JPS5951448B2 - Trolley towed unmanned carrier - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a trolley towing type automatic guided vehicle, and more particularly to a towing device thereof.

Conventionally, in an unmanned carrier of the trolley type, the unmanned carrier has been separated by a worker or the like, and the operator confirms the detachment of the carrier by operating the operator, and then the unmanned carrier is started.

It is also conceivable to use a motor or the like as an automatic disconnection device to operate the towing hook, but this would not only make the device large and complicated, but also make the condition of the cart and the disconnection unstable.

An object of the present invention is to eliminate the drawbacks of the prior art described above and to provide a trolley-towing type unmanned carrier vehicle that can automatically detach the trolley using a traction device having a relatively simple structure.

The present invention relates to an unmanned carrier vehicle that is driven by a travel motor and automatically travels along a guide belt installed on a travel path, and a connecting member, an electromagnetic rotary solenoid, and a connecting member that is attached to the unmanned carrier vehicle, and energizes the electromagnetic rotary solenoid. A trolley comprising: a transmission mechanism that transmits the rotational force generated when the coupling member rotates the coupling member to release the coupling member from the coupling member; and a control circuit that controls the traveling motor and the electromagnetic rotary solenoid. A destination setting switch for setting a destination stop point address in the control circuit in the towed automatic guided vehicle;
a counting circuit that counts stop point signals based on a signal obtained from a travel detector; a comparison circuit that compares a target stop address with the output of the count circuit and generates a travel stop command when they match; and a comparison circuit that generates a travel stop command when they match; an AND circuit that inputs the output of the memory circuit and the automatic disconnection signal from the automatic disconnection setting switch and outputs the electromagnetic rotary solenoid power supply signal, and generates a disconnection completion signal. an AND circuit that inputs the automatic disconnection signal and the disconnection completion signal to generate a start command; and a timer circuit that responds to the power supply signal and clears the memory of the memory circuit after a predetermined time. The present invention is characterized in that by linking the travel control of the unmanned carrier and the control of the traction device, the trolley can be automatically separated relatively easily.

Hereinafter, the present invention will be explained in detail based on illustrated embodiments.

FIG. 1 is a side view showing a schematic configuration of a trolley-type automatic guided vehicle according to an embodiment of the present invention.

The unmanned carrier 1 has a towing device 2 having a towing hook 3.
is attached, and on the other hand, a connector 5 is attached to the truck 4.

Therefore, when towing the truck 4, the truck 4 can be towed by hooking the towing hook 3 onto the connector 5 and connecting them to each other, as shown by the solid line.

Further, when separating the truck 4, the truck can be separated by rotating the towing hook 3 upward to release the connection with the coupling tool 5, as shown by the chain line.

2 and 3 are a plan view and a side view showing the configuration of the traction device 2. FIG.

The traction device 2 includes an electromagnetic rotary solenoid 10, its mounting plate 11, a rotating plate 12, a vertical pin 13 attached to the rotating plate 12, a rotating shaft 14, support plates 15, 16, support bearings 17, 18 for the rotating shaft 14, A rotating plate 19 that is not attached to one end of the rotating shaft 14, a pin 20 that is not attached to the outer periphery of the rotating plate 19, a towing hook 3 that is not attached to the rotating shaft 14,
Hook reinforcement plate 21. It is composed of a limit switch 22 that detects the rotation of the towing hook 3, mounting bases 23 and 24, and truck rear-end shock absorbers 25 and 26.

Now, when power is supplied to the electromagnetic rotary solenoid 10, the rotating plate 12 rotates.

As a result, the vertical pin 13 and the outer peripheral pin 20 of the rotating plate 19 come into contact with each other, and rotational force is transmitted to the rotating shaft 14.

That is, the rotary plate 12, the vertical pin 13, the rotary plate 19, and the outer peripheral pin 20 constitute a joint.

When the rotational force is transmitted to the rotating shaft 14, this is transmitted to the towing hook 3 via the key 27, and as the rotating shaft 14 rotates, the towing hook 3 rotates.

When the power supply to the electromagnetic rotary lenoid 10 is cut off, the towing hook 3 lowers by its own weight around the rotating shaft 14 as a fulcrum.
The truck 4 can be connected to the connector 5.

