JPH0352005A - Unmanned carrier arrival detecting device - Google Patents

Abstract

PURPOSE:To surely detect an unmanned carrier reaching a specific position by using a detecting means which outputting a signal by sensing the carrier or a work mounted thereupon without contacting. CONSTITUTION:The tip part of a multi-axial head 1 is fitted with a projector and a photodetector (projector photodetector) 19 facedown as the detecting means which irradiates a reflecting plate 15 on the unmanned carrier 11 with light and photodetects its reflected light to output the signal. Then this projector photodetector 19 is connected to a nut runner controller 21 through an amplifier 20. Consequently, the arrival of the unmanned carrier can be detected without impeding the movement of an operator, machine materials, etc., on the travel surface of the unmanned carrier such as a follower.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a @ position for detecting when a self-propelled automatic guided vehicle guided by a guided S line has arrived at a predetermined position, in particular when a workpiece is The present invention relates to a device for detecting the arrival of an automatic guided vehicle carrying a workpiece such as a robot and traveling sequentially to a predetermined processing station.

Conventional technology It is well known that a continuous flow system is effective for efficient mass production, and for this reason, conventionally, for example, as schematically shown in Fig. 4, a conveyor 1 is used to receive workpieces. The table 2 is attached, and the workpiece (for example, an engine) placed on the workpiece pedestal 2 is subjected to predetermined automatic processing m<
For example, reaching the bottom of the nut runner (nut runner) 3 is detected by operating a limit switch 4 attached to a fixed part such as a frame of the conveyor 1 with a dog 5 attached to the workpiece pedestal 2. The processing machine 3 is lowered and engaged with the workpiece W, and in this way, the automatic processing cell 3 is moved in synchronization with the workpiece W, and the workpiece W is
A method of processing is adopted.

However, in a production line based on the above-mentioned conveyor 1, there are many fixed facilities on the front side, such as the conveyor 1 and various devices attached to it, and as a result, the processing station is also fixed. As a result, it is difficult to change the production line, and the movement of workers and equipment on the floor is hindered by fixed equipment such as the conveyor 1, which is inconvenient.

By the way, recently, automatic guided vehicles (hereinafter simply referred to as unmanned vehicles) have come to be frequently used for transporting parts and the like within factories. In other words, the unmanned vehicle moves on its own by tracing guidance means such as guide wires and anti-traffic tape placed on the floor, and controls such as stopping are performed using the C mark plate installed on the front side as an instruction means. Or, it runs according to data stored in its own storage means. One of the advantages of this unmanned vehicle is that it requires less fixed equipment on the floor and has a high degree of freedom in setting and changing the travel route and the transportation route for parts and the like. It is clear that the uses of unmanned vehicles are not limited to the simple delivery of parts, and recently, by taking advantage of the unique advantages of unmanned vehicles, production lines that have traditionally been based on roller conveyors or chain conveyors are being replaced with unmanned vehicles. Consideration is being given to configuring it as a transportation means. In such a production line, an unmanned vehicle is equipped with a jig for loading workpieces in a predetermined posture, or a storage area for assembled parts is installed in conjunction with this, and the unmanned vehicle is sequentially driven to a predetermined work station, and each This is a method in which pre-instructed processing is applied to the workpiece at the work station, and there is less fixed equipment on the running surface of the unmanned vehicle on the floor, making it easier to move workers and equipment.
In addition, it is possible to easily respond to changes in the varieties to be produced and the number of children produced.
Furthermore, effects such as multi-item mixed production become easier can be obtained.

