JPS63271615A - Stop position correcting device for unmanned carriage - Google Patents

Abstract

PURPOSE:To improve the accuracy of positioning by providing a conic recessed part to a station where an unmanned carriage stops, and inserting an expandable and turnable detection bar into it and obtaining a correcting value for the stop position. CONSTITUTION:The unmanned carriage 1 has a robot 3 for loading which loads and unloads a load member on and from a station 2. Its stop position correcting device consists of the conic recessed part 4 which has its peak at the innermost part provided to the station 2, a position detector 6, its support part 5, and a position detection control part 7. Then this position detection control part 7 is connected to a conveyance control part and a robot control part 9 which control the traveling of the unmanned carriage 1 and the operation of the robot 3. Then when the detection bar 11 which is supported turnably on the unmanned carriage 1 and expands by longer than specific length is inserted into the recessed part 4, the correcting quantity for the position of the unmanned carriage 1 is obtained from the angle of turning etc.

Description

[Detailed description of the invention] [Purpose of the invention] (Industrial application field) The present invention relates to a stop position correction device for an automatic guided vehicle.

(Prior art) In an automatic transport system using automatic guided vehicles in manufacturing and assembly processes, in order to automatically load and unload components onto the automatic guided vehicle at a station provided in a predetermined process, it is necessary to define the station. The vehicle must stop correctly at the designated stopping position.

Conventionally, the positioning and stopping means for this automated guided vehicle have been contact-type positioning and stopping methods, such as four parts where the traveling axle fits into the floor surface, lifting the vehicle body through the axle, and positioning and stopping methods, and non-contact method using light etc. There is a method of positioning and stopping.

However, this conventional positioning and stopping method requires a large device compared to the contact positioning method, and may be difficult to apply depending on the type of automatic guided vehicle. Furthermore, there are problems such as the formation of uneven parts on the floor surface, which obstruct the passage of people. Furthermore, in many cases, the non-contact positioning and stopping method requires a device such as a microprocessor to process the detected information, which naturally increases the cost and does not necessarily provide high reliability in positioning accuracy.

(Problems to be Solved by the Invention) As mentioned above, as methods for positioning and stopping automated guided vehicles, there are conventionally a contact positioning and stopping method and a non-contact positioning and stopping method, but the contact positioning and stopping method is However, the device becomes large and may be difficult to apply depending on the type of automatic guided vehicle. In addition, there are problems such as unevenness on the floor surface, which obstructs the passage of people. Further, the non-contact positioning method requires an expensive device for processing the detected information, but there are problems such as the reliability of positioning accuracy is not necessarily high.

This invention was made in view of the above problems, and is a stop position correction for an automatic guided vehicle that can accurately detect the stop position of an automatic guided vehicle and correct the stopped position with a WJ vehicle configuration. The purpose is to obtain equipment.

[Structure of the invention]

(Means for solving the problem) A conical recess with the deepest point as the apex is provided at the station where the automatic guided vehicle stops, and a position detection device is provided on the automatic guided vehicle, and the position detection device is A detection bar that is supported rotatably and is extendable and retractable over a predetermined length, a rotation transmitting section that transmits the rotation of the detection bar in two mutually orthogonal directions perpendicular to its longitudinal direction, and The position detecting device is configured with a detector that detects rotation angles in two orthogonal directions, and this position detecting device is supported by a position detecting device support section that is driven up and down by a lifting device, and the position detecting device support section is The device is configured to control the vertical movement of the device and to process the output of the position detection device.

(Function) As described above, a conical recess is provided at the station where the automatic guided vehicle stops, and the automatic guided vehicle has a detection bar that is supported rotatably and is extendable and retractable over a predetermined length.
If a position detection device that can detect the rotation angle is installed, the detection bar can be inserted into the conical recess and the rotation angle when the tip touches the innermost apex of the recess allows for easy unmanned transportation. A correction value for the car's stopping position can be obtained. Furthermore, the stop position correction device can be formed with a simple configuration.

(Example) Hereinafter, the present invention will be described based on an example with reference to the drawings.

