WO2013105211A1 - 自動搬送機の非常停止方法、搬送作業システム、及び搬送作業システムにおける自動搬送機の非常停止方法 - Google Patents
自動搬送機の非常停止方法、搬送作業システム、及び搬送作業システムにおける自動搬送機の非常停止方法 Download PDFInfo
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- WO2013105211A1 WO2013105211A1 PCT/JP2012/050241 JP2012050241W WO2013105211A1 WO 2013105211 A1 WO2013105211 A1 WO 2013105211A1 JP 2012050241 W JP2012050241 W JP 2012050241W WO 2013105211 A1 WO2013105211 A1 WO 2013105211A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- the present invention relates to an emergency stop method for an automatic transfer machine, a transfer work system, and a technique for an emergency stop method for an automatic transfer machine in the transfer work system.
- Automatic conveyors are automatically operated by computer control on production lines in factories.
- the automatic transfer machine is used in a production line to transfer a workpiece in a work facility where welding work, processing work, or the like is performed, or to transfer a work between these work facilities.
- an emergency stop device that stops the operation of work equipment and automatic transporters in the event of an emergency is necessary for safety reasons.
- the automatic transfer machine has an emergency stop button for stopping traveling in an emergency.
- stopping the automatic transfer machine by wireless is not preferable from the viewpoint of safety for reliably stopping the automatic transfer vehicle. .
- the problem to be solved by the present invention is to provide an automatic transfer machine emergency stop method, a transfer work system, and an automatic transfer machine emergency stop method in the transfer work system that can reliably stop the automatic transfer machine in an emergency. .
- the traveling carriage the obstacle detecting means for detecting an obstacle existing in a predetermined detection range, and the stop for stopping the traveling carriage when the obstacle is detected by the obstacle detecting means.
- an emergency stop method for an automatic transporter wherein when the traveling carriage is to be stopped in an emergency, an operator can enlarge a detection range of the obstacle detection means, and the obstacle in the expanded detection range.
- the automatic conveying machine is stopped by the stopping means.
- a traveling carriage including a traveling carriage, obstacle detection means for detecting an obstacle present in a predetermined detection range, and stop means for stopping the traveling carriage when an obstacle is detected by the obstacle detection means, , And a work work system for performing work on a work carried by the automatic carrier, wherein the obstacle detection means is an obstacle detection range.
- the work facility includes a detection range switching unit that switches a detection range of the obstacle detection unit.
- the detection range switching means expands the detection range of the obstacle detection means of the automatic transfer machine that has entered the work equipment, and the obstacle detection means with the detection range expanded,
- the automatic conveying machine is stopped by the stopping means by detecting a working machine that is provided in a work facility and performs work on the workpiece.
- a traveling vehicle an obstacle detection unit that detects an obstacle existing in a predetermined detection range, and a stop unit that stops the traveling vehicle when the obstacle is detected by the obstacle detection unit.
- An emergency stop method for an automatic transfer machine in a transfer work system comprising: an automatic transfer machine comprising: an automatic transfer machine comprising: a work facility for performing work on a workpiece transferred by the automatic transfer machine; The means is configured to be able to switch an obstacle detection range, and the work facility includes a detection range switching means for switching a detection range of the obstacle detection means, and enters the work facility by the detection range switching means.
- the detection range of the obstacle detection means of the automatic transfer machine is expanded, and the obstacle detection means with the expanded detection range is provided in the work facility and is attached to the workpiece. By detecting a working machine that performs work that is intended to stop the automatic conveyor by said stopping means.
- the automatic transport machine can be stopped reliably in an emergency.
- the schematic diagram which shows the structure of the production line which concerns on embodiment of this invention The schematic diagram which similarly shows the structure of an automatic conveyance machine.
- schematic diagram The flowchart which similarly shows the flow of automatic conveyance machine emergency stop control.
- schematic diagram The schematic diagram which shows the flow of automatic conveyance machine emergency stop control.
- the production line 100 will be described with reference to FIG.
- the production line 100 is a production line including an automatic transfer machine and a transfer work system according to an emergency stop method, a transfer work system, and an emergency stop method of an automatic transfer machine in the transfer work system of the present invention.
- the production line 100 is provided in the automobile factory 200.
- the production line 100 of the present embodiment is a production line that performs work such as processing and assembly of parts on the workpiece W transported by the automatic transporter 10 by the work facility 60.
- the workpiece W of this embodiment is an underbody of an automobile.
- a transfer work system including the automatic transfer machine 10 and the work facility 60 is configured.
- the production line 100 includes a plurality of work facilities 60 and a transfer path of the automatic transfer machine 10. Each work facility 60 is arranged close to or away from each other.
