JP2001318719A - Traction device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To omit wiring detaching work at the time of disconnecting a truck and to use both emergency stoppage and operation stoppage. SOLUTION: Communication is performed with the truck by optical signals, and in the case that at least stop signals L1 are interrupted in a step S5, the transmission of operation signals R1 is stopped in the step S11 and also an automated guided vehicle is emergency-stopped.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, an automatic guided vehicle and a towing device having a bogie to be pulled by the vehicle.

[0002]

2. Description of the Related Art As a conventional towing device, for example, Japanese Patent Application Laid-Open No. 8-13747 discloses a method in which a plurality of sensors are provided around an unmanned transport vehicle, and the sensors are a pair of a laser light emitting portion and a receiving portion. The document describes that the power supply of the automatic guided vehicle is temporarily stopped when the receiving unit of any of the sensors cannot receive.

[0003]

In the technology described in the above publication, the automatic guided vehicle and the truck are electrically communicably connected to each other by wiring. Therefore, it is necessary to remove the wiring when the truck is separated at a certain place. However, there is a disadvantage that work efficiency is deteriorated due to artificial work.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a traction device which can omit wiring removal work at the time of detaching a bogie and can perform both emergency stop and operation stop.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems and achieve the object, a traction device according to the present invention is provided with a first signal for receiving an optical signal from a towing vehicle and issuing an optical signal to an anti-towing vehicle. Means are provided on one side, and second signal means for receiving an optical signal from the anti-tow vehicle and emitting an optical signal to the tow vehicle are provided on the other side, and light for the first and / or second signal means is provided. When the signal input is interrupted, the transmission of the optical signal is stopped and the operation of the towing vehicle is stopped.

Preferably, the towing vehicle further comprises a third signal means for constantly emitting an optical signal, and when the third signal means does not emit an optical signal, it is preferable that the first signal means emits an optical signal. Forbidden, an optical signal is emitted only from the second signal means.

[0007] Preferably, at least one of the first and second signal means is provided with an emergency stop means for stopping the operation of the towing vehicle.

[0008] Preferably, the optical signal is also used as an automatic disconnection signal from the towing vehicle.

Further, the towing device of the present invention is a towing device comprising one or more bogies towed by the towing vehicle, wherein the bogie receiving the first optical signal emitted from the towing vehicle includes:
The first optical signal is transmitted to a subsequent bogie, and the last bogie receives the first optical signal and transmits a second optical signal to a previously connected bogie, and intermittently transmits the second optical signal. Controls the operation of the towing vehicle.

[0010]

As described above, according to the first aspect of the present invention, when the input of the optical signal to the first and / or second signal means is interrupted, the transmission of the optical signal is stopped and the towing vehicle is stopped. By stopping the operation of the trolley, it is possible to omit the work of removing the wiring when disconnecting the bogie, and it is possible to use both the emergency stop and the operation stop.

According to the second aspect of the present invention, the towing vehicle further comprises a third signal means for constantly emitting an optical signal, and when the third signal means does not emit an optical signal, the first signal means emits an optical signal. By providing an optical signal only from the second signal means, thereby stopping the transmission of an unnecessary optical signal when there is no towing vehicle, and providing an emergency stop and an operation stop. It is to be.

According to the third aspect of the present invention, the emergency stop means for stopping the operation of the towing vehicle is provided in at least one of the first and second signal means, so that both emergency stop and operation stop can be performed.

According to the fourth aspect of the present invention, the optical signal is also used as a signal for automatically disconnecting the vehicle from the towing vehicle.
Wiring removal work at the time of bogie disconnection can be omitted.

According to the fifth aspect of the invention, the bogie receiving the first optical signal emitted from the towing vehicle transmits the first optical signal to the succeeding bogie, and the last bogie transmits the first optical signal. The second optical signal is received and transmitted to the previously connected bogie, and the operation of the towing vehicle is controlled by the intermittent operation of the second optical signal, so that the wiring removal work when the bogie is disconnected can be omitted, and the emergency stop and operation can be performed. Stopping can also be used.

[0015]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

FIG. 1 is a side view showing the entire configuration of the traction device of the present embodiment. FIG. 2 is a top view of FIG.

