JPH11119828A - Magnetic guide body mounting structure for magnetically guided automatic traveling vehicles - Google Patents

Abstract

(57) [Problem] To enable a magnetic induction type automatic traveling vehicle (AGV) to be easily applied and to control traveling with high accuracy even when the traveling portion of the vehicle is an iron plate floor. SOLUTION: This is made of a non-magnetic material having an iron plate floor provided with a strip-shaped narrow opening for determining a traveling route of a magnetic induction type automatic traveling vehicle, and a concave groove on an upper surface side fixedly fitted into the narrow opening of the iron plate floor. And a belt-like magnetic guide fitted into the groove of the substrate constitutes a mounting structure of the magnetic guide of the magnetically guided automatic traveling vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a magnetic guide type mounting structure for a magnetically guided automatic traveling vehicle, and is mainly used in a newspaper printing factory, a commercial printing factory, a paper mill, and the like. .

[0002]

2. Description of the Related Art Conventionally, in newspaper printing factories and the like, an automatic traveling vehicle, abbreviated as AGV, has been widely used as a means for transporting a roll of paper from a paper storage to a rotary press. As the system, an electromagnetic induction system, a magnetic induction system (magnet tape induction system), a light induction system (mirror tape induction system), and the like are mainly used. FIGS. 2, 3 and 4 are a schematic plan view, a schematic front view and a schematic side view, respectively, showing an example of the magnetically guided automatic traveling vehicle K. The vehicle A has two driving wheels B, a driving motor C, and a servo. A driver D, running wheels E, a battery F, an AGV controller G, a slide carrier H, a sequencer I, a magnetic detection sensor J, and the like are provided respectively. Since the magnetically guided automatic traveling vehicle K itself is known, a detailed description thereof is omitted here.

When installing the magnetically guided automatic traveling vehicle K, a magnetic guide made of rubber tape made of rubber magnet forms a predetermined traveling route on a floor surface of a factory or the like in advance. The automatic traveling vehicle K is laid, and its traveling is controlled by detecting the magnetism of the laid magnetic guide body by the magnetic detection sensor J, and automatically travels along the route formed by the magnetic guide body.

The traveling route of the automatic traveling vehicle K is usually formed by attaching a magnetic guide to the floor or embedding a magnetic guide in an upper layer of the floor. Considering the magnetic characteristics of the magnetic guide, the floor on which the magnetic guide is installed is preferably a floor made of a non-magnetic material such as a concrete floor or a wood floor. In other words, in the case of a new factory or the like, the material of the floor surface of the traveling route can be arbitrarily selected, so that the introduction of the magnetically guided automatic traveling vehicle K becomes extremely easy.

On the other hand, in existing newspaper printing factories and the like, electric trucks, battery-powered trolleys, flow bearers, and the like have been frequently used for transporting rolled paper, and therefore, the running trolleys in printing factories and the like have been used. Most of the floor surface is formed by an iron plate floor. Then, a guide rail is provided on the iron plate floor 20, or a narrow slit 22 for guiding is formed in the iron plate floor 20 as shown in FIG. The truck K is made to run.

On the other hand, demands for streamlining of the paper feeding work of a rotary press have been increasing in recent years also in newspaper printing factories and the like. A bogie (AGV) is being introduced. As a control method for an automatic traveling vehicle (AGV), a magnetic induction method tends to be often used from the viewpoint of maintenance management, adaptability to an installation site, economy, and the like.

However, a magnetically guided automatic traveling vehicle (AG)
When V) is introduced into an existing newspaper printing factory or the like, various difficult problems occur because almost all of the floor surface of the carriage traveling portion is an iron plate floor as described above.

[0008] For example, in order to repair a steel plate floor to a concrete floor or the like, it is necessary to stop the operation of a printing plant for a considerable period of time. It is possible. Therefore, in reality, as shown in FIG.
A magnetic tape 21 made of magnet rubber having a thickness of about 1 mm is adhered via an adhesive, and the magnetic tape 21 is used as a magnetic guide to form a traveling route of the automatic traveling vehicle K.

However, the magnet tape 21 is placed on the iron plate floor 20.
When the tape is adhered, the magnet tape 21 is trampled by the driving wheel B or the traveling wheel E of the truck K at the branch portion or the merging portion of the traveling route or the spin turn portion of the truck K, and the magnet tape 21 is damaged. There is a problem that arises.