- the automatic transporter 10 transports the work W in the work facility 60 or transports the work W between the work facility 60 and the work facility 60 in the next process.
- the automatic transporter 10 travels along the transport path and transports the work W by pulling the carriage 20 on which the work W is placed.
- the work facility 60 includes a plurality of work devices 61, and the work devices 61 are disposed on both sides of the transport path of the automatic transport machine 10 (see FIG. 3).
- FIG. 2A shows a plan view of the automatic transfer machine 10
- FIG. 2B shows a front view of the automatic transfer machine 10.
- FIG. below, it demonstrates according to the conveyance direction shown in FIG.2 and FIG.3, the width direction, and the height direction.
- the automatic transfer machine 10 pulls the carriage 20 on which the workpiece W is placed and transfers the workpiece W.
- the automatic transfer machine 10 is automatically operated by an integrated controller (not shown) of the production line 100.
- the automatic transfer machine 10 includes a traveling carriage 11, a coupler 12, a proximity switch 15, an obstacle sensor 16 as an obstacle detection unit, and a stop device 17 as a stop unit.
- the traveling carriage 11 is a self-propelled type equipped with a power source.
- the coupler 12 connects the traveling carriage 11 and the carriage 20.
- the obstacle sensor 16 detects an obstacle in front of the automatic conveyance machine 10 in the conveyance direction.
- the obstacle sensor 16 is provided on the front side in the transport direction of the traveling carriage 11.
- the obstacle sensor 16 can detect the presence or absence of an obstacle in the detection area D ahead of the conveyance direction.
- the detection range D is a range formed with a predetermined width and a predetermined depth on a horizontal plane having a predetermined height.
- a standard detection range Dn is set as one of the detection ranges D, and the predetermined width of the standard detection range Dn is larger than the width of the workpiece W. Further, the obstacle sensor 16 is set with a reduction detection range Ds as one of the detection ranges D, and the predetermined width of the reduction detection range Ds is the passage width of the work equipment 60 (both sides of the transfer route through which the automatic transfer machine 10 passes). The width is smaller than between the working device 61 and the working device 61 arranged at the same position.
- the simple detection range D includes the standard detection range Dn and the reduced detection range Ds.
- the proximity switch 15 changes the size of the detection area D of the obstacle sensor 16 to either the standard detection range Dn or the reduced detection range Ds.
- the proximity switch 15 extends on the one side in the width direction to the outer side in the width direction than the longer one of the traveling cart 11 and the cart 20 of the automatic transporter 10 in the width direction, and on the upper side in the vertical direction. It extends beyond the vertical height of 10 and is provided upward.
- it is good also as a structure which provides two proximity switches 15 in parallel in a conveyance direction.
- the proximity switch 15 detects the presence or absence of a nearby object without contact.
- the proximity switch 15 of the present embodiment reduces the size of the detection area D of the obstacle sensor 16 when the object is detected in the vicinity without contact (when the proximity switch 15 is turned on). Set to Ds. Further, when the proximity switch 15 does not detect an object in the vicinity without contact (when the proximity switch 15 is turned OFF), the size of the detection area D of the obstacle sensor 16 is set to the standard detection range Dn. Set.
- the stopping device 17 is for stopping the traveling carriage 11 of the traveling automatic carrier 10. When the obstacle sensor 16 detects an obstacle in the detection range D, the stopping device 17 stops the traveling carriage 11 that travels.
- FIG. 3A is a plan view showing a state in which the automatic transfer machine 10 enters the work facility 60.
- FIG. 3B shows a state in which the automatic transfer machine 10 enters the work facility 60 in a front view.
- the work facility 60 includes a plurality of work devices 61 and a switch bar 65 as detection range switching means.
- the work device 61 is for processing the workpiece W, welding the workpiece W, or assembling parts to the workpiece W by a robot or the like. In the present embodiment, detailed description of each working device 61 is omitted.
- the switch bar 65 is detected by the proximity switch 15 of the automatic transfer machine 10 that has entered the work facility 60 immediately before entering the work facility 60 and in an emergency (described later) in normal times (when it is in a standard position Sn described later).
- the emergency stop position Ss is set
- it is not detected by the proximity switch 15 of the automatic transfer machine 10 immediately before entering the work facility 60 and in the state of entering the work facility 60.
- the switch bar 65 is provided on one side in the width direction in parallel with the transfer path of the automatic transfer machine 10 in the work facility 60 and extends over substantially the entire range in the transfer path direction of the work facility 60. Furthermore, the switch bar 65 extends from the upstream end in the transport path direction of the work facility 60 toward the upstream side.
