Transport System

Abstract

To provide a transport system that enables a trestle to be quickly and accurately laid down at a transport destination with a relatively simple configuration.SOLUTION: A control apparatus 39 of an unmanned carrier 3 performs processing of loading a trestle 5 with a load 4 on an elevating table 32, processing of causing the unmanned carrier 3 loading the trestle 5 to travel and stop at a temporary transport destination 20, processing of mounting an inner wheel 53 of the trestle 5 on a rail 6 by lowering the elevating table 32 at the stopped position and separating the elevating table 32 from the trestle 5, processing of hooking a traction hook 38 of the unmanned carrier in a traction hole 54 of the trestle 5 while protruding the unmanned carrier 3 from below the trestle 5 by a predetermined amount by making the unmanned carrier 3 advance toward a downstream side of the rail 6, and processing of towing the trestle 5 by making the unmanned carrier 3 advance further and of transporting the trestle to a transport destination 10.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a transport system. [Background technology]

[0002] For example, Patent Document 1 describes an empty core recovery system that recovers the winding core (empty core) of an empty web roll after pulling out a web from the web roll.

[0003] The air core recovery system includes a transport vehicle for carrying the air cores, and a transfer device for transferring the air cores loaded on the transport vehicle to a dolly. The transport vehicle is an autonomous transport robot whose wheels are driven by a computer-controlled motor.

[0004] Then, the transport car carrying the hollow cores is made to travel along a travel path and is stopped alongside a transport destination (next to the leading end of the roller conveyor) located halfway along the travel path with a predetermined relative distance between them, and the hollow cores on the transport car are moved onto the roller conveyor by being pushed out by a first extruder, and the hollow cores transported by this roller conveyor are placed onto the cart by being pushed out by a second extruder.

[0005] By repeating this process, when a predetermined number of air cores are loaded onto the cart, the cart is moved to the air core stacking section. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2005-41630 A Summary of the Invention [Problem to be solved by the invention]

[0007] In the above-mentioned Patent Document 1, due to the road surface conditions of the travel path, the wear condition of the wheels of the transport vehicle, etc., it becomes difficult to accurately park the transport vehicle next to the leading end of the roller conveyor, which is the transport destination, with a specified clearance.

[0008] In view of the above circumstances, an object of the present invention is to provide a transport system that can quickly and accurately bring a platform alongside a transport destination with a relatively simple configuration. [Means for solving the problem]

[0009] The present invention is a transport system including a platform on which a load is mounted, an unmanned transport vehicle that transports the platform, and a conveyor for transporting the load on the platform from a transport destination of the platform on which the load is mounted to a transport destination of the load, the transport destination being set in an area where the platform is parked alongside an introduction end of the conveyor with a predetermined clearance, and a pair of parallel adjacent rails are provided along a direction perpendicular to the conveyor in an area from the transport destination to a temporary transport destination before the transport destination, the pair of parallel adjacent rails being provided along the introduction end of the conveyor in a direction perpendicular to the conveyor. The unmanned transport vehicle is provided with a lifting table for lifting and lowering the platform, a towing hook for towing the platform, and a control device for executing the following processes, the platform is provided with inner wheels on its underside that roll while placed on the rails, and a towing hole into which the towing hook of the unmanned transport vehicle is hooked, and the control device performs the following processes: loading the platform with the cargo on it onto the lifting table of the unmanned transport vehicle; running the unmanned transport vehicle with the platform on it and stopping it at the temporary transport destination; and lowering the lifting table at the stopped position. the automated guided vehicle is advanced toward the downstream side of the rail, causing the automated guided vehicle to protrude a predetermined amount from under the platform while a towing hook of the automated guided vehicle is hooked into a towing hole of the platform; and the automated guided vehicle is advanced further forward, to tow the platform and transport it to the transport destination.

