200920681 九、發明說明 【發明所屬之技術領域】 本發明是關於旋轉盤上之物品的檢測。 【先前技術】 堆高式起重機等的搬運機器，如專利文獻丨（日本特 開平0 5 - 3 3 8 7 1 9號）等所揭示，必須檢測昇降台上有無物 品存在。爲了檢測旋轉盤上的物品，最初考慮到的，是在 旋轉盤上設置反射型的光電感測器等，以檢測出物品。但 這時連接到感測器的配線會構成問題，隨著旋轉盤的旋轉 ，配線會發生扭曲。於是，利用滑環和電刷的組合來將轉 動部和基部予以連接，並對感測器實施配線的情形，起因 於電刷和滑環的磨耗會產生塵埃，又由於電刷等會磨耗， 故必須進行維修保養。 〔專利文獻1〕日本特開平05-33 87 1 9號 【發明內容】 本發明的課題，是在旋轉盤的轉動部和基部之間未設 置配線下，檢測出旋轉盤上的物品。本發明的追加課題’ 是對於旋轉盤之大致任意的轉動角，都能檢測出物品。本 發明的其他追加課題，是同時能檢測出轉動部上物品的備 置。 本發明的旋轉盤，係藉由基部使轉動部在水平面內轉 動；其具備：配置於前述轉動部的上面且可出沒自如的至 -4- 200920681 少1個突起、設置於前述轉動部的底面側且和前述至少1 個突起的出沒連動而進行上下移動的至少1個被檢測構件 、將前述至少1個被檢測構件向上彈壓之至少1個彈壓構 件、用來檢測前述被檢測構件的高度位置且設置於不和前 述轉動部產生連動的位置之至少1個感測器。 較佳爲，前述至少1個被檢測構件，是沿著以轉動部 的轉動中心附近的位置爲中心之圓周來配置。該圓周較佳 爲，通過轉動部的水平面內的端部附近。更佳爲，前述至 少1個被檢測構件是由複數個弧狀構件所構成，在各弧狀 構件設置個別的突起、個別的彈壓構件以及個別的感測器 0 本發明係關於藉由基部使轉動部在水平面內轉動的旋 轉盤，藉由前述轉動部上的物品，使配置於轉動部的上面 之出沒自如的突起下降，藉由前述突起的下降，使配置於 前述轉動部的底面側且被向上彈壓的被檢測構件下降，前 述被檢測構件的下降是利用設置於不和前述轉動部產生連 動的位置之感測器來檢測，藉此檢測出轉動部上的物品。 又在說明書中與旋轉盤有關的揭示，可直接套用於旋轉盤 上的物品之檢測方法。 在本發明，若在旋轉盤的轉動部上裝載物品，突起會 下降而使被檢測構件下降，而利用感測器來檢測此下降。 又被檢測構件是藉由彈壓構件朝上昇位置側彈壓，在沒有 物品的情形，是彈壓成使突起從轉動部突出。因此，在轉 動部和基部間未設置配線的情形下可檢測出物品。 -5- 200920681 若在以轉動部的轉動中心的附近爲中心的圓周上配置 被檢測構件’即使轉動部進行轉動，從感測器看來被檢測 構件的配置是不變的，因此能以任意的轉動角檢測出物品 。在此的轉動部，是指轉動部繞轉動軸轉動的角度，其代 表轉動部的方向。又被檢測構件是由複數個弧狀構件所構 成時，可在被檢測構件和被檢測構件的間隙以外的任意位 置進行物品的檢測。又若物品在轉動部上形成偏置，而存 在無法接觸物品的突起時，可進行物品偏置的檢測。 【實施方式】 以下說明用來實施本發明的最佳實施例。 〔實施例〕 第1圖至第4圖所示的實施例，係以搬運車2上的旋 轉盤3爲例。旋轉盤3具備轉動部4和基部6，基部6固 定在昇降機8上，藉由未圖示的馬達和軸承等來使板狀的 轉動部4進行轉動。昇降機8，係用來使基部6和轉動部 4所構成的旋轉盤3進行昇降。1 0代表行走車輪，是被行 走馬達12所驅動。搬運車2，係裝載著液晶用的玻璃基 板匣等的物品而行走’在和未圖示的棚架或站等之間’藉 由昇降機8使轉動部4昇降’以進行物品的交接。旋轉盤 3除了搬運車2以外’也能設置於搬運系統的站等’轉動 角的範圍可以是任意的’可設定成能以任意的轉動角進行 轉動，也能設定成僅以土 1 80°的轉動角進行轉動。 -6 - 200920681 轉動部4的上面爲水平面，藉由基部6，使轉動部4 以鉛直的轉動軸Z爲中心，例如以3 60°中任意的角度或 是±1 80°的角度進行轉動。又轉動軸z是通過轉動部4的 水平面內的中心。沿著以轉動軸Z爲中心的圓周上設置複 數個突起14’在各個突起連結弧狀構件16，弧狀構件16 是透過支承銷18而被轉動部4所支承。弧狀構件16是被 檢測構件的一例，其由鐵板等的磁性體板所構成，沿著以 軸z爲中心的圓周配置複數個。弧狀構件1 6，是和突起 1 4及支承銷1 8連結，且配置於轉動部4的底面側。第3 圖顯示弧狀構件1 6對轉動部4的配置。3 0代表孔，突起 1 4可位在：從轉動部4上突出的位置、沒入孔3 0內的位 置這2個位置。支承銷1 8收納於凹部3 6內，是和弧狀構 件1 6連結，且被彈性構件34向上彈壓。結果，在物品未 接觸突起1 4的情形，藉由來自彈性構件3 4的彈壓力，使 突起14朝轉動部4的上側突出。另一方面，若突起14被 物品向下推壓時’彈性構件3 4被壓縮，而使弧狀構件1 6 下降。也能取代支承銷18，而將突起14配置於凹部36 內並藉由彈性構件34向上彈壓。這時就不需要支承銷18 。又突起14和弧狀構件16只要使上下動及轉動產生連動 即可，不一定連結在一起。 在弧狀構件16的下側設置近接感測器2〇〜23，藉此 來監視弧狀構件1 6的高度位置。近接感測器2 〇〜2 3具備 電磁鐵等，隨著磁性體構成的弧狀構件1 6的接近，可檢 測出流過電磁鐵的電流的變化等。若突起1 4被推壓而使 200920681 弧狀構件16下降時，近接感測器20〜23接通（on 使訊號S1〜S4接通。取代近接感測器20〜23而使 感測器等亦可，感測器只要能監視弧狀構件1 6的 置的變化即可。對個別的弧狀構件1 6設置至少1 1 4，且設置支承銷1 8及彈性構件3 4，又對各個弧 16設置1個近接感測器20〜23。在實施例雖設置4 構件16，但設置2個或8個等亦可，隨著弧狀構fi 個數增多，可更正確地檢測出轉動部4上的物品配 極端的情形，能以無接縫的1個環狀構件作爲被檢 ’在轉動軸Z之相反側的相對向位置例如設置2個 且例如設置2個近接感測器。 第4圖顯示搬運車2的控制系統。控制部4 0 旋轉盤驅動部41及昇降機驅動部42、行走驅動部 此控制搬運車2的行走、昇降機的昇降、旋轉盤3 等。又利用通訊部44，從未圖示的地上側的控制 搬運指令，並報告搬運結果。在控制部40，會有 測器訊號S 1〜S4輸入，只要物品不是偏置於轉動部 4個感測器訊號S 1〜S4都會接通。又在未裝載物品 ，4個感測器訊號S1〜S4都是斷開（off)。若物 於轉動部4上，會產生接通的感測器訊號和斷開的 訊號。結果，可檢測出旋轉盤上之物品的有無、物 以正確的姿勢來裝載。 實施例可獲得以下的效果。近接感測器20 ~2 3 裝於轉動部4，只要直接安裝於基部6或搬運車2 )，而 用光電 高度位 個突起 狀構件 個弧狀 :16的 置。在 測構件 突起， 是控制 43，藉 的轉動 器接收 4個感 4上， 的情形 品偏置 感測器 品是否 不須安 的車體 -8- 200920681 等即可，故在轉動部4和基部6之間不須設置配線。即使 是在轉動部4進行轉動中，只要近接感測器20~23是在面 對弧狀構件1 6、1 6間之缺口的位置以外，都能進行物品 的檢測。再者，弧狀構件1 6的寬度，只要是近接感測器 20~23可檢測出的程度即可，因此可使用寬度小的輕量構 件。若將弧狀構件16、突起14、近接感測器20〜23、彈 性構件3 4分別設置複數個，同時可檢測出旋轉盤上物品 的偏置。 第5圖係顯示變形例的旋轉盤5 0。除了以下的不同 點以外，是和第1圖至第4圖的實施例相同。轉動部4是 以轉動軸Z爲中心而進行±180°的轉動，其停止位置包括 :第5圖的位置、讓其繞轉動軸Z轉動180°後的位置合 計2個位置。又在轉動部4的底面側設置一對被檢測構件 (板片5 1、5 2 )，其被支承銷1 8和未圖示的彈性構件支 承，藉由突起1 4下降至下側，並利用近接感測器2 1、23 進行檢測。第5圖的變形例，在轉動部4到達停止位置時 以外，並無法進行物品的檢測。又在物品朝第5圖的左右 方向偏置時，也無法進行檢測。除此外，可獲得和第1圖 至第4圖的實施例同樣的效果。 【圖式簡單說明】 第1圖係裝載實施例的旋轉盤之搬運車的俯視圖。 