- the switch bar 65 includes a proximity portion 66, a main body 67, a support shaft 68, and a support base 69.
- the main body 67 is configured in a substantially L shape in a sectional view in the transport direction.
- the proximity portion 66 is provided on the distal end side of the main body 67.
- the support shaft 68 supports the main body 67 and the support stand 69 so as to be rotatable about the transport direction.
- the support base 69 is provided on one side in the width direction in the work facility 60.
- the switch bar 65 is configured to switch between two postures of a standard position Sn and an emergency stop position Ss by a cylinder mechanism.
- the standard position Sn is a position where the main body 67 and the proximity portion 66 are rotated downward so that the main body 67 comes into proximity to the proximity switch 15 of the automatic transfer machine 10 that has entered the work facility 60 (FIG. 3 ( The position of the switch bar 65 indicated by B).
- the proximity unit 66 is detected by the proximity switch 15 of the automatic transfer machine 10 when the automatic transfer machine 10 enters the work facility 60.
- the emergency stop position Ss is a position where the main body 67 and the proximity portion 66 are rotated upward from the standard position Sn so that the main body 67 is separated from the proximity switch 15 of the automatic transfer machine 10 that has entered the work facility 60. (Position of the switch bar 65 shown in the upper right of FIG. 3B). When the switch bar 65 is in the emergency stop position Ss, the proximity unit 66 is not detected by the proximity switch 15 of the automatic transfer machine 10 when the automatic transfer machine 10 enters the work facility 60.
- the work facility entry control S50 will be described with reference to FIGS.
- the flow of work facility approach control S50 is shown with the flowchart.
- FIG. 5 for easy understanding of the work facility entry control S ⁇ b> 50, a schematic plan view is shown on the left side, and a schematic front view is shown on the right side.
- step S ⁇ b> 40 the automatic conveyance machine 10 conveys the workpiece W and approaches the work facility 60 on the conveyance path of the automatic line 100.
- the detection range D of the obstacle sensor 16 is set to the standard detection range Dn because the proximity switch 15 is not detecting anything. Therefore, the automatic transport machine 10 stops when it detects an obstacle (particularly an operator) in front of the transport.
- the automatic transfer machine 10 is automatically operated by the integrated controller of the production line 100.
- step S51 (work equipment entry control S50)
- the switch bar 65 is detected by the proximity switch 15 of the automatic transport machine 10 before the automatic transport machine 10 enters the work equipment 60 (the proximity switch 15 is turned ON).
- the proximity unit 66 is detected by the proximity switch 15 of the automatic transport device 10 immediately before the automatic transport device 10 enters the work facility 60. Is done.
- step S52 (work equipment entry control S50) the proximity switch 15 of the automatic transfer machine 10 is turned ON, so that the setting of the detection area D of the obstacle sensor 16 is changed from the standard detection range Dn to the reduction detection range Ds.
- the standard detection range Dn is set to the reduction detection range Ds, and the detection range D is reduced, so that the automated guided vehicle 10 that has entered the work facility 60 moves the work device 61 to the obstacle. Can be detected and stopped.
- step S ⁇ b> 60 the automatic transport vehicle 10 enters the work facility 60 without transporting the work device 61 as an obstacle, and transports the workpiece W in the work facility 60.
- the work device 61 of the work facility 60 performs work on the workpiece W transported by the automatic transport machine 10.
- the emergency stop control S100 will be described with reference to FIGS.
- FIG. 6 the flow of emergency stop control S100 is shown with the flowchart.
- FIG. 7 for easy understanding of the explanation, the emergency stop control S ⁇ b> 100 shows a schematic plan view on the left side and a schematic front view on the right side.
- step S60 the automatic conveyance machine 10 in which the detection area D of the obstacle sensor 16 is set to the reduction detection range Ds enters the work facility 60 without recognizing the work device 61 as an obstacle.
- step S110 the equipment controller confirms whether an emergency stop button (not shown) of the work equipment 60 has been pressed by the operator.
- the process proceeds to step S120. If the emergency stop button has not been pressed by the operator, the process proceeds to step S200.
- step S120 (emergency stop control S100)
- the equipment controller switches the switch bar 65 of the work equipment 60 from the standard position Sn to the emergency stop position Ss.
- the switch bar 65 is switched to the emergency stop position Ss, the proximity switch 15 of the automatic transport machine 10 does not detect the switch bar 65 (the proximity switch 15 is turned OFF). At this time, all the work devices 61 in the work facility 60 are stopped by pressing the emergency stop button by the worker.