[0010] According to this configuration, the automated guided vehicle is first moved to the temporary transport destination of the frame (the entry side area of ​​the rail), and then the automated guided vehicle is moved further forward, causing the automated guided vehicle to jump out from under the frame and tow the frame along the rail, transporting it to the transport destination and stopping it.This makes it possible to quickly and accurately park the frame at the transport destination with a relatively simple configuration, regardless of the road surface conditions of the path along which the automated guided vehicle moves or the wear condition of the drive wheels of the automated guided vehicle. Effect of the Invention

[0011] According to the present invention, it is possible to provide a transport system that can quickly and accurately bring a platform alongside a transport destination with a relatively simple configuration. [Brief description of the drawings]

[0012] [Figure 1] 1 is a plan view showing an embodiment of a transport system according to the present invention. [Diagram 2] FIG. 2 is a side view of FIG. [Diagram 3] FIG. 2 is a plan view showing the configuration and shape of an automated guided vehicle. [Figure 4] FIG. 2 is a perspective view showing a simplified view of a stand. [Diagram 5] FIG. 11 is a plan view showing a state in which the towing hole of the frame and the towing hook of the automatic guided vehicle are caught. [Figure 6] FIG. 4 is a cross-sectional view showing a fitting state between the rail and the inner wheel. [Figure 7]FIG. 13 is a plan view showing an initial process of a cargo transport procedure. [Figure 8] FIG. 8 is a side view of FIG. [Figure 9] FIG. 8 is a plan view showing a process subsequent to FIG. [Figure 10] FIG. 10 is a side view of FIG. [Figure 11] FIG. 10 is a plan view showing a process subsequent to that shown in FIG. [Figure 12] FIG. 12 is a side view of FIG. [Figure 13] FIG. 12 is a plan view showing a process subsequent to that shown in FIG. [Figure 14] FIG. 14 is a side view of FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the accompanying drawings.

[0014] An embodiment of the present invention is shown in Figures 1 to 14. In the figures, 1 is a moving path, 2 is a conveyor, 3 is an unmanned guided vehicle, 4 is a load, 5 is a platform, 6 is a rail, and 7 is a worker.

[0015] The travel path 1 is a track for running the automatic guided vehicle 3, and may be, for example, a floor within a factory or the like, or an outdoor road on private land.

[0016] Although not shown, guide markers (QR codes or the like) for guiding the travel route of the automatic guided vehicle 3 are set in a grid pattern on this path 1.

[0017] The conveyor 2 transports the cargo 4 on the platform 5 from a transport destination 10 (see FIG. 1) of the platform 5 on which the cargo 4 is loaded to a transfer destination of the cargo 4 (a waiting place for a worker 7). .

[0018] The transport destination 10 is set in an area where the platform 5 is parked alongside the introduction end of the conveyor 2 with a predetermined clearance therebetween.

[0019] The conveyor 2 is a roller conveyor. In this roller conveyor, a plurality of rollers 21 are arranged so that the central axes of rotation of the rollers 21 are parallel to each other. This allows the load 4 to be transported smoothly to the waiting area for the worker 7.

[0020] The automated guided vehicle 3 is a vehicle that has the function of automatically traveling within a certain area and transporting a load 4, and is, for example, an autonomous transport robot (AMR: an abbreviation for Autonomous Mobile Robot).

[0021] As is well known, the autonomous transport robot is one that moves autonomously according to a predetermined program run by a computer without the need for tracks, guides, or human control.

[0022] Specifically, the unmanned guided vehicle 3 is mounted with a platform 5 and moves autonomously on the moving path 1, and is equipped with a vehicle body 31, a lifting table 32, front driven wheels 33, rear driven wheels 34, a left driving wheel 35, and a right driving wheel 36, as shown in Figures 2 and 3, for example.

[0023] The vehicle body 31 is formed in a substantially rectangular shape in a plan view. As shown in Fig. 3, the lift table 32 is formed in a ring shape in a plan view, and is provided on the vehicle body 31 so as to be capable of ascending or descending. The platform 5 is mounted on the lift table 32.

[0024] The front driven wheels 33 and the rear driven wheels 34 each comprise a pair of two wheels, one on the left and one on the right, and are supported in a state in which they can rotate freely (forward and reverse).

