JPS6254749B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in a device for driving an automatic guided vehicle.

Recently, the use of automatic guided vehicles, which are excellent in promoting labor savings, has been proposed as a type of equipment for automatically transporting cargo. Particularly in hospitals and the like, automated guided vehicles automatically transport serving carts arranged in a serving room on the first floor, for example, to each floor. That is, the transport vehicle automatically loads the serving cart, travels along a predetermined path, and arrives at the elevator landing. The elevator car is automatically summoned and the transport vehicle gets into the car. Then, the basket stops at a pre-designated floor, the transport vehicle gets off the basket, automatically lowers the serving trolley to the designated location, climbs into the basket again, returns to the serving room in the reverse route, and moves to the next serving trolley. transport.

By the way, when a transport vehicle loaded with a serving trolley is placed on a basket, it is necessary to ensure that the total weight does not exceed the carrying load of the basket (the maximum load that can be loaded when actually used). Therefore, a load meter is installed on the floor of the serving room, on which the carrier loaded with the serving cart is placed, and the carrier is allowed to depart after measuring its total weight. However, installing a load cell is expensive and increases equipment costs.

This invention is intended to improve the above-mentioned problem, and when the load inside the basket exceeds a predetermined value, the transport vehicle inside the basket is taken down from the basket and returned to the serving room, etc., thereby installing a load meter in the serving room, etc. An object of the present invention is to provide a driving device for an automatic guided vehicle that does not require installation.

An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.

In Figure 1, 1 is a floor leading from the serving room installed on the first floor to the elevator landing, and 2 is an induction that is buried in the floor 1 and connects the serving room and the elevator landing, creating a magnetic field through a low-frequency current. 3 is an automated guided vehicle that travels while being guided in its running direction by detecting the magnetic field of the guide wire 2; 4 is luggage such as a serving trolley that is automatically loaded onto the guided vehicle 3; 5 is an elevator car; 6 is a detection body such as a permanent magnet provided on the floor 1 of the elevator vehicle; 7 is provided on the transport vehicle 3; when the transport vehicle 3 comes to the position where the car gets off, it engages with the detection body 6 and detects the alighting position. A position detector 8 such as a reed switch that causes the signal 6a to become "H" is installed under the floor of the car 5 to detect the load in the car 5, and when the load exceeds a predetermined value, the load detection signal 8a becomes "H". Load detector, 9 is an elevator use signal that becomes "H" when car 5 is called and there is no one in car 5, and 10 is an elevator operation signal that becomes "H" when car 5 is running and becomes "L" when it stops. signal, 11
is installed in the elevator control panel (not shown).
AND gate 11a is the output of AND gate 11 and is a signal transmitted wirelessly to carrier vehicle 3; 12 is a signal transmitted to carrier vehicle 3;
The reset button 13 is also R-
S flip-flop (hereinafter referred to as memory), 1
3a is its output, 14 is also the overload indicator light,
15 is a forward command signal that becomes "H" when moving the carrier 5 forward, and 16 is also "H" when moving backward.
Reverse command signal, 17 is AND gate, 17
a is the output; a forward running signal 1 that moves the transport vehicle 3 forward when it goes to "H" and stops it when it goes to "L";
Reference numeral 8 indicates an AND gate, 19 indicates an OR gate, and 19a indicates the output thereof, which is a backward travel signal that causes the conveyance vehicle 3 to move backward when it becomes "H" and to stop when it becomes "L".

Next, the operation of this embodiment will be explained.

It is now assumed that the transport vehicle 3 loaded with the serving cart 4 is in the serving room. The staff member specifies the destination floor of the transport vehicle 3 using the destination floor button (not shown) provided on the transport vehicle 3, and then presses the start button (not shown).
When is pressed, the car call for the first floor of the elevator is automatically registered, and the forward command signal 15 becomes "H". At this time, the output 13a of the memory 13 is "L"
Therefore, the output of the forward running signal 17a
becomes "H", and the transport vehicle 3 is guided in its travel direction by the guide line 2 and travels towards the elevator hall.