第2圖係第1圖的搬運車的II-II方向鉛直截面圖。 第3圖係實施例的旋轉盤的主要部分鉛直方向的局部 -9- 200920681 截面圖。 第4圖係顯示實施例的搬運車的控制系統的方塊圖。 第5圖係變形例的旋轉盤的俯視圖。 【主要元件符號說明】 2 :搬運車 3 :旋轉盤 4 :轉動部 6 :基部 8 :昇降機 1 〇 :行走車輪 1 2 :行走馬達 1 4 :突起 1 6 :弧狀構件 1 8 :支承銷 20~23 :近接感測器 30 :孔 32 :銷 3 4 :彈性構件 3 6 :凹部 4 0 :控制部 4 1 :旋轉盤驅動部 42 :昇降機驅動部 4 3 :行走驅動部 -10- 200920681 44 :通訊部 5 〇 :旋轉盤 5 1、5 2 :板片 Z :轉動軸 -11 -200920681 IX. Description of the Invention [Technical Field of the Invention] The present invention relates to the detection of articles on a rotating disk. [Prior Art] As disclosed in the patent document 丨 (Japanese Patent Laid-Open No. 0 5 - 3 3 8 7 1 9), it is necessary to detect the presence or absence of an object on the lifting platform. In order to detect the items on the rotating disk, it is initially considered to provide a reflective photo-sensing device or the like on the rotating disk to detect the article. However, the wiring connected to the sensor at this time poses a problem, and the wiring is distorted as the rotating disk rotates. Therefore, the combination of the slip ring and the brush is used to connect the rotating portion and the base portion, and the wiring is applied to the sensor, which causes dust due to wear of the brush and the slip ring, and wear due to the brush or the like. Therefore, maintenance must be carried out. [Patent Document 1] Japanese Laid-Open Patent Publication No. Hei 05-33 87 No. 1-9 SUMMARY OF THE INVENTION An object of the present invention is to detect an article on a rotating disk without providing wiring between a rotating portion of a rotating disk and a base. The additional problem of the present invention is that an article can be detected with respect to a substantially arbitrary rotation angle of the rotating disk. Another additional problem of the present invention is that it is possible to detect the contents of the article on the rotating portion at the same time. In the rotating disk of the present invention, the rotating portion is rotated in the horizontal plane by the base portion, and the rotating disk is disposed on the upper surface of the rotating portion and can be freely opened to -4-200920681. One protrusion is provided on the bottom surface of the rotating portion. At least one detected member that moves up and down in conjunction with the inflow of at least one of the protrusions, at least one elastic member that biases the at least one detected member upward, and detects a height position of the detected member And at least one sensor disposed at a position that does not interlock with the rotating portion. Preferably, at least one of the members to be detected is disposed along a circumference centering on a position near a center of rotation of the rotating portion. The circumference is preferably passed near the end in the horizontal plane of the rotating portion. More preferably, the at least one member to be inspected is composed of a plurality of arcuate members, and individual projections, individual elastic members, and individual sensors are provided in each of the arcuate members. The present invention relates to the use of a base. The rotating disk that rotates in the horizontal plane by the rotating portion lowers the freely-formed projection disposed on the upper surface of the rotating portion by the article on the rotating portion, and is disposed on the bottom surface side of the rotating portion by the lowering of the projection The member to be