JP2020013344A - Position recognition mechanism of carrier track - Google Patents

Abstract

To accurately and inexpensively recognize by a simple facility that a carrier truck is guided to a predetermined confirmation position when the carrier truck automatically transporting a conveyed good is guided to a plurality of confirmation positions.SOLUTION: When confirming that a carrier truck 10 transporting a conveyed good W is guided to a predetermined position, a plurality of confirmation detection sensors 11 are arranged in the carrier truck 10, and one or more detection objects 21, which are different in patterns, detected by the confirmation detection sensors 11 mounted in the carrier truck 10 are provided at each of confirmation positions for confirming the position of the traveled carrier truck 10.SELECTED DRAWING: Figure 3

Description

  The present invention is directed to a transport trolley for loading and automatically transporting various transported articles such as strip coils in a transport trolley, loading and unloading transported articles on the transport trolley, and leading to a plurality of processing positions for performing various processes. The present invention relates to a position recognition mechanism of a transport vehicle for recognizing that the transport vehicle has been guided to a predetermined position. In particular, the present invention is characterized in that it is possible to accurately recognize that the transport cart for automatically transporting the transported article to a predetermined position as described above at a low cost with simple equipment.

  DESCRIPTION OF RELATED ART Conventionally, as shown in patent documents 1 and 2, what carried out the conveyance thing, such as a strip coil, on a conveyance trolley and carried it automatically is known.

  In addition, when loading various types of articles on a transport trolley and automatically transporting the transport trolley, as shown in Patent Literature 3, an image pickup device is mounted on the transport trolley, and a signboard type sign that is easy to relocate is placed on a work floor path. It is arranged at an appropriate point on the upper side, an image pickup device mounted on the transport trolley captures an image of a sign placed on the route, processes the captured information by image processing, and controls a stop position of the transport trolley and the like. Things have been suggested.

  However, in the case where a sign placed on the route is imaged by the image pickup device mounted on the transport trolley and image processing is performed, at a site where visibility is poor due to smoke or steam, the sign is placed on the route by the image pickup device. It is difficult to accurately image the sign and perform image processing, and it is difficult to accurately control the stop position of the transport vehicle, etc., and the cost of installing and maintaining the imaging machine and image processor is high. There was such a problem.

  Conventionally, in order to accurately detect the stop position of the transport vehicle as described above, a detection sensor for confirmation such as a proximity sensor is installed at each stop position, while the detection sensor for confirmation on the transport vehicle. It has also been practiced to provide a detection object to be detected, and to detect a detection object provided on the transport trolley by a detection sensor provided at each stop position to control the stop position of the transport trolley.

  However, when the detection sensors for confirmation are installed at the respective stop positions of the transport vehicle as described above, if the number of positions to be detected increases, a large number of detection sensors for confirmation are placed at the corresponding detection positions. It is necessary to provide sensors, and wiring work to install the detection sensors at each stop position requires materials and construction period, which increases initial costs and increases the number of installed detection sensors. There was a problem that maintenance costs for maintenance were high.

Japanese Utility Model Publication No. 61-34506 JP-A-8-113331 JP-A-10-149217

  SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-described various problems when recognizing that a transport vehicle that automatically transports various transport objects such as a strip coil is guided to a predetermined position. .

  That is, according to the present invention, in the position recognition mechanism of the transport vehicle for recognizing that the transport vehicle for transporting the transported product is guided to a predetermined position, the transport vehicle for automatically transporting the transported product is guided to a predetermined position. It is an object of the present invention to enable accurate recognition at low cost and with simple equipment even at a large site or at a site where there are many stop positions of a transport vehicle.

  In the position recognition mechanism of the transport vehicle according to the present invention, in order to solve the above-described problem, in the position recognition mechanism of the transport vehicle for recognizing that the transport vehicle that transports the transported object is guided to a predetermined position. A plurality of detection sensors are disposed on the transport vehicle, and at each of the confirmation positions for confirming the position of the traveling transport vehicle, a detection object detected by the detection sensor provided on the transport vehicle is provided. And one or more detection objects are provided so that the pattern is different at each confirmation position.

