KR20080003104A - An automatically guided vehicle system - Google Patents

Abstract

An unmanned carrying device is provided to improve productive efficiency by moving an unmanned carrier of one traveling track to the other traveling track at a cross point of the two traveling tracks of the unmanned carrier. An unmanned carrying device comprises an unmanned carrier, a first traveling track(CSC-01), a second traveling track(CSC-02), a rotating table(1), and a rotation driving unit. The unmanned carrier carries a product. The first traveling track is used to travel the unmanned carrier. The second traveling track is crossed to the first traveling track. The rotating table is installed at a cross point of the first and second traveling tracks to move the unmanned carrier from the first traveling track to the second traveling track or from the second traveling track to the first traveling track by rotating the unmanned carrier at a predetermined angle. The rotation driving unit rotates the rotating table.

Description

Unmanned Return Device {AN AUTOMATICALLY GUIDED VEHICLE SYSTEM}

1 is a plan view schematically showing an example of an unmanned conveying apparatus in which two traveling tracks are installed alternately;

Figure 2 is a side view showing a rotary table and its rotation drive means according to an embodiment of the present invention,

3 is a three-side view of a magnetic spot mark for an unmanned conveying vehicle according to the overall configuration example of the unmanned conveying apparatus according to the present invention provided with the rotary table of FIG.

Figure 4 is an operating state diagram showing the operation of the unmanned conveying apparatus according to the present invention, Figure 4 (a) is an operating state diagram showing a state in which the unmanned transport vehicle traveling on one driving track on the rotary table, Figure 4 (b ) Is an operation state diagram showing a state in which the turntable is moving on another driving trajectory where the unmanned carrier vehicle that has traveled on one traveling trajectory crosses.

** Description of the symbols for the main parts of the drawings **

CSC-01: first travel track CSC-02: second travel track

TCL-06: first stocker TCL-08: second stocker

1: rotary table 1a-1d: chuck

2: guide rail M: 1st electric motor

S: Rotary table rotating support shaft T: Reducer

V: Unmanned Carrier G: Gate

3: 2nd electric motor

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned conveying device, and more particularly, to an unmanned conveying device of an unmanned automated production line that transports, loads, and transfers production parts contained in a cassette. The present invention relates to an unmanned conveying device in which an unmanned conveying vehicle can be moved from one traveling track to another traveling track by providing a turntable.

Unmanned conveying vehicles are usually utilized as a means for conveying cassettes in which a large number of parts are mounted on a predetermined track in an automated production line of an article manufacturing plant.

There may be a plurality of traveling tracks on which the unmanned transport vehicle travels, and each unmanned transport vehicle travels on each of the traveling tracks, and a cassette from one unmanned transport vehicle on one travel track at the intersection of the traveling tracks. Stoker (STOCKER) for transporting to another unmanned carrier on the other track orbit may also be normally installed.

Referring to the accompanying FIG. 1 schematically showing an example of an unmanned conveying apparatus provided with two traveling tracks crossing each other as follows, as follows.

In FIG. 1, code | symbol CSC-01 is a 1st running track of an unmanned carrier vehicle, code CSC-02 is a 2nd running track of an unmanned carrier vehicle, code | symbol TCL-06 shows the said 1st driving track and said 2nd running A first stocker installed at an intersection of tracks to load a cassette from an unmanned transport vehicle on a first travel track or a second travel track, or to transfer a loaded cassette to an unmanned transport vehicle, and code TCL-08 is on a second travel track The second stocker is installed at another position to load a cassette from an unmanned transport vehicle on a second travel track or to transfer a loaded cassette to an unmanned transport vehicle.

In FIG. 1, the arrows on the first travel track CSC-01 and the arrows on the second travel track CSC-02 indicate the moving directions of the unmanned transport vehicle moving on the travel track.

On the other hand, in the unmanned conveying apparatus like FIG. 1, according to the prior art, the parts of the unmanned conveying vehicle on the 1st traveling track CSC-01 from the unmanned transport vehicle to the 2nd stocker on the 2nd traveling track CSC-02 (TCL-080) For example, the operation of the cassette is transferred and stacked as follows.