detected which is biased upward is lowered, and the lowering of the member to be detected is detected by a sensor provided at a position which is not interlocked with the rotating portion, thereby detecting an article on the rotating portion. Further, in the specification, the disclosure relating to the rotary disk can be directly applied to the detection method of the article on the rotary disk. In the present invention, if an article is loaded on the rotating portion of the rotary disk, the projection is lowered to lower the member to be detected, and the sensor is used to detect the drop. Further, the member to be inspected is biased toward the ascending position by the biasing member, and in the case where there is no article, it is biased so that the projection protrudes from the rotating portion. Therefore, the article can be detected without wiring between the rotating portion and the base portion. -5- 200920681 If the member to be detected is disposed on the circumference centered on the vicinity of the center of rotation of the rotating portion, even if the rotating portion is rotated, the arrangement of the detected member from the sensor is constant, so it can be arbitrarily The angle of rotation detects the item. The rotating portion herein refers to an angle at which the rotating portion rotates about the rotating shaft, which represents the direction of the rotating portion. Further, when the member to be detected is composed of a plurality of arc-shaped members, the article can be detected at any position other than the gap between the member to be detected and the member to be detected. Further, if the article is biased on the rotating portion and there is a projection that cannot contact the article, the article offset can be detected. [Embodiment] Hereinafter, preferred embodiments for carrying out the invention will be described. [Embodiment] The embodiment shown in Figs. 1 to 4 is exemplified by the rotary table 3 on the transport vehicle 2. The rotary disk 3 includes a rotating portion 4 and a base portion 6. The base portion 6 is fixed to the elevator 8, and the plate-shaped rotating portion 4 is rotated by a motor, a bearing or the like (not shown). The elevator 8 is for raising and lowering the rotary disk 3 constituted by the base portion 6 and the rotating portion 4. 1 0 represents the traveling wheel and is driven by the traveling motor 12. The vehicle 2 is carried by an article such as a glass substrate for liquid crystal, and is moved between the scaffold or the station (not shown) by the elevator 8 to raise and lower the rotating portion 4 to carry out the delivery of the article. In addition to the transport vehicle 2, the rotary disk 3 can be installed in a station of the transport system, etc. The range of the rotational angle can be any 'can be set to be rotatable at an arbitrary rotational angle, or can be set to only 1 80°. The angle of rotation is rotated. -6 - 200920681 The upper surface of the rotating portion 4 is a horizontal plane, and the rotating portion 4 is rotated about the vertical rotational axis Z by the base 6, for example, at an arbitrary angle of 3 60 degrees or an angle of ±180°. Further, the rotation axis z is a center in the horizontal plane passing through the rotating portion 4. A plurality of projections 14' are provided on the circumference around the rotation axis Z, and the arcuate members 16 are joined to the projections. The