  In this way, a plurality of detection sensors are arranged on the transport vehicle, and at each check position for confirming the position of the traveling transport vehicle, the detection detected by the above-described detection sensor provided on the transport vehicle is performed. When one or more objects are provided and the detection object is provided at one or more positions so that the patterns are different at each check position, the number and position of the objects to be provided at each check position are changed, so that a plurality of check objects provided on the transport carriage are provided. The detection sensor can detect the arrangement state of a large number of detection objects provided at each confirmation position, and can easily recognize the large number of confirmation positions.

  When detecting the arrangement pattern of a large number of detection objects provided at each check position by the plurality of check detection sensors provided on the transfer cart as described above, the detection of the transfer cart provided at the check position is performed. It is preferable to stop at a position where an object is detected, and to detect the number and arrangement state of the detected objects provided at the confirmation position by the confirmation detection sensor provided on the transport vehicle. With this configuration, it is easy to verify that the number and arrangement of the detection objects provided at the confirmation position are not shifted and detected by the plurality of confirmation detection sensors provided on the transport vehicle. It is possible to accurately detect the arrangement state of the detected object, and appropriately recognize many confirmation positions.

  In the transport vehicle position recognition mechanism according to the present invention, when the transport vehicle is stopped at the position for detecting the detected object provided at the confirmation position as described above, the detection member and the transport vehicle on which the detected object is disposed are provided. May be provided, or a moving distance calculating means for calculating the moving distance of the transport vehicle may be provided.

  Here, in providing the stop position detecting means so as to correspond to the detection member on which the detection object is arranged and the transport trolley, a stop position detection sensor different from the confirmation detection sensor is provided on the transport trolley. The detection member may be provided with a stop position detection member that is detected by the stop position detection sensor when the transport vehicle is guided to the stop position. In addition, an encoder or the like that measures the number of rotations of the wheels can be used as the moving distance calculating unit that calculates the moving distance of the transport vehicle. With this configuration, it is easy to accurately stop the carrier at the position for detecting the detection object provided at each check position as described above, and the arrangement state of the detection object provided at each check position is incorrect. It can also detect and verify that the wrong location is not recognized.

  In the transport vehicle position recognition mechanism according to the present invention, a plurality of confirmation detection sensors are arranged on the transport vehicle as described above in recognizing that the transport vehicle for transporting the transported object is guided to a predetermined position. At the same time, at each of the confirmation positions for confirming the position of the transporting trolley to be traveled, a detection object to be detected by a confirmation detection sensor provided on the transporting trolley is provided, and the pattern of the detected object is different at each confirmation position. By changing the number and position of the detection objects provided at each confirmation position, the arrangement state of a large number of detection objects provided at each confirmation position by a plurality of confirmation detection sensors provided on the transport trolley is changed. Is detected, and it can be easily recognized whether or not the transport vehicle has been guided to an appropriate position among many confirmation positions.

  In addition, since the transport vehicle itself is equipped with a detection sensor for confirmation and can be configured with a smaller amount of detection sensors than before, the cost of purchasing the detection sensor for confirmation, the wiring construction cost, and the construction period can be reduced. Become.

  As a result, in the transport vehicle position recognition mechanism according to the present invention, it is possible to determine whether or not the transport vehicle for automatically transporting the transported material has been appropriately moved to the respective check positions, by using simple equipment, at a lower cost than in the conventional one. Can be checked accurately.

