JPH0966426A - Production line and production line system - Google Patents

Abstract

(57) [Summary] [Problem] To provide a production line which is easy to control and whose layout can be easily changed. A production system 1 includes a main line L1 and a subline L2, and a plurality of automated guided vehicles M travel along a track between the lines L1 and L2. Sub line L2
The unmanned guided vehicles M whose drive wheels are released are arranged in contact with each other. A line driving device 5 that pushes the unmanned guided vehicle M located at the end of the subline L2 is provided at the start portion 3 of the subline L2, and the unmanned guided vehicle M is sent to the subline L2 on the opposite side of the device 5 to the ingress side. A device 4 is provided. A first ground communication device 14 that outputs a brake release signal for releasing the brake of the automated guided vehicle M that is fed to the subline L2 is provided on the subline L2 side of the feeding device 4, and the end portion 1 of the subline L2 is provided.
5 is provided with a second ground communication device 16 that outputs a traveling start signal for causing the unmanned guided vehicle M pushed out from the subline L2 to travel independently.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to an assembly line,
Specifically, it relates to a production line and a production line system using an automatic guided vehicle.

[0002]

2. Description of the Related Art Conventionally, in an automobile manufacturing line or the like, a production line has been proposed which comprises a main line through which an automobile body being assembled flows and a sub-line for assembling parts (for example, doors) to be attached to the automobile body. .

FIG. 6 shows a main line 62 and a sub line 6
3 shows an example of a production line 61 composed of 3 and 3, and the main line 62 and the sub line 63 are both constituted by a belt conveyor. In the production line 61 configured in this way, for example, the door (part) once attached to efficiently paint the automobile flowing through the main line 62 is removed at the point X1 after painting, and then the sub line is removed from the main line 62. It is transported to 63 by an automated guided vehicle 64.

Then, in the sub-line 63, various parts are assembled to the door and the door is assembled. Then
In the sub-line 63, the assembled door is conveyed to the point X2 of the main line 62 by the automatic guided vehicle 64, and the assembled door in the main line 62 is attached to the automobile body. In this case, the conveyor of the sub line 63 is drive-controlled by the conveyor controller 65.

In this production line 61, the assembly of the automobile body and the assembly of the door, which is a component thereof, can be carried out in parallel at the same time, so that the production efficiency can be improved.

However, it is necessary to transport the door between the main line 62 and the sub line 63 by the automatic guided vehicle 64. Therefore, it is necessary to transfer the load between the main line 62 and the automatic guided vehicle 64 and between the sub line 63 and the automatic guided vehicle 64, which causes a problem of poor workability. In addition, since the sub line 63 is composed of a conveyor, when the parts to be assembled in the sub line 63 are changed, the sub line 63 is enlarged.
There is a problem that it is necessary to reduce the size and it is difficult to change the layout.

Therefore, as shown in FIG. 7, the automatic guided vehicle 7
Production line 71 that configures sub-line 73 using 4
Is proposed. In this production line 71, a plurality of automatic guided vehicles 74 travel along a track, and a subline 73 is formed in a predetermined line section on the track.
That is, the unmanned guided vehicle 74 to which the parts have been delivered from the main line 72 travels as it is, and travels at a slight speed in the line section on the track to form the sub-line 73.

[0008]

However, in this subline 73, since each automated guided vehicle 74 runs independently, it is not possible to centrally control each automated guided vehicle 74 within the subline 73 by the ground control device 75. There is a problem that complicated control is required. For example, in the sub-line 73, centralized control by the ground control panel or the like for controlling the automatic guided vehicles 74 to run at a slow speed while always keeping them at constant intervals requires a very complicated control.

The present invention has been made to solve the above problems, and an object thereof is to provide a production line which is easy to control and whose layout can be easily changed.

[0010]

In order to solve the above-mentioned problems, the invention according to claim 1 forms a production line on a track on which a plurality of unmanned guided vehicles capable of self-sustaining movement based on driving of traveling wheels travel. A line section is provided for this purpose, and a plurality of unmanned guided vehicles with running wheels are arranged in contact with each other in the line section, and the unmanned guided vehicle is pushed forward at least at the start of the line section. It is the gist to provide the line drive means.

According to a second aspect of the present invention, a line section for forming a production line on a track along which a plurality of unmanned guided vehicles capable of autonomous traveling based on driving of traveling wheels travel, and an unmanned vehicle entering the line section. In the line section, a traveling wheel release instruction means for releasing the traveling wheel of the guided vehicle to stop the autonomous traveling of the unmanned guided vehicle, a feeding means for sending the unmanned guided vehicle having the traveling wheel released into the line section, and the line section. Line drive means provided at least at the start portion for driving the automatic guided vehicle sent into the line section, and an autonomous traveling start instruction provided at the end portion of the line section for starting the autonomous traveling of the automated guided vehicle. Means, a ground controller for controlling the feeding means and the line driving means, and a release instruction for detecting the traveling wheel release instruction means provided in the automatic guided vehicle Output means, a traveling start instruction detecting means for detecting the self-sustained traveling start instructing means provided on the unmanned transport vehicle, and an unmanned transportation based on the release instruction detecting means and the traveling start instruction detecting means provided on the unmanned transport vehicle. The gist of the invention is to have an on-vehicle control means for controlling the vehicle.