[0025] The front driven wheels 33 are disposed on the front side of the vehicle body 31, and the rear driven wheels 34 are disposed on the rear side of the vehicle body 31.

[0026] The left driving wheel 35 and the right driving wheel 36 are each a single wheel, and are of a differential drive type that are independently driven by separate motors (not shown).

[0027] The left driving wheel 35 is provided on the left side and in the middle of the vehicle body 31 in the longitudinal direction, and the right driving wheel 36 is provided on the right side and in the middle of the vehicle body 31 in the longitudinal direction.

[0028] LiDAR sensors 37a and 37b are provided at the center of the front and rear sides of the vehicle body 31 in the left-right direction.

[0029] As is well known, the LiDAR sensors 37a and 37b use laser light to measure the shape and distance of an object at a distance, and the detection output is used for the autonomous driving of the automatic guided vehicle 3.

[0030] A towing hook 38 is provided on the rear side of the vehicle body 31. The towing hook 38 is formed in a cylindrical shape and is supported by a lifting mechanism (not shown) so that it can be raised or lowered.

[0031] Specifically, the towing hook 38 is raised and lowered between a lowered position where it is stored flush with the vehicle body 31 and a raised position where it protrudes above the vehicle body 31.

[0032] Furthermore, at a predetermined position on the underside of the vehicle body 31, a lower camera for recognizing the guide markers on the travel path 1 is installed, although this is not shown.

[0033] The cargo 4 includes a cargo body (items other than people) 41 and a pallet 42 for storing the cargo body 41.

[0034] 1 and 2, the cargo body 41 is a rectangular parallelepiped that is square in plan view and horizontally elongated rectangular in side view. However, the cargo body 41 may have any shape.

[0035] The pallet 42 is configured so that two cargo bodies 41 can be stored in a vertically stacked state so that they will not fall out.

[0036] As shown in FIG. 4, for example, the stand 5 has legs 52 extending downward from the four corners of a plate-like body 51 that is rectangular when viewed from above, and inner wheels 53 are attached to the left and right sides of the underside of the body 51, two on each side (front and back) for a total of four.

[0037] Although not shown in detail, a roller conveyor having a plurality of rollers arranged side by side in a row is installed on the body portion 51.

[0038] Specifically, the rollers of the roller conveyor are arranged side by side so that their central rotation axes are parallel to each other, similar to the rollers 21 of the roller conveyor as the conveyor 2.

[0039] Moreover, each roller installed on the body portion 51 is installed so as to slope downward from the right side to the left side of the body portion 51.

[0040] The left-right direction (width direction) of the body 51 is the direction Y perpendicular to the moving direction X of the automatic guided vehicle 3 (also called the conveying direction of the platform 5). This enables the load 4 on the platform 5 to be smoothly transferred onto the conveyor 2.

[0041] Furthermore, although not shown, the platform 5 is provided with a stopper for preventing the load 4 from falling off the platform 5 while the automatic guided vehicle 3 is traveling.

[0042] This stopper is configured to be raised or lowered to a position where it projects above the platform 5 and a position where it is hidden under the platform 5, and is lowered after the platform 5 reaches the transport destination 10.

[0043] The inner wheels 53 are supported so as to be freely rotatable (forward and reverse rotation).

[0044] A pulling hole 54 is provided on the underside of the body 51 of the stand 5 at the front side (upstream side in the transport direction X) and in the middle in the left-right direction (direction Y perpendicular to the transport direction X).

[0045] This towing hole 54 is for hooking the towing hook 38 provided on the automatic guided vehicle 3, and in order to make it easier to hook the towing hook 38, it is made an elongated hole that is long in the left-right direction of the body 51 of the stand 5 (direction Y perpendicular to the transport direction X), as shown in FIG. 5, for example.

