JP7805798B2 - Delivery system and delivery method - Google Patents

Description

The present invention relates to a delivery system and delivery method, for example, for loading molded products onto or unloading them from an automated guided vehicle.

In industrial production sites, efforts have been made to improve productivity by reducing the labor required for simple manual tasks. In the production of molded products, efforts have also been made to automate each process from production to shipping.

For example, Patent Document 1 describes a foam molding system in which a foam molding machine having a pair of molds arranged so that they can be opened and closed molds is used to mold foam molded products, and a removal device is used to orderly remove and sequentially transfer the foam molded products from the molds. The removed foam molded products are temporarily pooled, then transferred one by one or in batches of a predetermined number, packaged, and stored as desired. This series of processes is automatically controlled by a system control unit. In this foam molding system, foam molded products provided by the foam molding machine are transferred to a transfer conveyor. The transferred foam molded products are judged to be pass or fail by weight measurement. Foam molded products judged to be defective are ejected from the transfer conveyor, and foam molded products judged to be pass are transported to the packaging unit.

Japanese Patent Application Publication No. 5-124124

On the other hand, customers sometimes demand diversification in product specifications, such as type, size, and shape. Responding to this diversification may require changes to product post-processing methods and shipping formats. This may require flexible changes to the layout of the production line. Introducing fixed equipment for each process can make it difficult to change the layout of the production site. This can lead to an inability to flexibly respond to changes in product specifications and production plans, which can result in increased production costs.

The present invention was made in consideration of the above points, and one of its objectives is to provide a delivery system and delivery method that can be implemented economically and flexibly.

(1) The present invention has been made to solve the above-mentioned problems, and one aspect of the present invention is a delivery system comprising an automated guided vehicle that travels on a route including a loading point and an unloading point for an in-mold product and is capable of stopping at least the loading point and the unloading point; a loading device that loads the in-mold product onto the automated guided vehicle that has stopped at the loading point; and at least one of an unloading device that unloads the in-mold product from the automated guided vehicle that has stopped at the unloading point, wherein the loading device maintains the stoppage of the automated guided vehicle when it detects that the automated guided vehicle has stopped and allows the automated guided vehicle to continue after loading of the in-mold product is complete, and the unloading device maintains the stoppage of the automated guided vehicle when it detects that the automated guided vehicle has stopped and allows the automated guided vehicle to continue after unloading of the in-mold product is complete.

(2) Another aspect of the present invention is a method for a delivery system including an automated guided vehicle that travels along a route including a loading point and an unloading point for an in-mold molded product and that can stop traveling at least at the loading point and the unloading point, a loading device that loads the in-mold molded product onto the automated guided vehicle that has stopped at the loading point, and at least one of an unloading device that unloads the in-mold molded product from the unloading point, wherein, when the delivery system includes the loading device, the method includes a step in which the loading device maintains the stop of the automated guided vehicle when it detects that the in-mold molded product has stopped, and a step in which the loading device allows the automated guided vehicle to continue traveling after loading of the in-mold molded product is completed, and, when the delivery system includes the unloading device, the method includes a step in which the unloading device maintains the stop of the automated guided vehicle when it detects that the automated guided vehicle has stopped, and a step in which the unloading device allows the automated guided vehicle to continue traveling after unloading of the in-mold molded product is completed.

The delivery system and delivery method of the present invention can be implemented economically and flexibly.

FIG. 1 is a plan view illustrating an example of a delivery system according to a first embodiment. 1 is a perspective view showing a configuration example of a loading device according to a first embodiment. FIG. 2 is a schematic block diagram illustrating a first functional configuration example of a control device according to the first embodiment. 1 is a perspective view showing a configuration example of an unloading device according to a first embodiment. FIG. 2 is a perspective view showing an example of operation of the unloading device according to the first embodiment. FIG. 4 is a schematic block diagram illustrating a second functional configuration example of the control device according to the first embodiment. FIG. 1 is a perspective view showing an example of the configuration of an AGV. FIG. 2 is a perspective view showing an example of the configuration of a transfer pattern setting unit according to the first embodiment; FIG. 10 is a plan view showing an example of a transfer pattern. FIG. 2 is a perspective view showing an example of operation of the loading device according to the first embodiment. FIG. 10 is a plan view showing another example of a transfer pattern. FIG. 10 is a perspective view showing a configuration example of a loading device according to a second embodiment. FIG. 10 is a schematic block diagram illustrating a first example of a functional configuration of a control device according to a second embodiment. 10A and 10B are diagrams illustrating an example of the operation of the loading device according to the second embodiment. FIG. 10 is a perspective view showing a configuration example of an unloading device according to a second embodiment. FIG. 10 is a schematic block diagram illustrating a second functional configuration example of a control device according to a second embodiment. FIG. 10 is a perspective view showing a modified example of the unloading device according to the embodiment.

First Embodiment
A first embodiment will be described below with reference to the drawings. First, an overview of this embodiment will be described. FIG. 1 is a plan view showing an example of a delivery system 1 according to this embodiment. The delivery system 1 mainly handles in-mold molded products as delivery targets. The in-mold molded products are, for example, porous molded products formed by foam molding a foamable plastic in a mold. In this application, the in-mold molded products may be simply referred to as "molded products." The delivery system 1 includes a loading device 100, an unloading device 200, and an AGV (Automated Guided Vehicle) 300. A traveling line RL is installed circulating on the floor. The AGV 300 travels in one direction along the traveling line RL, which indicates its travel path, and stops at a stop station. On the traveling line RL, a loading station ST10 and an unloading station ST20 are installed as stop stations near the front of the loading device 100 and the unloading device 200, respectively. The AGV 300 is equipped with a traveling mechanism that enables it to travel autonomously. The AGV 300 can be stopped at a loading station ST10, where an in-mold molded product is loaded onto the AGV 300 from a loading device 100. The AGV 300 can be stopped at an unloading station ST20, where an unloading device 200 unloads the in-mold molded product loaded onto the AGV 300.

The loading device 100 is capable of detecting an automated guided vehicle 300 stopped at the loading station ST10. When the loading device 100 detects that the automated guided vehicle 300 has stopped, it maintains the stop and loads the molded product onto the AGV 300. The loading device 100 allows the AGV 300 to continue traveling after loading of the molded product is complete. The AGV 300 travels along the traveling line toward the unloading station ST20 with the molded product loaded. The loading device 100 is also called a transfer machine.

The unloading device 200 is capable of detecting the AGV 300 that has stopped at the unloading station ST20. When the unloading device 200 detects that the AGV 300 has stopped, it unloads the molded products loaded on the AGV 300. The unloading device 200 allows the AGV 300 to continue traveling after unloading of the molded products is completed. The unloading device 200 is also called a supply machine.
After the molded product is unloaded from the AGV 300, the AGV 300 travels on the travel line RL toward the loading station ST10.

The following description mainly focuses on the case where the transfer system 1 has one loading device 100, one unloading device 200, and one traveling line RL, as illustrated in FIG. 1. However, the transfer system 1 may have both the loading device 100 and the unloading device 200, or one of them without the other. In the transfer system 1, the number of loading devices 100 and unloading devices 200 may be two or more per traveling line RL, or the number of traveling lines RL may be two or more. The subsequent machine from which the in-mold molded product is delivered to the loading device 100 may be a production facility, storage facility, another unloading device, etc., or may be another loading device. The subsequent machine to which the in-mold molded product is delivered from the unloading device 200 may be a storage facility, shipping facility, another loading device, another unloading device, etc. These subsequent machines may be fixed in position or may be mobile.

Next, an example configuration of the loading device 100 according to this embodiment will be described. Figure 2 is a perspective view showing an example configuration of the loading device 100 according to this embodiment. In the example shown in Figure 2, a travel line RL is installed on the floor in front of the loading device 100. The direction in which the travel line RL is laid corresponds to the traveling direction of the AGV 300. In the following description, the traveling direction of the AGV 300, the direction from the front of the loading device 100 toward the travel line RL, and the vertical direction are referred to as the "x direction," "y direction," and "z direction," respectively. The x direction, y direction, and z direction are mutually orthogonal in three-dimensional space. Furthermore, the x direction, y direction, and z direction may be referred to as "left," "front," and "up," respectively. The opposite direction of the x direction, the opposite direction of the y direction, and the opposite direction of the z direction may be referred to as the "right" or "-x direction," "rear" or "-y direction," and "down" or "-z direction," respectively.

The loading device 100 includes a control device 110, an AGV arrival sensor 122, a molded product entry sensor 124, a molded product arrival sensor 128, a barrier 130, stock conveyors 150 and 170, a rotating machine 160, and a pusher 180. A loading station ST10 is installed on the travel line RL in front of the pusher 180, approximately in the center in the x direction. A stacker 140 supplies in-mold molded products to the loading device 100. The stacker 140 is an example of a source of in-mold molded products and is not included in the loading device 100.

The control device (controller) 110 controls the operation of the loading device 100. When AGV detection data indicating the detection of an AGV is input from the AGV arrival sensor 122, the control device 110 maintains the stop of the AGV 300. When maintaining the stop of the AGV 300, the control device 110 lowers the barrier rod of the barrier 130 from an upright position with its longitudinal direction facing the z direction, and maintains a state in which its longitudinal direction faces the y direction and protrudes into the travel line RL. The control device 110 guides the in-mold molded products being transported from the stacker 140 to the stock conveyor 150 using the rotating machine 160 to the stock conveyor 170. The control device 110 loads the in-mold molded products that have reached the stock conveyor 170 onto the AGV 300 using the pusher 180. After loading the in-mold molded products has been completed, the control device 110 allows the AGV 300 to travel. When permitting the AGV 300 to travel, the control device 110 raises the barrier pole of the barrier 130 to return it to an upright position and removes it from the travel line RL. An example of the functional configuration of the control device 110 will be described later.

The AGV arrival sensor 122 detects the presence or absence of an AGV 300 stopped at the loading station ST10. The AGV arrival sensor 122 is installed on the stock conveyor 170 in a position facing approximately the center of the loading station ST10. The sensitivity is adjusted in advance so that an AGV 300 stopped at the loading station ST10 is included within the detection range of the AGV arrival sensor 122. The AGV arrival sensor 122 outputs AGV detection data indicating whether an arriving AGV 300 has been detected to the control device 110.

The molded product entry sensor 124 detects the presence or absence of in-mold molded products being carried onto the stock conveyor 150. The molded product entry sensor 124 is installed at one end of the surface of the stock conveyor 150 (the reverse y-direction side) and detects in-mold molded products located within a specified range from that position. Here, the "surface" refers to the area where in-mold molded products are placed and transported. The molded product entry sensor 124 outputs in-mold molded product entry data indicating the presence or absence of in-mold molded products being carried into the control device 110.