According to a third aspect of the invention, in the second aspect of the invention, the line drive means provided at the start of the line section is provided with drive detection means for detecting the drive of the automatic guided vehicle. The gist of the ground controller is to drive the feeding means when the drive detection means stops detecting the drive of the automatic guided vehicle.

According to a fourth aspect of the present invention, in the second or third aspect of the invention, the feeding means and the driving means respectively include a roller and a roller driving means for driving the roller, and based on the driving of the roller by the roller driving means. The main point is to drive an automatic guided vehicle.

According to a fifth aspect of the present invention, in the invention according to the second or third aspect, the production line formed in the line section is a sub line for assembling parts of a product flowing through the main line, and the main line The gist of the invention is that the parts are conveyed between the sub-line and the sub-line by the independent traveling of the automatic guided vehicle. Therefore, according to the first aspect of the present invention, the plurality of unmanned guided vehicles with the traveling wheels released are connected to each other in the line section in a state of being in contact with each other. Then, the line driving means drives a predetermined unmanned guided vehicle (at least the rearmost unmanned guided vehicle), and the driven unmanned guided vehicle pushes the unmanned guided vehicle located in front of each unmanned guided vehicle. The guided vehicles are sequentially pushed forward, and the unmanned guided vehicles travel in the line section. Then, while the unmanned guided vehicles are traveling in the line section, the worker performs various works on the loads placed on the unmanned guided vehicles. Further, the automated guided vehicle autonomously runs along the track outside the line section, for example.

According to the second aspect of the present invention, for example, a plurality of automatic guided vehicles having traveling wheels released are connected to each other in the line section in a state of being in contact with each other. At this time, the ground control means drives the line driving means, and the line driving means drives a predetermined automatic guided vehicle (at least the rearmost automatic guided vehicle). Then, the driven automatic guided vehicle pushes the automatic guided vehicle located in the front, whereby the automatic guided vehicles in the line section are sequentially pushed forward, and the traveling in the line section is performed.

On the other hand, the automatic guided vehicle that is about to enter the line section is traveling autonomously under the control of the traveling wheels of the vehicle-mounted control means. During this traveling, when the release instruction detecting means detects the traveling wheel release instructing means, the on-vehicle control vehicle is controlled by the in-vehicle control means to release the traveling wheels.
Then, the ground control means controls the feeding means to feed the unmanned guided vehicle with the traveling wheels released into the line section.
Then, the fed automatic guided vehicle becomes the unmanned guided vehicle located at the rearmost part of the line section, and is driven by the line driving means in the same manner as described above, and pushes the unmanned guided vehicle located in the front, thereby each Drive an automated guided vehicle.

Further, when the automatic guided vehicle leaves the line section, the traveling start instruction detecting means detects the self-sustained traveling start instruction means, and the on-vehicle control means drives the traveling wheels to make the autonomous guided vehicle travel autonomously.

According to the third aspect of the present invention, the ground control means drives the feeding means to feed the automatic guided vehicle to the line section when the drive detection means stops detecting the drive of the automatic guided vehicle. That is, when it is determined that there is no automatic guided vehicle in the line driving means, the ground control means drives the feeding means to feed the automatic guided vehicle to the line section.

According to the fourth aspect of the invention, the feeding means and the driving means drive the automatic guided vehicle based on the rotation of the roller driven by the roller driving means. According to the invention described in claim 5, the production line formed in the line section is a sub line for assembling the parts of the product flowing through the main line. Then, the parts are conveyed between the main line and the sub line by the independent traveling of the automatic guided vehicle.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is an explanatory diagram showing a production system for producing an automobile using an automated guided vehicle. In this production system 1, a track 2 on which a large number (10 in this embodiment) of the automated guided vehicles M travel is formed. The track 2 is made of an electromagnetic induction wire and is formed in a closed loop shape.

A main line L1 is installed on one side of the track 2, and a predetermined section (line section) K of the track 2 on the side opposite to the main line L1 is a sub line L2 as a production line.
Is formed. The main line L1 is composed of a conveyor, and the automobile main body B being assembled flows through the main line L1 at predetermined intervals based on the driving of the conveyor. Further, the sub-line L2 is formed by continuously connecting a predetermined number (8 units in this embodiment) of the automatic guided vehicles M in a state of being in contact with each other. The sub-line L2 is a line for assembling the parts to be attached to the automobile body B being assembled. For example, a door D attached to the automobile body B is attached with a window glass or an operation panel for driving the glass. It is a line for.