[0046] However, when the towing hole 54 is formed as an elongated hole in this way, the hooking position of the towing hook 38 with respect to the towing hole 54 may deviate from the center position in the longitudinal direction of the towing hole 54 (the left-right direction of the base 5) or may be inaccurate. If the orientation of the transport direction X of the human transport vehicle 3 deviates by a predetermined angle θ (see FIG. 9, for example), a couple of forces may occur.

[0047] Taking this into consideration, in this embodiment, as shown in FIG. 5, the front side 54a of the elongated hole serving as the towing hole 54 is formed in a linear shape along the left-right direction of the stand 5 (direction Y perpendicular to the transport direction X), and the towing hook 38 is formed in a cylindrical shape and supported so as to be freely rotatable (forward and reverse rotation) around its central axis as a fulcrum.

[0048] By adopting such a configuration, even if the hooking position of the towing hook 38 relative to the towing hole 54 deviates from the center position in the longitudinal direction of the towing hole 54 or the orientation of the transport direction X of the automatic guided vehicle 3 deviates by a predetermined angle θ, the occurrence of a couple of forces can be suppressed.

[0049] The rails 6 are configured as a pair of adjacent parallel rails, and are installed on the moving path 1 near the introduction end of the conveyor 2 in a state of being suspended above the moving path 1 by a predetermined distance.

[0050] The inner wheels 53 of the stand 5 are placed on the rails 6 and are adapted to roll.

[0051] Specifically, the rail 6 is arranged in the movement path 1 in a region from the transport destination 10 to the temporary transport destination 20 so as to extend along the movement direction X of the automatic guided vehicle 3, as shown in FIG.

[0052] The temporary transport destination 20 is set at a predetermined position before the transport destination 10 in the transport direction X. The temporary transport destination 20 is installed in the entry side area of ​​the rail 6 (the left half area in FIG. 1).

[0053] The rail 6 is disposed so as to face the introduction end of the conveyor 2 with a predetermined clearance therebetween.

[0054] This clearance is appropriately designed to a dimension necessary for accurately transferring the load 4 on the platform 5 to the conveyor 2. It is preferable to design this clearance taking into consideration the shift in the width direction when the inner wheels 53 are arranged on the rails 6.

[0055] In order to prevent the inner wheel 53 from coming off the rail 6 to either outer side in the width direction of the rail 6 and to prevent it from shifting in the width direction, the upper surface of the rail 6 is formed in a convex or concave shape, and the outer periphery of the inner wheel 53 is formed in a concave or convex shape.

[0056] In this embodiment, as shown in FIG. 6, the cross section along the width direction of the upper surface of the rail 6 is formed into an inverted U-shape (or an inverted V-shape), and the cross section along the axial direction of the outer periphery of the inner wheel 53 is formed into a V-shaped groove 53a.

[0057] As a result, when the inner wheel 53 is placed on the rail 6, it does not come off to either outer side in the width direction, and the inner wheel 53 is positioned and arranged in the center of the rail 6 in the width direction (centering effect), thereby suppressing or preventing the inner wheel 53 from shifting in the width direction.

[0058] Although not shown, a positioning means is provided on the downstream side (front side) of the rail 6 for stopping the platform 5 at the transport destination 10 and maintaining the stopped state. Although not shown, this positioning means can be, for example, a recess into which the inner wheel 53 fits.

[0059] The height of the rail 6 is set so that, with the inner wheels 53 of the platform 5 placed on the rail 6, the upper surface of the platform 5 is flush with or slightly higher than the upper surface of the introduction end of the conveyor 2 (the uppermost part of the roller 21 arranged at the introduction end). This makes it possible to smoothly transfer the load 4 from the platform 5 to the conveyor 2.

[0060] Incidentally, the automatic guided vehicle 3 is equipped with a control device 39 for controlling the traveling and towing operations thereof.

[0061] This control device 39 executes various processes in order to transport the cargo 4 to a waiting location (transport destination) for the worker 7.

[0062] Although not shown, a lower marker for mounting the pedestal 5 on the lift table 32 of the automated guided vehicle 3 is affixed to the center position on the underside of the body 51 of the pedestal 5. Meanwhile, although not shown, an upper camera for recognizing the lower marker is provided at the center position on the upper surface of the body 31 of the automated guided vehicle 3.