FIG. 1 shows a schematic configuration of a stop position correction device for an automatic guided vehicle, which is an embodiment of the present invention. In particular, the automatic guided vehicle (1) in this illustrated example moves the mounted members to the station (2).
It has a transfer robot (3) for loading and unloading from the station (2) and for loading from the station (2). This device for correcting the stop position of the automatic guided vehicle (1) includes four cone-shaped parts (4) preferably having a conical shape with the innermost part provided at the station (2) as the apex, and the automatic guided vehicle (1). A position detection device support part (5) driven by a drive device (not shown) provided in the position detection device support part (5), a position detection device (
6), and controlling the movement of the position detection device support section (6).

It also includes a position detection control section that performs arithmetic processing on the output of the position detection device (6). As shown in FIG. 2, this position detection control section (7) includes a transfer control section (8) and a robot control section (9) that control the movement of the automatic guided vehicle (1) and the operation of the robot (3). )It is connected to the.

By the way, the diameter of the conical recess (4) is formed to a size suitable for the stopping precision of the automatic guided vehicle (1).

Further, as shown in FIG. 3, the position detection device i'2 (6) has a detection bar (11) provided with a spherical part (10) in the middle part, and this detection bar (11) flame(
Detection bar support part (13) protrudingly formed on the lower end side of 12)
) is rotatably supported by the spherical portion (10) as a rotation fulcrum. As shown in FIG. 4, this detection bar (11) is formed such that its distal end side is extendable and retractable, and its distal end is attached to the inner side of its proximal end by a compression coil spring (14).
It is always biased toward its tip. Furthermore, the extension/contraction length of the detection bar (11) is such that the detection bar support portion (13) is located at the edge of the conical recess (4), as shown in FIG.
When the tip of the detection bar (11) contacts the apex of the recess (4), the length from the center of the spherical portion (10), that is, the pivot point, to the tip of the detection bar (11) is L, and the detection bar support The part (13) is located on the same plane as the edge of the fourth part (4), and this detection bar (11) is located on the vertical line passing through the apex of the recess (4), and its tip is located on the same plane as the edge of the fourth part (4). 4)
When the length when touching the vertex of is Q, (L-4
) can be expanded or contracted. Further, a ball (15) that reduces friction with the inner surface of the recess (4) is rotatably held at the tip of the detection bar (11).

Further, on the base end side of the detection bar (11), there is a rotation transmission part (16) that transmits the rotation of the detection bar (11) in two directions perpendicular to the longitudinal direction and mutually orthogonal. It is provided. This rotation transmission section (16) has a pair of curved strip plates (17x) and (17y) that are orthogonal to each other.

One end of each strip (17x), (17y) is connected to an optical rotary encoder (1) fixed to the frame (12).
8x), (18y), and the other end is fixed to the frame (12) with a support shaft (19x), (19
y) is rotatably supported. This pair of strips (1
7x), in the center of (17y).

Along its longitudinal direction, an elongated hole (20) is provided which slidably engages with the detection bar (11). In addition, one end of the pair of strip plates (17x) and (17y) is provided with a tension tensioner fixed to the frame (12) in order to stabilize the displacement caused by rotation of the detection bar (11). A spring (21) is attached.

This position detection device (6) is supported by the tip of the position detection device support portion (5) described above, and is raised and lowered by a drive device using, for example, an air cylinder as a drive source, which drives this position detection device support portion (5). Driven.

Moreover, if the tip of the position detection device (6) and the position detection device support part (5) that supports it are made to protrude to the side of the automatic guided vehicle (1) so that the position can be detected at all times,
When traveling, there is a risk of damage due to contact with other devices, etc., so it is preferable to provide a rotation mechanism in the drive device, for example, to prevent it from protruding to the side of the automatic guided vehicle (1) except during detection.

Next, the operation of this automatic guided vehicle stop position correction device will be explained. FIG. 8 is a flowchart of the operation.

First, when the automated guided vehicle (1) stops at the station,
A command is sent from the transport control unit (8) of this automatic guided vehicle (1) to the position detection control unit (7), and based on this command, a signal sent from the position detection control unit (7) causes the position detection device to The support part (5) is lowered (those with a rotation mechanism are rotated by this signal to prevent damage). This lowering stop position can be stored in advance in the position detection control unit (7) by teaching, and can be set in the recess (4).
) can maintain a constant distance from

In response to this descent, the opening of the recess (4)
Since the detection bar (11) of the position detection device (6) that is supported by the position detection device support portion (5) and descends is formed in a size suitable for the stopping accuracy of 1), the detection bar (11) of the position detection device (6) is ) As shown in the figure, it is located inside the opening edge of the recess (4), and its tip abuts the inclined inner surface of the conical recess (4). After the contact, it descends along the sloping inner surface, and the tip eventually comes into contact with the apex of the conical recess (4), as shown in Figure (B). The detection bar (11) rotates about the center of the spherical part (10) as a rotational fulcrum after coming into contact with the inclined inner surface of the recess (4) and reaching the top of the recess (4). That is, the rotation angles in two directions perpendicular to the descending direction of the position detection device support part (5) and mutually perpendicular are transmitted to the rotary encoder (L8x), (18y) via the rotation transmission part (16). ) is detected.