In this production system 1, the automatic guided vehicle M
Rotates counterclockwise along orbit 2. Further, a feeding device 4 as a feeding means is provided at a position on the opposite side of the starting portion 3 of the assembly line L2 of the production system 1 at a predetermined distance. Further, the starter 3 is provided with a line driving device 5 as a line driving means. A plurality of auxiliary rollers 6 are arranged in front of the line driving device 5 at predetermined intervals. The distance between the line driving device 5 and the auxiliary roller 6 and the distance between the auxiliary rollers 6 are the same, and the distance is substantially the same as the length of the automatic guided vehicle 7. The line feeding device 4, the line driving device 5, and the auxiliary roller 6 are installed on both left and right sides with respect to the traveling direction with the track 2 being symmetrical. The interval (width) sandwiching the track 2 is the same as the width of the automatic guided vehicle M. A mark plate P is attached to the floor surface of the production system 1 at a predetermined position on the track. For example, a braking mark plate Pa for braking the unmanned guided vehicle M is attached on the side further away from the feeding device 4.

The line feeding device 4 includes a feeding roller 7, and the feeding roller 7 is rotationally driven by a feeding motor 8. Further, the feeding device 4 is provided with a brake 9 that mechanically and forcibly brakes the rotation shaft of the feeding motor 8 to stop the rotation of the motor 8. That is, the feeding device 4 has a rotatable state,
There are three states, a rotating state and a non-rotating state. The rotatable state is a state in which the feed motor 8 and the brake 9 are not in operation, and the feed roller 7 can be rotated by inertia, for example, manually. The rotating state is a state in which the brake 9 is not activated, the feed motor 8 is activated, and the feed roller 7 is rotating based on the feed motor 8. The non-rotatable state is a state in which the feed motor 8 does not operate, the brake 9 operates, and the feed roller 7 cannot rotate. In the rotating state, the feeding rollers 7 symmetrically arranged on the track are rotated at the same number of revolutions in opposite directions to feed the automatic guided vehicle M to the subline L2.

The line driving device 5 includes a line driving roller 10, and the line driving roller 10 is rotationally driven by a line driving motor 11. Further, the line driving device 5 is provided with a brake 12 that mechanically and forcibly brakes the rotation shaft of the line driving roller 10 to stop the rotation of the motor 11. That is, as in the case of the feeding device 4, the line driving device 5 has three states of a rotatable state, a rotating state, and a non-rotating state based on the operating states of the line driving motor 11 and the brake 12. Incidentally, the roller driving devices 5 arranged symmetrically on the track are rotated at the same number of revolutions in opposite directions in order to drive the automatic guided vehicle M in the sub-line L2 in the rotating state. The auxiliary roller 6 is rotatably supported by the support shaft 13.

A first ground communication device 14 for optical communication is installed in front of the line feeding device 4 (on the side of the subline L2) as a traveling wheel release instruction means. This first
The ground communication device 14 is adapted to output a brake release signal for releasing the brake of the automatic guided vehicle M. In addition, a second ground communication device 16 is provided at the end portion 15 of the subline L2 as a self-sustained running start instruction means. The second ground communication device 16 outputs a travel start signal for driving travel motors 32a and 32b, which will be described later, of the automatic guided vehicle M.

Further, the production system 1 is provided with a ground control panel 17 for controlling the production system 1. The ground control panel 17 is provided with an activation switch 18 for activating the subline L2 and an emergency stop switch 19 for urgently stopping the subline L2. Further, the production system 1 is provided with a charging device 20 so that the battery of the automatic guided vehicle M can be charged.

FIG. 2 is a plan view showing the outline of the automatic guided vehicle M, and FIG. 3 is a side view thereof. Automated guided vehicle M
Is provided with a pair of left and right drive wheels 31 at the lower center thereof, and each drive wheel 31 is driven by a traveling motor 32a, 32b, respectively. Further, a pair of front and rear driven wheels 33 are provided on the lower portion of the automatic guided vehicle M. Each driven wheel 33 is provided so as to be rotatable in the left-right direction, and is in a released state where it can always rotate by inertia. Automated guided vehicle M
The vehicle travels based on the drive of the drive wheels 31 by the traveling motors 32a and 32b, and the traveling direction can be changed to the left and right by making the rotational speeds of the left and right drive wheels 31 different. In this case, the driven wheel 33 rotates in the left-right direction according to the traveling direction of the automatic guided vehicle M. Furthermore,
Each drive wheel 31 has an in-vehicle brake 4 composed of an electromagnetic brake.
2 is provided so that the automated guided vehicle M can be braked. During braking of the automatic guided vehicle M, the vehicle-mounted brakes 4 provided on both drive wheels 31
2 work simultaneously. In the present embodiment, the traveling wheels on which the automatic guided vehicle M travels are composed of the driving wheels 31 and the driven wheels 33. When the traveling motors 32a and 32b are not driven together and the vehicle-mounted brake 42 is not operating. The drive wheel 31 is in a released state in which it can rotate by inertia. That is, since the driven wheel 33 is always released, the drive wheel 31
The traveling wheels are released by releasing the.