Referring to FIGS. 1 and 2, the towing device of this embodiment includes an unmanned transport vehicle V and one or more first to n-th trucks N towed by the unmanned transport vehicle V.

On one side behind the automatic guided vehicle V, a vehicle-side operation signal transmitting section Va for issuing an operation signal R1 to a subsequent first vehicle 1 and a vehicle side for receiving a vehicle detection signal S1 from the subsequent first vehicle 1. A truck detection signal receiving unit Vb is provided, and a vehicle-side stop signal receiving unit Vc that receives a stop signal L1 from the subsequent first truck 1 is provided on the other side.

The vehicle-side driving signal transmitting section Va, the vehicle-side bogie detection signal receiving section Vb, and the vehicle-side stop signal receiving section Vc are constituted by communication means such as a photoelectric sensor capable of transmitting and receiving an optical signal having a good straight traveling property. ing.

At the center of the rear part of the automatic guided vehicle V, there is provided an automatic bogie attaching / detaching portion Vd for connecting or disconnecting the subsequent first bogie 1, and provided at the bottom of the automatic guided vehicle V on the traveling road surface. An address sensor Ve for detecting the presence or absence of the address plate 10 is provided.

Magnetic data is written on the address plate 10,
For example, it is provided at a stop position of the unmanned transport vehicle V so that parts and the like are transported in a factory in a predetermined procedure.

Emergency stop switches SVR and SVL are provided on the left and right sides of the automatic guided vehicle V. When the switches SVR and SVL are turned on, the automatic guided vehicle V is stopped.

On one side in front of the first truck 1, a vehicle-side driving signal transmitting unit Va, a vehicle-side bogie detection signal receiving unit Vb, and a vehicle-side stop signal receiving unit Vc of the automatic guided vehicle V are provided, A first truck-side driving signal receiving unit 1a that receives a driving signal R1 emitted from the previously connected unmanned transport vehicle V, and a first truck-side bogie detection signal transmitting unit that constantly emits a truck detection signal S1 to the unmanned transport vehicle V. 1b, and a first bogie-side stop signal transmitting unit 1 that issues a stop signal L1 to the unmanned transport vehicle V on the other side.
c is provided.

Also, on one side behind the first truck 1, a first truck-side operation signal transmitting unit 1d for issuing a driving signal R2 to the succeeding second truck 2, and a truck detection signal from the subsequent second truck 2 are provided. S
A first bogie-side bogie detection signal receiving unit 1e for receiving the second bogie 2 is provided, and a first bogie-side stop signal receiving unit 1f for receiving a stop signal L2 from the subsequent second bogie 2 is provided on the other side.

The first bogie-side driving signal receiving section 1a, the first bogie-side bogie detection signal receiving section 1b, the first bogie-side stop signal transmitting section 1c, the first bogie-side driving signal transmitting section 1d, and the first bogie-side bogie. Detection signal receiver 1e, first bogie-side stop signal receiver 1f
Is constituted by communication means such as a photoelectric sensor that emits a signal with good straightness.

On the left and right sides of the first carriage 1, emergency stop switches S1R and S1L are provided.
When R and S1L are operated, the first truck 1 stops emitting the driving signal R2 to the second truck 2, and the second truck 2 issues the stop signal L2 to the first truck 1. Stop,
Accordingly, the first bogie 1 stops outputting the stop signal L1 to the automatic guided vehicle V, so that the automatic guided vehicle V is stopped.

Further, in the center of the rear part of the first bogie 1, there is provided an automatic bogie attaching / detaching portion 1g for connecting or disconnecting the subsequent second bogie 2 and at the bottom of the automatic guided vehicle V on the traveling road surface. Address sensor 1h for detecting the presence or absence of the provided address plate 10
Is provided.

The description of the second to n-th trucks N is omitted, but it has the same configuration as that of the first truck 1, and the truck numbers are n (= 1, 2, 3,...) In order from the front. ), The n-th truck N receives the driving signal Rn from the (n-1) -th truck N-1, emits the bogie detection signal Sn, the stop signal Ln, and issues the driving signal Rn + 1 to the (n + 1) -th truck N + 1. , Receives the bogie detection signal Sn + 1 and the stop signal Ln + 1.