In the transport vehicle used for the position recognition mechanism of the transport vehicle according to the embodiment of the present invention, a plurality (three) of detection sensors for confirmation are arranged along a traveling direction of the transport vehicle on a sensor mounting portion provided on a side surface thereof. It is the schematic explanatory drawing which showed the state which provided the stop position detection sensor for confirming the stop position of the conveyance trolley on one side of the sensor attachment part. In the transport vehicle position recognition mechanism according to the above-described embodiment, (A) to (G) denote the confirmation members provided on the transport vehicle in the detection members at the respective confirmation positions for confirming the position of the transport vehicle to be traveled. An example is shown in which one or more detection objects detected by the application detection sensor are provided in different patterns, and a stop position detection member that is detected by the stop position detection sensor provided on the transport vehicle is provided. FIG. In the position recognition mechanism of the transport vehicle according to the above-described embodiment, the detection sensor provided on the traveling transport vehicle and the detection object provided on each of the detection members shown in FIGS. 2A to 2G are used. 2 (A) to 2 (G) are arranged along the traveling direction of the transport vehicle in a direction opposite to the transport vehicle provided with the detection sensor for confirmation. It is the schematic explanatory drawing which showed the state seen from the side surface of the side. In the position recognition mechanism of the transport vehicle according to the above-described embodiment, the detection sensor provided on the traveling transport vehicle and the detection object provided on each of the detection members shown in FIGS. 2A to 2G are used. FIG. 2 is a schematic explanatory diagram showing a state in which the respective detection members shown in FIGS. 2A to 2G are arranged along the traveling direction of the transport trolley so that they face each other when viewed from above. It is. In the transport vehicle position recognition mechanism according to the embodiment, a change example in which the transport vehicle is stopped at a position for detecting a detection object provided at a confirmation position is shown, and a movement for calculating the travel distance of the transport vehicle is shown. It is the schematic explanatory drawing which showed the state in which the distance calculation means was provided.

  Hereinafter, a position recognition mechanism of a transport vehicle according to an embodiment of the present invention will be specifically described with reference to the accompanying drawings. It should be noted that the position recognition mechanism of the transport vehicle according to the present invention is not limited to those described in the following embodiments, and can be appropriately modified and implemented without departing from the gist of the invention.

  In the transport vehicle position recognition mechanism according to this embodiment, as shown in FIG. 1 and the like, a transport vehicle 10 having wheels 10a is caused to travel along a travel rail L, and a strip loaded on the transport vehicle 10 Processing is performed at each position by automatically transporting a transported object W such as a coil to a predetermined position. Note that, when the transport carriage 10 travels to automatically transport the transported object W to a predetermined position, it is convenient to travel the transport carriage 10 along the travel rail L as described above. It is also possible to make the carrier 10 self-propelled without using it.

  Further, in order to confirm that the transport vehicle 10 is guided to a predetermined position by loading the transported object W and running the transport vehicle 10 as described above, the transport vehicle 10 may include a plurality of detection sensors for confirmation. 11 and an object 21 to be detected by the confirmation detection sensor 11 provided on the transport vehicle 10 is provided at each check position on the ground for confirming the position of the transport vehicle 10 to be run. One or more objects 21 are provided with different patterns at each check position for checking the position of the transport carriage 10. In addition, as the detection sensor 11 for confirmation in the transport trolley 10 that detects the detection object 21 provided at each confirmation position, a proximity sensor using magnetism or the like, a contact sensor, or the like can be used.

  Here, in arranging the plurality of confirmation detection sensors 11 on the transport vehicle 10 as described above, in this embodiment, as shown in FIG. 1, a sensor mounting portion 12 provided on a side surface portion of the transport vehicle 10 is provided. For example, three detection sensors 11 a, 11 b, and 11 c for confirmation are arranged in the sensor mounting portion 12 at a required interval in the traveling direction of the transport vehicle 10, and the traveling direction of the transport vehicle 10 in the sensor mounting portion 12 is provided. A stop position detecting sensor 13 for confirming the stop position of the transport vehicle 10 is attached to one side. Here, the position, the number, and the arrangement of the plurality of confirmation detection sensors 11 provided on the transport trolley 10 are not limited to these, and the number of confirmation positions for confirming the position of the transport trolley 10 and the confirmation positions By changing according to the state of the detection object 21 provided in the above, it is possible to cope with many confirmation positions. When the detection sensor 11 for confirmation is arranged only in the vertical direction, the installation of the sensor 13 for detecting the stop position can be omitted.

