To provide an unmanned guided vehicle that efficiently performs the teaching of the height of a shelf receiver.SOLUTION: An unmanned guided vehicle 1 has a traveling carriage 5 that travels trackless. A transfer device 7 transfers a load W. A lifting device 9 is provided on the traveling carriage 5 and lifts the transfer device 7. An objective sensor 35 is provided on the transfer device 7, radiates an optical axis forward, and detects a shelf receiver 33. A controller 51 performs as teaching control: Step S1 of positioning the traveling carriage 5 at a teaching position B that is separate from the shelf receiver 33 only by a predetermined distance in a first direction that is a transfer direction; Step S2 of vertically moving the transfer device 7; Steps S3 to S5 of detecting the shelf receiver 33 by the object sensor 35 and storing the height of the detected shelf receiver 33 while the transfer device 7 is vertically moving.SELECTED DRAWING: Figure 6
【課題】無人搬送車において、棚受けの高さの教示を効率よく行う。【解決手段】無人搬送車1において、走行台車5は、無軌道を走行する。移載装置7は、荷物Wを移載する。昇降装置9は、走行台車5に設けられ、移載装置7を昇降させる。対物センサ35は、移載装置7に設けられており、光軸を前方に照射し棚受け33を検出する。コントローラ51は、教示制御として、走行台車5を、移載方向である第1方向において棚受け33から所定距離だけ離れた教示位置Bに位置させるステップS1と、移載装置7を上下方向に移動させるステップS2と、移載装置7の上下方向の移動中に対物センサ35により棚受け33の検出を行い、検出した棚受け33の高さを記憶するステップS3〜S5とを実行する。【選択図】図6
UNMANNED GUIDED VEHICLE
無人搬送車
2020-12-10
Patent
Electronic Resource
Japanese
IPC: | B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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