JPH0452961B2 - - Google Patents

Description

Detailed Description of the Invention (Industrial Application Field) The present invention provides automatic stop control of a traveling conveyance vehicle when the inter-vehicle distance between the traveling conveyance vehicle and the preceding stopped conveyance vehicle reaches a set limit distance. This invention relates to a stop control device for a transport vehicle.

(Prior art and its problems) The above-mentioned stop control of the traveling conveyance vehicle based on the inter-vehicle distance is to ensure a certain safe inter-vehicle distance between the preceding stopped conveyance vehicle and automatically stop the following conveyance vehicle. However, when the transport vehicle is loaded with a longer transported object or loading platform than the transport vehicle, the inter-vehicle distance when the traveling control signal is transmitted is equal to the distance between the long transported object or the loading platform. This setting assumes that a loading platform is installed. That is, the control is performed so that the conveyance vehicle can be automatically stopped without the objects to be conveyed or the loading platforms, which protrude longer forward and backward than the conveyance vehicle, colliding with each other.

However, in the case where the traveling line of the conveying vehicle includes a traveling line of the conveying vehicle in an unloaded state where no transported object or loading platform is mounted, for example, a storage line of the empty loaded conveying vehicle, In the storage line of this empty cargo carrier,
A long safe inter-vehicle distance, which is the same as when a long conveyed object or a loading platform is mounted between the conveyance vehicles before and after the vehicle is stopped, is ensured, and the utilization efficiency of the storage line is significantly reduced.

(Means for Solving the Problems) The present invention proposes a stop control device for a transport vehicle that can solve the conventional problems as described above. The trolley is provided with a load detection means for detecting whether a transported object or a cargo platform longer than the transport vehicle is loaded, and an inter-vehicle distance detection means for detecting the inter-vehicle distance between the preceding transport vehicle, This inter-vehicle distance detection means is for transmitting a control signal when the limit inter-vehicle distance is reached in a loaded state and when the limit inter-vehicle distance is reached in an unloaded state. When in the cargo presence detection state, a control signal that is transmitted when the limit inter-vehicle distance in the cargo presence state is reached is input to the traveling motor line control device of the transport vehicle, and the cargo presence detection means is in the empty cargo detection state. In some cases, a control signal to be sent when the limit inter-vehicle distance in an unloaded state is reached is input to the traveling motor control device of the transport vehicle, so that the transport vehicle is controlled to stop at each of the limit inter-vehicle distances. It is in the point that I made it.

(Function) In the above-mentioned control device of the present invention, if the conveyance vehicle is loaded with a long conveyed object or a loading platform that protrudes forward and backward from the conveyance vehicle, the presence detection means is present. In order to enter the load detection state, the traveling conveyance vehicle with loaded objects approaches the preceding stopped conveyance vehicle, and the limit inter-vehicle distance that can avoid collisions between loaded objects or loading platforms, that is, the limit inter-vehicle distance in the loaded condition. A control signal sent from the inter-vehicle distance detection means when the distance is reached is input to the traveling motor control device of the transport vehicle, and the stop control of the traveling transport vehicle is performed.

In addition, if the transport vehicle is empty, the load detection means becomes the empty load detection means, so it is necessary to avoid collisions between the transport vehicles due to the empty traveling transport vehicle approaching the preceding stopped transport vehicle. When the minimum inter-vehicle distance, that is, the limit inter-vehicle distance in an unloaded state, is reached, a control signal sent from the inter-vehicle distance detection means is input to the traveling motor control device of the transport vehicle, and the stop control of the traveling transport vehicle is performed. It will be done.

(Example) An example of the present invention will be described below based on the attached illustrative drawings.

In FIGS. 1 and 2, reference numeral 1 denotes a transport vehicle that can self-propel along a fixed route along a guide rail 2, and wheels 3 that engage with the guide rail 2.
, a propulsion drive gear 4 that meshes with a rack gear arranged in parallel with the guide rail 2, and a motor 5 that drives this drive gear 4. A pallet 6 is longer than the carrier 1 and is mounted on the carrier 1 so as to protrude from the carrier 1 by the same length back and forth. Reference numeral 7 denotes a switch as a detection means for determining whether or not the loading platform 6 is mounted on the carrier 1, and includes a contact-type limit switch that comes into contact with the loading platform 6, a non-contact type photoelectric switch, etc. The one adapted to the configuration is used. 8,9 is a distance proportional voltage output type photoelectric sensor which is a component of the inter-vehicle distance detection means.The photoelectric sensor 8 attached to the front side is for forward movement, and the photoelectric sensor 9 attached to the rear side is for forward movement This is for when going backwards.