Further, a pickup coil 40 for detecting a signal from the electromagnetic induction wire is provided on the lower surface of the automatic guided vehicle M. The pickup coil 40 detects the magnetic field from the electromagnetic induction wire, whereby the automatic guided vehicle M is detected. Is designed to run along the electromagnetic induction wire. Further, a mark detection sensor 41 is provided on the lower surface to detect the mark plate P attached to the track.

On the upper part of the automatic guided vehicle M, a load placing portion 34 for placing components such as the door D is formed. The rear part of the upper body of the automated guided vehicle M projects rearward to form a projecting portion 35. Cushions 36a and 36b made of synthetic resin such as urethane are attached to the upper part of the front of the automatic guided vehicle M and the rear part of the protrusion 35, respectively. A bumper 37 made of synthetic resin such as urethane is attached to the lower part of the front of the automatic guided vehicle M.

Guide bars 43, which are iron plates and extend in the front-rear direction, are attached to the lower portions on both sides of the automated guided vehicle M. The delivery roller 8, the line driving roller 10 and the auxiliary roller 6 come into contact with the guide bar 43.

Further, the automatic guided vehicle M is equipped with an in-vehicle controller 38 as in-vehicle control means. On the upper right side of the automatic guided vehicle M, an on-vehicle communication device 39 is provided as a release instruction detecting means and a travel start instruction detecting means.
This in-vehicle communication device 39 can communicate by a signal by light,
Optical communication is performed between the first and second ground communication devices 14 and 16.

As shown in FIGS. 1 and 4, the automatic guided vehicles M configured as described above are connected to each other in the subline L2 while being in contact with each other. In this case, the cushion portion 36a of the automated guided vehicle M located at the rear and the automated guided vehicle M located at the front.
And the cushion portion 36b of the above contact each other. Further, the bumper 37 located in the front part of the unmanned guided vehicle M located in the rear is located under the projecting portion 35 of the unmanned guided vehicle M located in the front, and the bumper 37 contacts the unmanned guided vehicle M in the front. It is supposed not to. An emergency stop device (not shown) for stopping the automated guided vehicle M is provided in the bumper 37.

Next, the electrical configuration of the production system will be described. As shown in FIG. 5, a pickup coil 40 and a mark detection sensor 41 are connected to the vehicle controller 38. The pickup coil 40 detects the magnetic field from the electromagnetic induction line indicating the trajectory and outputs the detection signal to the in-vehicle controller 38. The mark detection sensor 41 detects the mark plate P and outputs the detection signal to the in-vehicle controller 38.

The in-vehicle controller 38 includes a drive circuit 3
The traveling motors 32a and 32b are connected via 2c and 32d, and the vehicle-mounted brake 42 is connected via a drive circuit 42a. That is, the vehicle controller 38 controls the traveling motors 32a and 32b and the electromagnetic brake 42 based on the detection signals from the pickup coil 40 and the mark detection sensor 41 to control the traveling of the automatic guided vehicle M. That is, the in-vehicle controller 38 uses the detection signals from the pickup coil 40 to drive the traveling motors 32 a, 3 a.
2b is controlled to drive the automatic guided vehicle M along the track. The in-vehicle controller 38 uses the traveling motor 32 based on the detection signal from the mark detection sensor 41.
The a, 32b and the vehicle-mounted brake 42 are controlled to change and stop the traveling route of the automatic guided vehicle M. For example, the in-vehicle controller 38 actuates the in-vehicle brake 42 to apply a brake to the automatic guided vehicle M based on a detection signal from the mark detection sensor 41 based on the detection of the braking mark plate Pa.

An in-vehicle communication device 39 is connected to the in-vehicle controller 38. The in-vehicle communication device 39 can communicate with the ground control panel 17. For example, when the vehicle-mounted communication device 39 receives the brake release signal, the vehicle-mounted communication device 39 outputs a signal to that effect to the vehicle-mounted controller 38, and the vehicle-mounted controller 38 releases the braking of the vehicle-mounted brake 42. When the braking of the in-vehicle brake 42 is released, the in-vehicle controller 38 causes the in-vehicle communication device 39 to output a release completion signal.

When the vehicle-mounted communication device 39 receives a traveling signal, a signal indicating that is output to the vehicle-mounted controller 38, and the vehicle-mounted controller 38 drives the traveling motors 32a, 32.
Drive b to drive the automatic guided vehicle M.

The ground controller 45 as ground control means of the ground control panel 17 includes a start switch 18, an emergency stop switch 19 and a load sensor 46 as vehicle detection means.
Is connected. When the start switch 18 is turned on,
The start switch 18 outputs a start signal for starting the sub line L2 to the ground controller 45. When the emergency stop switch 19 is turned on, the emergency stop switch 19 outputs an emergency stop signal for stopping the sub line L2 to the ground controller 45. The load sensor 46 is
The load applied to the roller drive motor 11 is detected, and a detection signal indicating the detected value is output to the ground controller 45.