arcuate members 16 are supported by the rotation portions 4 through the support pins 18. The arcuate member 16 is an example of a member to be inspected, and is composed of a magnetic plate such as an iron plate, and is disposed in plural along a circumference centered on the axis z. The arcuate member 16 is coupled to the projection 14 and the support pin 18, and is disposed on the bottom surface side of the rotating portion 4. Fig. 3 shows the arrangement of the arcuate members 16 to the rotating portion 4. 3 0 represents a hole, and the protrusion 1 4 can be positioned at two positions, a position protruding from the rotating portion 4 and a position not immersed in the hole 30. The support pin 18 is housed in the recess 36 and is coupled to the arc member 16 and is biased upward by the elastic member 34. As a result, in the case where the article does not contact the projections 14, the projections 14 are projected toward the upper side of the rotating portion 4 by the elastic pressure from the elastic member 34. On the other hand, if the projection 14 is pressed downward by the article, the elastic member 34 is compressed, and the arcuate member 16 is lowered. Instead of the support pin 18, the projection 14 can be disposed in the recess 36 and biased upward by the elastic member 34. There is no need for the support pin 18 at this time. Further, the projections 14 and the arcuate members 16 may be interlocked as long as they move up and down and are not necessarily joined together. Proximity sensors 2〇 to 23 are provided on the lower side of the arcuate member 16, thereby monitoring the height position of the arcuate member 16. The proximity sensor 2 〇 2 2 3 is provided with an electromagnet or the like, and as the arc-shaped member 16 made of a magnetic body approaches, a change in current flowing through the electromagnet or the like can be detected. When the protrusions 14 are pushed to lower the 200920681 arc member 16, the proximity sensors 20 to 23 are turned on (on the signals S1 to S4 are turned on. Instead of the proximity sensors 20 to 23, the sensors, etc. Alternatively, the sensor can monitor the change of the arrangement of the arcuate members 16. The individual arcuate members 16 are provided with at least 1 14 and the support pins 18 and the elastic members 34 are disposed, respectively. The arc 16 is provided with one proximity sensor 20 to 23. In the embodiment, the four members 16 are provided, but two or eight or the like may be provided, and as the number of arc-shaped structures increases, the rotation can be detected more correctly. In the case where the article on the portion 4 is extremely extreme, it is possible to provide two non-seamless annular members as the detected position, for example, two opposite positions on the opposite side of the rotational axis Z, for example, two proximity sensors are provided. Fig. 4 shows a control system of the transport vehicle 2. The control unit 40 rotates the disk drive unit 41, the elevator drive unit 42, and the travel drive unit to control the travel of the transport vehicle 2, the elevation of the elevator, the rotary disk 3, and the like. 44. The conveyance command is controlled from the ground side of the figure (not shown), and the conveyance result is reported. In the control unit 40, The sensor signals S 1 to S4 are input, as long as the items are not offset from the rotating portion, the four sensor