First, a cassette is loaded into the first stocker TCL-06 from an unmanned transport vehicle on the first travel track CSC-01. Next, the cassette is transferred from the first stocker TCL-06 to another unmanned transport vehicle on the second travel track CSC-02. Next, the other unmanned transport vehicle is moved along the second travel track CSC-02. 2 Stocker (TCL-08) is moved, and the cassette is transferred from the other unmanned transport vehicle and loaded into the second stocker (TCL-08).

However, in the above-described prior art, the load of the first stocker TCL-06 must be loaded and transferred to the first stocker TCL-06, so that the load of the first stocker TCL-06 is increased and the first stocker TCL-06 is loaded. Time loss due to the transfer of the stock), unmanned transport to wait when there are a large number of unmanned transports to use the first stocker (TCL-06), such as the production efficiency of the automated production line is reduced have.

Accordingly, the present invention has been made in view of the problems of the prior art as described above, and can improve the production efficiency by allowing the unmanned transport vehicle on one travel track to move to another travel track at the intersection of two travel tracks of the unmanned transport vehicle. It is to provide an unmanned conveying device.

The object of the present invention as described above, in the unmanned conveying device,

An unmanned transport vehicle for transporting the goods;

A first travel trajectory on which the unmanned transport vehicle travels;

A second driving trajectory provided to intersect the first driving trajectory;

The first travel track and the first travel track so that the unmanned transport vehicle traveling on the first travel track travels on the second travel track and travels, or the unmanned transport vehicle traveling on the second travel track travels on the first travel track and travels. A rotary table installed at an intersection of two traveling tracks and rotating the unmanned transportation vehicle by a predetermined angle;

It can be achieved by providing an unmanned conveying device according to the invention characterized in that it comprises a; and a rotation drive means for rotating the rotary table.

The object of the present invention and the configuration of the present invention to achieve the same will be more clearly understood by the following description of the embodiments of the present invention with reference to the accompanying drawings.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 is a side view showing a rotary table and a rotation driving means thereof according to an embodiment of the present invention, Figure 3 is an unmanned conveyance vehicle according to the overall configuration of the unmanned conveying device according to the present invention the rotary table of Figure 2 is installed 3 is a three-side view of a magnetic spot mark, and FIG. 4 is an operational state diagram showing the operation of the unmanned transport apparatus according to the present invention, and FIG. 4 (a) shows a state in which an unmanned transport vehicle traveling on one driving track is positioned on a rotary table. 4 (b) is an operation state diagram showing a state in which the turntable rotates and is moving on another driving trajectory where the unmanned transport vehicle traveling on one traveling trajectory crosses.

First, in Figure 3, the unmanned conveying device according to an embodiment of the present invention includes an unmanned conveying vehicle (see reference numeral V of FIG. 4) for conveying the article; A first travel trajectory CSC-01 on which the unmanned transport vehicle travels; A second travel track CSC-02 provided to intersect the first travel track CSC-01; The unmanned transport vehicle traveling on the first travel track CSC-01 travels to the second travel track CSC-02, or the unmanned transport vehicle traveling on the second travel track CSC-02 travels first. It is installed at the intersection of the first traveling track CSC-01 and the second traveling track CSC-02 to move on the track CSC-01 to drive the unmanned transport vehicle at a predetermined angle, for example, 90 degrees. A rotary table 1 for rotating by; And rotation driving means (see FIG. 2) for rotating the rotary table 1.

In FIG. 3, reference numerals 1a to 1d are provided at predetermined positions of the turntable 1 in order to prevent an unmanned transport vehicle located on the turntable 1 from swinging or falling off when the turntable 1 rotates. A plurality of fixed installations, in this embodiment, are four support chucks, solenoids for driving the chucks 1a to 1d to a position for holding and supporting the unmanned transport vehicle. It may comprise a driving means such as a solenoid valve.

In FIG. 3, reference numeral G is provided near the intersection point on the first travel track CSC-01 or the second travel track CSC-02, and is unmanned transport when there is an unmanned transport vehicle on the turntable 1. As a stop means for stopping another unmanned carrier that subsequently runs when there is a vehicle or when the turntable 1 rotates, gate GATE, and reference numeral 3 designates the gate G as another unmanned carrier. It is a 2nd electric motor which drives to move to the position which stops and the position which permits the drive of an unmanned carrier vehicle other than.

