 23an. In this way, the automatic guided vehicle 2 sequentially loads the objects on the object placement spaces 23ao to 2aan and transports them to a prespecified location.

Next, a description will be given of an operation in which the automatic guided vehicle 2 lowers the transported object to the transported object placement space 23an when there is no transported object in the transported object placement spaces 23a0 to 23an.

The automatic guided vehicle 2 loads objects to be transported with the lifter 1 raised and travels backward. Therefore, the second conveyed object detector 10 detects the conveyed object and supplies a conveyed object detection signal to the input terminal 12 of the signal processing device 7 via its output terminal 11,
As a result, the input of the input terminal 12 of the signal processing device 7 is “
In this state, the automatic guided vehicle 2 sequentially passes over the conveyed object arrangement spaces 23ao, .

The loading platform 3 of the automatic guided vehicle 2 is the cargo placement space 2.
3an, the first ground signal detector I3 detects the position signal output from the signal source 24an, and outputs a position detection signal from its output terminal I4. Further, at approximately the same time that the first ground signal detector 13 detects the position signal, the second ground signal detector 16 detects the terminal position signal output from the signal source 25, and outputs the terminal 17 outputs a terminal position detection signal. Then, when the input terminals 12, 15, and I8 are turned on, the signal processing device 7 outputs a stop signal from the output terminal 19 instead of the reverse running signal that was output from the output terminal I9. do.

Thereby, the automatic guided vehicle 2 stops at a position where its loading platform 3 is located above the conveyed object placement space 2aan. After the automatic guided vehicle 2 has stopped, the signal processing device 7 outputs a descending signal from its output terminal 20, and supplies the output descending signal to the lifter drive section 22. As a result, the lifter 1 is lowered, and the objects loaded on the lifter 1 are lowered onto the object arrangement space 2aan. Then, when the lifter I is stored in the loading platform section 3, the signal processing device 7 supplies a forward traveling signal to the traveling mechanism section 21 via its output terminal 19. Thereby, the automatic guided vehicle 2 starts moving forward.

Next, when there is an object 26an in the object arrangement space 23an, an operation in which the automatic guided vehicle 2 lowers the object into the object arrangement space 23ai-1 will be described.

The automatic guided vehicle 2 loads objects to be transported with the lifter 1 raised and travels backward. Therefore, the input of the input terminal 12 of the signal processing device 7 is "on". In this state, the automatic guided vehicle 2 is placed in the conveyed object arrangement space 23ao,...
Pass through the top one after another. Then, the first conveyed object detector 5
When detects the transported object 26an, that is, when the loading platform 3 of the automatic guided vehicle 2 comes near the top of the transported object arrangement space 23an-, the first transported object detector 5 outputs a signal via its output terminal 6. Then, the conveyed object detection signal is supplied to the input terminal 8 of the signal processing device 7, and thereby the input of the input terminal 8 is turned on. In this state, the automatic guided vehicle 2 continues traveling backwards.

The first ground signal detector 13 of the automatic guided vehicle 2 detects the position signals output from the signal sources 24an, . Provides position detection signal. When the input terminals 8, 12, and 15 are turned "on," the signal processing device 7 outputs a stop signal instead of the reverse traveling signal that was being supplied to the traveling mechanism section 22 through its output terminal I9. It is supplied to the traveling mechanism section 21. Thereby, the automatic guided vehicle 2 stops at a position where its loading platform 3 is above the conveyed object arrangement space 23al-+. After the automatic guided vehicle 2 has stopped, the signal processing device 7 supplies a lowering signal to the lifter drive unit 22 via its output terminal 20.

As a result, the lifter I is lowered, and the loaded articles are lowered onto the article arrangement space 23 an-.

After the lifter 1 is stored in the loading platform 3, the signal processing device 7 outputs a forward traveling signal from the output terminal 19. Thereby, the automatic guided vehicle 2 starts moving forward. In a manner similar to the operation described above, the automatic guided vehicle 2 transfers the loaded objects to the object arrangement spaces 23an-, . . . , 23.
At, descend sequentially from the end to 23 ao.

FIG. 7 is a diagram showing an embodiment of an automatic guided vehicle using forks. In this figure, reference numeral 27 denotes a fork for loading and unloading objects, and a first object detector 5 is provided at the tip of this fork 27. Further, 28 is a fork truck main body, and a second conveyance object detector IO is installed at the upper part of a fork mounting portion 29 of this fork truck main body 28. Also, inside the fork truck body 28 is a fork drive unit (path shown) that moves the fork 27 up and down.
is installed. Further, the other configurations are similar to the automatic guided vehicle 2 described in FIGS. 4 to 6.