  On the other hand, as shown in FIGS. 2 (A) to 2 (G), at each of the confirmation positions where the position of the transporting trolley 10 to be traveled is checked and each operation is performed, A detection member 20 (20a to 20g) in which one or more detection objects 21 detected by the detection sensor 11 are arranged so as to have different patterns, respectively, and a traveling direction of the transport carriage 10 in each of the detection members 20a to 20g. On one side, a stop position detecting member 22 that is detected by a stop position detecting sensor 13 provided on the transport vehicle 10 is provided.

  In providing the detection member 20 in which the one or more detection objects 21 detected by the confirmation detection sensor 11 provided on the transport carriage 10 are arranged in different patterns as described above, In the detection member 20, the detection member 20 is attached to the detection member 20 by the confirmation detection sensor 11 so as to correspond to three positions facing the three confirmation detection sensors 11 a, 11 b, and 11 c provided on the transport carriage 10. The one or more detection objects 21 to be detected are arranged so as to have different patterns. In addition, as described above, the state of the detection object 21 provided on the detection member 20 at each confirmation position may be appropriately changed according to the position, the number, and the arrangement of the plurality of confirmation detection sensors 11 provided on the transport vehicle 10. it can.

  Further, as the detection object 21, for example, when a magnetic proximity sensor is used as the confirmation detection sensor 11, a magnet may be used, and when a contact sensor is used, a protrusion may be used. it can.

  Here, when one detection object 21 is arranged on the detection member 20, as shown in FIGS. 2A to 2C, the stop position detection sensor 13 in the transport vehicle 10 detects the detection object 20. In a state where the stop position detecting member 22 is detected, the detection object 21 is arranged at each position facing each of the three confirmation detection sensors 11a, 11b, and 11c. 2D to 2F, the stop position detection member 22 in the detection member 20 is detected by the stop position detection sensor 13 in the transport trolley 10 as shown in FIGS. In a state where the two detection sensors 11a and 11b are opposed to each other, a position opposed to the two confirmation detection sensors 11b and 11c, FIG. 2 (G) shows a case where two detection objects 21 are arranged at positions opposed to the three detection sensors 11a and 11c, respectively, and three detection objects 21 are arranged on the detection member 20. As shown in FIG. 3, in the state where the stop position detecting member 22 of the detecting member 20 is detected by the stop position detecting sensor 13 of the transport carriage 10, the above-described three detection detections are applied to the detection member 20. The three detection objects 21 can be arranged so as to face the sensors 11a, 11b, 11c.

  In the position recognition mechanism of the transport vehicle according to this embodiment, the detection members 20 (20a to 20g) are installed at seven confirmation positions provided along the traveling rail L, and are shown in FIGS. As shown in the figure, the transport cart 10 is caused to travel along a travel rail L, and is provided at each confirmation position in the traveling direction of the transport cart 10 (a position where the transported articles W loaded on the transport cart 10 are processed). It is guided to the position of each detecting member 20 (20a to 20g), and provided at each of the detecting members 20a to 20g by the stop position detecting sensor 13 provided on the carrier 10 at the position of each detecting member 20a to 20g. The detected stop position detecting member 22 is detected.

  In addition, at the position where the stop position detecting member 22 of each of the detecting members 20a to 20g is detected by the stop position detecting sensor 13 of the transport vehicle 10 as described above, each of the confirmation detection sensors 11 is located in front of each of the detection objects 21. The transport vehicle 10 is stopped so as to come, and the transport vehicle 10 is guided to an accurate position corresponding to each of the detection members 20a to 20g. In this state, the above-described confirmation detection sensors 11a, 11b and 11c detect the detection object 21 provided on each of the detection members 20a to 20g, and confirm whether the position where the transport cart 10 is guided is correct, and correspond to the transport object W at the confirmed position. To perform the following processing.

