JPS58221412A - Self-traveling pallet - Google Patents

Abstract

PURPOSE:To produce self-traveling pallets efficiently and to save power consumption by controlling the movement of respective pallets and the distance between the pallets automatically by a transmitter and a receiver attached to each pallet. CONSTITUTION:A self-traveling pallet 1 receives ultrasonic waves, light, high frequency waves, etc. outputted from a back originating device 6 attached to a self-traveling pallet 112 through its front receiving device 7, and when the receiving level reaches a signal level corresponding to a prescribed distance between both self-traveling pallets, the device 7 outputs a speed-reduction indicating signal or a stop indicating signal to control the speed-reduction or stop of an electric motor and keep the distance between both pallets at a prescribed distance or more. When the pallet 1 reaches close to each position, a stop position checking device 9 outputs a cut-off signal A to a stop signal originating device 10 to make the device 10 originate a stop signal when the ultrasonic waves, light, high frequency waves, etc. reach the signal level corresponding to the stop position.

Description

[Detailed Description of the Invention] Technical Field The present invention relates to a self-propelled pallet that self-propels on a track, and in particular, to a self-propelled pallet that is self-propelled on a track, and in particular, a system for supplying and unloading materials to working devices arranged around a track laid between each work position. This relates to a self-propelled pallet that can be used automatically.

Conventional technology Conventionally, as a production system in a production factory, a production line is set up centering on automatic work robots. The communication between the robots was not highly efficient, which was a factor that hindered the efficiency of automated production processes.

OBJECTS OF THE INVENTION In view of the above-mentioned conventional drawbacks, an object of the present invention is to automatically connect each working position of an automatic working robot,
The object of the present invention is to provide a self-propelled pallet that can self-propel on a track, which can improve production efficiency and save labor.

Composition of the invention The present invention will be explained below according to Examples.

Fig. 1 is an explanatory diagram showing the outline of a self-propelled pallet according to the present invention, Fig. 2 is a front view of the self-propelled pallet, and Fig. 3 is a block diagram of the self-propelled pallet. is configured to be movable along a track 4 laid between each production device by an electric motor 3 that is rotationally driven by a power source 2 such as a built-in battery, and a jig on which jigs and the like are placed on the top surface. A tool plate 5 is attached.

The rear transmitter 4ic station 6 is installed inside the self-propelled pallet 1, and is connected to another self-propelled pallet 111 that follows on the mI track 4.
It transmits high frequency waves using ultrasonic waves, light, or FM modulation in order to detect the approaching state of
The J-side receiving device 7 is installed inside the self-propelled pallet 1,
When ultrasonic waves, light, or high frequency waves emitted from the preceding self-propelled pallet 111 are received, and the self-propelled pallet 1 approaches another self-propelled pallet 111 within a predetermined range based on the reception level, The electric motor 3 is controlled to decelerate or stop.

The position detection transmitting device 8 outputs ultrasonic waves, light, high frequency waves, etc. in order to control the self-propelled pallet 1 to stop at each work position in each process.

The stop position confirmation device 9 is arranged at each work position, and detects the ultrasonic waves, light, and light transmitted from the position detection transmitter 8.
Alternatively, when the high frequency signal is received and the signal level reaches a predetermined level, the stop signal transmitting device 10 generates a stop signal A, which will be described later.
Output to.

The stop signal transmitting device 10 is arranged at each work position,
It is activated based on the disconnection signal A output from the stop position confirmation device 9, and transmits a stop signal to control the traveling self-propelled pallet 1 to stop at a predetermined position, and the output state of the stop signal can be checked during work. continue.

The preceding pallet detection device 11 detects the presence or absence of another self-propelled pallet 112 close to the track 4 based on the approach signal transmitted from the rear transmitter 6 of 011, and detects whether the other self-propelled pallet 112 is located close to the work position. In this case, the state in which the stop signal is output from the stop signal transmitting device 10 described in 1 continues, the work completion signal B is input from each process, and the self-propelled pallet 11 that precedes the position near the position.
2 is not present, a reset signal C is output to the stop signal transmitting device 10 described in 1riI to prohibit the output of the stop signal.

Next, the operation of this embodiment will be explained according to FIGS. 4 to 7.

First, the self-propelled pallet 111 traveling on the track 4 will be explained.
The ultrasonic waves emitted from the rear transmitting device 6 at 12;
Light or high frequency is received by the front receiving device 7, and the reception level is determined to output both self-speed instruction signals or stop instruction signals to control the electric motor 3 to decelerate or stop, and to control the electric motor 3 to slow down or stop the electric motor 3. maintain the distance above the predetermined distance.