The ground controller 45 determines the value of the load applied to the roller drive motor 11 (hereinafter referred to as "load detection value") based on the detection signal from the load sensor 46. Further, the ground controller 45 is configured to judge the condition of the load based on the load set value (hereinafter, referred to as “load set value”) stored in advance and the load detected value. In this case, when the load detection value is larger than the load setting value, the ground controller 45 determines that it is in the load state. Further, when the load detection value is smaller than the load setting value, the ground controller 45 determines that there is no load. For example, in the load state, the line drive roller 10 is rotationally driven based on the drive of the line drive motor 11, and the automatic guided vehicle M and the line drive roller 10 are in contact with each other.
Is being driven by the rotation of. The unloaded state means that the line drive roller 10 is driven to rotate based on the drive of the line drive motor 11 and the automatic guided vehicle M is not at the position of the line drive device 5. Therefore, the line driven roller 10 drives the automatic guided vehicle M. It is in the idle state without doing.

The feed-out motor 8 and the brake 9 of the feed-in device 4 and the line drive motor 11 and the brake 12 of the line drive device 5 are connected to the ground controller 45 via drive circuits 8a, 9a, 11a and 12a, respectively. . When the start signal is output, the ground controller 45 drives the line drive motor 11 of the line drive device 5 to bring the line drive device 5 into a rotating state. The ground controller 45 turns off the power supply to the line drive device 5 based on the emergency stop signal, stops the drive of the line drive motor 11, and activates the brake 12 to render the line drive device 5 in a non-rotatable state. Has become.

When the start signal is output, the ground controller 45 controls the brake 9 of the feeding device 4 so as not to operate, and holds the feeding device 4 in a rotatable state. When the release completion signal is output from the in-vehicle controller 38, the ground controller 45 receives the brake 9
Is controlled to operate the brake 9 to keep the feeding device 4 in a non-rotatable state. Subsequently, when the ground controller 45 determines that the line drive motor 11 is in the no-load state based on the detection signal from the load sensor 46, it controls the brake 9 to release the operation of the brake 9 to drive the delivery motor 8. It is supposed to do.
When the emergency stop signal is output, the ground controller 45 stops the power supply to the feeding device 4 based on the emergency stop signal, and stops the driving of the delivery motor 8.
The brake 9 is operated to keep it in a non-rotatable state.

Further, the ground controller 45 is connected to the first and second ground communication devices 14 and 16. When the start signal is output, the ground controller 45 sends a signal to the first ground communication device 14, and the first ground communication device 14 always outputs a brake release signal based on the signal while the sub-line L2 is running. It is designed to continue. When the start signal is output, the ground controller 45 sends a signal to the second ground communication device 16, and based on the signal, the second ground communication device 16 outputs the traveling start signal at all times during the start of the subline L2. It is designed to continue. The brake release signal and the travel start signal are, for example, a series of sub-lines L.
It continues to be output until the operation by 2 is completed or the emergency stop signal is output to the ground controller 45.

Next, the operation and effect of the production system 1 configured as described above will be described. FIG. 1 shows the starting state of the production system 1, in which a large number of unmanned guided vehicles M with released drive wheels 31 are connected to the subline L2 in contact with each other, and at the point X1 the main line L1.
The automatic guided vehicle Ma, which has received the door D from the vehicle, is running toward the feeding device 4. At this time, the automatic guided vehicle M does not exist in the feeding device 4.

In the activated state of the production system 1,
The ground controller 45 keeps the line driving device 5 in a rotating state and holds the feeding device 4 in a rotatable state. Further, the first ground communication device 14 always outputs a brake release signal, and the second ground communication device 16 always outputs a travel start signal.

Then, the line driving device 5 pushes forward the unmanned guided vehicle M located at the rearmost portion based on the rotation of the line driving roller 10. Therefore, the automated guided vehicles M pushed out by the line driving device 5 push the automated guided vehicles M located in the front, and sequentially advance the automated guided vehicles M that are in contact with each other and are continuous. In this case, each automated guided vehicle M travels at a very low speed as the line driving roller 10 rotates.

On the other hand, at the point X1, the unmanned guided vehicle Ma, which has received the door D from the main line L1, travels along the track and travels toward the subline L2. When the automated guided vehicle M travels to the vicinity of the subline L2, the mark detection sensor 41 detects the braking mark plate Pa,
The in-vehicle controller 38 operates the in-vehicle brake 42 based on the detection of the mark plate Pa to decelerate the automatic guided vehicle M. At this time, the automatic guided vehicle Ma enters the delivery device 4 while the on-vehicle brake 42 is being operated.

At the time of this approach, since the delivery roller 7 is in a rotatable state, the automatic guided vehicle Ma travels in the delivery device 4 while rotating the delivery roller 7 as it advances. Then, the vehicle-mounted communication device 39 of the automatic guided vehicle Ma receives the brake release signal from the first ground communication device 14, and a signal to that effect is sent to the vehicle-mounted controller 3
8 is output, the in-vehicle controller 38 releases the operation of the in-vehicle brake 42, and the drive wheels 31 are moved to the in-vehicle brake 42.
Also, the traveling motors 32a and 32b are brought into a released state in which both motors are not operating.