The molded product arrival sensor 128 detects the presence or absence of in-mold molded products that are guided onto the stock conveyor 170 and arrive at the stock area 172 in front of the pusher 180. The molded product arrival sensor 128 is installed in front of the front end of the pusher 180 on the surface of the stock conveyor 170, i.e., the surface on which in-mold molded products are placed and transported, and detects in-mold molded products that are located within a specified range from that position. The molded product arrival sensor 128 outputs in-mold molded product arrival data indicating the presence or absence of in-mold molded products to the control device 110.

The barrier 130 comprises a barrier bar, a support section that supports the barrier bar, and a barrier control section that controls the orientation of the barrier bar. The barrier 130 is installed ahead of the loading station ST10. In the initial stage when the AGV 300 is not stopped at the loading station ST10, the barrier control section waits with the barrier bar raised in an upright position that does not cross the travel line RL. When a barrier command is input from the control device 110, the barrier control section lowers the barrier bar in a direction that crosses the travel line RL. When the barrier bar is lowered, the position of the barrier bar is included in the standby sensor detection area WA30 of the AGV 300 stopped at the loading station ST10. The standby sensor detection area WA30 is an area in which the standby sensor 320 mounted on the AGV 300 can detect objects (mainly obstacles that may interfere with the travel of the AGV 300). As will be described later, the AGV 300 stops traveling when the standby sensor 320 detects an object, and starts moving when the object is no longer detected. Therefore, when the barrier bar is down, the AGV 300 stops traveling. When a clearance command is input from the control device 110, the barrier control unit of the barrier 130 raises the barrier in an upright position without crossing the travel line RL. When the barrier bar is raised, the position of the barrier bar is not included in the standby sensor detection area WA30 of the AGV 300 stopped at the loading station ST10, and the barrier bar is excluded from the standby sensor detection area WA30. Therefore, when the barrier bar is raised, the stopped AGV 300 starts moving.

The stock conveyor 150 transports molded products carried into one end of its surface in the y direction. On the surface of the stock conveyor 150, multiple transport rollers with their longitudinal directions oriented in the x direction are arranged at equal intervals in the y direction.

The rotating machine 160 has a top plate 162, a cross-shaped rotating bar 164, and a rotation mechanism (not shown) on its surface. Most of the surface of the top plate 162 is substantially flat. The top plate 162 has a cross-shaped opening, with the center of the opening located at the center of the top plate 162. The top plate 162 is equipped with a conveying tool 162a that conveys the incoming molded product in the y direction, and a conveying tool 162b that conveys it in the -x direction. The conveying tools 162a and 162b may be any conveying means capable of conveying an object placed on them, such as a conveying roller or a conveying belt. The cross-shaped rotating bar 164 is inserted into the opening, and the height of the cross-shaped rotating bar 164 is adjustable. When transporting an in-mold molded product, the height of the cross-shaped rotating bar 164 is set lower than the height of the top plate 162 so that the transport devices 162a and 162b are exposed. When rotating the orientation of the in-mold molded product by 90 degrees, the height of the cross-shaped rotating bar 164 is set higher than the height of the top plate 162. The cross-shaped rotating bar 164 is composed of two bars that intersect at right angles at their centers. However, it is desirable that the cross-shaped rotating bar 164 does not cause the loaded object to collapse even when the height is changed. Rather, the surface of the cross-shaped rotating bar 164 may be smooth and have a sufficient area to include the surface on which the object is placed. An anti-slip member may also be placed on the surface. The rotation mechanism can rotate the cross-shaped rotating bar 164 around the z-axis, with the center of the cross-shaped rotating bar 164 as the rotation axis.

The rotation mechanism rotates the cross-shaped rotation bar 164 by 90° counterclockwise. The molded product placed on the cross-shaped rotation bar 164 changes its orientation and becomes movable in the -x direction. The rotation mechanism then releases the protrusion of the cross-shaped rotation bar 164 and lowers it to a height below the surface of the top plate 162, thereby transporting the molded product to the stock conveyor 170. The timer time (sometimes referred to as the "arrival time") is preferably set in the control device 110 to match the time from when the molded product entry sensor 124 detects the entry of the molded product to when it reaches the center of the top plate 162, i.e., directly above the cross-shaped rotation bar 164. Once the arrival time has elapsed, a drive command is input from the control device 110 to the rotation mechanism.
The rotation of the in-mold molded product by the cross-shaped rotation bar 164 may be controlled according to a command from the control device 110. For example, the drive command may include a command indicating whether rotation is required. If the drive command indicates no rotation, the rotation mechanism does not drive the cross-shaped rotation bar 164 when the in-mold molded product arrives directly above the cross-shaped rotation bar 164, that is, when the arrival time has elapsed, and the conveying device 162a stops operating, after which the conveying device 162b starts operating. In this case, the arriving in-mold molded product is transported to the stock conveyor 170 without changing its orientation. Therefore, as will be described later, whether rotation is required may be determined based on conditions such as the size and orientation of the in-mold molded product and the number of products to be loaded onto the AGV 300 at one time.

The stock conveyor 170 transports molded products delivered to its surface at one end in the reverse x direction. Multiple transport rollers, each with its longitudinal direction oriented in the y direction, are arranged at equal intervals in the x direction on the surface of the stock conveyor 170. An end guide 176 is provided at the other end of the stock conveyor 170. When the intermediate stopper 174 does not protrude from the surface of the stock conveyor 170, the molded product being transported contacts the end guide 176 and stops moving when it reaches the other end of the stock conveyor 170. Alternatively, the transport rollers constituting the transport mechanism of the stock conveyor 170 may stop operation when a timer time preset in the control device 110 (hereinafter referred to as the "stop time") has elapsed since the molded product arrival sensor 128 detected the molded product arriving at the stock area 172, thereby stopping the movement of the molded product. The stopped molded product temporarily remains in the stock area 172. The stock area 172 is the area on the surface of the stock conveyor 170 that faces the front of the pusher 180.

The intermediate stopper 174 is located in the center of the stock area 172 in the x direction. The intermediate stopper 174 includes a long, thin bar and a height adjustment mechanism that supports the bar. The bar is installed with its longitudinal direction facing the y direction. The height adjustment mechanism adjusts the bar's height in the z direction in response to a height adjustment command input from the control device 110. If the bar protrudes above the surface of the stock conveyor 170, the movement of the molded product being transported onto the stock conveyor 170 is blocked. Therefore, by adjusting the height of the intermediate stopper 174 to a height that protrudes above the surface of the stock conveyor 170, it is possible to control whether the y-direction position at which the molded product is loaded onto the AGV 300 is limited to the area in front of the molded product receiving platform 360. As described below, the loading position may be set based on conditions such as the size and orientation of the molded product, and the number of products to be loaded onto the AGV 300 at one time.

The pusher 180 pushes out molded products retained in the stock area 172 in the y direction and loads them onto the molded product receiving table 360 of the stopped AGV 300. The pusher 180 is equipped with a pusher plate, a support portion that supports the pusher plate, and a push mechanism that moves the support portion in the y direction. The pusher plate has a roughly rectangular shape, with one side facing the x direction and the other side facing the z direction. The width in the x direction roughly corresponds to the width of the stock area 172 in the x direction. A notch is formed in the center of the lower part of the pusher plate in the x direction. The notch prevents contact with the pusher plate even when the intermediate stopper 174 protrudes from the surface of the stock conveyor 170.

In the initial stage, before the in-mold molded product has reached the stock area 172, the pusher plate is positioned along the right edge of the stock area 172. When a pusher command is input from the control device 110, the pusher mechanism moves the pusher plate in the y direction via the support unit, and returns it to its original position after reaching its travel limit. The travel limit is, for example, the left edge of the stock area 172 or a position where it contacts the AGV 300 stopped at the loading station ST10. The travel limit is not limited to this; if the height of the lower end of the pusher plate is higher than the height of the molded product receiving table 360 of the AGV 300, it may be a position where it reaches above the molded product receiving table 360. The timing at which a pusher command is input to the pusher mechanism is preset in the control device 110 as a delay time, which is the time elapsed between when the molded product arrival sensor 128 detects the in-mold molded product and when the in-mold molded product, transported at a predetermined conveying speed, arrives at the stock area 172 and is stopped by the intermediate stopper 174 or the end guide 176. Additionally, the time from when the push-out command is output to the pusher 180 until the push-out plate returns to its original position is set in advance in the control device 110 as the push-out time.

Next, an example of the functional configuration of the control device 110 according to this embodiment will be described. Fig. 3 is a schematic block diagram showing an example of the functional configuration of the control device 110 according to this embodiment.
The control device 110 includes a loading control unit 112 , a storage unit 114 , an input/output unit 115 , a display unit 116 , and an operation unit 117 .

The loading control unit 112 performs processing to exercise and control the functions of the control device 110. More specifically, the loading control unit 112 monitors AGV detection data input from the AGV arrival sensor 122. When AGV detection data indicating the detection of an AGV is input, the loading control unit 112 outputs a blocking command to the crossing gate 130. The blocking command is input from the loading control unit 112 to the crossing gate control unit of the crossing gate 130, which lowers the crossing gate rod in front of the AGV 300. The loading control unit 112 may output a blocking command to the crossing gate 130 after a predetermined stoppage maintenance time has elapsed since the AGV detection data was input. When the crossing gate rod of the crossing gate 130 is detected by the standby sensor 320, the control mechanism of the AGV 300 remains stopped. By setting a stop hold time, it is possible to prevent malfunctions such as the unexpected lowering of the barrier 130 even when the AGV arrival sensor 122 is unable to distinguish between the AGV 300 and other objects (including people).

When AGV detection data indicating the detection of an AGV is input, the loading control unit 112 monitors the in-mold molded product delivery data input from the molded product delivery sensor 124. When the cross-shaped rotating bar 164 is positioned at a height lower than the top plate 162, the loading control unit 112 drives the stock conveyor 150 and the transport device 162a to transport the in-mold molded product delivered from the stacker 140 to the top plate 162. When the in-mold molded product is transported on the stock conveyor 150, the loading control unit 112 can stop the movement of the in-mold molded product by stopping the transport device 162a in the y-axis direction when a preset timer time has elapsed since the in-mold molded product was detected by the molded product delivery sensor 124. When the timer time has elapsed, the loading control unit 112 may also stop the movement of the in-mold molded product by protruding the cross-shaped rotating bar 164 so that it is higher than the top plate 162. More specifically, when in-mold molded product delivery data indicating the detection of an in-mold molded product being delivered to the stock conveyor 150 is input and the elapsed time from that point exceeds a predetermined arrival time, the loading control unit 112 outputs a drive command to the rotating machine 160. Rotation setting information indicating whether the rotating machine 160 needs to rotate may be set in the loading control unit 112. If the rotation setting information indicates that rotation is required, the loading control unit 112 includes an instruction indicating that rotation is required in the drive command. If the rotation setting information indicates that rotation is not required, the loading control unit 112 includes an instruction indicating that rotation is not required in the drive command. When a drive command indicating that rotation is required is input from the loading control unit 112 to the rotation mechanism of the rotating machine 160, the cross rotation bar 164 is extended and rotated 90 degrees. When the rotation is completed, the extension of the cross rotation bar 164 is released. At this time, the in-mold molded product is delivered to the stock conveyor 170. If the drive command includes an instruction not to rotate, when the elapsed time from the time when in-mold molded product delivery data indicating the detection of an in-mold molded product is input from the molded product delivery sensor 124 exceeds a predetermined arrival time, the in-mold molded product is temporarily stopped on the rotating machine 160, and then moved in the -x direction without protruding the cross rotation bar 164, and transported to the stock conveyor 170.