[0063] When mounting the platform 5 on the automated guided vehicle 3, the control device 39 mounted on the automated guided vehicle 3 stops the automated guided vehicle 3 at a position where the upper camera (not shown) recognizes the lower marker (not shown), and lifts the lift table 32. This allows the platform 5 to be mounted on the lift table 32 in a well-balanced manner, that is, without tilting or shaking.

[0064] Next, a procedure for transporting the cargo 4 will be described with reference to Figures 7 to 14. Note that Figures 7 to 14 show simplified configurations and shapes of each part.

[0065] In this embodiment, although not shown, it is assumed that a platform 5 on which a load 4 is mounted is placed at a predetermined position on the moving path 1.

[0066] The automatic guided vehicle 3 is moved under the platform 5, and then the lift table 32 of the automatic guided vehicle 3 is raised to lift the platform 5 and place it on the vehicle body 31 (see FIG. 2).

[0067] Then, as shown in FIGS. 7 and 8, the automatic guided vehicle 3 is moved to the temporary transport destination 20 of the gantry 5.

[0068] This movement is performed by the automatic guided vehicle 3 traveling autonomously according to an autonomous traveling program controlled by the control device 39.

[0069] During this autonomous driving, the control device 39 recognizes multiple guide markers (not shown) installed on the travel path 1 one by one using a lower camera (not shown) installed on the unmanned guided vehicle 3, and based on the recognition results, checks whether the actual travel path of the unmanned guided vehicle 3 deviates from the programmed travel path.

[0070] In this way, the control device 39 uses both the autonomous driving program for the automatic guided vehicle 3 and the route guidance for the travel path 1 to accurately control the driving of the automatic guided vehicle 3 .

[0071] In this way, when the automated guided vehicle 3 stops at the temporary transport destination 20, the lifting table 32 of the automated guided vehicle 3 is lowered to place the inner wheels 53 of the platform 5 on the entry side (rear side) area of ​​the rail 6. As a result, the lifting table 32 moves away from the platform 5.

[0072] After this, the automatic guided vehicle 3 is moved forward so that it jumps out beyond the front end of the platform 5. In both cases, the towing hook 38 of the automatic guided vehicle 3 is raised at a predetermined timing and inserted into the towing hole 54 of the base 5, and the towing hook 38 is abutted against the front edge 54a of the towing hole 54 and hooked thereon.

[0073] After this, the automatic guided vehicle 3 is further advanced to pull the platform 5 along the rails 6.

[0074] In this towing process, the automated guided vehicle 3 advances a predetermined towing travel distance and then stops, so that the platform 5 stops at the transport destination 10, as shown in Figures 9 and 10. The towing travel distance is preset in the autonomous driving program of the control device 39 of the automated guided vehicle 3.

[0075] Furthermore, when the platform 5 stops at the transport destination 10, although not shown, the inner wheels 53 of the platform 5 fit into positioning recesses (not shown) on the downstream (front) side of the rail 6, thereby maintaining the platform 5 in the position where it stopped at the transport destination 10.

[0076] In this way, the platform 5 can be quickly and accurately parked alongside the transport destination 10, i.e., the introduction end of the conveyor 2, and the cycle time required to transport the platform 5 to the transport destination 10 can be reduced or prevented from being extended.

[0077] In addition, since the platform 5 is guided along the rails 6 during the process of towing the platform 5 by the automated guided vehicle 3, the actual clearance from the platform 5 to the leading end of the conveyor 2 when the automated guided vehicle 3 stops falls within the previously set design clearance. This means that the platform 5 can be accurately parked alongside the transport destination 10.

[0078] Then, when the platform 5 is parked alongside the transport destination 10, a stopper (not shown) of the platform 5 is lowered, and only the cargo 4 loaded on the platform 5 is automatically moved toward the conveyor 2 by a roller conveyor (not shown) that is installed at an incline on the platform 5, and is transferred onto the conveyor 2.

