CN102050155B - Automatic transport vehicle - Google Patents
Automatic transport vehicle Download PDFInfo
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- CN102050155B CN102050155B CN 201010133395 CN201010133395A CN102050155B CN 102050155 B CN102050155 B CN 102050155B CN 201010133395 CN201010133395 CN 201010133395 CN 201010133395 A CN201010133395 A CN 201010133395A CN 102050155 B CN102050155 B CN 102050155B
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- tractor truck
- fore
- aft direction
- conveying trolley
- guided vehicle
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Abstract
The invention provides an automatic transport vehicle, which is small in size, low in cost and easy in position control during the connection process.The automatic transport vehicle comprises a clamp hole for connecting with a tractor, a transport trolley on the guide rail facing the side face of the tractor, a connecting pin connected with the clamp hole and rolling wheels relatively arranged at the side face thereof for restricting the orientation of the tractor and the transport trolley. When the automatic transport vehicle moves in an anterior-posterior direction,the transport trolley is drawn due to the force applied on the anterior-posterior direction of the clamp hole by the connecting pin.Meanwhile, when the automatic transport vehicle moves in a left-right direction, the transport trolley is drawn due to the force applied on the left-right direction of the guide rail by the rolling wheels.
Description
Technical field
The present invention relates to a kind of Automatic Guided Vehicle, its combination has the tractor truck that possesses Universal wheel and the conveying trolley that can oneself stand and be connected in this conveying trolley.
Background technology
In the past known have a kind of Automatic Guided Vehicle, for example can along be pre-set in the factory set path automatically the tractor truck combination of walking the conveying trolley that possesses Universal wheel arranged.Tractor truck drives with motor, the storage battery etc. except possessing, and also possesses for detection of the detecting sensor of the guide rail circuit that is laid on tape on the walking road surface etc. etc.If connect conveying trolley at this tractor truck, then can make the conveying trolley that is placed with workpiece along set path movement.And, as this Automatic Guided Vehicle, known have comprise the Automatic Guided Vehicle (for example, with reference to patent documentation 1) that can pierce the conveying trolley downside and be connected in the sunken bed formula tractor truck of conveying trolley by connecting pin etc.
In patent documentation 1, record a kind of Automatic Guided Vehicle, its by possess can be to vertical direction top the tractor truck of outstanding connecting pin and the conveying trolley that possesses in order to receive connecting pin at the connecting hole of vertical direction lower opening combine.In this Automatic Guided Vehicle, by connecting pin is inserted connecting hole, tractor truck can be connected in conveying trolley.If can tractor truck be walked automatically, then can pass through connecting pin traction transport chassis.When separating tractor truck from conveying trolley, as long as after connecting pin is retreated from connecting hole with extracting, the form that breaks away from the downside from conveying trolley gets final product the automatic walking of tractor truck.
Usually, the space in the factory of use Automatic Guided Vehicle is to pass between the set manufacturing machine and the very narrow spaces such as path of guaranteeing mostly.So, in order fully to guarantee the little Ships Turning Ability of tractor truck, proposed a kind of tractor truck, its 2 places at fore-and-aft direction dispose the pair of right and left drive wheel that possesses indivedual drivings and the driver element of handling according to the slip of left and right sidesing driving wheel (for example, with reference to patent documentation 2).If this tractor truck then not only can realize advancing or retreating, can also realize the traversing etc. of left and right directions, can in narrow space, come the traction transport chassis with very good little Ships Turning Ability.
But, in described existing Automatic Guided Vehicle, have following problem.That is, if want to realize on the basis of advancing or retreating traversing, then can't only efficiently the power of tractor truck be passed to conveying trolley by 1 place's connecting pin, might be absorbed in unsettled traction state.Get final product although for fear of being absorbed in this unsettled traction state 2 place's connecting pins are set, just need like this driving and reversing mechanism of 2 groups of connecting pins etc., might cause the maximization, cost up of tractor truck etc.And, if 2 place's connecting pins are set, needing the simultaneously contraposition of 2 places when then connecting tractor truck with respect to conveying trolley, the difficulty of position control raises in the time of also might causing connecting.
Patent documentation 1: the JP 2009-113650 of Japan communique
Patent documentation 2: the JP 2009-230238 of Japan communique
Summary of the invention
The present invention carries out in view of above-mentioned existing issue, its purpose is to provide a kind of Automatic Guided Vehicle, its combination has the tractor truck that possesses Universal wheel and the conveying trolley that can oneself stand and pierce and be connected in the conveying trolley downside, and it is for small-sized, low-cost and have an Automatic Guided Vehicle that easily carries out the good characteristic of position control when connecting.