Problems to be Solved by the Invention However, unmanned vehicles run by detecting guiding wires, reflective tapes, etc. electrically or optically and tracing these guidance means, and there are no problems with the driving system of unmanned vehicles. There is no means or equipment for mechanically restraining and guiding the Il, thereby reducing the number of fixed equipment on the floor side. Therefore, if a conventional limit switch is used as a means of detecting when an unmanned vehicle loaded with a workpiece has reached a position corresponding to an automatic processing machine, and this is fixed to the entire floor, the unmanned vehicle can be used as a transport means. The advantage of adopting this method, which is the reduction of fixed equipment on the floor, will be lost, and unmanned vehicles do not always travel in a fixed location, and the traveling line will change left and right depending on the traveling speed and the inertia caused by it. For this reason, contact type detection means such as limit switches require long contacts such as detection levers to cover a wide range. ! There is a problem in that this further obstructs the movement of workers, equipment, etc.

This invention was made against the background of the above-mentioned circumstances, and includes eight positions that can detect the arrival of an unmanned vehicle without obstructing the movement of workers or equipment on the floor or other surface on which the unmanned vehicle runs. The purpose is to provide

Means for Solving the Problems In order to achieve the above object, the present invention includes a detection means that outputs a signal in response to an automatic guided vehicle or a workpiece that has been hit by an automatic guided vehicle in a non-contact manner. It is characterized in that it is placed near the driving route of the vehicle and facing the driving route.

For production In this invention, detection of an unmanned vehicle is performed in a non-contact manner.

Therefore, as a detection means, one that performs a detection action using light, electromagnetic waves, sound, or images as a medium is used, and the installation position is not particularly limited as it is a non-contact detection method. Coupled with the fact that there are no protruding objects such as contacts, there is no obstacle to the movement of workers or equipment.

Example Next, embodiments of the invention will be described with reference to the drawings.

FIG. 1 is a schematic diagram showing an embodiment of the present invention, and the example shown here shows a nut runner 1 waiting at a predetermined position.
This is an example configured to detect that the unmanned vehicle 11 has arrived at 0. In other words, the unmanned vehicle 11, like the conventional one, moves by itself by tracing guiding means (not shown) such as an electromagnetic wave emitting line and reflective tape installed on the floor 12 side. , on the upper surface thereof, there are provided a workpiece pedestal 13 on which a workpiece W such as an engine block is mounted in a predetermined posture, and a storage shelf 14 for storing parts, tools, etc. to be assembled on the workpiece W. A predetermined part of the main body part, the workpiece pedestal 13, or the storage shelf 14 (in the example shown in the figure, the storage l11
A reflecting plate 15 that reflects light upward is attached to the front end surface of the lens 4.

On the other hand, the nut runner 10 lowers the multi-axis head 16 while traveling in synchronization with the workpiece W to engage the nut or bolt head on the workpiece W, tightens it, and after the tightening is completed, the multi-axis head 16 It is installed so that it can move back and forth within a predetermined range along a guideway 17 that is installed above the travel path of the unmanned vehicle 11 and approximately parallel to the path;
In particular, the synchronized running with the unmanned vehicle 11 is performed by the running power of the unmanned vehicle 1i11, and the vehicle is configured to move 1 m back to the synchronization start position by its own driving power. At the front end of the multi-axis head 16 in the traveling direction of the unmanned vehicle 11,
A receiving jig 18 that engages with the front end of the work W is provided to cause the work W to run in synchronization with the work W. Furthermore, a reflector 15 in the unmanned center 11 is provided at the tip of the multi-axis head 16.
A light projector and a light receiver (hereinafter collectively referred to as a light receiver) 19 are mounted downward as detection means for illuminating light onto the light beam, receiving the reflected light, and outputting a signal. This secondary photoreceiver 19 is connected via an amplifier 20 to a nutrunner system III system W121.

Next, the operation of the above device will be explained with reference to the flowchart shown in FIG. 2 and the control cycle diagram shown in FIG. 3.