On the other hand, in response to the registered car call on the first floor, car 5 arrives at the first floor and opens its door. At this time, if there is a passenger in the car 5, when the passenger gets off the car 5 and the load detector 8 detects that the car 5 is empty, the transport vehicle 3 automatically moves. Basket 5
(Circuit omitted). If the total load loaded onto the car 5 is less than a predetermined value, the car 5 closes its door and travels to the designated floor.

If the total load exceeds a predetermined value, the load detection signal 8a becomes "H" and an alarm such as a bell rings while the door of the car 5 remains open (circuit omitted).
Further, since the elevator use signal 9 is at "H" and the elevator running signal 10 is at "L", the output 11a of the AND gate 11 is at "H". The memory 13 is now set and its output 13a becomes "H". As a result, the elevator use signal 9 is reset to "L" (circuit omitted). Then, the overload indicator light 14 lights up.
Further, the forward traveling signal 17a, which is the output of the AND gate 17, becomes "L", so the conveyance vehicle 3 stops. At this time, since the alighting position signal 6a is "L", the output of the AND gate 18 is "H",
Reverse running signal 19a which is the output of OR gate 19
becomes "H". The carrier 3 then moves backward and gets off the car 5 to the landing. Position detector 7 of transport vehicle 3
When the conveyance vehicle 3 retreats to the position where it engages with the detector 6 at the landing, the alighting position signal 6a becomes "H", so the output of the AND gate 18 becomes "L", and the OR
The backward travel signal 19a, which is the output of the gate 19, becomes "L" and the carrier vehicle 3 stops. with this,
It will display that the transport vehicle 3 is overloaded and also indicate that people can use the elevator. Thereafter, the transport vehicle 3 travels to the serving room and automatically returns (the circuit is omitted).

After the staff member takes the necessary measures for the conveyance vehicle 3 that has disembarked from the car 5, when the reset button 12 is pressed, the memory 13 is reset and its output 13a is
becomes "L", and the overload indicator light 14 goes out.

Note that it is also possible to implement as follows.

(a) Applies to the transportation of cargo in buildings other than hospitals, factories, etc.

(b) Instead of using the manual reset button 12, it is configured to automatically reset after a predetermined period of time.

(c) When the load exceeds the output 13a of the memory 13
The elevator usage signal 9 is not reset by In this way, other transport vehicles can use this cage 5.

(d) As a traveling direction guiding device for the transport vehicle 3, a mechanical guiding device such as a guide rail or an optical guiding device such as a white line or stainless steel tape is used.

As explained above, in this invention, the automatic guided vehicle is automatically loaded into the cage only when the cage is empty, and when the load in the cage exceeds a predetermined value in this state, the automatic guided vehicle in the cage is automatically loaded into the cage. Since the elevator is moved to take the car out of the car and return it to the serving room, etc., the load detector of the elevator can be used without installing a load meter in the serving room, etc., and the installation cost can be reduced.

[Brief explanation of the drawing]

FIG. 1 is a side sectional view showing an embodiment of an automatic guided vehicle driving device according to the present invention, and FIG. 2 is a logic circuit diagram of FIG. 1. 3...Automated guided vehicle, 4...Luggage, 5...Elevator car, 6...Detection object, 7...Position detector, 8...Load detector, 9...Elevator use signal, 10...Elevator running signal, 11...AND gate, 13...R-S
Flip-flop, 15...Advance command signal, 17...
AND gate, 17a...forward running signal, 18...
AND gate, 19...AND gate, 19a...reverse running signal. Note that the same parts in the figures are indicated by the same reference numerals.

Claims (1)

[Scope of Claims] 1. In an operating device for an automated guided vehicle that automatically causes an automated guided vehicle loaded with luggage to board an elevator car at a predetermined location and automatically transports the automated guided vehicle to a predetermined floor. , a circuit for automatically loading the automatic guided vehicle into the cage only when the cage becomes empty; a load detector that operates when the load in the cage exceeds a predetermined value; an alighting command generation circuit that generates an alighting command to move the automatic guided vehicle and unload the vehicle from the car when the load detector operates while the vehicle is in the car; An automatic guided vehicle driving device characterized by comprising a return circuit that generates a return signal.