FIG. 4 is a flowchart 1 for explaining the operation of the unmanned carrier.

When the unmanned carrier arrives at the destination stop point, the system checks whether the trolley is set to automatically disconnect at that point.
If automatic disconnection is set, rotate the tow hook to disconnect the trolley.

If there is no setting for disconnection, a call buzzer will sound to call the operator.

Once the separation is complete, the unmanned carrier automatically starts and travels toward its next destination.

On the other hand, after the unmanned guided vehicle starts, the power supply to the electromagnetic rotary solenoid is cut off by a timer, and the rotated tow hook moves downward due to its own weight.

When the unmanned carrier travels and stops at the next destination, the operator connects the trolley and starts toward the separation point.

Repeat the above two operations to tow and transport the trolley.

FIG. 5 is a control circuit diagram for performing the above operation.

This control circuit includes a travel detector 50, a stop point detection circuit 51
．． Destination setting switches 52a to 52n, data selector circuit 53, count circuit 54, comparison circuit 55, travel processing circuit 56, travel motor 57, start switch 58, AN
D circuit 59, electromagnetic rotary solenoid 60, timer circuit 6], memory circuit 62, disconnection setting switch 63a,
63b, disconnection completion detection switch 64, AND circuit 65
, an inverting circuit 66, an AND circuit 67, and a calling buzzer 68.

First, the address of the destination stop point among the destination setting switches 523 to 52H is set.

After setting, when the start switch 58 is pressed, the travel processing circuit 56
Power is supplied to the traveling motor 57, and the unmanned carrier vehicle travels.

The running detector 50 detects the guide zone 70 and runs,
The signal from the travel detector 50 is processed by the stop point detection circuit 51,
The stop point signal is counted by a counting circuit 54.

A comparison circuit 55 compares the count value of the run I circuit 54 and the output value of the data select circuit 53, and when they match, a travel stop command is given to the travel processing circuit 56 to stop the unmanned carrier.

The above is the running and stopping operation of the unmanned carrier vehicle.

Next, the operation of the electromagnetic rotary solenoid will be explained.

As described above, when a run or stop command is output, it is input to the memory circuit 62 and stored, and the output of the memory circuit 62 is input to the first input terminal of the AND circuit 59.

A signal from an automatic disconnection setting switch 63H is connected to the second input terminal.

When the automatic disconnection switch 63a is set, the input condition of the AND circuit 59 is satisfied when a stop command is output, and power is supplied to the electromagnetic rotary solenoid 60.

At the same time, power is also supplied to the timer circuit 61, which is activated.

When power is supplied to the electromagnetic rotary solenoid 60, the towing hook rotates and the disconnection completion detection switch 64 operates.

The disconnection completion switch 64 is input to the first input terminal of the AND circuit 65, and the automatic disconnection switch 63b is input to the second input terminal. The signal is inputted to the travel processing circuit 56 as follows.

That is, when separation completion is detected during automatic separation, a start command is input to the travel processing circuit 56, and the unmanned carrier automatically starts.

After the automatic start, when the set time of the timer circuit 61 described above has elapsed, the timer outputs a signal, and the memory circuit 6
2, and the memory of the memory circuit 62 is erased, so that the input condition of the first input terminal of the AND circuit 59 no longer holds true, and the power supply to the electromagnetic rotary solenoid 60 is cut off.

On the other hand, if there is no automatic disconnection setting, A
A stop command is input to the first input terminal of the ND circuit 67, an inverted signal from the automatic disconnection switch 63a is input to the second input terminal, and the output of the AND circuit 67 causes the calling buzzer 68 to sound.

Next, detailed operations during automatic separation will be described using FIGS. 6 and 7.

In the time chart of FIG. 6, when a stop command is given at time T1, power is supplied to the electromagnetic rotary solenoid.

At the same time as the completion of separation is detected at time 12, an automatic start command is input, and the unmanned carrier begins traveling.

The power supply to the electromagnetic rotary solenoid is cut off at time 13 after the TM waiting time (about 5 seconds) has elapsed from time T1.

The separation operation at time point 12 in FIG. 6 will be described with reference to FIG.