The loading control unit 112 monitors the in-mold molded product arrival data input from the molded product arrival sensor 128. When in-mold molded product arrival data indicating the detection of an in-mold molded product arriving in the stock area 172 is input, the loading control unit 112 outputs an extrusion command to the pusher 180 if the elapsed time from that point exceeds a predetermined delay time. When an extrusion command is input from the loading control unit 112 and AGV detection data indicating the detection of an arriving AGV 300 is input from the AGV arrival sensor 122, the extrusion mechanism of the pusher 180 moves the extrusion plate in the y direction to load the in-mold molded products remaining in the stock area 172 onto the molded product receiving platform 360 of the AGV 300. When the elapsed time from the point at which the extrusion command was output exceeds the predetermined extrusion time, the loading control unit 112 outputs an eviction command to the barrier 130. An exclusion command is input from the loading control unit to the barrier control unit of the barrier 130, which raises the barrier bar from in front of the AGV 300. When the barrier bar of the barrier 130 is no longer detected by the standby sensor 320, the AGV 300 becomes able to travel.

Height adjustment setting information indicating whether the intermediate stopper 174 should protrude from the stock conveyor 170 may be set in the loading control unit 112. When height adjustment setting information indicating a need to protrude is set, the loading control unit 112 outputs a height adjustment command indicating a need to protrude to the intermediate stopper 174. The height adjustment mechanism of the intermediate stopper 174 adjusts the height of the bar to a height that protrudes above the surface of the stock conveyor 170 when a height adjustment command is input from the loading control unit 112. When height adjustment setting information indicating whether to protrude or not is set, the loading control unit 112 outputs a height adjustment command indicating whether to protrude to the intermediate stopper 174. The height adjustment mechanism of the intermediate stopper 174 cancels the protrusion of the bar and adjusts the height to a height below the surface of the stock conveyor 170 when a height adjustment command indicating whether to protrude or not is input from the loading control unit 112.

The arrival time and delay time are parameters that depend on the size of the in-mold molded product. The rotation setting information is a parameter that depends on the orientation of the in-mold molded product. The delay time is a parameter that also depends on the height adjustment setting information of the intermediate stopper 174, i.e., the position where the in-mold molded product is loaded. These parameters may be set according to an operation signal input from the operation unit 117.
Furthermore, there may be a case where a plurality of in-mold molded products are to be loaded onto one AGV 300. In such a case, after the loading of the plurality of in-mold molded products is completed, the loading control unit 112 outputs an eviction command to the barrier 130, and does not output an eviction command for each in-mold molded product that is loaded. This allows the AGV 300 to travel after each loading of multiple in-mold molded products.

Therefore, the loading control unit 112 may be configured to preset loading operation parameters (arrival time, delay time, rotation setting information, and height adjustment setting information) for each transfer pattern, and operate according to the set parameters. Individual parameters may be set according to operation signals input from the operation unit 117. A transfer pattern includes at least one of the following elements: size, orientation, position, and number of in-mold molded products to be loaded from the loading device 100 onto the AGV 300 (or unloaded from the AGV 300 onto the unloading device 200) at one time. In particular, a transfer pattern related to loading may be referred to as a "loading pattern," and a transfer pattern related to unloading may be referred to as an "unloading pattern." Specific examples of transfer patterns will be described later.

The storage unit 114 stores various data and programs, including data (including parameters and setting information) used for various processes in the loading control unit 112 and data acquired by the loading control unit 112. The storage unit 114 includes a storage medium such as a RAM (Random Access Memory) or a ROM (Read-Only Memory).
The input/output unit 115 is capable of inputting and outputting various types of data to and from other devices wirelessly or via a wired connection. The input/output unit 115 is, for example, an input/output interface. The input/output unit 115 may be connected to a communication network via a wired connection or via a wired connection, and may be capable of inputting and outputting various types of data to and from other devices connected to the communication network wirelessly or via a wired connection. The input/output unit 115 may also be a communication interface.

The display unit 116 displays characters, symbols, images, or a combination thereof in accordance with various display data input from the loading control unit 112. The display unit 116 is, for example, a display. The display unit 116 may include a speaker and be capable of playing audio based on an audio signal input from the loading control unit 112.
The operation unit 117 receives a user operation, generates an operation signal in accordance with the received operation, and outputs the generated operation signal to the loading control unit 112. The operation unit 117 is, for example, a touch sensor. The display that constitutes the display unit 116 and the touch sensor that constitutes the operation unit 117 may be superimposed on each other to form a touch panel.

Next, a configuration example of the unloading device 200 according to this embodiment will be described. Fig. 4 is a perspective view showing a configuration example of the unloading device 200 according to this embodiment. In the example shown in Fig. 4, a traveling line RL is installed on the floor in front of the unloading device 200. The traveling direction of the AGV 300 traveling on the traveling line RL, the direction from the front of the unloading device 200 toward the traveling line RL, and the vertical direction are respectively referred to as the "x direction,""ydirection," and "z direction." Note that a rear machine (not shown) is installed adjacent to the right of the unloading device 200 as a destination for the in-mold molded product.
The unloading device 200 includes a control device 210, an AGV arrival sensor 222, transfer pattern sensors 226 (226-1, 226-2), a barrier 230, an induction conveyor 250, and a pusher 280. Facing the front of the unloading device 200 and located on the traveling line RL in the center in the x direction, an unloading station ST20 is installed.

The control device 210 performs processing to exercise and control the functions of the unloading device 200. When AGV detection data indicating the detection of an AGV is input from the AGV arrival sensor 222, the control device 210 maintains the stoppage of the AGV 300. When maintaining the stoppage of the AGV 300, the control device 210 lowers the barrier rod of the crossing gate 230 so that it protrudes into the travel line RL. The control device 210 transfers the in-mold molded product placed on the molded product receiving table 360 of the AGV 300 to the induction conveyor 250 using the pusher 280. After unloading of the in-mold molded product is completed, the control device 210 allows the AGV 300 to travel. When allowing the AGV 300 to travel, the control device 210 raises the barrier rod of the crossing gate 230 to remove it from the travel line RL. An example of the functional configuration of the control device 210 will be described later.

The AGV arrival sensor 222 detects the presence or absence of an AGV 300 stopped at the unloading station ST20. The AGV arrival sensor 222 is installed in front of the induction conveyor 250. This position corresponds to a position facing approximately the center of the unloading station ST20. The unloading station ST20 is installed so that it is within the detection range of the AGV arrival sensor 222. The AGV arrival sensor 222 outputs AGV detection data indicating whether an arriving AGV 300 has been detected to the control device 210. Therefore, the control device 210 can detect the arrival of the AGV 300 at the unloading station ST20 by receiving AGV detection data indicating the detection of the AGV 300 from the AGV arrival sensor 222.

The transfer pattern sensor 226 detects the transfer pattern set in the transfer pattern setting unit 326 of the AGV 300 stopped at the unloading station ST20. The transfer pattern sensors 226-1 and 226-2 respectively detect the area in front of and behind the molded product receiving table 360 of the AGV 300 where the in-mold molded product should be transferred first. The transfer pattern sensors 226-1 and 226-2 are installed in front of and behind the front of the unloading device 200. The transfer pattern sensors 226-1 and 226-2 respectively detect the presence or absence of transfer pattern setting units 326-1 and 326-2 (described below) facing right on the right side of the AGV 300. When both the transfer pattern setting units 326-1 and 326-2 are detected, an instruction is issued to simultaneously target the front and rear areas for transfer (double transport, Figure 5(a)). When either the transfer pattern setting units 326-1, 326-2 are detected, an instruction is issued to first transfer the detected front or rear area, and then transfer the undetected other area (single transfer, Figure 5(b)). The transfer pattern sensors 226-1, 226-2 output transfer pattern detection data 1, 2, indicating whether or not the transfer pattern setting units 326-1, 326-2 have detected the transfer pattern, respectively, to the control device 210.

Crossbar 230 has a similar configuration to crossbar 130 (Figure 2). Crossbar 230 is installed ahead of unloading station ST20. When AGV 300 is not stopped at unloading station ST20, the crossbar control unit of crossbar 230 waits with the crossbar bar upright to prevent the AGV from crossing the travel line RL. When a crossbar command is input from control device 210, the crossbar control unit lowers the crossbar bar. When the crossbar bar is lowered, the position of the crossbar bar is included in the standby sensor detection area WA30 of the AGV 300 stopped at unloading station ST20. When an eviction command is input from control device 210, the crossbar control unit raises the crossbar bar. When the crossbar bar is raised, the position of the crossbar bar is not included in the standby sensor detection area WA30 of the AGV 300 stopped at unloading station ST20.

The induction conveyor 250 is equipped with two transport units 252-1 and 252-2, each equipped with a drive mechanism that can transport the placed object independently in the reverse y direction. When a simultaneous transport command indicating simultaneous transport is input to the drive mechanism, both transport units 252-1 and 252-2 are driven at the same speed from that point until a predetermined simultaneous transport time has elapsed. At this time, the molded products placed on transport units 252-1 and 252-2 are transported together (Figure 5). When a first transport command (hereinafter referred to as "transport command 1") is input to the drive mechanism, transport unit 252-1 is driven, but transport unit 252-2 is not driven, from that point until a predetermined first transport time (hereinafter referred to as "transport time 1") has elapsed. When a second transport command (hereinafter referred to as "transport command 2") is input to the drive mechanism, transport unit 252-2 is driven and transport unit 252-1 is not driven until a predetermined second transport time (hereinafter referred to as "transport time 2") has elapsed from that point. The drive mechanism can alternately drive transport units 252-1 and 252-2 by alternately inputting transport commands 1 and 2.