In order to stop another unmanned transport vehicle when there is an unmanned transport vehicle on the turntable 1, an optical sensor is installed on the turntable 1 to detect when the unmanned transport vehicle shields light between the light emitting part and the light receiving part. The electrical circuit can be configured to interlock the output of the optical sensor and the second electric motor (3).

In addition, in order to stop another unmanned carrier when the rotary table 1 rotates, for example, interlocking of a relay RE for driving a first electric motor (see M in FIG. 2) of the driving means of the rotary table 1. An electrical circuit can be configured to interlock the contacts with the second electric motor 3.

In addition to the two electrical circuit arrangements for stopping the other unmanned carriers that subsequently run when the turntable 1 rotates, the control program is executed for each unmanned vehicle so that the other unmanned carriers stop their own movement. It is more preferable to mount it on.

In Fig. 3, the circle shown by the solid line is a pit formed at the intersection point to provide the radius of rotation of the turntable 1, and two dotted circles in the solid line circle can be seen with reference to Fig. 2. It is a guide rail 2 for guiding rolling movement of at least four rollers connected to the bottom of the rotary table 1.

On the other hand with reference to Figure 2 showing a rotation drive means for rotating the rotary table 1 according to the present invention will be described the configuration and operation of the rotation drive means according to the present invention.

Meanwhile, although FIG. 2 illustrates an example in which the first travel track CSC-01 and the second travel track CSC-02 are formed at a predetermined height from the ground, the first travel track CSC-01 and the second travel track ( When CSC-02) has little step with the ground, it is preferable to form a circular pit according to the radius of rotation from the ground to provide a radius of rotation of the rotary table 1 as described above.

 The rotation drive means according to the present invention can be configured by two embodiments, the configuration of one embodiment of the first electric motor (M) for providing a rotational driving force; A reducer (T) connected to the output shaft of the first electric motor (M) to reduce and provide a rotational speed of the first electric motor (M); A drive roller connected to the output shaft of the reducer T and rotatable at a reduced rotational speed, and rotatably supported on the bottom of the rotary table 1; A plurality of driven rollers rotatably supported on the bottom of the rotary table and rotatable together in accordance with the rotation of the drive roller; And a guide rail (2) for guiding the rolling movement of the drive roller and the driven roller.

Another embodiment of the rotation drive means according to the invention, the first electric motor (M) for providing a rotational driving force;

The input unit is connected to the output shaft of the first electric motor (M) and the output unit is connected to the rotary shaft (S) of the rotary table (1) to reduce the rotational speed of the first electric motor (M) to drive the drive force for rotating the rotary table (1). A reducer T provided;

A plurality of rollers rotatably supported on the bottom of the turntable 1 and rotatably moved together in accordance with the rotation of the turntable 1;

It is configured to include; and a guide rail (2) for guiding the rolling movement of the roller.

One of the two embodiments is a configuration example of directly rotating the rotary table 1 to the output of the reducer (T), another embodiment of the output of the reducer (T) drives the drive rollers to drive the rolling roller It is a structural example in which the rotation table 1 is rotationally driven with a driven roller by a drive.

FIG. 2 shows another of the above two embodiments, and in this other embodiment, the first electric motor M and the reducer T are not shown but the bottom of the rotary table 1 is not fit. A variant embodiment is provided on the surface of which the output shaft of the reducer T is upwards, for example an additional gear is connected to this output shaft and one of the gears is drive-connected to the rotary shaft S of the rotary table 1. .

On the other hand, the operation of the unmanned conveying device according to the present invention configured as described above with reference to Figure 4 as follows.

Figure 4 is an operating state diagram showing the operation of the unmanned conveying apparatus according to the present invention, Figure 4 (a) is an operating state diagram showing a state in which the unmanned transport vehicle traveling on one driving track on the rotary table, Figure 4 (b ) Is an operation state diagram showing a state in which the turntable is moving on another driving trajectory where the unmanned carrier vehicle that has traveled on one traveling trajectory crosses.