[Problems to be Solved by the Invention] By the way, in the conventional unmanned conveyance system as described above, the signal sources 248O to 2Jan are connected to the conveyance object position space 23 for each of the conveyance objects 26ao to 26an.
One piece was required for each of ao to 23an, and the cost was high. Further, each of the conveyed objects 26ao to 26an is connected to each signal source 24 ao to 24. It was troublesome because it had to be accurately positioned in the front, back, left and right with respect to the an.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to provide an automatic loading control device for a conveyance system that reduces costs and improves the efficiency of the work of arranging conveyed objects.

[Means for Solving the Problems] The present invention provides a conveyed object detection means that is attached to an automatic guided vehicle and detects the legs of the conveyed object in a state where a lifter is completely inserted below the conveyed object; The present invention is characterized by comprising a drive control means that controls the automatic guided vehicle to stop and lifts the lifter when the transported object is detected by the transported object detection means.

[Function] According to the present invention, the legs of the transported object are detected by the transported object detection means when the automatic guided vehicle is traveling backward and the lifter is completely below the transported objects arranged at a predetermined position. Then, the drive control means performs stop control of the automatic guided vehicle, and then the lifter is controlled to rise, and the object to be transported is loaded onto the automatic guided vehicle. Therefore, it is not necessary to arrange a signal source for each conveyed object as in conventional conveying systems, and costs can be reduced. Further, the transported object only needs to be positioned in the lateral direction with respect to the traveling direction of the automatic guided vehicle, and there is no need for positioning in the traveling direction. Therefore, the efficiency of the work of positioning the conveyed object can be improved.

[Embodiment] FIGS. 1 and 2 are a side view and a plan view showing the configuration of an embodiment of the present invention, and FIG. 3 is a diagram of the automatic guided vehicle 2 shown in FIGS. 1 and 2. FIG. 2 is a block diagram showing a circuit configuration.

First, the biggest feature of the conveyance system of this invention is that
The point is that a conveyed object detection sensor 30 is attached to the left side of the automatic guided vehicle 2 to detect the legs ASA of the conveyed objects 26ao to 26an. This eliminates the need to install the signal sources 24ao to 24an that inform the automatic guided vehicle 2 of the positions of the transported objects 26ao to 26an shown in FIGS. 4 to 6 at the preset transported object loading locations. i.e. a lamp or LED (light emitting diode)
A conveyed object detection sensor 30, which is composed of a light emitting section using a phototransistor or the like and a light receiving section using a phototransistor or the like, is attached to the left side of the automatic guided vehicle 2 and at a lower position near the front tip of the lifter l. It is being This conveyed object detection sensor 30
The installation position is such that when the automatic guided vehicle 2 is traveling backwards and the lifter 1 is completely inserted under the conveyed object 26ao, for example,
It is arranged so that the legs A are detected when the conveyed object 26ao is located above the lid 1.

Further, when the transported object detection sensor 30 detects the transported object, it supplies a transported object detection signal Sd to the input terminal 37 of the signal processing device 35 shown in FIG.

Furthermore, in this embodiment, the automatic guided vehicle 2 detects the reflective tape (■) attached to the conveyance path, and travels along the reflective tape I. Moreover, the conveyed object 26a.

A mark plate 31 indicating the conveyed article loading path is installed on the side of the reflective tape I in front of the position where the tapes 26-26 are lined up. A reflective point serving as a mark is attached to the center of the surface of the mark plate 31.

Further, a mark sensor 32 for detecting this mark plate 31 is installed at the lower front end of the automatic guided vehicle 2.

The completion mark sensor 32 is composed of a light emitting part such as an LED and a light receiving part such as a photodiode. detected in some parts. When the mark sensor 32 detects the mark plate 3I, the signal processing device 3
The mark detection signal Sm is supplied to the input terminal 36 of 5. Further, 33 is a forward steering sensor, and mark sensor 32
It is composed of photoelectric detectors 33a and 33b configured similarly to the above. The forward steering sensor 33 is installed at the lower center of the front part of the automatic guided vehicle 2 so that the photoelectric detector 33a faces the floor surface on the left side of the reflective tape I (on the transport path), and the photoelectric detector 33b is mounted on the reflection tape I on the transport path. Each photoelectric detector 33 is installed facing the floor on the right side of Chibuto.
When a and 33b detect the reflective tape 1, the photoelectric detectors 33a and 33b on the detecting side supply course deviation signals Sz to input terminals 38 and 39 of the signal processing device 35, respectively. In addition, a photoelectric detector 34a is installed at the lower center of the rear part of the automatic guided vehicle 2.
, 34b is installed so as to face the floor surface on both sides of the reflective tape H on the transport path, similarly to the forward steering sensor 33, and each photoelectric detector 34
a and 34b detect a deviation when the automatic guided vehicle 2 travels backward, and supply a course deviation signal Sz to an input terminal 40.4I of the signal processing device 35, respectively. As described above, the signal processing device 35 is supplied with each signal from the conveyed object detection sensor 30, the mark sensor 32, and the photoelectric detectors 33B, 331), 34a, and 34b, and sends an on signal SO to the conveyed object detection sensor 30. Furthermore, the traveling mechanism section 21 is supplied with a deceleration signal Sσ, a stop signal Ss, etc., and the lifter drive section 22 is supplied with an ascending signal Su, a descending signal Sr, etc.