When the vehicle-mounted brake 42 is released, the vehicle-mounted controller 38 causes the vehicle-mounted communication device 39 to output a brake release signal. When the ground controller 45 receives the brake release signal via the first ground communication device 14, it controls the feed motor 8 and the brake 9, and the feed device 4 becomes unrotatable. Then
The automatic guided vehicle Ma is locked by the delivery roller 7 so that it cannot run.

Subsequently, the ground controller 45 determines the load condition applied to the line driving device 5 based on the load signal from the load sensor 46. When the ground controller 45 determines that the line driving device 5 is in the loaded state, the ground controller 45 determines that the unmanned guided vehicle M is being driven by the line driving device 5, and holds the delivery device 4 in the non-rotatable state. Then, the automatic guided vehicle Ma is continuously locked (see the automatic guided vehicle Ma indicated by a chain double-dashed line).

The ground controller 45, when the line driving device 5 is in the no-load state based on the load signal, determines that the driving by the line driving device 5 is completed, and sets the feeding device 4 in the rotating state, thereby unmanned. The transport vehicle Ma is sent to the line drive device 5. Then, the automated guided vehicle Ma that has reached the line drive device 5 moves in the sub-line L2 by the line drive device 5.

On the head side of the sub-line L2, the automatic guided vehicles M are driven by the line driving device 5 to push the unmanned guided vehicles M, and the unmanned guided vehicles M (unmanned guided vehicles Mb) located at the head are the sub-lines. Extruded from L2. At this time, the vehicle-mounted communication device 39 of the automated guided vehicle Mb receives the traveling start signal from the second ground communication device 16, and the vehicle-mounted controller 38 drives the traveling motors 32a and 32b based on the reception of the traveling start signal. Then, the automatic guided vehicle Mb travels independently along the track.

The unmanned guided vehicle Mb travels along the track (see the unmanned guided vehicle Mb indicated by the chain double-dashed line), and when it reaches the main line L1, the door D assembled at the subline L2 at the point X2 is moved to the main line. Transfer to line L1.

Therefore, according to the present embodiment, since the automatic guided vehicles M are arranged in contact with each other in the sub-line L2, the automatic guided vehicle M located at the rearmost position is moved by the line drive device 5. Only by driving, the automated guided vehicles M can push the automated guided vehicles M located in the front, and easily drive the automated guided vehicles M in the subline L2. In this case, the ground controller 45 can easily drive and control each unmanned guided vehicle M in the subline L2 by controlling only the line driving device 5 and the feeding device 4 for feeding the unmanned guided vehicle to the subline L2. Drive can be controlled easily. Moreover, the ground controller 45 needs to control each unmanned guided vehicle M independently, as in the case of running the unmanned guided vehicles 74 in the sub-line 73 while holding each unmanned guided vehicle 74 at a predetermined interval as shown in the related art. The sub-line L2 can be easily controlled without the presence of a line.

Further, since the line driving device 5 is provided with the load sensor 46 for detecting the load applied to the line driving motor 11, the ground controller 45 can easily perform the line driving based on the detection signal from the load sensor 46. It can be determined whether or not the apparatus 5 has the automatic guided vehicle M. And
When the ground controller 45 determines based on the detection signal from the load sensor 46 that the unmanned guided vehicle M is not present in the line driving device 5, the unmanned guided vehicle M is driven by the line driving device 5 by driving the feeding device 4. Can be prevented, and the subline L2 can be moved smoothly.

The sending-out device 4 and the line driving device 5 can drive the automatic guided vehicle M based on the rotation of the rollers 7 and 10, and can easily and smoothly drive the automatic guided vehicle M at the time of its rotation (in the rotating state). Further, when the devices 4, 5 are in the non-rotatable state, the rollers 7, 10 are locked, so that the automatic guided vehicle M can be fixed. Device 4,
When the roller 5 is rotatable, the rollers 7 and 10 can rotate by inertia so that the traveling of the automatic guided vehicle M can be smoothly guided.

Since the automatic guided vehicle M traveling along the track constitutes the sub-line L2, it is not necessary to perform the work of delivering the parts on the side of the sub-line L2. Therefore, the parts can be easily provided between the sub-line L2 and the main line L1. The (door D) can be transported, and the work efficiency in the production system 1 can be improved. Moreover, the track is formed by the electromagnetic induction wire, and the track can be easily changed by changing the wiring of the electromagnetic induction wire, and the layout of the subline L2 can be changed.

