JP2809783B2 - Unmanned transfer device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned transport device having a recovery function for retrying when a transport vehicle does not reach a normal stop position.

2. Description of the Related Art Conventionally, a carrier loaded with a work is moved from a point a to a point b.
In order to transport the workpiece, the mark near the point b is detected, the transport vehicle is stopped, and the work is loaded or unloaded. In recent years, the number of automatic transport modes using a transport vehicle has increased, and a highly reliable system has been promoted.

However, in the conventional configuration, it takes time for the carrier to detect and stop the mark, and it is difficult to perform high-precision positioning, and is affected by disturbances such as stains on the mark and wheel slippage. Therefore, the transport system cannot be stopped at a normal stop position, and the continuation of the transport system is stopped.

In view of the above problems, an object of the present invention is to provide an unmanned transfer device having a recovery function capable of detecting a disturbance such as contamination of a mark or slipping of a wheel and performing a retry. is there.

Means for Solving the Problems In order to achieve the above object, according to a first aspect of the present invention, there is provided a servo circuit for driving a transport vehicle to travel forward or backward and to stop the transport vehicle, and controlling the servo circuit to transfer a workpiece. A transporter comprising a CPU for instructing loading, a detector A connected to the CPU and detecting a stop mark of the transport vehicle, and a detector B connected to the CPU and detecting an accuracy assurance mark of the stop position. Means for determining whether the detector B is at a normal position where the detector B detects the accuracy assurance mark at a stop position where the detector A detects the stop mark and the carrier stops. That issue a run command to the carrier
When the stop position of the determination means determines that the position is not a normal position, the host CPU issues a command to the CPU of the transport vehicle, and the transport vehicle moves again to determine the normal range of the stop position. An unmanned transfer device that allows several retries to reach

In the second invention, when it is determined that the stop position of the carrier is not a normal position, the carrier returns by a fixed amount, moves again in the direction of the predetermined stop position, and performs several times so as to reach the normal range of the stop position. An unmanned transfer device that allows retry.

In the first aspect of the present invention, when detecting the stop mark, the automatic guided vehicle is stopped via a servo circuit that performs stop control according to a command from the central information processing device (CPU). . The accuracy of this stop position is guaranteed by the accuracy assurance mark, and means for determining whether the stop position is a normal position is provided. By notifying the result to the upper CPU, the upper CPU can confirm the stop result. Or NG. If it is NG, the stop position accuracy is assured by instructing the carrier to retry to move to the destination again.

In the second invention, when it is determined that the stop position of the carrier is not a normal position, the carrier is returned by a fixed amount, and a retry to move in the direction of the predetermined stop position is performed again to ensure accuracy. I made it.

Embodiment Hereinafter, an unmanned conveyance device according to an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of the apparatus of the present invention.
It has wheels 2, which are driven by a servo circuit 3 provided on the carrier 1. 4 is a central information processing unit (CPU)
And is provided on the carrier 1. Reference numeral 5 denotes an upper central information processing device (upper CPU), which is connected to a CPU
Command operation instruction to 4. The CPU 4 decodes the content of the instruction and drives the servo circuit 3 to move the transport vehicle 1 forward or backward and stop. Reference numeral 7 denotes a work transfer motor, 8 denotes a detector A, and 9 denotes a detector B, which are provided on the carrier 1 respectively. When the carrier 1 travels and approaches the destination, the stop mark 10 which is a stop position is detected by the detector A8, and the CPU 4 notifies the servo circuit 3 of a stop command, so that the carrier 1 stops at a certain distance. . The detector B9 guarantees the accuracy of the stop position by detecting the guarantee mark 11. After that, the CPU 4 notifies the host CPU 5 via the station 6 of the stop. Top CP
U5 receives this notification and instructs the CPU 4 to transfer the work. Work transfer is performed using the work transfer motor 7,
The host CPU 5 is notified that the operation has been completed.

FIG. 2 shows the timing at which the transport vehicle 1 is stopped by the detector A8, so that the vehicle 1 can be stopped near the same position when traveling from the left and when traveling from the right.
Place 10

In FIG. 3, the normal range of the stop position L3 (L1>L3> L2)
New security mark 11 that can detect the L2 stop position
And a detector B9, and the information is notified to the host CPU 5 via the station 6, thereby guaranteeing the accuracy of the stop position.

A case where the transport vehicle 1 reaches the normal range of the stop position will be described with reference to FIGS.

In FIG. 4, the upper CPU 5
It is assumed that the work is transferred to the carrier 1 and moved from the point a to the point b, and a command is issued to transfer the work at the point b.
The state of the retry at the point b in this case will be described with reference to the flowchart of FIG.

The left side of FIG. 5 shows the processing of the host CPU 5, and the right side is the carrier 1
This is the processing by. When the upper CPU 5 moves from the point a to the point b and issues a command to transfer the work, the carrier 1 starts the a → b movement 13 and stops at the point b in response to a command 12 for a → b movement 12. If the accuracy of the stop position 15 is assured, the work transfer 17 is performed by the work transfer 16 command in the case of OK, and the operation is completed. In case of NG with the accuracy of the stop position 15, retry N times 18
19 is performed, and a certain amount is returned to the vicinity of the point b (b → b ′) 20
The command returns to b ', the movement 21 from b' to b is performed again, and the stop at point b is performed. This operation is repeated N times, and if OK, the work transfer is performed to 16 and 17, but if the number exceeds N times, the abnormality display 22 is displayed.

As described above, the present invention provides a method in which the carrier has a CPU that receives a command via the upper CPU and the station, and when the carrier moves to the stop position, the accuracy of the stop position is within a normal range. Execute work transfer. However, if the stop position is not accurate due to disturbances such as stains on the marks and wheel slip, the retry is performed by a command from the host CPU, and accurate movement of the transport vehicle can be realized.

[Brief description of the drawings]

FIG. 1 is a block diagram of an unmanned transfer device showing one embodiment of the present invention, FIG. 2 is an explanatory diagram showing a timing when the transport vehicle stops, and FIG. 3 is a stop mark and a guarantee for stopping the transport vehicle. FIG. 4 is an explanatory view showing the operation of the carrier, and FIG. 5 is a flowchart showing a retry at the time of transferring the work. 1 ... transport vehicle, 3 ... servo circuit, 4 ... CPU 5 ... host CPU, 8, 9 ... detector 10 ... stop mark, 11 ... warranty mark

Claims (2)

(57) [Claims] 1. A servo circuit for driving a transport vehicle to travel forward or backward and to stop it, a CPU for controlling the servo circuit and instructing work transfer, and connected to the CPU;
A detector A for detecting a stop mark of the carrier, and the CPU
And a carrier provided with a detector B that detects the accuracy assurance mark at the stop position, and the detector B detects the stop mark at the stop position where the detector A detects the stop mark and the detector B has the detector B. A means for determining whether the position is a normal position in which the accuracy assurance mark is detected, and a host CPU for issuing a traveling command to the carrier; If it is determined that the position is not the position, the upper CPU issues a command to the CPU of the carrier, and it is possible to perform several retries so that the carrier moves again and reaches the normal range of the stop position. Unmanned transport device. 2. When it is determined that the stop position of the transport vehicle is not a normal position, the transport vehicle returns by a fixed amount, moves in the direction of the predetermined stop position again, and performs several times so as to reach the normal range of the stop position. 2. The unmanned transfer device according to claim 1, wherein retry is possible.