- step S130 (emergency stop control S100) when the proximity switch 15 of the automatic transport machine 10 is turned OFF, in the automatic transport machine 10, the setting of the detection area D of the obstacle sensor 16 is standard detection from the reduction detection range Ds. The range is changed to Dn.
- step S140 the obstacle sensor 16 changes the work device 61 in the work facility 60 by changing the detection area D of the obstacle sensor 16 of the automatic transporter 10 to the standard detection range Dn. Detect as an obstacle.
- the obstacle sensor 16 detects the work device 61 as an obstacle, the automatic transfer machine 10 is stopped by the stop device 17.
- the detection area D of the obstacle sensor 16 is expanded to become the standard detection range Dn, and the obstacle sensor 16 causes the work device 61 to move to the obstacle in the expanded standard detection range Dn. Therefore, the automatic transfer machine 10 is stopped by the stop device 17.
- step S200 the automatic transport vehicle 10 transports the workpiece W in the work facility 60 within the work facility 60 without detecting the work device 61 as an obstacle.
- the automatic transfer machine 10 leaves the work facility 60.
- the automatic transfer machine 10 has an emergency stop button for stopping traveling in an emergency.
- the automatic stop of the automatic transfer machine 10 by wireless means that the automatic transfer vehicle 10 is surely stopped. It was not preferable.
- the automatic transfer machine 10 can be stopped reliably in an emergency. That is, by changing the setting of the detection area D of the obstacle sensor 16 from the reduced detection range Ds to the standard detection range Dn in the work equipment 60, the size of the detection area D is expanded, and the work equipment 60 is intentionally Thus, it is possible to cause the obstacle sensor 16 to detect the work device 61 and to stop the automatic transfer machine 10 reliably.
- the automatic conveyance machine 10 shall be equipped with the emergency stop button different from the emergency stop button of the work equipment 60 used in emergency stop control S100.
- the operator can stop the traveling carriage 11 of the automatic transfer machine 10 by pressing an emergency stop button provided in the automatic transfer machine 10.
- the present invention can be used in an emergency stop method for an automatic transport machine, a transport work system, and an emergency stop method for an automatic transport machine in a transport work system.
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Abstract
Description
生産ライン100は、本発明の自動搬送機の非常停止方法、搬送作業システム、及び搬送作業システムにおける自動搬送機の非常停止方法に係る自動搬送機や搬送作業システムを備えた生産ラインである。生産ライン100は、自動車工場200に設けられている。
なお、図2(A)は、自動搬送機10の平面図を示し、図2(B)は、自動搬送機10の正面図を示している。以下では、図2及び図3に示す搬送方向、幅方向及び高さ方向に従って説明する。
なお、図3(A)は、自動搬送機10が作業設備60に進入する状態を平面図で示している。図3(B)は、自動搬送機10が作業設備60に進入する状態を正面図で示している。
なお、図4では、作業設備進入制御S50の流れをフロー図で示している。図5では、説明を分かり易くするために、作業設備進入制御S50について、左側には平面模式図を示し、右側には正面模式図を示している。
なお、図6では、非常停止制御S100の流れをフロー図で示している。図7では、説明を分かり易くするために、非常停止制御S100について、左側には平面模式図を示し、右側には正面模式図を示している。
従来、自動搬送機10は、非常時には走行を停止する非常停止ボタンを具備していた。しかし、溶接作業、加工作業等が行われる作業設備60内においては、作業者が自動搬送機10の非常停止ボタンを押すことが困難であった。また、無線で作業設備60内に進入した自動搬送機を停止させることも考えられるが、非常時に、無線による自動搬送機10の停止は、自動搬送車10を確実に停止させるという安全上の観点から好ましくはなかった。