Since the ground controller 45 and the on-vehicle controller 38 communicate with each other by optical communication, the ground control panel 17 and the automatic guided vehicle M can be reliably communicated by simply emitting and receiving light. In this case, the vehicle-mounted communication device 39 can reliably control the automatic guided vehicle M by receiving the brake release signal and the travel start signal output from the first and second ground communication devices 14 and 16. Even if the unmanned guided vehicles M are brought into contact with each other by the protrusions formed on the guided vehicle M, the bumpers 37 do not come into contact with each other.
The emergency stop device in 7 does not operate and does not hinder the traveling of the automatic guided vehicle M.

Since the auxiliary rollers 6 are provided on both sides of the track in the line section L2, the automatic guided vehicle M in which the drive wheels 31 traveling on the subline L2 are released can be easily sandwiched from the left and right sides. It is possible to guide, and the automated guided vehicle M can surely travel straight in the sub line L2.

The present invention is not limited to the above-mentioned embodiment, and may be appropriately modified and carried out without departing from the spirit of the invention. (1) In the above embodiment, the main line L1 is a line for assembling the automobile, and the subline L2 is a line for assembling the door D, which is a component of the automobile. This may be a line for machining various parts of an automobile. Further, the main line L1 may be a line for assembling or processing various industrial vehicles such as forklifts and various machines, and the subline L2 may be a line for assembling or processing parts of the vehicle or machine.

(2) In the above embodiment, the communication between the vehicle-mounted communication device 39 and the first and second ground communication devices 14 and 16 is performed by optical communication. This may be communicated by radio waves.

(3) In the above embodiment, a mark plate (instruction member) attached to the floor surface may be used as the traveling start instruction means and the traveling wheel release instruction means. In this case, the mark plate indicating the instructions for starting the traveling and releasing the traveling wheels is detected by the mark detecting sensor 41, and the mark detecting sensor 41 constitutes the traveling start instruction detecting means and the releasing instruction detecting means. Therefore, the first and second ground communication devices 14 and 16 that output the brake release signal and the travel start signal are unnecessary, and the configuration of the production system 1 can be simplified.

(4) In the above embodiment, a clutch may be provided between each drive wheel 31 and the traveling motors 32a and 32b, and the drive wheel 31 may be released by disconnecting the clutch. In this case, the first ground communication device 14 outputs a clutch connection release signal for releasing the clutch connection, and the in-vehicle controller 38 connects the clutch based on the clutch connection release signal input via the in-vehicle communication device 39. Is released and the drive wheels 31 are released. In this case, even when the traveling motors 32a and 32b are rotated, the drive wheels 31 can be easily and quickly released by simply disengaging the clutch. Therefore,
Since the vehicle-mounted controller 39 does not need to control 32a and 32b, the control by the vehicle-mounted controller 39 can be simplified.

(5) In the above embodiment, the drive wheel 3
The unmanned guided vehicle M that has released 1 may be configured to start self-sustained travel by the travel motors 32a and 32b after a predetermined time from the time when it is sent to the subline L2 by the sending device 4. In this case, the second ground communication device 16 that outputs the traveling signal in the sub line L2 is not necessary, and thus the configuration of the production system 1 can be simplified.

(6) In the above embodiment, the sub line L
In 2, the automatic guided vehicle M was guided by the auxiliary roller 6. Grooves for guiding the drive wheels 31 and the driven wheels 33 are formed on the floor surface for each of the drive wheels 31 and the driven wheels 33, and the drive wheels 31 and the driven wheels 33 roll in the respective grooves to allow unattended operation. The transport vehicle M may be run. In this case, as compared with the case where the auxiliary roller 6 guides the automatic guided vehicle M, a mechanism for easily guiding the automatic guided vehicle M can be configured.

(7) In the above embodiment, the line drive device 5 is provided with an optical sensor as vehicle detection means, and the line drive device 5 includes the automatic guided vehicle M based on the detection of the automated guided vehicle M by the optical sensor. It may be determined whether or not. In this case, the automated guided vehicle M is driven by the line sensor 5 by the optical sensor.
Since it directly detects whether or not there is an automatic guided vehicle M
Can be detected.

(8) In the above embodiment, the line driving means is the unmanned guided vehicle M located at the rearmost portion, and the unmanned guided vehicle M is driven by the running motors 32a and 32b to drive the subline L2. Good.
Further, the line driving device 5 is provided with an endless belt, and by rotating the endless belt in contact with the guide bar 43 of the automatic guided vehicle M, the automatic guided vehicle M can be driven in the subline L2. You may comprise. Similarly, the feeding device 4 may have the same configuration as the line driving device 5 having an endless belt.

(9) In the above-described embodiment, the first ground communication device 14 is provided at a position (on the side opposite to the subline L2) before entering the feeding device 4, and the automatic guided vehicle M entering the feeding device 4 is provided. The drive wheel 31 of 1 may be previously released. In this case, a sensor is provided at a predetermined position on the sub-line L2 side of the feeding device 4, and when the sensor detects the unmanned transport vehicle M, the ground controller 45 locks the unmanned transport vehicle M by setting the feeding device 4 in a non-rotatable state. Then, the ground controller 45 drives the feeding device 4 based on the detection signal from the load sensor 46 to feed the automatic guided vehicle M to the subline L2.