These photoelectric sensors 8, 9 are equipped with light emitters 8a, 9a and light receivers 8b, 9b, as shown in FIG. The light is reflected by the light reflecting surfaces 10 and 11 provided at the rear and front ends of the truck 1 and enters the light receivers 8b and 9b.
0 and 11 (vehicle distance), and an output voltage corresponding to the amount of received light can be obtained.

As shown in FIG. 3, both the photoelectric sensors 8 and 9
The output voltage is input to the voltage discriminator 12 via the a contact R1a and the b contact R1b of the relay R1. This voltage discriminator 12 can obtain a four-step output signal according to the output voltage from the photoelectric sensor 8 or 9 by setting, and the signal 12a indicates that the output voltage from the photoelectric sensor 8 or 9 is As shown in FIG. 1, the first set voltage corresponds to the limit inter-vehicle distance L1 for ensuring a safe distance l that can avoid collision between the carriers 6 when the carrier vehicle 1 carries the carriers 6. The signal 12b is output when the output voltage from the photoelectric sensor 8 or 9 becomes equal to , as shown by the imaginary line in FIG. It is output when the voltage becomes equal to the second set voltage corresponding to the limit inter-vehicle distance L2 (equal to the above-mentioned safe distance l) that allows the transport vehicles 1 to avoid colliding with each other. Further, the signal 12c is output when the output voltage from the photoelectric sensor 8 or 9 becomes equal to a third set voltage corresponding to a deceleration operation inter-vehicle distance that is appropriately larger than the limit inter-vehicle distance L1, and the signal 12d is It is output when the output voltage from the photoelectric sensor 8 or 9 becomes equal to a fourth set voltage corresponding to a deceleration operation inter-vehicle distance that is appropriately larger than the limit inter-vehicle distance L2.

The relay R ₁ is a control device 13 for the motor 5.
It is magnetized by a forward command signal 14 for the motor, and demagnetized by a reverse command signal 15. Further, a relay R2 is used which is energized when the load detection switch 7 is ON (load detection state) and demagnetized when it is OFF (empty load detection state), and the output signals 12a, 12b from the voltage discriminator 12 are is a of the relay R2
The stop control signal 16 is input to the traveling motor control device 13 via the contact R2a ₁ and the b contact R2b ₁ , and the output signals 12c and 12d are sent to the relay R2.
The signal is input to the traveling motor control device 13 as a deceleration control signal 17 via the a contact R2a ₂ and the b contact R2b ₂ .

According to the above configuration, when the motor 5 is caused to rotate forward by the travel motor control device 13 that receives the forward command signal 14 and the transport vehicle 1 is moving forward, the relay R1 is energized and its a contact R
1a is closed and the output voltage of the photoelectric sensor 8 for forward movement is input to the voltage discrimination device 12. Further, when the motor 5 is reversely rotated by the travel motor control device 13 which receives the reverse command signal 15, and the transport vehicle 1 is moving backward, the relay R1 is demagnetized and its b contact R1b is closed and the motor 5 is rotated in the reverse direction. The output voltage of the photoelectric sensor 9 is input to the voltage discriminator 12 .

On the other hand, when the loading platform 6 is mounted on the transport vehicle 1, the load detection switch 7 is turned on and the relay R2 is turned on.
is excited, its a contacts R2a ₁ and R2a ₂ are closed, and the output signals 12a and 12c of the voltage discriminator 12 are inputted to the travel motor control device 13 as a stop control signal 16 and a deceleration control signal 17. Further, when the loading platform 6 is not mounted on the transport vehicle 1, the presence detection switch 7 is turned OFF, the relay R2 is demagnetized, and its b contacts R2b ₁ and R2b ₂ are closed, so that the voltage discriminator 1
2 output signals 12b and 12d are the stop control signal 16
and is input to the traveling motor control device 13 as a deceleration control signal 17.

Therefore, if the transport vehicle 1 is currently moving forward with the loading platform 6 loaded, the transport vehicle 1
is the limit inter-vehicle distance L1 with respect to the preceding stopped transport vehicle 1.
When the distance between the vehicles approaches the vehicle, which has been set appropriately longer than Since it is input to the control device 13,
The rotational speed of the motor 5 is reduced to a set speed, and the transport vehicle 1 is switched from a high-speed running state to a low-speed running state. The inter-vehicle distance between the transport vehicle 1 and the preceding stopped transport vehicle 1 is the limit inter-vehicle distance L1.
Then, the output voltage from the photoelectric sensor 8 becomes equal to the first set voltage, and the voltage discriminator 12 outputs the signal 12a, which is input to the travel motor control device 13 as the stop control signal 16, so that the motor 5 When the rotation stops, the brake is activated, and the transport vehicle 1 running at low speed automatically stops with a safe distance l separating the loading platform 6 on which it is mounted and the loading platform 6 on the preceding stopped transport vehicle 1.