signals S 1 to S4 are turned on. In the unloaded items, the four sensor signals S1 to S4 are all off. If the object is on the rotating portion 4, the sensor signal and the disconnected signal are turned on. As a result, the presence or absence of the object on the rotating disk can be detected, and the object can be loaded in the correct posture. For example, the following effects can be obtained. The proximity sensors 20 to 2 3 are attached to the rotating portion 4, and are directly attached to the base portion 6 or the transport vehicle 2), and the projection members are arc-shaped with a photoelectric height of 16: The protrusion of the measuring member is the control 43, and the rotator receives the four senses 4, and the product biasing the sensor is not required to be mounted on the vehicle body-8-200920681, etc., so in the rotating portion 4 and No wiring is required between the bases 6. Even when the rotating portion 4 is rotated, the proximity sensors 20 to 23 can detect the article as long as it faces the gap between the curved members 16 and 16. Further, the width of the arcuate member 16 is only required to be detectable by the proximity sensors 20 to 23, so that a lightweight member having a small width can be used. If the arc member 16, the protrusion 14, the proximity sensors 20 to 23, and the elastic member 34 are respectively provided in plurality, the offset of the article on the rotary disk can be detected. Fig. 5 is a view showing a rotary disk 50 of a modification. The same as the embodiment of Figs. 1 to 4 except for the following differences. The rotating portion 4 is rotated by ±180° around the rotation axis Z, and the stop position includes two positions at the position of Fig. 5 and the position rotated by 180° around the rotation axis Z. Further, a pair of detected members (plates 5 1 and 5 2 ) are provided on the bottom surface side of the rotating portion 4, and are supported by the supporting pin 18 and an elastic member (not shown), and are lowered to the lower side by the projections 14 and The proximity sensor 2 1 , 23 is used for detection. In the modification of Fig. 5, the detection of the article cannot be performed except when the rotating portion 4 reaches the stop position. Also, when the article is biased in the left-right direction of Fig. 5, it cannot be detected. In addition, the same effects as those of the first to fourth embodiments can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a plan view showing a transport vehicle on which a rotary disk of an embodiment is mounted. Fig. 2 is a vertical sectional view of the transport vehicle of Fig. 1 in the II-II direction. Fig. 3 is a partial cross-sectional view of the main portion of the rotary disk of the embodiment in the vertical direction -9-200920681. Fig. 4 is a block diagram showing a control system of the truck of the embodiment. Fig. 5 is a plan view of a rotary disk of a modification. [Description of main component symbols] 2 : Pallet truck 3 : Rotating disc 4 : Rotating portion 6 : Base portion 8 : Lift 1 行走 : Traveling wheel 1 2 : Traveling motor 1 4 : Protrusion 1 6 : Arc member 1 8 : Support pin 20 ~23 : proximity sensor 30 : hole 32 : pin 3 4 : elastic member 3 6 : recess 4 0 : control unit 4 1 : rotary disk drive unit 42 : elevator drive unit 4 3 : travel drive unit-10- 200920681 44 :Communication Department 5 〇: Rotating disk 5 1、5 2 : Plate Z: Rotating axis -11 -