The pusher 280 transports the molded product placed on the AGV 300 stopped at the unloading station ST20 onto the guided conveyor 250. The pusher 280 is equipped with a pusher plate, a support member that supports the pusher plate, and a push mechanism that moves the support member in the y direction. The pusher plate has a roughly rectangular shape, with one side facing the x direction and the other side facing the z direction. Its width in the x direction roughly corresponds to the width of the guided conveyor 250 in the x direction. In the initial stage when the AGV 300 is not stopped at the unloading station ST20, the pusher plate is positioned a predetermined distance in the y direction from the left side of the AGV 300 stopped at the unloading station ST20. The pusher 280 holds the traveling line RL between them while waiting for the AGV 300 to arrive at the unloading station ST20.

When a push-out command is input from the control device 210, the push-out mechanism moves the push-out plate in the reverse y direction via the support part, and returns it to its original position after reaching its movement limit. The movement limit is, for example, the distance from the left end of the induction conveyor 250 to the position where it contacts the AGV 300 stopped at the unloading station ST20.
The timing at which the push-out command is input to the push-out mechanism is after a predetermined stop time has elapsed from the time that the AGV 300 is detected as having stopped at the unloading station ST20. The time from when the push-out command is output to the pusher 280 until the push-out plate returns to its original position is preset in the control device 210 as the receiving and conveying time.

Next, a description will be given of an example of the functional configuration of the control device 210 according to this embodiment. Fig. 6 is a schematic block diagram showing an example of the functional configuration of the control device 210 according to this embodiment.
The control device 210 is configured to include an unloading control unit 212, a memory unit 214, an input/output unit 215, a display unit 216, and an operation unit 217. The memory unit 214, the input/output unit 215, the display unit 216, and the operation unit 217 may have the same configurations as the memory unit 114, the input/output unit 115, the display unit 116, and the operation unit 117 of the control device 110 ( FIG. 3 ), respectively. The description of the control device 110 will be cited for the memory unit 214, the input/output unit 215, the display unit 216, and the operation unit 217.

The unloading control unit 212 performs processing to enable the functions of the control device 210 and to control those functions. More specifically, the unloading control unit 212 monitors the AGV detection data input from the AGV arrival sensor 222. After a predetermined stop retention time has elapsed from the time AGV detection data indicating the detection of an AGV is input, the unloading control unit 212 outputs a blocking command to the crossing gate 230. The blocking command is input from the unloading control unit 212 to the crossing gate control unit of the crossing gate 230, which lowers the crossing gate rod in front of the AGV 300. Because the crossing bar of the crossing gate 230 is detected by the standby sensor 320, the control mechanism of the AGV 300 remains stopped. At this time, the unloading control unit 212 outputs a push command to the pusher 280. When a push command is input from the unloading control unit 212, the pusher 280's push mechanism moves the pusher plate in the reverse y direction via the support unit, and transports the in-mold molded product placed on the molded product receiving table 360 of the AGV 300 onto the induction conveyor 250.

The unloading control unit 212 monitors the transfer pattern detection data 1 and 2 input from the transfer pattern sensors 226-1 and 226-2, respectively. When the transfer pattern detection data 1 and 2 indicate detection by the transfer pattern setting units 326-1 and 326-2, respectively, the unloading control unit 212 outputs a simultaneous transport command indicating simultaneous transport to the induction conveyor 250. When a simultaneous transport command is input, the drive mechanism of the induction conveyor 250 drives both transport units 252-1 and 252-2 at the same speed from that point until a predetermined simultaneous transport time has elapsed.

When transfer pattern detection data 1 indicates detection by transfer pattern setting unit 326-1 and transfer pattern detection data 2 does not indicate detection by transfer pattern setting unit 326-2, the unloading control unit 212 outputs transport command 1 to the induction conveyor 250. The drive mechanism of the induction conveyor 250 drives transport unit 252-1 at a predetermined speed from that point until predetermined transport time 1 has elapsed. During this period, the unloading control unit 212 does not drive transport unit 252-2. The unloading control unit 212 outputs transport command 2 to the induction conveyor 250 when a predetermined delay time has elapsed since transport time 1 has elapsed. The drive mechanism of the induction conveyor 250 drives transport unit 252-2 at a predetermined speed from that point until predetermined transport time 2 has elapsed. During this period, the unloading control unit 212 does not drive transport unit 252-1.

When the transfer pattern detection data 2 indicates detection by the transfer pattern setting unit 326-2 and the transfer pattern detection data 1 does not indicate detection by the transfer pattern setting unit 326-1, the unloading control unit 212 outputs a transport command 2 to the induction conveyor 250. The drive mechanism of the induction conveyor 250 drives the transport unit 252-2 at a constant speed from that point until a predetermined transport time 2 has elapsed. The unloading control unit 212 outputs a transport command 1 to the induction conveyor 250 when a predetermined delay time has elapsed from the point when transport time 2 has elapsed. The drive mechanism of the induction conveyor 250 drives the transport unit 252-1 at a constant speed from that point until a predetermined transport time 1 has elapsed.
When neither of the transfer pattern detection data 1 and 2 indicates detection by the transfer pattern setting units 326-1 and 326-2, the unloading control unit 212 does not output a transport command to the induction conveyor 250.

Thereafter, the unloading control unit 212 outputs a clearance command to the crossing barrier 230. The clearance command is input from the unloading control unit 212 to the crossing control unit of the crossing barrier 230, which raises the crossing bar from in front of the AGV 300. When the crossing bar of the crossing barrier 230 leaves the standby sensor detection area WA30 and is no longer detected by the standby sensor 320, the AGV 300 becomes able to travel.
In addition, the unloading control unit 212 may be configured to preset parameters (transport time or transport times 1 and 2) related to the unloading work for each delivery pattern, and to operate in accordance with the set parameters.

Next, an example configuration of the AGV 300 will be described. Figure 7 is a schematic block diagram showing an example configuration of the AGV 300. The AGV 300 includes a control unit 310, an operation unit 317, a standby sensor 320, transfer pattern setting units 326-1 and 326-2, a support unit 327, a traveling mechanism 330, and a molded product receiving table 360.

The control unit 310 controls the operation of the AGV 300 in response to an operation signal acquired from the operation unit 317. The control unit 310 can set setting data indicating the start, stop, and destination stop station (hereinafter sometimes referred to as the "destination station") of the AGV 300. The control unit 310 controls the operation of the traveling mechanism 330 based on the setting data.
The operation unit 317 is installed on the surface of the handrail at the rear of the AGV 300. The operation unit 317 receives an operation from a user, generates an operation signal in accordance with the received operation, and outputs the generated operation signal to the control unit 310.

The standby sensor 320 is installed in front of the carriage of the AGV 300. The standby sensor 320 can also be considered an obstacle sensor that detects objects that may come into contact with or collide with the traveling AGV 300. The standby sensor 320 detects objects located within the standby sensor detection area WA30. The standby sensor detection area WA30 is an area in which the standby sensor 320 can detect objects. The standby sensor detection area WA30 covers the entire area in front of the AGV 300. The standby sensor 320 outputs object detection data indicating whether or not an object has been detected to the traveling mechanism 330.

The transfer pattern setting units 326-1 and 326-2 can set, as information on the transfer pattern (unloading pattern), whether the front or rear area of the molded product receiving table 360 is to be designated as the area where the in-mold molded products are to be unloaded first. This transfer pattern is information indicating the number of loaded in-mold molded products, the size of the in-mold molded products, and the loading position of the in-mold molded products, or any combination thereof. The transfer pattern setting units 326-1 and 326-2 each include a plate material, and are supported by a support unit 327 at the center of the x-direction of the front and rear areas, respectively, on the right side of the AGV 300. The support unit 327 is fixed to the leg of the molded product receiving table 360 with its longitudinal direction facing the x-direction, and supports one edge of each plate material so that it can rotate around the x-axis. The plates that make up the transfer pattern setting sections 326-1 and 326-2 can be rotated so that the normal direction of each main surface faces from the y direction to the z direction.

In the example shown in FIG. 8(a), the normal directions of the transfer pattern setting units 326-1 and 326-2 are both in the y direction. In this state, the transfer pattern setting units 326-1 and 326-2 are detected by the transfer pattern sensors 226-1 and 226-2, respectively. Simultaneous transport is set based on the orientation of the transfer pattern setting units 326-1 and 326-2. In the example shown in FIG. 8(b), the normal directions of the main surfaces of the transfer pattern setting units 326-1 and 326-2 are in the y direction and z direction, respectively. In this state, the transfer pattern sensor 226-1 detects the transfer pattern setting unit 326-1, but the transfer pattern sensor 226-2 does not detect the transfer pattern setting unit 326-2. Based on the orientation of the transfer pattern setting units 326-1 and 326-2, single transport (leading the front region and following the rear region) is set.

The traveling mechanism 330 drives the wheels so that the vehicle can move at a predetermined speed along the traveling line RL. The control mechanism uses, for example, a magnetic induction system as its guidance method. The traveling line RL is formed by attaching magnetic tape coated with a magnetic material to the floor surface. The traveling mechanism 330 is equipped with a magnetic sensor (not shown) and determines the position where a magnetic field is detected as a route, controlling the rotation of the wheels so that the vehicle can move along the determined route. The traveling mechanism 330 brakes the wheels so that the vehicle stops at destination stations set on the traveling line RL. A magnetic marker coated with a magnetic material is installed at each stop station. The traveling mechanism 330 can detect the destination station by detecting the magnetic marker corresponding to the destination station from the magnetic field detected by the magnetic sensor while traveling.

When an object is detected by the standby sensor 320, the travel mechanism 330 brakes the rotation of the wheels to bring the vehicle to a stop. The travel mechanism 330 monitors the object detection data input from the standby sensor 320, and when object detection data indicating the detection of an object is input, brakes the rotation of the wheels to bring the vehicle to a stop. If an object is no longer detected after the travel mechanism 330 has stopped at a destination station, it resumes the rotation of the wheels and travels on the travel line RL toward a new destination station. Note that the travel control, travel lines, and stop stations of the AGV 300 can utilize the method described, for example, in JP 2010-244215 A.

Next, examples of transfer patterns are described. Figure 9 is a plan view showing an example of a transfer pattern. Figure 9(a) shows a transfer pattern for transporting one molded product ma01 at a time (mode 1). In mode 1, the entire loading area on the surface of the molded product receiving table 360 where the molded product is placed becomes the element area. When the molded product ma01 is loaded into the loading device 100 with its longitudinal direction facing the y direction, the rotation machine 160 rotates the orientation of the molded product ma01 90 degrees counterclockwise, and the intermediate stopper 174 (Figure 2) is not extended and the molded product ma01 is transported to the front of the stock area 172 (Figure 2). After that, height adjustment setting information is set for the molded product ma01, indicating whether the intermediate stopper 174 of the rotation machine 160 to be loaded onto the AGV 300 should be extended (Figure 10(a)). After loading of the molded product ma01 is completed, the AGV 300 departs.