Assuming that the transport vehicle 1 is moving forward in an empty state with no loading platform 6 mounted, the transport vehicle 1 has a distance between the vehicles and the preceding stopped transport vehicle 1 that is set appropriately longer than the limit inter-vehicle distance L2. When the distance approaches, the output voltage from the photoelectric sensor 8 becomes equal to the fourth set voltage, and the voltage discriminator 12 outputs the signal 1.
2d is output and inputted to the traveling motor control device 13 as the deceleration control signal 17, so that the conveyance vehicle 1 is switched from the high speed traveling state to the low speed traveling state as described above. And the transport vehicle 1
When the inter-vehicle distance between the vehicle and the preceding stopped conveyance vehicle 1 reaches the limit inter-vehicle distance L2, the output voltage from the photoelectric sensor 8 becomes equal to the second set voltage, and the voltage discriminator 12 outputs a signal 12b, which is used for stop control. Since the signal is input to the travel motor control device 13 as the signal 16, the transport vehicle 1 that is running at low speed as described above automatically stops with the inter-vehicle distance L2, which is equal to the safety distance l, separating from the preceding stopped transport vehicle 1. .

When the carrier vehicle 1 is traveling backwards, the output voltage of the photoelectric sensor 9 for traveling backwards is utilized to perform traveling control based on the inter-vehicle distance similar to that described above.

In the above embodiment, a distance proportional voltage output type is used as an inter-vehicle distance detecting means that sends a control signal when the limit inter-vehicle distance is reached in a loaded state and when the limit inter-vehicle distance is reached in an unloaded state. Photoelectric sensor 8,
9 and voltage discriminator 12, and furthermore, when the presence detection means (in the embodiment, the presence detection switch 7) is in the presence detection state, a signal is sent when the limit inter-vehicle distance in the presence state is reached. A control signal is input to the traveling motor control device of the transport vehicle, and when the load detecting means is in the empty load detection state, a control signal to be transmitted when the limit inter-vehicle distance in the empty state is reached is inputted to the travel motor control device of the transport vehicle. Although relay R2 and its a contacts R2a ₁ , R2a ₂ and b contacts R2b ₁ , R2b ₂ are used to input to the motor control device, it is also possible to detect the limit inter-vehicle distance L1 and the limit inter-vehicle distance L2 separately.
Both types of photoelectric sensors are used,
Alternatively, the detection signals of both sensors can be used alternatively by the presence detection means (in the embodiment, the presence detection switch 7).

(Effects of the Invention) As described above, according to the conveyance vehicle stop control device of the present invention, the distance between vehicles for stop control performed when a long conveyed object or a loading platform that protrudes front and rear from the conveyance vehicle is mounted. By adjusting the distance and the inter-vehicle distance for stop control performed when the vehicle is unloaded and set them individually, a large inter-vehicle distance can be established to avoid collisions between transported objects or loading platforms when the vehicle is loaded. It is possible to automatically stop the transport vehicle while ensuring a distance, and to automatically stop the transport vehicle while ensuring the minimum necessary inter-vehicle distance to avoid collision between the transport vehicles in an unloaded state.

Therefore, in the storage line for storing empty transport vehicles, the transport vehicles can be packed together and stored efficiently.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway side view, FIG. 2 is a plan view of the same, and FIG. 3 is an explanatory diagram of the configuration of the control system. 1...Self-propelled carrier, 2...Guide rail, 4
... Propulsion drive gear, 5 ... Motor, 6 ... Loading platform (pallet), 7 ... Cargo presence detection switch (cargo presence detection means), 8 ... Photoelectric sensor for forward movement, 9 ...
...Photoelectric sensor for reversing, 10, 11... Light reflecting surface, 12... Voltage discriminator, 12a to 12d...
...output signal, 13...travel motor control device, 1
4...Forward command signal, 15...Reverse command signal, 1
6...Stop control signal, 17...Deceleration control signal, R
1, R2...Relay.

Claims (1)

[Claims] 1. Detecting the inter-vehicle distance between the preceding transport vehicle and a cargo presence detection means for detecting whether a transport vehicle traveling on a certain route carries an object or a loading platform that is longer than the transport vehicle. The vehicle is provided with an inter-vehicle distance detecting means which transmits a control signal when the limit inter-vehicle distance is reached in a loaded state and when the limit inter-vehicle distance is reached in an unloaded state. When the cargo presence detection means is in the cargo presence detection state, a control signal to be transmitted when the limit inter-vehicle distance in the cargo presence state is reached is inputted to the travel motor control device of the transport vehicle, and the cargo presence detection means When the vehicle is in the empty load detection state, the control signal to be transmitted when the limit inter-vehicle distance in the unloaded state is reached is input to the travel motor control device of the conveyor trolley, and at each of the limit inter-vehicle distances, A stop control device for a transport vehicle that controls the stop of the transport vehicle.