  In this manner, the arrangement state of the many detection objects 21 provided at each confirmation position is detected by the confirmation detection sensors 11a, 11b, and 11c provided on the transportation vehicle 10, and the transportation vehicle 10 is moved to the many confirmation positions. Can be easily recognized as being guided to an appropriate position in the vehicle, and, as compared with the conventional one, whether the transport trolley 10 for automatically transporting the transported object W is appropriately moved to the respective confirmation position. Can be accurately confirmed at low cost with simple equipment.

  In this embodiment, when each of the detection sensors 11a, 11b, and 11c provided on the carrier 10 detects the detection object 21 provided on each of the detection members 20a to 20g, the carrier 10 is detected. In order to guide the members to the correct positions corresponding to the members 20a to 20g, the stop position detecting sensor 13 provided on the carrier 10 causes the stop position detecting member 22 provided on each of the detection members 20a to 20g to be detected. However, the method of guiding the transport trolley 10 to an accurate position corresponding to each of the detection members 20a to 20g is not particularly limited to this.

  For example, when stopping the transport trolley 10 at the position where the detection object 21 is detected in each of the detection members 20a to 20g provided at the confirmation position, the moving distance of the transport trolley 10 is calculated as shown in FIG. As described above, the moving distance calculating means 14 such as an encoder for measuring the number of rotations of the wheels 10a of the transport trolley 10 is provided, and the detecting members 20a to 20g in which the transport trolley 10 is provided at the confirmation position by the moving distance calculating means 14 are provided. May be guided to the position where the detection object 21 is detected.

  In this embodiment, the detection object 21 detected by each of the detection sensors 11a, 11b, and 11c provided on the transport vehicle 10 is provided on each of the detection members 20a to 20g on the side of the traveling transport vehicle 10. However, it is also possible to provide each of the detection members 20a to 20g provided with the detection object 21 below the transport vehicle 10 that travels.

Reference numeral 10: transport carriage 10a: wheels 11 (11a to 11c): detection sensor 12 for confirmation: sensor mounting part 13: sensor 14 for detecting a stop position: moving distance calculation means 20 (20a to 20g): detection member 21: detected object 22: Stop position detecting member L: Travel rail W: Conveyed object

Claims (4)

  In a position recognition mechanism of a transport vehicle for recognizing that a transport vehicle for transporting a transported product is guided to a predetermined position, a plurality of confirmation detection sensors are disposed on the transport vehicle, and the transport vehicle to be traveled. In each of the confirmation positions for confirming the position, a detection object to be detected by the confirmation detection sensor provided on the transport trolley is provided, and one or more of the detection objects are provided so that the pattern is different at each confirmation position. A transport vehicle position recognition mechanism, characterized in that:   The transport vehicle position recognition mechanism according to claim 1, wherein the transport vehicle is stopped at a position for detecting a detection object provided at a confirmation position, and confirmed by the confirmation detection sensor provided on the transport vehicle. A position recognition mechanism for a transport trolley, wherein the position recognition mechanism detects a number and an arrangement state of detection objects provided at positions.   In the position recognition mechanism for a transport vehicle according to claim 1 or 2, when the transport vehicle is stopped at a position for detecting a detection object provided at a confirmation position, a detection member on which the detection object is arranged is provided. A position recognition mechanism for a transport vehicle, wherein stop position detecting means is provided so as to correspond to each of the transport vehicles.   In the position recognition mechanism for a transport vehicle according to claim 1 or 2, the moving distance of the transport vehicle is calculated when stopping the transport vehicle at a position for detecting an object provided at a confirmation position. A transport vehicle position recognition mechanism, comprising a moving distance calculating means.

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