In the unmanned conveying apparatus as shown in FIG. 1, according to the present invention, the unmanned conveying vehicle V on the first traveling track CSC-01 to the second stocker TCL-08 on the second traveling track CSC-02 is provided. For example, an operation of transferring and loading a cassette of a component will be described below.

As shown in FIG. 4A, the unmanned transport vehicle V traveling on the first travel track CSC-01 is positioned on the turntable 1. Then, the first electric motor M rotates in the forward direction in association with the detection of the optical sensor installed on the rotary table 1, which is not shown. Therefore, the reduction gear T and the rotation shaft S of FIG. Alternatively, the rotary table 1 rotates clockwise by 90 degrees by interlocking the reducer T and the driving roller. Therefore, as shown in FIG. 4 (b), the unmanned carrier V moves on the second traveling track CSC-02 without passing through the first stocker TCL-06 as in the prior art. Transfer the cassette of parts to the second stocker (TCL-08) and load it.

Accordingly, since there is no time loss of loading and transfer by the first stocker TCL-06, the cassette of parts is removed from the unmanned transport vehicle V traveling on the first traveling track CSC-01 significantly faster than the prior art. It becomes possible to transfer to the 2nd stocker (TCL-08) on the 2nd track | track (CSC-02).

When the unmanned carrier on the second traveling track CSC-02 moves on the first traveling track CSC-01, it can be expected that the driving of the unmanned vehicle can be made in the opposite direction to the above operation.

As described in detail above, by providing the unmanned conveying apparatus according to the present invention, it becomes possible for an unmanned conveying vehicle to move from one traveling trajectory to another traveling trajectory on two traveling trajectories which cross each other, whereby There is an effect that can prevent the time loss for passing through the stocker installed in the, and thus there is an effect that the productivity in the automated production line can be improved.

Claims (7)

In the unmanned conveying device, An unmanned transport vehicle for transporting the goods; A first travel trajectory on which the unmanned transport vehicle travels; A second driving trajectory provided to intersect the first driving trajectory; The first travel track and the first travel track so that the unmanned transport vehicle traveling on the first travel track travels on the second travel track and travels, or the unmanned transport vehicle traveling on the second travel track travels on the first travel track and travels. A rotary table installed at an intersection of two traveling tracks and rotating the unmanned transportation vehicle by a predetermined angle; And a rotary drive means for rotating the rotary table.        The method of claim 1, wherein the rotation drive means, An electric motor providing a rotational driving force; A reducer connected to an output shaft of the motor to reduce and provide a rotation speed of the motor; A driving roller connected to the output shaft of the reducer and rotatable at a reduced rotational speed, the driving roller being rotatably supported on the bottom of the rotary table; A plurality of driven rollers rotatably supported on the bottom of the rotary table and rotatable together in accordance with the rotation of the drive roller; And a guide rail for guiding the rolling movement of the drive roller and the driven roller. The method of claim 1, wherein the rotation drive means, An electric motor providing a rotational driving force; A speed reducer having an input portion connected to an output shaft of the electric motor and an output portion connected to a rotary shaft of the rotary table to reduce the rotational speed of the electric motor to provide a driving force to rotate the rotary table; A plurality of rollers rotatably supported on a bottom of the turntable and rotatably moved together in accordance with the rotation of the turntable; And a guide rail for guiding the rolling movement of the roller. The method of claim 1, And an chuck installed on the turntable to support the unmanned carrier. The method of claim 1, An unmanned vehicle, which is provided near the intersection point on the first track or the second track and further stops another unmanned carrier that subsequently runs when there is an unmanned carrier on the turntable. Conveying device. The method of claim 1, An unmanned conveying device further provided with stop means for stopping another unmanned conveying vehicle that is provided near the intersection point on the first travel track or the second travel track and subsequently runs when the rotation driving means is operated. . The method according to any one of claims 5 to 6, The stop means, An electric motor; And a gate connected to the electric motor and movable to a position for stopping another unmanned conveyance vehicle and a position allowing the unmanned conveyance vehicle to travel.

Images