When the entire system is in operation, the unmanned vehicle 11 is traveling at a predetermined speed along the travel route provided by the guidance means, and the nut runner 10 is in standby at a predetermined standby position (
Step 101) L, and light is emitted downward from the optical receiver 19. Therefore, the presence or absence of the arrival of the unmanned vehicle (AGV) 11 is constantly detected by the light emitter/receiver 19 (step 102). Further, in this standby state, the multi-axis head 16 is at the upper limit position, and the light receiver is not detecting light, so it is in the OFF state. When the unmanned vehicle 11 reaches below the nut runner 10 and the light from the light emitter/receiver 19 hits the reflection plate 15 and is reflected, the secondary light receiver 19 detects the reflection light and sends a signal. Output file (step 102
Yes). In other words, the receiver is turned on as shown in Figure 3.
state. This output signal is amplified in the amplifier 20 and the nutrunner system 1p is installed! 21, and as a result, the multi-axis head 16 starts its downward movement (step 103). When the multi-axis head 16 reaches the lower limit position, the receiving jig 18 engages with the workpiece W, and the nut runner 19
starts traveling in synchronization with the workpiece W, and it is determined whether the multi-axis head 16 has properly seated the workpiece W (step 104), and if it is improperly seated, an NG signal is output. (step 105), and if the @ seat is completed,
Tightening is performed (step 106). In this state, the light from the secondary receiver 19 is removed from the reflection plate 15, so
The receiver is turned off. When the tightening torque reaches a predetermined value (YES in step 107), a tightening completion signal is output (step ioa), and the multi-axis head 16 is raised based on the output signal (step 109).
At the same time, the receiving jig 18 is removed from the workpiece W. Then, the unmanned vehicle 11 continues to run, and the nut runner 10 returns to its original position (step 110) and returns to its initial state.

As described above, with the above-mentioned device, the arrival of the unmanned vehicle 11 can be reliably detected from a position distant from the unmanned vehicle 11, and the detection means will not interfere with the movement of workers, equipment, etc.

In addition, in the above embodiment, an example using an optical signal was explained, but the present invention is not limited to the above embodiment, and electromagnetic waves, sound, etc. can also be used as a signal for detection, and furthermore, the present invention is not limited to the above embodiment. An image obtained by an image pickup tube or an image pickup device can be used as a signal for detection. Naturally, the structure may be such that it receives and detects not only reflected signals but also signals emitted by the unmanned vehicle. Furthermore, the means for detection is not limited to the structure that is attached to the processing machine such as the nut runner mentioned above, but may be attached to a predetermined fixed location, and the output signal of the detection means is the start of operation of the automatic processing machine such as the nut runner. Of course, the signal may be used as a signal for other control instead of as a signal for other controls.

Effects of the Invention As is clear from the above explanation, the present invention uses a detection means that outputs a signal in a non-contact manner in response to an unmanned vehicle or a workpiece mounted thereon, so that floor equipment It is possible to reliably detect the arrival of an unmanned vehicle at a predetermined location without requiring any additional equipment.In other words, the driving line of the unmanned vehicle is simplified, and accordingly, the amount of work required is reduced. This will have the effect of eliminating the light pollution caused by the movement of contractors and equipment, and ensuring the stability of unmanned vehicle operation.

[Brief explanation of drawings]

Fig. 1 is a schematic diagram schematically showing an embodiment of the present invention, Fig. 2 is a control flow chart thereof, Fig. 3 is a control cycle diagram, and Fig. 4 shows a conventional conveyor as a conveying means. It is a schematic diagram of an example of a production line. 10...Nutrunner, 11...Unmanned vehicle, 15
...Reflection plate, 16...Multi-axis head, 19...Role receiver. Figure 1 Figure 3 Figure 2 Figure 4 2-1 inside the factory Toyota Industries Corporation

Claims (1)

[Claims] An unmanned vehicle characterized in that a detection means that outputs a signal in a non-contact manner in response to an unmanned guided vehicle or a workpiece mounted on the unmanned guided vehicle is disposed near the traveling route of the unmanned guided vehicle and facing the traveling route. Transport vehicle arrival detection device.