FIG. 3 is a block diagram showing an electrical configuration of the automatic guided vehicle according to the present embodiment. FIG. 4 is a block diagram showing an electric configuration of the cart.

As shown in FIG. 3, the automatic guided vehicle 1 is equipped with a battery, has a control unit 11 composed of a CPU, a memory, and the like. A drive signal R1 is issued, a bogie detection signal S1 indicating whether or not the bogie is connected, a stop signal L1 indicating whether or not the host vehicle should be stopped are received from the first bogie 1, and the address data detected by the address sensor Ve is used. The drive of the traveling motor 12 is controlled in accordance with the control program stored in the memory, and the automatic bogie attaching / detaching portion Vd is operated up and down to connect and disconnect the bogie.

The control unit 11 also includes an operation start switch S
When VW is turned on to start the traveling motor 12,
The operation stop switch SSW is turned on to stop the traveling motor 12.

When the input of the stop signal L1 is cut off, the control unit 11 stops the traveling motor 12. Further, the control unit 11 stops the traveling motor 12 when the emergency stop switches SVR and SVL are turned on.

As shown in FIG. 4, the n-th carriage N has a CPU
And a control unit 21 including a memory and the like, and receives a driving signal Rn from the automatic guided vehicle V or the n-th truck N (n, N = 1, 2, 3, 4,...), And a truck detection signal Sn, A stop signal Ln is issued to the n-th truck N, an operation signal Rn + 1 is issued for the (n + 1) th truck N + 1, and a truck detection signal Sn + 1 and a stop signal Ln + 1 are received from the (n + 1) th truck N + 1.

The control unit 21 reads the address data detected by the address sensor nh, and also controls the automatic truck attaching / detaching unit n.
g is operated up and down to connect and disconnect the (n + 1) th truck N + 1.

Further, the control unit 21 includes an emergency stop switch S
When nR and SnL are turned on, the emission of the stop signal Ln is stopped.

The n-th carriage N is connected to the automatic guided vehicle V or the n-th
When the driving signal Rn-1 is received from one vehicle N-1 (in the case of n = 2, 3, 4,...), The driving signal Rn + 1 is issued to the (n + 1) th vehicle N + 1, and the stop signal Ln + 1 is transmitted from the (n + 1) th vehicle N + 1. Upon receiving the signal, a stop signal Ln is issued to the (n-1) th car N-1. [Signal Transfer Control of Unmanned Transport Vehicle] FIG. 5 is a flowchart showing signal transfer control of the automatic guided vehicle of the present embodiment.

As shown in FIG. 5, in step S1, the control unit 11 controls the operation start switch SVW of the automatic guided vehicle V.
Is turned on, and in step S1, the automatic guided vehicle V
Is turned on (YES in step S1), it is determined in step S2 whether the input of the bogie detection signal S1 from the first bogie-side bogie detection signal receiving unit 1b is off. If the input of the bogie detection signal S1 is off in step S2 (YES in step S2), the output of the driving signal R1 to the first bogie 1 is turned off in step S3 because the first bogie 1 is not connected. At step S2, the trolley detection signal S
If the input of “1” is on (NO in step S2), the process proceeds to step S5 because at least the first truck 1 is connected.

In step S4, the input of the stop signal L1 to the vehicle-side stop signal receiving unit Vc is forcibly turned on, and the first
The input of the stop signal L1 from the carriage 1 is forcibly prohibited. In step S5, it is determined whether the input of the stop signal L1 is off.
If the input of the stop signal L1 is off at step S5 (YES at step S5), the process proceeds to step S10 to execute the emergency stop operation of the automatic guided vehicle V.

If the input of the stop signal L1 is on in step S5 (NO in step S5), it is determined in step S6 whether the emergency stop switch SVR or SVL of the automatic guided vehicle V is on. If the emergency stop switch SVR or SVL is off in step S6 (NO in step S6), the process proceeds to step S7 to turn on the output of the operation signal R1 to the first truck 1. In step S8, the driving operation of the automatic guided vehicle V is executed.