Further, since magnetic flux leaks through the iron plate floor 20, a wide magnetic tape 21 having a width of about 50 mm is used in consideration of the leakage. There is a drawback in that the traveling control accuracy is reduced, and it becomes difficult to perform more precise traveling control of the automatic traveling vehicle.

Further, in order to avoid damage to the magnet tape 21, it is desirable to provide a concave groove in the iron plate floor 20 and store the magnet tape 21 in the groove. There is a problem that the detection accuracy of the magnetic detection sensor J is reduced due to the fact that the leakage is easily caused. 5 and 6, reference numeral 24 denotes an iron plate floor support frame;
5 is a concrete floor.

[0012]

SUMMARY OF THE INVENTION The present invention relates to the above-mentioned problem when a magnetic induction type automatic traveling vehicle (AGV) is applied to a printing factory or the like using an iron plate, that is, a magnetic tape or the like is placed on the iron plate. The problem is that the magnetic tape is likely to be damaged when a magnetic tape is attached, and the detection accuracy of the magnetic detection sensor is reduced when the magnetic tape is inserted into the concave groove of the iron plate floor. Magnetic induction that can be easily applied to factories using an existing iron plate floor and that does not cause damage to the magnetic guide body (magnet tape) or decrease the detection accuracy of the magnetic sensor. An object of the present invention is to provide a magnetic guide body mounting structure for an automatic traveling vehicle.

[0013]

According to the first aspect of the present invention, there is provided an iron plate floor provided with a strip-shaped narrow opening for regulating a traveling route of a magnetically guided automatic traveling vehicle, and a narrow opening in the iron plate floor. The basic structure of the invention is a substrate made of a non-magnetic material having a concave groove on the upper surface side fitted and fixed, and a magnetic guide body fitted into the concave groove of the substrate.

According to a second aspect of the present invention, in the first aspect of the present invention, the substrate is supported and fixed by a supporting member positioned below the narrow opening of the iron plate floor and fixed to the lower surface side of the iron plate floor. Things.

According to a third aspect of the present invention, in the first aspect of the present invention, the substrate is made of stainless steel, and the substrate, the magnetic guide body, and the outer surfaces of the iron plate floor are arranged flush with each other. It was done.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a longitudinal sectional view of a mounting portion of a magnetic guide body, in which 1 is a magnetic guide body, 2 is a substrate made of non-magnetic material, 3 is an iron plate floor, 4 is a support member, 5 is a mounting screw. , 6 is an iron plate floor support, and 7 is a concrete floor.

The magnetic guide 1 is an elongated rubber magnet strip having a square cross section, and is formed to have a width of about 15 mm and a thickness of about 5 mm.

The substrate 2 is made of a non-magnetic material having a thickness substantially equal to the thickness of the iron plate floor 3. In this embodiment, the substrate 2 has a width of about 100 mm and a thickness of about 9 mm.
mm stainless steel plate is used. Also, the substrate 2
A concave groove 2a having a rectangular cross section for accommodating the magnetic guide body 1 is formed in the longitudinal direction at the center on the upper surface side of the upper surface, and the magnetic guide body 1 is fitted into the concave groove 2a.
In this embodiment, the size of the concave groove 2a is selected to be about 15 mm in width and about 5 mm in depth.

The supporting member 4 is used to transfer the narrow substrate 2 to the iron plate floor 3.
A member forming a support beam made of a non-magnetic stainless steel material is attached to the iron plate floor 3 at a predetermined pitch. Each mounting screw 5 is formed of stainless steel, which is a non-magnetic material.

Next, a method of mounting the magnetic guide 1 will be described. First, the iron plate floor 3 is cut along a predetermined traveling route of a magnetically guided automatic traveling vehicle (AGV) to form a band-shaped opening 3a having a predetermined width. In general, the iron plate floor 3 of an existing newspaper printing factory or the like is disposed on the concrete floor 7 with the iron plate floor support 6 interposed therebetween, so that the band-shaped opening 3a can be formed relatively easily. In addition, when the existing conveying device is a device configured to move the bogie along the guide slits 22 formed on the iron plate floor as shown in FIG.
The band-shaped opening 3a can be used as it is or slightly widened. Further, when the existing iron plate floor 3 is laid directly on the concrete floor 7 or the like, the concrete floor 7 is shaved in order to enable the support member 4 to be inserted after the band-shaped opening 3a is pierced. Needless to say, it is necessary.