11 走行台車
15 近接スイッチ
16 障害物センサ
17 停止装置
20 台車
60 作業設備
61 作業装置
65 スイッチバー
100 自動ライン
200 自動車工場
D 検知範囲
Dn 標準検知範囲
Ds 縮小検知範囲
Sn 標準位置
Ss 非常停止位置
W ワーク
Claims (4)
- 走行台車と、所定の検知範囲に存在する障害物を検知する障害物検知手段と、前記障害物検知手段によって障害物を検知したときに前記走行台車を停止させる停止手段と、を具備する自動搬送機の非常停止方法であって、
前記走行台車を非常停止させるときには、作業者によって前記障害物検知手段の検知範囲を拡大させ、拡大された検知範囲において前記障害物検知手段により障害物を検知することにより、前記停止手段によって前記自動搬送機を停止させる、
自動搬送機の非常停止方法。 - 走行台車と、所定の検知範囲に存在する障害物を検知する障害物検知手段と、前記障害物検知手段によって障害物を検知したときに前記走行台車を停止させる停止手段と、を具備する自動搬送機と、
前記自動搬送機により搬送されるワークに対して作業を行う作業設備と、
を備えた搬送作業システムであって、
前記障害物検知手段は、障害物の検知範囲を切り替え可能に構成され、
前記作業設備は、前記障害物検知手段の検知範囲を切り替える検知範囲切り替え手段を具備する、
ことを特徴とする搬送作業システム。 - 前記検知範囲切り替え手段により、前記作業設備に進入した自動搬送機の前記障害物検知手段の検知範囲を拡大し、
検知範囲が拡大された前記障害物検知手段にて、前記作業設備に備えられ前記ワークに対する作業を行う作業機を検知することにより、
前記停止手段によって前記自動搬送機を停止させる、
ことを特徴とする請求項2に記載の搬送作業システム。 - 走行台車と、所定の検知範囲に存在する障害物を検知する障害物検知手段と、前記障害物検知手段によって障害物を検知したときに前記走行台車を停止させる停止手段と、を具備する自動搬送機と、
前記自動搬送機により搬送されるワークに対して作業を行う作業設備と、
を備えた搬送作業システムにおける自動搬送機の非常停止方法であって、
前記障害物検知手段は、障害物の検知範囲を切り替え可能に構成され、
前記作業設備は、前記障害物検知手段の検知範囲を切り替える検知範囲切り替え手段を具備し、
前記検知範囲切り替え手段により、前記作業設備に進入した自動搬送機の前記障害物検知手段の検知範囲を拡大し、
検知範囲が拡大された前記障害物検知手段にて、前記作業設備に備えられ前記ワークに対する作業を行う作業機を検知することにより、
前記停止手段によって前記自動搬送機を停止させる、
ことを特徴とする搬送作業システムにおける自動搬送機の非常停止方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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BR112014016380-4A BR112014016380B1 (pt) | 2012-01-10 | 2012-01-10 | Sistema de trabalho de transporte e método de parada de emergência |
PCT/JP2012/050241 WO2013105211A1 (ja) | 2012-01-10 | 2012-01-10 | 自動搬送機の非常停止方法、搬送作業システム、及び搬送作業システムにおける自動搬送機の非常停止方法 |
JP2013553119A JP5835350B2 (ja) | 2012-01-10 | 2012-01-10 | 自動搬送機の非常停止方法、搬送作業システム、及び搬送作業システムにおける自動搬送機の非常停止方法 |
CN201280066464.1A CN104040449B (zh) | 2012-01-10 | 2012-01-10 | 自动输送机的紧急停止方法、输送作业系统、以及输送作业系统中的自动输送机的紧急停止方法 |
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- 2012-01-10 WO PCT/JP2012/050241 patent/WO2013105211A1/ja active Application Filing
- 2012-01-10 JP JP2013553119A patent/JP5835350B2/ja active Active
- 2012-01-10 CN CN201280066464.1A patent/CN104040449B/zh not_active Expired - Fee Related
- 2012-01-10 BR BR112014016380-4A patent/BR112014016380B1/pt not_active IP Right Cessation
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JPH01304508A (ja) * | 1988-06-01 | 1989-12-08 | Mitsubishi Electric Corp | 無人搬送車 |
JP2001089096A (ja) * | 1999-09-17 | 2001-04-03 | Komatsu Forklift Co Ltd | 移動車両における障害物検出装置 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021006321A1 (ja) * | 2019-07-10 | 2021-01-14 | ヤンマーパワーテクノロジー株式会社 | 自動走行システム |
JP2021015341A (ja) * | 2019-07-10 | 2021-02-12 | ヤンマーパワーテクノロジー株式会社 | 自動走行システム |
EP3998516A1 (en) * | 2019-07-10 | 2022-05-18 | Yanmar Power Technology Co., Ltd. | Automatic travel system |
EP3998516A4 (en) * | 2019-07-10 | 2023-09-13 | Yanmar Power Technology Co., Ltd. | AUTOMATIC TRAVEL SYSTEM |
JP7356829B2 (ja) | 2019-07-10 | 2023-10-05 | ヤンマーパワーテクノロジー株式会社 | 自動走行システム |
Also Published As
Publication number | Publication date |
---|---|
BR112014016380B1 (pt) | 2022-03-15 |
CN104040449B (zh) | 2016-07-06 |
BR112014016380A2 (pt) | 2021-04-20 |
JPWO2013105211A1 (ja) | 2015-05-11 |
CN104040449A (zh) | 2014-09-10 |
BR112014016380A8 (pt) | 2017-07-04 |
JP5835350B2 (ja) | 2015-12-24 |
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