If the emergency stop switch SVR or SVL is off at step S6 (YES at step S6), the process proceeds to step S10 to execute the emergency stop operation of the automatic guided vehicle V. In step S9, it is determined whether the operation stop switch SSW of the automatic guided vehicle V is turned on, and if the operation stop switch SSW is turned on (YE in step S9)
S), proceed to step S11, and if it is off (step S11)
(NO at 9), and returns to step S5.

In step S11, the output of the driving signal R1 is turned off, and in step S12, the operation of stopping the automatic guided vehicle V is executed.

As described above, communication with the carriage is performed by the optical signal, and at least the stop signal L1 is transmitted in step S5.
Is interrupted, the transmission of the operation signal R1 is stopped, and the unmanned transport vehicle is emergency stopped, so that the work of removing the wiring when the bogie is disconnected can be omitted, and both the emergency stop and the operation stop can be performed. [Dolly Signal Transfer Control] FIG. 6 is a flowchart showing the truck signal transfer control of the present embodiment.

As shown in FIG. 6, in step S21,
The control unit 21 outputs a bogie detection signal S to the (n-1) th bogie N-1.
n is turned on, and in step S22, the (n-1) th car N-
1 until the operation signal Rn is output from step S1.
22 when the operation signal Rn is output (step S2
In step S23, the output of the operation signal Rn + 1 to the (n + 1) th car N + 1 is turned on.

In step S24, the (n + 1) th car N + 1
It is determined whether or not the input of the trolley detection signal Sn + 1 is off at step S24. If the input of the trolley detection signal Sn + 1 is off at step S24 (YES at step S24), the process proceeds to step S25, where the output of the driving signal Rn + 1 is turned off, and step S26 is performed.
And a stop signal Ln + 1 to the n-th bogie-side stop signal transmitting unit nc.
Is forcibly turned on to forcibly prohibit the input of the stop signal Ln + 1 from the n-th truck N.

If the input of the truck detection signal Sn + 1 from the (n + 1) th vehicle N + 1 is ON in step S24 (NO in step S24), the process proceeds to step S27 because the (n + 1) th vehicle N + 1 is connected.

In step S27, it is determined whether the input of the stop signal Ln + 1 is off. If the input of the stop signal Ln + 1 is on (NO in step S27), it is determined in step S28 whether the emergency stop switch SnR is on. Step S28
If the emergency stop switch SnR is off (step S2)
8; NO), the emergency stop switch SnL in step S29
Is turned on. If the emergency stop switch SnL is off in step S29 (NO in step S29), the output of the stop signal Ln to the (n-1) th car N-1 is turned on in step S30.

In step S31, it is determined whether the input of the driving signal Rn from the (n-1) th car N-1 is off, and the driving signal Rn is determined.
Is OFF (YES in step S31), the driving signal Rn + 1 to the (n + 1) th car N + 1 is determined in step S33.
Turn off the output of.

In step S27, the stop signal Ln + 1
Is OFF (YES in step S27), or the emergency stop switch SnR is ON in step S28 (YES in step S28), or the emergency stop switch SnL is ON in step S29 (YES in step S29), the process proceeds to step S32. Then, the output of the stop signal Ln to the (n-1) th vehicle N-1 is turned off, and the process proceeds to step S33.

As described above, communication is performed with the automatic guided vehicle or another bogie using an optical signal. If at least the stop signal Ln + 1 issued from the subsequent bogie is interrupted in step S5, the transmission of the operation signal Rn + 1 is performed. Since the emergency stop of the automatic guided vehicle is stopped, the work of removing the wiring when the bogie is separated can be omitted, and the emergency stop and the operation stop can be used together. FIG. 7 is a flowchart showing the bogie separation control of the automatic guided vehicle according to the present embodiment.

As shown in FIG. 7, in step S41,
The control unit 11 controls the operation start switch SV of the automatic guided vehicle V.
Waiting for W to be turned on, if the operation start switch SWV of the automatic guided vehicle V is turned on in step S41 (YES in step S41), the automatic guided vehicle V is started in step S2.

In step S43, the address plate 10 is detected. If the address plate 10 is detected in step S43 (YES in step S43), address data is read in step S44. In step S45, the operation code at the address is analyzed from the address data.