After the formation of the strip-shaped openings 3a, the support members 4 are first mounted on the iron plate floor 3 at appropriate pitches by the mounting screws 5a, and then the substrate 2 is placed on the support members 4 and mounted. Fix with screws 5b. As a result, the substrate 2 is embedded in the strip-shaped opening 3a of the iron plate floor 3, and
The upper surfaces of the substrate 2 and the iron plate floor 3 are substantially flush. In addition, so-called countersunk screws are used for the mounting screws 5a and 5b,
Of course, there is no protrusion on the upper surface of the iron plate floor 3.

When the mounting of the substrate 2 is completed, the groove 2
The magnetic guide body 1 is inserted into a and fixed. In this embodiment, the band-shaped rubber magnet is fixed to the bottom of the groove 2a by an adhesive as the magnetic guide body 1, but the band-shaped rubber magnet is fitted into the groove 2a by its elastic force. You may make it bond together.

In the embodiment of FIG. 1, the case where the present invention is applied to an existing iron plate is described. However, it is needless to say that the present invention can be applied to a printing factory using a new iron plate. is there.

[0024]

According to the present invention, a band-shaped opening having a predetermined width is provided in an iron plate floor, a nonmagnetic material substrate provided with a concave groove on the upper surface side is inserted into the band-shaped opening, and the substrate is inserted through a support member. In addition to being fixed to the iron plate floor, a magnetic guide is inserted into the groove of the substrate. As a result, the magnetic flux leaking from the magnetic guide body 1 to the iron plate floor side is shielded by the substrate made of a non-magnetic material holding the magnetic guide body, and almost all of the magnetic flux emitted from the magnetic guide body is subjected to magnetic detection. By contributing to the operation of the sensor, it is possible to significantly reduce the size of the magnetic guide body 1 and improve the detection accuracy of the detection sensor.

In addition, a magnetic guide can be laid relatively easily on an existing iron plate floor without requiring a major repair or a long-term stoppage, and a more economical magnetic induction type automatic traveling system can be provided. The application of the bogie (AGV) becomes possible.

Further, since the narrow magnetic guide body is inserted into the groove, the magnetic guide body is compared with the case where a wide magnetic sheet is attached to the upper surface of the iron plate floor as before. Body damage is greatly reduced. As described above, the present invention has excellent practical utility despite its simple configuration.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view of a mounting portion of a magnetic guide body.

FIG. 2 is a plan view of the magnetically guided automatic traveling vehicle.

FIG. 3 is a front view of FIG. 2;

FIG. 4 is a side view of FIG. 2;

FIG. 5 shows an example of a traveling control structure of a bogie on an existing iron plate floor.

FIG. 6 is a longitudinal sectional view showing an example of a mounting portion of a conventional magnetic guide body.

[Explanation of symbols]

 1 is a magnetic guide body 2 is a substrate made of non-magnetic material 2a is a concave groove 3 is an iron plate floor 3a is a strip-shaped narrow opening 4 is a support member 5 is a mounting screw 6 is an iron plate floor support 7 is a concrete floor

Claims (3)

[Claims] 1. A non-magnetic steel plate having a strip-shaped narrow opening for regulating a traveling route of a magnetic induction type automatic traveling vehicle, and a concave groove on an upper surface side fixedly fitted into the narrow opening of the iron plate floor. A magnetic guide body mounting structure for a magnetically guided automatic traveling vehicle, comprising a substrate made of material and a magnetic guide body fitted into a concave groove of the substrate. 2. The magnetically guided automatic traveling vehicle according to claim 1, wherein the substrate is supported and fixed by a supporting member positioned below the narrow opening of the iron plate floor and fixed to a lower surface side of the iron plate floor. Magnetic guide body mounting structure. 3. The magnetically guided automatic traveling vehicle according to claim 1, wherein the substrate is made of stainless steel, and the substrate, the magnetic guide body, and the outer surfaces of the iron plate floor are arranged flush with each other. Magnetic guide body mounting structure.