In the configuration described in item 1, first, the automatic guided vehicle 2 travels backward and enters the load conveyance path. And automatic guided vehicle 2
When the mark plate 31 is detected by the mark sensor 32 when it passes over the mark plate 31, a mark detection signal Sm is supplied to the signal processing device 35. As a result, a deceleration signal Sp is supplied from the signal processing device 35 to the travel mechanism section 21, and as a result, the automatic guided vehicle 2 is decelerated. At the same time, the on signal So from the signal processing device 35 is sent to the conveyed object detection sensor 3.
0, thereby turning on the transported object detection sensor 30 and starting detection of the transported object.

Further, a lowering signal Sr is supplied to the lifter driving section 22,
This causes the lifter 1 to be lowered. Next, automatic guided vehicle 2
further travels backward, and the lifter 1 completely enters below the first conveyed object 26ao. In this state, the transported object detection sensor 30 detects the leg A of the transported object 26ao. As a result, the transported object detection signal S from the transported object detection sensor 30
d is supplied to the signal processing device 35, and then the signal processing device 3
5 supplies the stop signal Ss to the traveling mechanism section 21, and the automatic guided vehicle 2 stops. Next, a lifter raising signal Su is supplied from the signal processing device 35 to the lifter drive section 22, and the lifter 26 is driven upward, and the transported object 26ao is loaded onto the automatic guided vehicle 2. In this state, the automatic guided vehicle 2 is driven forward and advances to the unloading station. Next, unloading is performed using the position signal sources 24 ao to 2 in the same manner as in the conventional unloading operation.
J an is detected by the second signal detector 13 at the first location, and the conveyed objects are sequentially unloaded at that location. Then, the above operation is repeated, and the transferred objects 26ao to 26an are sequentially transferred.

In the above embodiment, the lid 1 can be moved up and down.
was installed on the automatic guided vehicle 2, but a fork truck 28 having a fork 27 as in the conventional example shown in FIG.
Alternatively, the conveyance object detection sensor 30 may be attached to the side of the fork 27. In addition, in the above embodiment, the automatic guided vehicle 2 was of an optical guidance type that was guided by detecting the reflective tape [■], but the reflective tape H was replaced with an electromagnetic tape, and this electromagnetic tape was detected. It may also be an electromagnetic induction type automatic guided vehicle guided by

[Effects of the Invention] As described above, according to the present invention, there is a conveyed object detection means that is attached to an automatic guided vehicle and detects the legs of the conveyed object when the lifter is completely inserted below the conveyed object. and a drive control means that controls the automatic guided vehicle to stop and the lifter to raise by 1 when the conveyed object is detected by the conveyed object detection means, so that the position of the conveyed object in the conventional conveyance system is It is possible to omit a signal source that notifies the user of the conveyance path, thereby reducing costs. Furthermore, when the conveyed object needs to be mispositioned, it is only necessary to position it in the lateral direction of the conveyance path, thereby increasing the efficiency of the work.

[Brief explanation of the drawing]

1 and 2 are a side view and a plan view showing the configuration of one embodiment of the present invention, and FIG. 3 is an automatic guided vehicle 2 of the same embodiment.
4 and 5 are side views and plan views showing the structure of a conventional transport system, and FIG. 6 is a block diagram showing the circuit structure of the conventional automatic guided vehicle 2. FIG. 7 shows an example in which a fork is used in a conventional automatic guided vehicle 2. 2...Automated guided vehicle, 35...Signal processing device, 2I...
Lifter drive section, 22, traveling mechanism section, 3o... conveyance object detection sensor, H... reflective tape (conveyance path).

Claims (2)

[Claims] (1) In an automatic loading control device for a conveyance system that loads and conveys objects with legs arranged at predetermined positions by an automatic guided vehicle equipped with a lifter that moves up and down,
a conveyed object detection means that is attached to the automatic guided vehicle and detects the legs of the conveyed object when the lifter is completely inserted below the conveyed object; and when the conveyed object is detected by the conveyed object detection means; An automatic loading control device for a transport system, comprising drive control means for controlling the stop of an automatic guided vehicle and controlling the lifting of the lifter. (2) The automatic loading control device for a conveyance system according to claim 1, characterized in that a fork that moves up and down is used in place of the lifter.