In step S46, it is determined from the analyzed operation code whether or not there is a bogie separation instruction. Step S46
If there is an instruction to separate the trolley (YES in step S46)
S), the traveling motor 12 is stopped in step S47, the automatic bogie attaching / detaching portion Vg is lowered in step S48 to disconnect the bogie, and the traveling motor 12 is started in step S49.
In step S50, a delay timer is started, and in step S50.
If the delay timer has expired in step 51 (YES in step S51), in step S52 the automatic bogie attaching / detaching section V
Increase g.

In step S58, it is determined whether the operation stop switch SSW of the automatic guided vehicle V has been turned on. If the operation stop switch SSW has been turned on (YES in step S58), the operation of stopping the automatic guided vehicle V in step S59. Is executed (NO in step S58), and the process returns to step S43.

If there is no trolley disconnection instruction in step S46 (YES in step S46), step S53 is executed.
Then, it is determined from the analyzed operation code whether or not there is a multi-connection bogie disconnection instruction. If there is an instruction to disconnect the multi-connected trolley in step S53 (YES in step S53), the flow proceeds to step S54 to stop the traveling motor 12, and if there is no instruction (NO in step S53), the flow proceeds to step S58.

In step S55, the delay timer is started. If the time in the delay timer has expired in step S56 (YES in step S56), the traveling motor 12 is started in step S57, and the flow advances to step S58.

As described above, since the communication with the cart is performed by the optical signal, the work of removing the wiring when the cart is disconnected can be omitted. FIG. 8 is a flowchart showing the bogie separation control of the multi-coach truck according to the present embodiment.

As shown in FIG. 8, in step S61,
The control unit 21 detects the address plate 10. Step S61
If the address plate 10 is detected at (YES in step S61)
ES), address data is read in step S62. In step S63, the operation code at the address is analyzed from the address data.

In step S64, it is determined from the analyzed operation code whether or not there is a bogie disconnection instruction. Step S64
If there is a trolley disconnection instruction in step (YE in step S64)
S), in step S65, the automatic bogie attaching / detaching portion ng is lowered to disconnect the bogie, and in step S66, the delay timer is activated. If the delay timer times out in step S67 (YES in step S67), step S68 is performed.
To raise the automatic trolley attaching / detaching portion ng.

As described above, since communication is performed with the automatic guided vehicle or another bogie by using an optical signal, it is possible to omit wiring removal work when the bogie is disconnected. FIG. 9 is a flowchart showing signal transfer control of the automatic guided vehicle in the uncoupling operation of the multi-connection truck according to the present embodiment.

As shown in FIG. 9, in step S71,
The control unit 11 controls the operation start switch SV of the automatic guided vehicle V.
Waiting for W to be turned on, if the operation start switch SWV of the automatic guided vehicle V is turned on in step S71 (YES in step S71), the bogie is detected from the first bogie-side bogie detection signal receiving unit 1b in step S72. It is determined whether the input of the signal S1 is off. If the input of the bogie detection signal S1 is off at step S72 (YES at step S72), the output of the driving signal R1 to the first bogie 1 is turned off at step S73 because the first bogie 1 is not connected. Step S72
If the input of the trolley detection signal S1 is ON (step S7)
(NO in 2), since at least the first truck 1 is connected, the process proceeds to step S75.

In step S74, the input of the stop signal L1 to the vehicle-side stop signal receiving unit Vc is forcibly turned on, and the input of the stop signal L1 from the first truck 1 is forcibly prohibited. In step S75, it is determined whether the input of the stop signal L1 is off. If the input of the stop signal L1 is OFF in step S75 (YES in step S75), the emergency stop is performed when any object enters between the automatic guided vehicle V and the first truck 1 and the stop signal L1 is interrupted, and step S76 is performed. Then, the traveling motor 12 is stopped, and the output of the operation signal R1 to the first truck 1 is turned off in step S77.

In step S78, it is determined whether the input of the stop signal L1 is ON. If the input of the stop signal L1 is ON in step S78 (YES in step S78), step S7
Go to 9.

In step S79, the output of the operation signal R1 to the first truck 1 is turned on. In step S80, the traveling motor 12 is started.

In step S81, it is determined whether or not the operation stop switch SSW of the automatic guided vehicle V is turned on. If the operation stop switch SSW is turned on (YES in step S81), the operation of the first truck 1 is performed in step S82. Signal R
1 is turned off, and the traveling motor 12 is stopped in step S83.