A state in which the hook portion of the towing hook 3 is hooked onto the connector 5 of the truck 4 and the truck is being towed is shown by a solid line.

When a stop command is given to the unmanned carrier vehicle at time 12, the unmanned carrier vehicle decelerates as shown in Fig. 6, but the trolley 4 does not decelerate, so the trolley 4 is activated by the traction device of the unmanned carrier vehicle as shown by the chain line. It ends up colliding with 2.

That is, since the hook portion of the towing hook 3 is released from the coupling tool 5, the towing hook 3
If it is disconnected, the rotational force of the electromagnetic rotary solenoid 10 can be small, and the disconnection can be performed reliably.

Therefore, if power is supplied to the electromagnetic rotary solenoid at the same time as the stop command at time T1, disconnection can be performed at such timing.

An embodiment of the present invention has been described above. According to this embodiment, the following effects can be obtained.

First, automatic disconnection is possible reliably with the small rotational force of the electromagnetic rotary solenoid.

Furthermore, since an electromagnetic rotary solenoid is used, towing and automatic disconnection are possible with a simple structure.

Furthermore, by controlling the power supply time to the electromagnetic rotary solenoid, burnout of the electromagnetic rotary solenoid can be prevented, and the towing hook returns after the unmanned guided vehicle has started, so that it can be disconnected reliably.

In addition, by operating the electromagnetic rotary solenoid in conjunction with the stop command of the unmanned guided vehicle, it is possible to reliably disconnect with a small rotational force, and the automatic disconnection and call buzzer operation patterns can be switched depending on whether the automatic disconnection switch is set or not. Can be done.

As described above, according to the present invention, since the electromagnetic rotary solenoid is controlled by the automatic disconnection setting switch and the travel stop command, it is possible to disconnect the bogie automatically and in one motion with a small force at any desired stopping point. In addition, the energization time of the electromagnetic rotary solenoid is controlled by a timer, which prevents burnout.Furthermore, it is easy to handle because it starts automatically after the cart is detached.Moreover, the control of the electromagnetic rotary solenoid can be linked with the travel control of the unmanned carrier. Therefore, effects such as a relatively simple configuration can be obtained.

[Brief explanation of drawings]

FIG. 1 is a schematic side view of a trolley towing type unmanned carrier vehicle according to an embodiment of the present invention, FIGS. 2 and 3 are a plan view and a side view of a traction device in the same unmanned carrier vehicle, and FIG. Fifth
The figure and FIG. 6 are a flowchart for explaining the operation of the unmanned carrier, a control circuit diagram, and a time chart for explaining the operation.
FIG. 7 is a plan view of the traction device similar to FIG. 2 for explaining the separation operation. 1... Unmanned carrier, 2... Towing device, 3... Towing hook, 4... Dolly,
5... Connector, 10... Electromagnetic rotary lenoid, 12.19... Rotating plate, 13.2
0...pin, 14...rotation axis.

Claims (1)

[Claims] 1. An unmanned carrier vehicle that is driven by a travel motor and automatically travels along a guide strip installed on a travel path, and when the coupling member, electromagnetic rotary solenoid, and electromagnetic rotary solenoid attached to this unmanned carrier vehicle are energized. a transmission mechanism that transmits rotational force to the connecting member to rotate it and release the engagement with the connecting member of the truck; and a control circuit that controls the traveling motor and the electromagnetic rotary solenoid. In the unmanned guided vehicle, the control circuit includes a destination setting switch that sets a destination stop point address, a count circuit that counts stop point signals based on a signal obtained from a travel detector, and a destination stop point address and a count circuit. a comparator circuit that compares the outputs of and generates a travel stop command when they match; a memory circuit that stores the travel stop command; an automatic disconnection setting switch; A that inputs a disconnection signal and outputs the electromagnetic rotary solenoid power supply signal;
an ND circuit, a disconnection completion detection switch that generates a disconnection completion signal, an AND circuit that inputs the automatic disconnection signal and the disconnection completion signal to generate a start command, and an AND circuit that responds to the power supply signal and outputs the memory circuit after a predetermined time. A trolley-type unmanned transport vehicle characterized by being equipped with a timer circuit for clearing memory.