[0079] The cargo 4 transferred onto the conveyor 2 flows along the conveyor 2 due to the inertial force of the cargo 4 moving at the time of the transfer, and is transported to a waiting location for a worker 7 (see FIG. 11).

[0080] Thereafter, the automated guided vehicle 3 is moved backward to go under the platform 5 (see FIG. 12). At this time, when the upper camera (not shown) of the automated guided vehicle 3 recognizes the lower marker (not shown) of the platform 5, the automated guided vehicle 3 is stopped.

[0081] After this, the lift table 32 is raised, and the platform 5 on which the cargo 4 has been lowered is lifted onto the automatic guided vehicle 3, and separated from the rails 6 (see FIG. 12).

[0082] Then, as shown in Figs. 13 and 14, the automatic guided vehicle 3 carrying the platform 5 is moved forward to move it out of the rails 6 and into a predetermined position.

[0083] As described above, according to the embodiment of the present invention, it is possible to quickly and accurately park the platform 5 at the transport destination 10 with a relatively simple configuration, regardless of the road surface conditions of the travel path 1 or the wear conditions of the left drive wheel 35 and right drive wheel 36 of the automated guided vehicle 3.

[0084] In addition, the configurations described in the above embodiments are merely examples of the present invention and are not limited to them. They can be modified as appropriate within the scope of the claims and within the scope equivalent to said scope.

[0085] (1) In the above embodiment, an example was given in which a roller conveyor (not shown) and a stopper (not shown) were provided on the body 51 of the stand 5, but the present invention is not limited to this.

[0086] It is possible to eliminate the roller conveyor and the stopper and, instead, provide a transfer mechanism (not shown) for transferring the load 4 on the platform 5 to the conveyor 2 at the transport destination of the platform 5.

[0087] (2) In the above embodiment, the configuration of the automatic guided vehicle 3 and the outer shape of the vehicle body 31 are not particularly limited. [Industrial Applicability]

[0088] The present invention can be suitably used in a transport system. [Explanation of symbols]

[0089] 1. Migration Path 2. Conveyor 21 Laura 3. Automated Guided Vehicles 31 Body 32 Lifting table 33 Front driven wheel 34 Rear driven wheel 35 Left driving wheel 36 Right drive wheel 37a, 37b LiDAR sensor 38 Towing hook 39 Control device 4 Cargo 41 Cargo body 42 Palettes 5 Mounting 51 Torso 52 Legs 53 Inner wheel 53a Groove 54 Tow hole 54a front side 6 Rail 7. Workers 10 Delivery destination 20 Temporary transport destination

Claims

[Claim 1] A transport system including a platform on which a load is mounted, an unmanned transport vehicle that transports the platform, and a conveyor for transporting the load on the platform from a transport destination of the platform on which the load is mounted to a transport destination of the load, the transport destination is set in an area where the platform is parked next to the introduction end of the conveyor with a predetermined clearance therebetween; a pair of parallel adjacent rails is provided along a direction perpendicular to the conveyor with respect to an introduction end of the conveyor in a region from the conveying destination to a temporary conveying destination located before the conveying destination in the conveying direction; The automated guided vehicle is provided with a lifting table for lifting and lowering the platform, a towing hook for towing the platform, and a control device that executes the following processes: The platform is provided on its underside with inner wheels that roll while placed on the rails, and a towing hole into which a towing hook of the automated guided vehicle is hooked, The control device performs a process of loading the platform with the load on a lift table of the automatic guided vehicle; A process of running an automated guided vehicle equipped with the platform and stopping the vehicle at the temporary transport destination; a process of lowering the lift table at the stopped position to place the inner wheels of the frame on the rail and to separate the lift table from the frame; a process of advancing the automated guided vehicle toward the downstream side of the rail, causing the automated guided vehicle to project a predetermined amount from under the platform while hooking a towing hook of the automated guided vehicle into a towing hole of the platform; and towing the platform by further moving the automated guided vehicle forward to transport the platform to the destination.

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