If the operation stop switch SSW is turned off in step S81 (NO in step S81),
It returns to step S72.

As described above, since the communication with the cart is performed by the optical signal, the work of removing the wiring when the cart is disconnected can be omitted. [Signal Transfer / Dolly Control of Carts in Cart Disconnecting Operation of Multi-Linked Dolly] FIGS. 10 and 11 are flowcharts showing signal transfer and cart detaching control of the carts in the cart detaching operation of the multi-connected trolley of the present embodiment. .

As shown in FIG. 10, at step S81, the control section 21 turns on the output of the bogie detection signal Sn to the (n-1) th car N-1, and at step S82, the (n-1) th car N-1. And waits for the output of the driving signal Rn from step S22. If the driving signal Rn is output in step S22 (YES in step S82), the (n + 1) th car N + is output in step S83.
The output of the operation signal Rn + 1 to 1 is turned on.

In step S84, the (n + 1) th vehicle N + 1
It is determined whether or not the input of the trolley detection signal Sn + 1 is off at step S84. If the input of the trolley detection signal Sn + 1 is off at step S84 (YES at step S84), the process proceeds to step S85, where the output of the driving signal Rn + 1 is turned off, and step S86 is performed.
And a stop signal Ln + 1 to the n-th bogie-side stop signal transmitting unit nc.
Is forcibly turned on to forcibly prohibit the input of the stop signal Ln + 1 from the n-th truck N.

If the input of the truck detection signal Sn + 1 from the (n + 1) th vehicle N + 1 is ON in step S84 (NO in step S84), the process proceeds to step S87 because the (n + 1) th vehicle N + 1 is connected.

In step S87, the address plate 10 is detected. If the address plate 10 is detected in step S87 (YES in step S87), the address data is read in step S88. In step S89, the operation code at the address is analyzed from the address data.

In step S90, it is determined from the analyzed operation code whether or not there is a multi-connection bogie disconnection instruction. If there is a bogie separation instruction in step S90 (YES in step S90), the output of the stop signal Ln to the (n-1) th car N-1 is turned off in step S91.

In step S92, it is determined whether the input of the operation signal Rn from the (n-1) th car N-1 is off, and the operation signal Rn is determined.
Is OFF (YES in step S92), the automatic trolley attaching / detaching portion ng is lowered in step S93 to disconnect the trolley, and the flow proceeds to step S94 in FIG.

As shown in FIG. 11, in step S94, the delay timer is started, and if the time of the delay timer has expired in step S95 (YE in step S95).
S), the output of the stop signal Ln to the (n-1) th car N-1 is turned on, and in step S97, the delay timer is started, and if the delay timer times out in step S98 (YES in step S98), In step S31, the n-th
It is determined whether the input of the driving signal Rn from the single vehicle N-1 is off, and if the input of the driving signal Rn is off (step S99)
YES), this program ends.

If the input of the operation signal Rn is ON in step S99 (NO in step S99), the process returns to step S82 in FIG.

As described above, the optical signal is used to communicate with the automatic guided vehicle or the bogie, so that the work of removing the wiring when disconnecting the bogie can be omitted. [Detailed Configuration of Unmanned Transport Vehicle and Dolly] FIG. 12 is a side view showing the detailed configuration of the unmanned transport vehicle of the present embodiment. FIG. 13 is a top view of FIG. FIG. 14 is a side view showing the detailed configuration of the truck according to the first embodiment. FIG. 15 is a top view of FIG. FIG. 16 is a side view showing the detailed configuration of the truck according to the second embodiment. FIG. 17 is a top view of FIG. FIG. 18 is a side view showing the detailed configuration of the truck according to the third embodiment. FIG. 19 is a top view of FIG.

In the case of automating the logistics transport operation using the unmanned transport vehicle and the truck according to the present embodiment, in order to achieve both the loading / unloading operation of the truck and the automation of the loading / unloading operation of the transported material, the automatic truck mounting / removing portion Vd of the truck N and the transported material are carried out. And an automatic guided vehicle V (FIGS. 12 and 13) having an automatic transfer portion Ve, and a truck N (FIGS. 14 and 15) having an automatic guided vehicle attaching / detaching portion ng of an automatic guided vehicle or a truck and a manual transfer portion ni. Alternatively, a truck N (FIGS. 16 and 17) having an automatic truck attaching / detaching portion ng or an automatic transfer portion nj of an automatic guided vehicle or a truck is used. A trolley N (FIGS. 18 and 19) having an automatic transfer unit nj is used as the last trolley.