Figure 9 (b) shows a transfer pattern for transporting four molded products ma02 at a time (mode 2). In mode 2, the loading area is divided into four regions, front to back and left to right, and each region becomes an element region. Two molded products ma02 are placed in each of the front and rear regions. One molded product ma02 is placed on the right and left sides of the front and rear regions, respectively. When molded products ma02 are individually loaded into the loading device 100 with their longitudinal direction facing the y direction, their orientation is rotated 90 degrees counterclockwise by the rotation machine 160. Of the four molded products ma02, the first and third molded products ma02 loaded are loaded to the front of the stock area 172 without the intermediate stopper 174 being protruded, while the second and fourth molded products ma02 are loaded with the intermediate stopper 174 being protruded and loaded to the middle of the stock area 172. After that, the four molded products ma02 are loaded onto the AGV 300 all at once (Figure 10(b)). After the loading of the four molded products ma02 is complete, the AGV 300 departs.

Figure 9(c) shows an example of a transfer pattern for transporting two molded products ma03 at a time (mode 3). In mode 3, the front and rear regions, which divide the loading area into front and rear halves, each serve as element regions. One molded product ma03 is placed in each of the front and rear regions. When the molded products ma03 are individually transported into the loading device 100 with their longitudinal directions facing the y direction, the orientation of the molded products ma03 is not changed by the rotating machine 160. Of the two molded products ma03, the first molded product ma03 is transported to the front of the stock area 172 without the intermediate stopper 174 being protruded, while the second molded product ma03 is transported to the middle of the stock area 172 with the intermediate stopper 174 being protruded. The two molded products ma03 are then loaded onto the AGV 300 together (Figure 10(c)). After loading the two molded products ma03 is complete, the AGV 300 departs.

Figure 9(d) shows another example of a transfer pattern for transporting two molded products ma04 at a time (mode 4). In mode 4, the left and right regions obtained by dividing the loading area into left and right halves each become elemental regions. When two molded products ma04 are loaded in parallel in the x direction with their longitudinal direction facing the y direction, they are rotated 90 degrees counterclockwise by the rotating machine 160, and are transported to the front of the stock area 172 without the intermediate stopper 174 being protruded. The two molded products ma04 are then loaded onto the AGV together (Figure 10(d)). After loading of the two molded products ma04 is complete, the AGV 300 departs.

As described above, parameters such as rotation setting information and height adjustment setting information may vary depending on conditions such as the size, orientation, number, and position of the molded products in the mold.
11A illustrates a case in which a molded product ma05 is transported to the rear region in mode 1 with its longitudinal direction oriented in the y direction. When the molded products ma05 are individually loaded into the loading device 100 with their longitudinal directions oriented in the y direction, rotation setting information indicating whether the rotating machine 160 (FIG. 2) needs to rotate is set, and height adjustment information indicating whether the intermediate stopper 174 (FIG. 2) should protrude is set. After loading of the molded products ma05 is complete, the AGV 300 (FIG. 2) is permitted to travel.

Figure 11 (b) illustrates a case in which molded products ma06 are transported to four divided areas in mode 2, with their longitudinal directions oriented in the y direction. When molded products ma06 are individually transported into the loading device 100 with their longitudinal directions oriented in the y direction, rotation setting information indicating whether the rotating machine 160 should rotate is set. Of the four molded products ma02, the first and second molded products ma06 to be transported have height adjustment setting information indicating whether the intermediate stopper 174 should protrude, and the third and fourth molded products ma06 to be transported have height adjustment setting information indicating whether it should protrude. After loading of the four molded products ma02 is complete, the AGV 300 is permitted to travel.

Figure 11 (c) illustrates a case in which molded products ma07 are transported to the front and rear regions in mode 3 with their longitudinal directions oriented in the x direction. When molded products ma07 are individually transported into the loading device 100 with their longitudinal directions oriented in the y direction, rotation setting information indicating whether the rotating machine 160 needs to rotate is set. Of the two molded products ma07, the first molded product ma07 to be transported has height adjustment setting information indicating whether the intermediate stopper 174 should protrude, and the second molded product ma07 has height adjustment setting information indicating whether the intermediate stopper 174 should protrude. After loading of the two molded products ma07 is complete, the AGV 300 is permitted to travel.

Figure 11 (d) illustrates a case in which two molded products ma08 are transported to the rear area in mode 4 with their longitudinal directions oriented in the y direction. When the molded products ma08 are individually transported with their longitudinal directions oriented in the y direction, rotation setting information is set to indicate whether the rotating machine 160 needs to rotate, and height adjustment setting information is set to indicate whether the intermediate stopper 174 should protrude. After loading of the two molded products ma08 is complete, the AGV 300 is permitted to travel.

Second Embodiment
Next, a second embodiment will be described. The following description will mainly focus on the differences from the first embodiment, and the description of the first embodiment will be used unless otherwise specified. Components common to the first embodiment will be denoted by the same reference numerals.
The delivery system 1 according to the second embodiment is configured to include one or both of a loading device 100 ′ and an unloading device 200 ′, and an AGV 300 .

Figure 12 is a perspective view showing an example configuration of a loading device 100' according to this embodiment. The loading device 100' includes a control device 110, three AGV arrival sensors 122 (122-1 to 122-3), a molded product carry-in sensor 124, a molded product arrival sensor 128', a barrier 130, a stock conveyor 150, a rotating machine 160', and pushers 180-1 and 180-2. Loading stations ST10-1, 10-2, and 10-3 are installed in this order along the travel line RL in front of the rotating machine 160' in the x direction. The spacing between loading stations ST10-1 to 10-3 is approximately 1/4 of the length of the molded product receiving table 360 in the x direction. The x coordinate of the central loading station ST10-2 is approximately equal to the x coordinate of the center of the front of the rotating machine 160'.

AGV arrival sensors 122-1 to 122-3 are installed in front of the rotating machine 160', facing the centers of loading stations ST10-1 to 10-3. AGV arrival sensors 122-1 to 122-3 detect the presence or absence of AGVs 300 stopped at loading stations ST10-1 to 10-3, respectively. Loading stations ST10-1, 10-2, and 10-3 are included within the detection range of AGVs 300 by their corresponding AGV arrival sensors 122-1, 122-2, and 122-3, but are not included within the detection range of AGVs 300 by other AGV arrival sensors. For example, if an AGV 300 stops at loading station ST10-1, the arrival of the AGV 300 is detected by AGV arrival sensor 121-1, but not by AGV arrival sensors 121-2 and 121-3. Therefore, there are cases where none of the AGV arrival sensors 122-1, 122-2, and 122-3 detects the AGV 300, and cases where only one of them detects the AGV 300. The AGV arrival sensors 122-1, 122-2, and 122-3 each output AGV detection data to the control device 110 indicating whether or not an arriving AGV 300 has been detected.

In this embodiment, parameters related to the loading operation for each delivery pattern are set in advance in the loading control unit 112, and the in-mold molded products brought in can be loaded onto the AGV 300 in accordance with the set parameters. The loading control unit 112 may also be able to set various parameters (setting information) for each delivery pattern in accordance with operation signals input from the operation unit 117.

The sensitivity of the standby sensor 320 is preset so that the position of the barrier 130's barrier rail is included in the standby sensor detection area WA30 regardless of the position at which the AGV 300 stops among loading stations ST10-1 to 10-3. In this embodiment, the control unit 310 of the AGV 300 presets a loading station corresponding to the transfer pattern as the destination for one loading device 100'. More specifically, for transfer patterns in which molded products are placed in the front and rear regions of the molded product receiving table, such as modes 2 and 3 (Figures 9(b) and (c)), both loading stations ST10-1 and ST10-3 are set as destinations. After stopping at loading station ST10-1, the AGV 300 resumes traveling and then stops at loading station ST10-3. For transfer patterns in which molded products are placed over the entire placement area of the molded product receiving table 360, such as modes 1 and 4 (Figures 9(a) and (d)), loading station ST10-2 is set as the destination.

The molded product arrival sensor 128' detects the presence or absence of in-mold molded products arriving at one end of the stock area 162' on the surface of the rotating machine 160'. The molded product arrival sensor 128' is installed at the rear end of the stock area 162'. The molded product arrival sensor 128' outputs in-mold molded product arrival data indicating the presence or absence of in-mold molded products to the control device 110.

The rotating machine 160′ includes a stock area 162′, a cross-shaped rotating bar 164′, and a rotating mechanism (not shown). The stock area 162′, the cross-shaped rotating bar 164′, and the rotating mechanism may have the same functions and configurations as the top plate 162, the cross-shaped rotating bar 164, and the rotating mechanism of the rotating machine 160, respectively.
When a drive command is input from the control device 110, the rotation mechanism is carried into the stock area 162'. When the in-mold molded product reaches directly above the cross-shaped rotation bar 164, the rotation mechanism protrudes the cross-shaped rotation bar 164' so that it is higher than the surface of the stock area 162'. The rotation mechanism then rotates the cross-shaped rotation bar 164' 90 degrees counterclockwise. The rotation mechanism then releases the protrusion of the cross-shaped rotation bar 164' from the stock area 162' and lowers it. In this embodiment, the in-mold molded product is not carried out from the stock area 162' when the rotation is rotated. The loading control unit 112 of the control device 110 may be preset with rotation setting information indicating whether or not the rotation mechanism needs to be driven. In addition, the timing at which a start command is input to the rotation mechanism is set in the loading control unit 112 as the arrival time, which is the elapsed time from when the molded product arrives at one end of the stock area 162' until the center of the molded product reaches the center of the cross rotation bar 164'.

Pushers 180-1 and 180-2 each push in-mold molded products that have arrived in stock area 162' onto molded product receiving table 360 of AGV 300. Pushers 180-1 and 180-2 are installed at the right rear end and right front end of stock area 162', respectively. Pushers 180-1 and 180-2 each include an extrusion material, a support part that supports the extrusion material, and an extrusion mechanism that changes the orientation of the support part and moves it in the y direction. The extrusion material has an elongated shape, and one end is fixed so that it can rotate around the support part. In the initial stage, when no in-mold molded products have arrived at stock area 162', the longitudinal direction of the extrusion material is oriented in the z direction. When an extrusion command is input from control device 110, the extrusion mechanism orients the extrusion material in the x direction and then moves the extrusion material in the y direction. After the extrusion material reaches its travel limit, the extrusion mechanism restores the original position and orientation of the extrusion material. The travel limit is, for example, the left rear end or left front end of the stock area 162', or a position in contact with the AGV 300 stopped at one of the loading stations ST10-1, 10-2, or 10-3.