The technical ideas other than the claims that can be understood from the above-described embodiments will be described below along with their effects. (1) In the invention according to claim 2, the traveling wheel release instruction means is the first ground communication device 14 capable of optical communication, and the self-sustained travel start instruction means is the second ground communication device 16 capable of optical communication. The instruction detecting means and the travel start instruction detecting means are the vehicle-mounted communication device 39, and the unmanned guided vehicle M is controlled by optical communication between the ground communication devices 14 and 16 and the vehicle-mounted communication device 39. According to this production line system, since signals are transmitted and received by optical communication, reliable communication is possible.

(2) In the invention described in claims 1 to 5,
A production line and system in which an auxiliary roller 6 for guiding the traveling of the automatic guided vehicle M is provided in the line section. According to this production line and its system, the automatic guided vehicle M can be reliably guided in the line section.

[0069]

As described in detail above, according to the invention described in claim 1, the production line can be easily driven only by driving the line driving means. According to the invention described in claim 2,
The ground control means can easily control the production line only by controlling the line driving means and the feeding means.

According to the third aspect of the present invention, when the vehicle detection means determines that the line drive means does not have an unmanned transport vehicle, the feeding means is driven, so that a collision between unmanned transporters by the line drive means is prevented. Prevents and can move the production line smoothly.

According to the fourth aspect of the invention, since the feeding means and the line driving means are driven by the rollers, the automatic guided vehicle can be easily driven. According to the invention of claim 5, the load can be easily transported between the main line and the sub line by the independent traveling of the automatic guided vehicle forming the sub line.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram illustrating a production system using an automated guided vehicle.

FIG. 2 is a plan view showing an automatic guided vehicle.

FIG. 3 is a side view showing an automated guided vehicle.

FIG. 4 is a side view showing each automated guided vehicle that constitutes a sub line.

FIG. 5 is an electric block diagram of the present production system.

FIG. 6 is a schematic configuration diagram showing a conventional production system including a main line and a sub line.

FIG. 7 is a schematic configuration diagram showing a conventional production system including a main line and a sub line.

[Explanation of symbols]

4 ... Feeding device as feeding means, 5 ... Line driving device as line driving means, 7 ... Feeding roller,
Reference numeral 10 ... Line drive roller, 15 ... Second ground communication device as running wheel release instruction means, 16 ... Second ground communication device as self-sustained running start instruction means, 31 ... Drive wheels forming running wheels, 32a, 32b ... Traveling motor, 33 ... Driven wheels constituting traveling wheels, 38 ... In-vehicle controller as in-vehicle control means, 45 ... Ground controller as ground control means, 39 ... In-vehicle communication device as release instruction detecting means and traveling start instruction detecting means , M ... Automated guided vehicle, L1 ... Main line, L2 ... Sub line as production line, K ... Line section.

Claims (5)

[Claims] 1. A line section for forming a production line is provided on a track along which a plurality of unmanned guided vehicles capable of autonomous traveling based on driving of running wheels are provided, and a plurality of running wheels are released in the line section. 2. The production line, wherein the unmanned guided vehicles are arranged in contact with each other, and line driving means for pushing the unmanned guided vehicles forward is provided at least at the start of the line section. 2. A line section for forming a production line on a track along which a plurality of unmanned guided vehicles capable of autonomous traveling based on driving of running wheels and a running wheel of the unmanned guided vehicle entering the line section are provided. A traveling wheel release instruction means for releasing the traveling vehicle and stopping the autonomous traveling of the unmanned guided vehicle, a feeding means for feeding the unmanned guided vehicle with the traveling wheels released into a line section, and provided at least at a start portion of the line section. And a line driving means for driving the automatic guided vehicle sent to the line section, a self-sustained running start instruction means provided at the end of the line section for starting the autonomous running of the automatic guided vehicle, and the feeding means. A ground control means for controlling the line driving means; a release instruction detecting means provided in the unmanned guided vehicle for detecting the traveling wheel release instructing means; A traveling start instruction detecting means provided on the guided vehicle for detecting the independent traveling start instruction means, and an unmanned vehicle controlled on the basis of the release instruction detecting means and the traveling start instruction detecting means provided on the unmanned guided vehicle A production line system including an on-vehicle control means for 3. The line driving means provided at the start of the line section is provided with vehicle detection means for detecting an unmanned guided vehicle, and the ground control means is a vehicle detection means for detecting driving of the unmanned guided vehicle. The production line system according to claim 2, wherein the feeding means is driven when it is stopped. 4. The feeding means and the driving means each include a roller and a roller driving means for driving the roller,
The production line system according to claim 2 or 3, wherein the automatic guided vehicle is driven based on the driving of the rollers by the roller driving means. 5. The production line formed in the line section is a sub-line for assembling parts of a product flowing through the main line, and the parts are conveyed between the main line and the sub-line independently of the automated guided vehicle. The production line system according to claim 2, wherein the production line system is performed by running.