In the present embodiment, the use of the above-described unmanned transport vehicle or bogie allows the distribution automation area to be expanded and the transport efficiency to be improved.

The present invention can be applied to a modification or a modification of the above embodiment without departing from the gist of the invention.

For example, a configuration may be adopted in which the unmanned transport vehicle pushes the bogie from the end instead of pulling the bogie from the head. In this case, the directions of the various signals are reversed.

Further, the truck detection signal Sn may be reflected by the reflector on the receiving side and returned to the transmitting side.

[Brief description of the drawings]

FIG. 1 is a side view showing the entire configuration of a traction device of the present embodiment.

FIG. 2 is a top view of FIG.

FIG. 3 is a block diagram illustrating an electrical configuration of the automatic guided vehicle according to the present embodiment.

FIG. 4 is a block diagram showing an electrical configuration of the cart.

FIG. 5 is a flowchart illustrating signal transfer control of the automatic guided vehicle according to the embodiment.

FIG. 6 is a flowchart showing a signal transfer control of the cart according to the embodiment.

FIG. 7 is a flowchart illustrating bogie separation control of the automatic guided vehicle according to the present embodiment.

FIG. 8 is a flowchart showing bogie separation control of the multi-coupling bogie according to the present embodiment.

FIG. 9 is a flowchart showing signal transfer control of the automatic guided vehicle in the bogie detaching operation of the multi-connection bogie according to the embodiment.

FIG. 10 is a flowchart showing bogie signal transfer and bogie separation control in the bogie separating operation of the multi-connection bogie according to the present embodiment.

FIG. 11 is a flowchart showing control of signal transfer of the bogie and bogie separation control in the bogie separating operation of the multi-connection bogie according to the present embodiment.

FIG. 12 is a side view illustrating a detailed configuration of the automatic guided vehicle according to the present embodiment.

FIG. 13 is a top view of FIG.

FIG. 14 is a side view showing a detailed configuration of the cart according to the first embodiment.

FIG. 15 is a top view of FIG. 14;

FIG. 16 is a side view showing a detailed configuration of a truck according to a second embodiment.

FIG. 17 is a top view of FIG. 16;

FIG. 18 is a side view showing a detailed configuration of a truck according to a third embodiment.

FIG. 19 is a top view of FIG. 18;

[Explanation of symbols]

 V Unmanned transport vehicle 1-N bogie

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Makoto Oya 3-1, Fuchi-cho, Fuchu-cho, Aki-gun, Hiroshima Prefecture F-term in Mazda Co., Ltd.

Claims (5)

[Claims] A first signal means for receiving an optical signal from the towing vehicle and emitting an optical signal to the anti-towing vehicle on one side; receiving an optical signal from the anti-towing vehicle; A second signal means for emitting light is provided on the other side, and when the input of the optical signal to the first and / or second signal means is interrupted, the transmission of the optical signal is stopped and the operation of the towing vehicle is stopped. A traction device, characterized in that: 2. A third device which constantly emits an optical signal to the towing vehicle.
When the third signal means does not emit an optical signal, the first signal means is prohibited from emitting an optical signal, and the optical signal is emitted only from the second signal means. The traction device according to claim 1. 3. The towing device according to claim 1, wherein at least one of the first and second signal means includes an emergency stop means for stopping the operation of the towing vehicle. 4. The optical signal according to claim 1, wherein the optical signal is also used as an automatic disconnection signal from a towing vehicle.
A traction device according to any one of the preceding claims. 5. A traction device comprising one or more bogies towed by a tow vehicle, wherein the bogie receiving a first optical signal emitted from the tow vehicle transmits the first optical signal to a subsequent bogie. And transmitting the second optical signal to the previously connected bogie while receiving the first optical signal and controlling the operation of the towing vehicle by intermittently transmitting the second optical signal. A traction device characterized by the following.