For in-mold molded products that do not require the rotation mechanism to be driven, the timing at which an extrusion command is input to the extrusion mechanism is determined by the arrival time, which is the time elapsed from when the in-mold molded product arrives at the stock area 162' until the center of the in-mold molded product reaches the center of the stock area 162'. For in-mold molded products that require the rotation mechanism to be driven, the time elapsed from the arrival time until rotation ends is preset in the loading control unit 112. The time elapsed from when the extrusion command is output to the pushers 180-1 and 180-2 until the extrusion material returns to its original position and orientation is preset in the loading control unit 112 as the extrusion time.

Next, an example of the functional configuration of the loading control unit 112 according to this embodiment will be described. Fig. 13 is a schematic block diagram showing an example of the functional configuration of the control device 110 according to this embodiment.
Loading control unit 112 monitors AGV detection data input from AGV arrival sensors 122-1 to 122-3. After a predetermined stop maintenance time has elapsed from the time AGV detection data indicating the detection of an AGV is input from any of the AGV arrival sensors, loading control unit 112 outputs a blocking command to crossing gate 130. The blocking command is input from loading control unit 112 to the blocking control unit of crossing gate 130, which then lowers a crossing pole in front of AGV 300.

The loading control unit 112 monitors the in-mold molded product arrival data input from the molded product arrival sensor 128'. This allows it to detect whether the in-mold molded product has arrived in the stock area 162'. When a predetermined arrival time has elapsed since the in-mold molded product arrival data indicating the arrival of the in-mold molded product is input from the molded product arrival sensor 128', the loading control unit 112 stops the operation of the conveying device in the stock area 162', thereby halting transport in the y direction. The arrival time is set in advance in the loading control unit 112 as the period from the time the in-mold molded product is detected by the molded product arrival sensor 128' to the time it arrives at the center of the cross-shaped rotation bar 164'. When the preset rotation setting information indicates the need to drive the rotation mechanism, the loading control unit 112 outputs a drive command to the rotation machine 160'. The drive command is input from the loading control unit 112 to the rotation mechanism of the rotation machine 160, causing the cross-shaped rotation bar 164' to protrude and rotate 90 degrees counterclockwise with the in-mold molded product placed on it. The loading control unit 112 then releases the protrusion of the rotating machine 160.

Then, regardless of whether the rotation setting information indicates the need to drive the rotation mechanism, the loading control unit 112 outputs a push-out command to the pushers 180-1 and 180-2. When a push-out command is input from the loading control unit 112, the push-out mechanisms of the pushers 180-1 and 180-2 orient the extrusion material in the x direction, and then move the extrusion material in the y direction. This causes the in-mold molded products retained in the stock area 162' to be transported to the molded product receiving table 360 of the AGV 300. The push-out mechanisms of the pushers 180-1 and 180-2 return the position of the extrusion material to its original position and orientation.

The loading control unit 112 outputs a removal command to the barrier 130 when a predetermined push-out time has elapsed since the push-out command was output to the pushers 180-1 and 180-2. When a removal command is input from the loading control unit, the barrier control unit of the barrier 130 raises the barrier rod from the front of the AGV 300 to remove the AGV 300. When a plurality of in-mold molded products are loaded at one stop station using the delivery pattern exemplified in Figures 14(b) and 14(d), the loading control unit 112 outputs a removal command for each removal of the plurality of in-mold molded products, but does not output a removal command for each removal of each individual in-mold molded product.
Therefore, every time the AGV 300 stops at any of the loading stations, the in-mold molded product is loaded onto the AGV 300. After the loading operation is completed, the AGV 300 departs. Parameters related to the loading operation (arrival time, delay time, rotation setting information, height adjustment setting information) may be set in advance, and the AGV 300 may operate according to the set parameters.

Next, an example of the operation of the loading device 100' according to this embodiment will be described. Figure 14 is a diagram showing an example of the operation of the loading device 100' according to this embodiment. Figure 14(a) illustrates a case where an in-mold molded product is transported into the loading device 100' with its longitudinal direction facing the y direction and placed on the entire loading area of the molded product receiving table 360 (mode 1). The AGV 300 stops at loading station ST10-2. The barrier of the barrier 130 is lowered, and the AGV 300, having detected the barrier, remains stopped. When the in-mold molded product is transported into the stock area 162' of the rotating machine 160', the cross-shaped rotation bar 164' of the rotating machine 160' rotates 90 degrees counterclockwise, so that the longitudinal direction of the in-mold molded product faces the x direction. The in-mold molded product is placed on the molded product receiving table 360 by pushers 180-1 and 180-2. After that, the barrier of the crossing gate 130 rises, and the AGV 300, which no longer detects the barrier, starts moving.

FIG. 14(b) illustrates a case where in-mold molded products are transported into the loading device 100' with their longitudinal direction oriented in the y direction and placed in each of the four divided areas of the molded product receiving table 360 (mode 2). The AGV 300 stops at the loading station ST10-1. The barrier of the barrier 130 is lowered, and the AGV 300 remains stopped upon detecting the barrier. In-mold molded products are transported one by one onto the stock conveyor 150 (FIG. 12) of the loading device 100'. The first of the four in-mold molded products passes the molded product arrival sensor 128' (FIG. 12) and is transported to the center of the cross-shaped rotation bar 164' of the rotation machine 160' (FIG. 12), where it is then rotated 90° counterclockwise. At this stage, the longitudinal direction of the in-mold molded products is aligned with the x direction. The in-mold molded products are placed in the front area of the molded product receiving stand 360 by the pushers 180-1 and 180-2. The second in-mold molded product to be carried in is also placed in the front area of the molded product receiving stand 360 by the same operation as the first in-mold molded product to be carried in, while pushing the first in-mold molded product. Then, the barrier rod of the crossing gate 130 is raised, and the AGV 300, which no longer detects the barrier rod, starts moving.
The AGV 300 then stops at the loading station ST10-3. Then, the barrier of the crossing gate 130 is lowered, and the AGV 300, having detected the barrier, remains stopped. The third and fourth in-mold molded products are also placed in the rear area of the molded product receiving stand 360 by the same operation as the first and second in-mold molded products. Then, the barrier of the crossing gate 130 is raised, and the AGV 300, no longer detecting the barrier, starts moving.

FIG. 14(c) illustrates a case where an in-mold molded product is carried into the loading device 100' with its longitudinal direction oriented in the y direction and placed in the front and rear regions of the molded product receiving table 360 (mode 3). The AGV 300 stops at the loading station ST10-1. The barrier of the crossbar 130 is lowered, and the AGV 300, having detected the barrier, remains stopped. When one in-mold molded product is carried into the stock area 162' of the rotating machine 160', it is placed in the front region of the molded product receiving table 360 by the pushers 180-1 and 180-2 without rotating the cross-shaped rotation bar 164'. Then, the barrier of the crossbar 130 is raised, and the AGV 300, no longer detecting the barrier, starts moving.
The AGV 300 then stops at the loading station ST10-3. Then, the barrier of the barrier 130 is lowered, and the AGV 300, having detected the barrier, remains stopped. When a new in-mold molded product is carried into the stock area 162' of the rotating machine 160', it is placed in the rear area of the molded product receiving table 360 by the pushers 180-1 and 180-2 without rotating the cross-shaped rotating bar 164'. Then, the barrier of the barrier 130 is raised, and the AGV 300, no longer detecting the barrier, starts moving.

Figure 14(d) illustrates a case where in-mold molded products are transported into the loading device 100' with their longitudinal direction facing the y direction and placed in parallel in the y direction in the loading area of the molded product receiving table 360 (mode 4). The AGV 300 stops at the loading station ST10-2. The barrier bar of the crossing gate 130 crosses the travel line RL, and the AGV 300, having detected the barrier bar, remains stopped. In-mold molded products are transported one by one onto the stock conveyor 150 of the loading device 100'. The first of the two in-mold molded products passes the molded product arrival sensor 128' and is transported to the center of the cross rotation bar 164' of the rotating machine 160', where it is then rotated 90 degrees counterclockwise. At this stage, the longitudinal direction of the in-mold molded products is oriented in the x direction. Pushers 180-1 and 180-2 place the in-mold molded products on the molded product receiving stand 360. The second in-mold molded product to be brought in operates in the same way as the first in-mold molded product to be brought in, pushing the first in-mold molded product and placing it in the front area of the molded product receiving stand 360. The barrier rod of the crossing gate 130 then rises, and the AGV 300, which no longer detects the barrier rod, starts moving.

Next, an example configuration of the unloading device 200' according to this embodiment will be described. Figure 15 is a perspective view showing an example configuration of the unloading device 200' according to this embodiment. The unloading device 200' includes a control device 210, an AGV arrival sensor 222, a rotary bar trigger sensor 228', a barrier 230, an induction conveyor 250', and a pusher 280. The induction conveyor 250' includes a cross rotary bar 254' on its surface.

The rotary bar trigger sensor 228' is installed on the right end of the surface of the induction conveyor 250', i.e., the surface onto which the in-mold molded products are placed from the AGV 300. The rotary bar trigger sensor 228' detects the presence or absence of in-mold molded products being transported from the AGV 300 onto the induction conveyor 250'. The rotary bar trigger sensor 228' outputs in-mold molded product detection data indicating the presence or absence of an in-mold molded product to the control device 210.

The induction conveyor 250' has the same mechanism as the rotating machine 160'. That is, it has a transport tool, a rotation mechanism, and a cross-shaped rotating bar 254'. The transport tool has a transport unit that transports a placed object in the -y direction. However, when a rotation command is input to the transport unit, if the cross-shaped rotating bar 254' is to be rotated, the transport unit is driven from that point until a predetermined rotational transport time has elapsed, and then the transport unit is stopped. The rotational transport time is set in the control device 210 as the time from when the rotating bar trigger sensor 228' detects the in-mold molded product to when it reaches the center of the cross-shaped rotating bar 254'.

The rotation mechanism and cross-shaped rotation bar 254' of the induction conveyor 250' have the same configuration as the rotation mechanism and cross-shaped rotation bar 164 of the rotating machine 160 (Figure 2). That is, the rotation mechanism supports the cross-shaped rotation bar 254' and rotates it around the z-axis. When a rotation command is input, the rotation mechanism extends the cross-shaped rotation bar 254' so that its height is higher than the surface of the transport unit and rotates it 90 degrees counterclockwise. The rotation mechanism then releases the extension of the cross-shaped rotation bar 254' and lowers it so that its height is lower than the surface of the transport unit. This changes the orientation of the in-mold molded product placed on the cross-shaped rotation bar 254'. The transport unit then resumes operation when a transport resume command is input. At this time, the placed in-mold molded product is transported in the -y direction. In addition to the transport time and rotation transport time mentioned above, the unloading control unit 212 of the control device 210 is preset with parameters related to the unloading operation, including rotation setting information indicating whether the rotation mechanism needs to be driven and, if rotation is required, the rotation time. The rotation time corresponds to the time required for the cross rotation bar 254' to extend, rotate, and lower.