By the way, rotary encoder (18x), (18
y) detection output (accumulated amount of pulses) and the amount of movement of the tip of the detection bar (11) (the amount of movement in two directions perpendicular to the downward direction of the position detection device support part (5) and perpendicular to each other) are in a nearly proportional relationship as shown by the straight line (22) in Figure 7, so the rotary encoder (18x) and (18
By arithmetic processing the detection output of y) by the position detection control unit (7), the moving direction and moving amount of the detection bar (11) can be easily calculated.

In this way, by sending this calculation processing result to the robot control unit (9) and correcting the operation of the robot (3), the components mounted on the automatic guided vehicle (1) can be moved to the station (2) and back. , the members on the station (2) can be transferred to the automatic guided vehicle (1) with high precision.

Note that the position detection device support section (5) that supports the position detection device (6) is configured to move the position detection device (6) from the position detection control section (7) based on a command sent from the conveyance control section (8) after the position detection is completed. It rises and returns to its original position in response to a signal.

Although one embodiment of the present invention has been described above, the automatic guided vehicle stop position correction device of the present invention is not limited to the above embodiment. Various modifications are possible.

〔Effect of the invention〕

In addition to providing four cone-shaped parts at the station where the automatic guided vehicle stops, the automatic guided vehicle is equipped with a detection bar that can be rotated and extended, and the detection bar is rotated in two mutually orthogonal directions that are perpendicular to its longitudinal direction. A position detection device is provided, which includes a rotation transmission section that transmits the rotation to the recess and a detector that detects rotation angles in two mutually orthogonal directions. By detecting the position and using the detection result as a correction value, even if the stopping precision of the automatic guided vehicle is not very high, it is possible to transfer and load parts with a simple configuration and with high precision.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a schematic configuration of a stop position correction device for an automatic guided vehicle, which is an embodiment of the present invention, and FIG. 2 is a diagram showing the relationship between the stop position correction device and the control unit of the automatic guided vehicle. Third
The figure shows the configuration of the position detection device, Figure 4 shows the structure of the detection bar, Figure 5 shows the amount of expansion and contraction of the detection bar, and Figures 6 (A) and (B) respectively. FIG. 7 is a diagram illustrating the detection method, FIG. 7 is a diagram showing the relationship between the moving amount of the detection bar and the output of the rotary encoder, and FIG. 8 is a flowchart showing the stop position correction method.

Claims (2)

[Claims] (1) A conical recess with the apex at the innermost part provided at the station where the automatic guided vehicle stops, a position detection device support part that is driven up and down by a lifting device provided on the automatic guided vehicle, and a longitudinal A detection bar that is extendable and retractable in the direction, a support part that rotatably supports the detection bar, and a rotation transmission part that transmits the rotation of the detection bar in two directions perpendicular to the longitudinal direction of the detection bar and mutually perpendicular to each other. and a detector for detecting rotation angles of the detection bar in two directions perpendicular to each other via the rotation transmission section, and a support section of the detection bar is located at an edge of the conical recess. When the tip of the detection bar of the lever contacts the apex of the recess, the length from the rotation fulcrum to the tip is L, and the supporting portion of the detection bar is on the same plane as the edge of the conical recess. and the detection bar is located on a vertical line passing through the apex of the conical recess, and the length when the tip touches the apex of the recess is l, and the detection bar is extendable and retractable by more than (L-l). A stop position of an automatic guided vehicle, comprising: a position detecting device formed in a position detecting device; and a position detecting control section that controls raising and lowering of the position detecting device support section and performs arithmetic processing on the output of the detector. correction device. (2) The stop position correction device for an automatic guided vehicle according to claim 1, wherein the detection bar has a rotating ball at its tip.