Next, when the self-propelled pallet 1 approaches each work position, the stop position confirmation device 9 placed at each work position detects the ultrasonic waves, light, or high frequency waves transmitted from the position detection transmitter 8 corresponding to the stop position. When the signal level is reached,
A disconnection signal A is output to the stop signal transmitting device 10, causing the stop signal to be transmitted.

Based on the stop signal, the nt+ direction receiving device 7 outputs a stop instruction signal to stop the drive of the electric motor 3 and stop the self-propelled pallet 1 at the stop position, and also to stop the self-propelled pallet 1 from being placed on the self-propelled pallet 1. The stopped state is continued by the stop signal outputted from the stop signal transmitting device 10 (n11) until a predetermined work such as supplying and carrying out materials using a jig or the like is completed.

After the work at each work position is completed, the work end J'' signal B is output, but the preceding pallet detection device determines that, for example, if the mJ work end signal B and the preceding pallet confirmation signal are both HIGH, the stop signal The transmitting device IO prohibits the output of the stop signal and causes the self-propelled pallet 1 to travel.On the contrary, if at least one of the work completion signal B or the preceding pallet confirmation signal is LOW, the stop signal (g The transmitting device 10 continues to output the stop signal,
The self-propelled pallet 1 is kept in a stopped state at the stopped position.

Note that the working machine at each working position is driven based on the disconnection signal A output from the stop position confirmation device 9, and executes a predetermined operation.

Therefore, in this embodiment, materials etc. are automatically supplied to the working machines at each working position arranged along the track 4.
It is possible to carry out and efficiently connect each working position.

The present invention has a configuration in which the signals output from each transmitting 4A position are used as ultrasonic waves of different frequencies, light, or FM modulated high frequency waves to perform the respective operations, and are arranged in a self-propelled pallet and at each work position. Regardless of the structure in which the emitting device is switched to multiple frequencies by a microcomputer or the like and outputs ultrasonic waves, light, or high frequencies, or the emitting device and the receiving device are installed in a non-interfering location. It will be carried out.

As described in detail, the present invention relates to a self-propelled pallet that is self-propelled by an electric motor on a track laid along each work position, and that is built in the self-propelled pallet and uses ultrasonic waves, light, Or, a transmitting device that transmits a detection medium such as a high frequency wave to another self-propelled pallet that is leading or trailing, and a transmitting device that is built into the self-propelled pallet and is built into another self-propelled pallet that is leading or trailing. a receiver' that detects the proximity state of another self-propelled pallet based on the detection medium detected and controls the deceleration or stop of the self-propelled pallet when the pallet approaches within a predetermined distance; (a built-in position detection transmitter that transmits a signal to determine the stop position for each work position; and a position detection transmitter that is disposed at each work position and outputs a disconnection signal based on the signal transmitted from the stop signal transmitter)J A simple configuration comprising a stop position confirmation device for detecting a stop position, and a stop signal transmitting device placed at each work position and transmitting a stop signal to a 1riI receiving device based on a disconnection signal output from the stop position confirmation device, enables an automatic working robot. This is a self-propelled pallet that automatically connects each working position on a track, improving production efficiency and saving labor.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram schematically showing a self-propelled pallet according to the present invention, Fig. 2 is a front view of the self-propelled pallet, Fig. 3 is a block diagram of the self-propelled pallet, and Figs. 4 to 7 are operating states. 1 is an explanatory diagram showing a self-propelled pallet, 3 is an electric motor, 4 is a track, and 6 is an explanatory diagram showing a self-propelled pallet.
Reference numeral denotes a rear transmitting device as a transmitting device, 7 a front receiving device as a receiving device, 8 a position detection transmitting device, 9 a stop position confirming device, 10 a stop signal transmitting device, and A a disconnection signal. Patent applicant Star Seiki Co., Ltd. Agent Patent attorney Ken Ito - Figure 1 5

Claims (1)

[Scope of Claims] 1. A self-propelled pallet that is self-propelled on a track laid along each work position by an electric motor, etc. Or from a transmitting device that emits a detection medium such as high frequency to another self-propelled pallet that is leading or trailing, and a transmitting device that is built into the self-propelled pallet and is built into another self-propelled pallet that is leading or trailing. a receiving device that detects the proximity state of another self-propelled pallet based on the transmitted detection medium and controls the self-propelled pallet to decelerate or stop when it approaches within a predetermined distance; a built-in position detection transmitter that transmits a signal for determining the stop position for each work position; and a stop that is located at each work position and outputs a disconnection signal based on the signal transmitted from the stop signal transmitter. The present invention is characterized by comprising: a position confirmation device; and a stop signal transmitting device placed at each work position to the 0'd receiving device based on a disconnection signal output from the mJ stop position @ confirmation device. Self-propelled pallet.