Next, an example of the functional configuration of the unloading control unit 212 according to this embodiment will be described. Fig. 16 is a schematic block diagram showing an example of the functional configuration of the control device 210 according to this embodiment.
The unloading control unit 212 monitors the AGV detection data input from the AGV arrival sensor 222. After a predetermined stop retention time has elapsed from the time when AGV detection data indicating the detection of an AGV is input from any of the AGV arrival sensors, the unloading control unit 212 outputs a blocking command to the crossing gate 230. The blocking command is input from the unloading control unit 212 to the blocking control unit of the crossing gate 230, which then lowers the crossing pole in front of the AGV 300.
At this time, the unloading control unit 212 outputs a push-out command to the pusher 280. When the push-out command is input from the unloading control unit 212, the push-out mechanism of the pusher 280 moves the push-out plate in the reverse y direction via the support unit, and carries the in-mold molded product placed on the molded product receiving table 360 of the AGV 300 into the induction conveyor 250.

The unloading control unit 212 determines whether the set rotation setting information indicates the need for rotation. If the rotation setting information indicates the need for rotation, the unloading control unit 212 outputs a rotation command to the guided conveyor 250' when a preset rotation conveyance time has elapsed since the time when the in-mold molded product detection data indicating the detection of an in-mold molded product is input from the rotation bar trigger sensor 228'. The conveyance unit of the guided conveyor 250' stops operating when the rotation command is input from the unloading control unit 212. At this time, the conveyed in-mold molded product reaches the center of the cross-shaped rotating bar 254'. When the rotation command is input from the unloading control unit 212, the rotation mechanism of the guided conveyor 250 extends the height of the cross-shaped rotating bar 254' and rotates the center of the cross-shaped rotating bar 254' 90° counterclockwise around the z-axis. At this time, the orientation of the in-mold molded product conveyed onto the guided conveyor 250 is rotated 90°. The unloading control unit 212 outputs a conveyance restart command to the induction conveyor 250' when a preset rotation time has elapsed since the conveyance time elapsed. In response to the conveyance restart command input from the unloading control unit 212, the induction conveyor 250' conveys the in-mold molded product whose orientation has changed in the -y direction.
In addition, if the rotation setting information indicates that rotation is not permitted, the unloading control unit 212 does not output a rotation command or a conveyance resumption command to the induction conveyor 250, but simply operates the induction conveyor 250' for a predetermined conveyance time, as in the above embodiment.
After the molded product carried into the induction conveyor 250 is unloaded from the unloading device 200', the unloading control unit 212 outputs a removal command to the barrier 230. The removal command is input from the unloading control unit 212 to the barrier control unit of the barrier 230, which raises the barrier bar from the front of the AGV 300. The AGV 300, which no longer detects the barrier bar, is able to depart.

Therefore, the unloading device 200' according to this embodiment is equipped with a cross-shaped rotating bar 254', which allows the orientation of the molded product being carried in to be changed. By delivering the molded product in an orientation that suits the equipment to which it is to be delivered, it is convenient for flexibly configuring the layout of equipment in subsequent processes.
Alternatively, three unloading stations ST20-1 to ST20-3 may be provided in front of the unloading device 200, 200', with AGV arrival sensors 222-1 to 222-3 for each unloading station. The unloading stations ST20-1, ST20-2, and ST20-3 are installed in that order along the travel line RL in front of the guided conveyor 250' in the x direction. The spacing between the unloading stations ST20-1 to ST20-3 is approximately 1/4 of the length of the molded product receiving table 360 in the x direction, and the x coordinate of the central unloading station ST20-2 is approximately equal to the x coordinate of the center of the front of the guided conveyor 250'. The unloading control unit 212 may control the unloading operation of unloading the molded product from the AGV 300 each time the AGV 300 stops at one of the unloading stations, and may start the AGV 300 after the unloading operation is completed. For unloading, by specifying any of unloading stations ST20-2, 20-1, and 20-3 as the destination of the AGV 300, the target of the unloading can be set to either the entire loading area of the molded product receiving platform 360, the front area, or the rear area. By specifying unloading stations ST20-1 and ST20-3 as the destination of the AGV 300, unloading from the front area and unloading from the rear area are performed sequentially (divided unloading). By specifying unloading station ST20-2 as the destination of the AGV 300, unloading from the entire loading area is performed all at once (lump unloading).

In the above explanation, the mounting area of the molded product receiving platform 360 of the AGV 300 is divided into two areas, front and rear, and loading and unloading operations are performed for each divided area (i.e., the front area and the rear area). However, this is not limited to this method. Even if the mounting area is divided into three or more areas, it is possible to perform loading and unloading operations for each divided area. However, a loading station and an unloading station must be installed for each divided area. The loading device 100' and unloading device 200' may be equipped with AGV arrival sensors 122, 222 corresponding to each divided area.

In the above explanation, pushers 180, 180-1, 180-2, and 280 were given as examples of transfer units that transfer molded products from the loading device 100, 100' to the AGV 300 or from the AGV 300 to the unloading device 200, 200', but this is not limited to this. A robot arm may also be used as the push-out unit. In the example of Figure 17, the loading device 100 is equipped with two robot arms 182-1 and 182-2. The robot arms 182-1 and 182-2 each detect molded products that have been dropped loose from the molding machine and are remaining in the stock area 172, grasp the detected molded products, and move them to the designated loading area of the molded product receiving table 360 of the stopped AGV 300.

Each robotic arm includes multiple segments, a robotic hand, and a vision camera.
The loading control unit 112 inputs image data representing the captured image from the vision camera when in-mold molded product arrival data indicating the detection of an in-mold molded product is input from the molded product arrival sensor 128. The position, direction, and focus of the vision camera and the position of the molded product arrival sensor 128 are adjusted in advance so that the field of view of the vision camera includes the detection area of the molded product arrival sensor 128. Furthermore, reference image data representing the shape of the in-mold molded product to be transported is set in the loading control unit 112.

The loading control unit 112 performs known image recognition processing on the image captured by the vision camera, identifies the area of the captured image that represents the shape of the in-mold molded product shown in the reference image data, and determines the position of the in-mold molded product from the identified area.
One end of each segment is rotatably connected to the other end of another segment via a joint. A robot hand is attached to the tip of the robot arm, and can be used to grasp various objects. The loading control unit 112 can move the robot hand from a predetermined standby position to a specified position by changing the angle of each joint. The loading control unit 112 uses a known control method to move the robot hand to a predetermined loading area on the molded product receiving table 360 of the AGV 300 stopped in front of the loading device 100, release the molded product in the mold, and return it to the standby position. The loading control unit 112 may be configured with an extrusion time, which is the time from when the robot hand starts moving from the standby position to when it returns to its original position.

The robot arm provided on the loading device 100' may be configured in the same manner as the loading device 100. When a push-out command is input from the unloading control unit 212, the robot arm provided on the unloading devices 200, 200' inputs image data showing the captured image from the vision camera. Here, the position, orientation, and focus of the vision camera are adjusted in advance so that the field of view of the vision camera includes the placement area of the molded product receiving table 360 of the AGV 300 stopped in front of the unloading device 200, 200'.

The unloading control unit 212 performs known image recognition processing on the image captured by the vision camera, identifies the area of the captured image where the in-mold molded product shown in the reference image data is represented, and determines the position of the in-mold molded product from the identified area. The unloading control unit 212 moves the robot hand from a predetermined standby position to a predetermined position and grips the in-mold molded product. The unloading control unit 212 moves the robot hand to a predetermined loading position on the guide conveyors 250, 250', releases the in-mold molded product, and returns it to the standby position. The unloading control unit 212 can be configured with the extrusion time as the time from when the robot hand starts moving from the predetermined standby position to when it returns to its original position. The unloading control unit 212 may also specify equipment other than the unloading devices 200, 200' (rear equipment) as the loading position.

The unloading control unit 212 may cause the robot hand to sequentially place the unloaded in-mold molded product on top of other in-mold molded products that have already been placed. The loading control unit 112 may also cause the robot hand to sequentially place the in-mold molded product to be loaded on top of other in-mold molded products that have already been placed in the loading area of the molded product receiving table 360. This allows the in-mold molded products to be stacked without using a stacker.

In this way, the use of a robotic arm increases the flexibility of the loading position of the molded product and the delivery position of the unloaded molded product. Furthermore, restrictions on the shape of the molded product to be transferred are relaxed, allowing for shapes other than box-shaped products to be accommodated. The loading control unit 112 and the unloading control unit 212 may also perform inspections (e.g., visual inspection of specific locations, dimensional inspection, etc.) using images of the molded product captured while the robotic arm is moving. For example, the loading control unit 112 and the unloading control unit 212 may be configured with pre-acquired image data of a normal product. The loading control unit 112 and the unloading control unit 212 may, for example, compare the captured image with the normal product image, calculate a reliability indicating the degree of match, and determine that an in-mold molded product with an image reliability higher than a predetermined reliability threshold is a normal product. The loading control unit 112 and the unloading control unit 212 determine that an in-mold molded product with an image reliability lower than a predetermined reliability threshold is a defective product. The loading control unit 112 and unloading control unit 212 may have the robot arm move in-mold molded products determined to be defective to a predetermined collection position, thereby disposing of them.

In the above description, the automated guided vehicle transporting the molded product is an AGV that travels on a pre-installed guide such as a magnetic tape, but this is not limiting. The automated guided vehicle according to this embodiment may also be an autonomous mobile robot (AMR, also known as a "non-guided AGV"). The AMR includes a distance sensor and an obstacle sensor instead of the standby sensor 320. The AMR's control unit 310 performs known self-position estimation based on the surrounding objects and their positions detected by the distance sensor to sequentially estimate its current and future positions. Map information representing the route from the loading device 100 to the unloading device 200 is pre-programmed in the control unit 310, and the control unit 310 drives the traveling mechanism 330 to follow the route along which the self-position is set. However, if an obstacle is detected by the obstacle sensor, the control unit 310 may control the traveling mechanism 330 to detour or stop to avoid further approaching the obstacle. Line tracing may also be installed as the loading station ST10 and the unloading station ST20. When the line tracing is detected by the obstacle sensor, the control unit 310 may drive the traveling mechanism 330 to stop at the detected position.
Furthermore, in the loading device 100, 100' and the unloading device 200', the cross-shaped rotation bars 164, 254' and the drive mechanisms for driving (including rotating) them may be omitted. Also, the sensors and control mechanisms for estimating the arrival of the molded product and the timing of rotation may be omitted.

The AGV arrival sensors 122, 222, molded product carry-in sensor 124, molded product arrival sensors 128, 128', transfer pattern sensor 226, and rotary bar trigger sensor 228' in the above embodiments may use any detection principle as long as they can detect the AGV 300, the in-mold molded product, the in-mold molded product, the transfer pattern setting member, and the in-mold molded product, respectively. The AGV arrival sensor 122, molded product carry-in sensor 124, molded product arrival sensors 128, 128', transfer pattern sensor 226, and rotary bar trigger sensor 228' may be, for example, an infrared sensor, a capacitance sensor, or the like.
The control devices 110 and 210 may be general-purpose information devices such as personal computers, tablet terminal devices, and multi-function mobile phones, or may be dedicated devices.

As described above, the delivery system (e.g., delivery system 1, 1′) according to this embodiment includes an automated guided vehicle (e.g., AGV 300) that travels along a route (e.g., travel line RL) including a loading point (e.g., loading station ST10) and an unloading point (e.g., unloading station ST20) for the in-mold molded product and that can stop traveling at least at the loading point and the unloading point. The delivery system 1, 1′ includes at least one of a loading device (e.g., loading device 100, 100′) that loads the in-mold molded product onto the automated guided vehicle stopped at the loading point and an unloading device (e.g., unloading device 200, 200′) that unloads the in-mold molded product from the automated guided vehicle stopped at the unloading point. The loading device maintains the stoppage of the automated guided vehicle when it detects that the in-mold molded product has stopped, and allows the automated guided vehicle to continue traveling after loading of the in-mold molded product is completed. When the unloading device detects that the automatic guided vehicle has stopped, it maintains the stoppage, and allows the automatic guided vehicle to continue moving after the unloading of the molded product has been completed.
With this configuration, the loading device or unloading device can ensure time for loading or unloading by keeping the automated guided vehicle stopped.The loading device or unloading device uses an automated guided vehicle with a simple control mechanism, and can reliably transfer in-mold molded products without using a fixed transfer mechanism.This makes it possible to provide an economical and flexible delivery system.

In the delivery system, the automated guided vehicle may have a travel mechanism (e.g., travel mechanism 330) that stops travel when an obstacle is detected in its direction of travel. The loading device may include a loading barrier unit (e.g., barrier 130) that can project an obstacle (e.g., a barrier rod) in the direction of travel of the automated guided vehicle (e.g., the x direction), and a loading control unit (e.g., loading control unit 112) that projects the obstacle before starting loading of the in-mold molded product and removes the obstacle after loading of the in-mold molded product is completed. The unloading device may include an unloading barrier unit (e.g., barrier 230) that can project the obstacle in the direction of travel of the automated guided vehicle, and an unloading control unit (e.g., unloading control unit 212) that projects the obstacle before starting unloading of the in-mold molded product and removes the obstacle after unloading of the in-mold molded product is completed.
This configuration allows the AGV to continue to stop while projecting the obstacle by using the functions of its own travel mechanism, contributing to the realization of an economical delivery system.

In a delivery system (e.g., delivery system 1'), multiple stopping points serving as loading points for the loading device may be provided at intervals shorter than the intervals between the loading points of the automated guided vehicle, and the loading control unit may load the in-mold molded part onto the automated guided vehicle at each stopping point serving as a loading point. With this configuration, the area in which the in-mold molded part is transported can be varied in the direction of travel depending on the stopping points of the automated guided vehicle. This can contribute to the realization of economically flexible transport of in-mold molded parts.

At least one of the loading device and unloading device is equipped with a rotation unit (e.g., cross rotation bar 164, 164', 254') that rotates the orientation of the in-mold molded product horizontally. This configuration allows the orientation of in-mold molded products brought into the loading device to be changed for transport, and the orientation of in-mold molded products brought to the unloading device to be changed for transport. This configuration allows the loading device to be adapted to the orientation that can be processed by the equipment from which the in-mold molded product is brought, or the unloading device to the equipment to which the in-mold molded product is delivered, contributing to flexible placement of the loading device or unloading device.

The loading control unit can set a loading pattern relating to at least whether or not the orientation of the in-mold molded product is rotated by the rotation unit, the number of in-mold molded products to be loaded, the size of the in-mold molded products, and the loading position of the in-mold molded products, and the loading control unit can load the in-mold molded products onto the automated guided vehicle according to the loading pattern.
This configuration makes it possible to set a loading pattern according to the size and shape of the in-mold molded product and the transport area of the automatic guided vehicle, thereby improving the efficiency of transporting in-mold molded products by the automatic guided vehicle.

The automated guided vehicle may be provided with a pattern setting member (e.g., a transfer pattern setting unit 326) that can set an unloading pattern. The unloading device may be provided with a pattern detection unit (e.g., a transfer pattern sensor 226) that detects the unloading pattern from the pattern setting member, and may unload the in-mold molded product according to the detected unloading pattern.
This configuration allows the unloading pattern to be easily set for the automated guided vehicle and transmitted to the unloading device as a target value, thereby improving the efficiency of transporting molded products in the mold by the automated guided vehicle.

The loading device may be equipped with a transfer section (e.g., pusher 180, 180-1, 180-2) that transfers the molded product in the mold to an unmanned transport vehicle, or the unloading device may be equipped with a transfer section that transfers the molded product loaded onto the unmanned transport vehicle to the device itself.
This configuration allows the position and timing of transferring the molded product to or from the automatic guided vehicle to be adjusted freely, thereby contributing to improving the efficiency of transporting the molded product by the automatic guided vehicle.

The above describes in detail an embodiment of the present invention with reference to the drawings, but the specific configuration is not limited to that described above, and various design modifications can be made without departing from the spirit of the present invention.

1, 1'...Delivery system, 100...Loading device, 110...Control device, 112...Loading control unit, 114...Memory unit, 115...Input/output unit, 116...Display unit, 117...Operation unit, 122...AGV arrival sensor, 124...Molded product delivery sensor, 128, 128'...Molded product arrival sensor, 130...Barrier, 150...Stock conveyor, 160, 160'...Rotating machine, 162...Top plate, 162'...Stock area, 164, 164'...Cross rotating bar, 170...Stock conveyor, 172...Stock area, 176...End guide, 180...Pusher, 200, 200'...Unloading device, 210...Control device 212...unloading control unit, 214...memory unit, 215...input/output unit, 216...display unit, 217...operation unit, 222...AGV arrival sensor, 226...transfer pattern sensor, 228'...rotation bar trigger sensor, 230...barrier, 250, 250'...guidance conveyor, 252...drive unit, 254'...cross-shaped rotating bar, 280...pusher, 300...AGV, 310...control unit, 317...operation unit, 320...standby sensor, 326...transfer pattern setting unit, 327...support unit, 330...travel mechanism, 360...molded product receiving table, ST10...loading station, ST20...unloading station

Claims (6)

an automated guided vehicle that travels on a route including a loading point and an unloading point of the in-mold molded product and that can stop traveling at least at the loading point and the unloading point ;
an unloading device that unloads the in-mold molded product from the automatic guided vehicle stopped at the unloading point ,
the unloading device maintains the stoppage of the automatic guided vehicle when it detects that the automatic guided vehicle has stopped, and allows the automatic guided vehicle to continue traveling after the unloading of the in-mold molded product is completed ;
The automated guided vehicle is
a traveling mechanism that stops traveling when an obstacle is detected in the traveling direction;
a molded product receiving table placed on a carriage supported by the traveling mechanism;
a plurality of transfer pattern setting units arranged on a side surface of the molded product receiving table in a traveling direction at a distance from each other,
the transfer pattern setting unit includes plate members each having a variable orientation;
The unloading device is
an under-load blocking unit capable of projecting an obstacle in the traveling direction of the automatic guided vehicle;
an unloading control unit that projects the obstacle before unloading of the molded product in the mold is started and removes the obstacle after unloading of the molded product in the mold is completed;
a plurality of transfer pattern sensors disposed on the side of the automatic guided vehicle at a distance in the traveling direction thereof, and detecting a transfer pattern setting section in which the plate material is directed laterally;
an induction conveyor having a plurality of transport units arranged in parallel in the traveling direction,
the unloading control unit determines a transfer pattern based on whether each of the plurality of transfer pattern sensors detects a transfer pattern setting unit;
The plurality of transport units are driven simultaneously or the order in which the plurality of transport units are driven is controlled according to the transfer pattern.
Delivery system. a loading device that loads the in-mold molded product onto the automatic guided vehicle that has stopped at the loading point;
the automated guided vehicle has a traveling mechanism that stops traveling when an obstacle is detected in the traveling direction,
the loading device maintains the stoppage of the automatic guided vehicle when detecting the stoppage of the automatic guided vehicle, and allows the automatic guided vehicle to continue traveling after the loading of the molded product in the mold is completed;
The loading device is
a loading barrier unit capable of projecting an obstacle in the traveling direction of the automatic guided vehicle;
The delivery system according to claim 1, further comprising: a loading control unit that projects the obstacle before loading of the molded product into the mold starts and removes the obstacle after loading of the molded product into the mold is completed. a plurality of stopping points serving as loading points for the loading device are provided at intervals shorter than the length of the molded product receiving table in the traveling direction of the automatic guided vehicle ;
The loading control unit
At each of the stopping points that are the loading points, the in-mold molded product is loaded onto the automated guided vehicle, and the automated guided vehicle is started.
The delivery system according to claim 2 . The unloading device is
The delivery system according to claim 1 , further comprising a rotation unit that rotates the orientation of the in-mold molded product in a horizontal direction. The delivery system according to any one of claims 1 to 4 , wherein the unloading device includes a transfer unit that transfers the in-mold molded product loaded onto the automatic guided vehicle to the unloading device. an automated guided vehicle that travels on a route including a loading point and an unloading point of the in-mold molded product and that can stop traveling at least at the loading point and the unloading point ;
and an unloading device that unloads the molded product from the unloading point ,
The automated guided vehicle is
a traveling mechanism that stops traveling when an obstacle is detected in the traveling direction;
a molded product receiving table placed on a carriage supported by the traveling mechanism;
two transfer pattern setting units arranged on the side surfaces of the molded product receiving table in a traveling direction, the two transfer pattern setting units being spaced apart from each other;
the transfer pattern setting unit includes plate members each having a variable orientation;
The unloading device is
an under-load blocking unit capable of projecting an obstacle in the traveling direction of the automatic guided vehicle;
an unloading control unit;
a plurality of transfer pattern sensors disposed on the side of the automatic guided vehicle at a distance in the traveling direction thereof, and detecting a transfer pattern setting section in which the plate material is directed laterally;
a guide conveyor having a plurality of transport units arranged in parallel in the traveling direction,
The unloading control unit is
The obstacle is projected before the unloading of the molded article in the mold is started,
determining a transfer pattern based on whether each of the plurality of transfer pattern sensors detects a transfer pattern setting section;
According to the transfer pattern, the plurality of transport units are driven simultaneously or the order in which the plurality of transport units are driven is controlled;
The obstacle is removed after the unloading of the molded product in the mold is completed.
Delivery method.