The invention provides a kind of Automatic Guided Vehicle, its combination has: conveying trolley possesses Universal wheel and can oneself stand; And tractor truck, 2 places at fore-and-aft direction dispose driver element, this driver element is at coaxial 21 group the drive wheel that disposes independent driving and according to the slip revolution of this drive wheel of 21 group and handled, described tractor truck pierces and is connected in the downside of described conveying trolley from fore-and-aft direction, it is
Described conveying trolley has: engagement section, 1 place is used for connecting described tractor truck; And guide part, with in the side of the left and right directions both sides of the described tractor truck that connects separately relative form set,
Described tractor truck has: connecting portion, and state driver element with respect to 2 places and be positioned at the centre of fore-and-aft direction and be connected in described engagement section; And abutting part, with can limit make this tractor truck towards with the form of the relative attitude change that departs from towards generation of described conveying trolley, relatively be equipped on each relative on left and right directions side with described guide part respectively,
When described tractor truck is connected in described conveying trolley, the position that described guide part is relative with described abutting part, each side at described tractor truck clips the both sides that described connecting portion is configured in respectively fore-and-aft direction,
When the described tractor truck of coupled condition moves up in front and back, limit under the state of described relative attitude change in the combination by described guide part and described abutting part, based on the power that acts on the fore-and-aft direction of described engagement section from described connecting portion, at the described conveying trolley of fore-and-aft direction traction, on the other hand
The described tractor truck of coupled condition is when right and left moves up, based on clipping described connecting portion acts on the left and right directions of described guide part in the described abutting part of fore-and-aft direction both sides power from the side at the moving direction of facing described tractor truck, at left and right directions traction described conveying trolley (scheme 1).
The present invention is take the Automatic Guided Vehicle that can also move up at right and left except fore-and-aft direction as object.Here, " fore-and-aft direction " refers to that 2 places state the direction that driver element configures, " left and right directions " refer to the fore-and-aft direction quadrature laterally.
In Automatic Guided Vehicle of the present invention, when the described tractor truck of coupled condition moves up in front and back, based on the power that acts on the fore-and-aft direction of described engagement section from described connecting portion, at the described conveying trolley of fore-and-aft direction traction.Only be in the situation of described Automatic Guided Vehicle at 1 place in described engagement section, if lead is set as the fore-and-aft direction both sides, then configure in any case described engagement section, the Universal wheel that all produces described conveying trolley is positioned at the situation of moving direction front side.So, the Universal wheel that is positioned at the moving direction front side is urged when described conveying trolley is pulled and advances, therefore, and such as might easily changing according to wheel directions such as pavement states.If the wheel direction of Universal wheel changes, then might produce conveying trolley towards the described relative attitude change that changes etc. with respect to described tractor truck, and be absorbed in unsettled traction state.
The described tractor truck of the coupled condition in the Automatic Guided Vehicle of the present invention is in the confined state of relative attitude change with respect to described conveying trolley by the combination of described guide part and described abutting part.Therefore, when only stating the engagement section and draw described conveying trolley by 1 place, be positioned at the moving direction front side even compare the Universal wheel of described conveying trolley with described engagement section, also the described relative attitude change with respect to the described conveying trolley of described tractor truck can be limited in the set scope and with stable posture and draw described conveying trolley.
In addition, the described tractor truck of coupled condition acts on the power of described guide part, at the described conveying trolley of left and right directions traction by the described abutting part from the side of the moving direction that is equivalent to described tractor truck when right and left moves up.At this, the position that described abutting part is relative with described guide part clips the both sides that described connecting portion is configured in fore-and-aft direction.If by stating abutting part with at least 2 places that are configured in described connecting portion both sides at fore-and-aft direction, described tractor truck pushes the form of described conveying trolley and draws, described conveying trolley is moved up at right and left with stable posture.
In Automatic Guided Vehicle of the present invention, preferably the described guide part relative with each side of described tractor truck extends respectively setting without interruption continuously on fore-and-aft direction,
Clipping the mutual relative a pair of described guide part of described tractor truck is formed with: guide path, limit described relative attitude change and have the certain intervals that can make described tractor truck advance and retreat degree; And enter the road, arrange to extend with respect to the form of at least any one party adjacency in described guide path and the fore-and-aft direction, have from the position of described guide path more away from the wider gradually expanded configuration (scheme 2) in interval then.
At this moment, when making described tractor truck pierce the downside of described conveying trolley, described tractor truck is entered from the described road that enters of expanded configuration gradually.If the described road that enters of expanded configuration gradually, though the access path of described tractor truck location error a little then, also can be according to the relative position of automatically regulating described conveying trolley that contacts of described guide part and described tractor truck.
So, if can absorb positional error when entering, then compare desired positional precision in the time of suppressing significantly to make described tractor truck to pierce described conveying trolley downside with the situation that makes described tractor truck directly enter described guide path.If desired positional precision reduces, the control when then connecting described tractor truck with respect to described conveying trolley becomes easy.In addition, also can enter the both sides that the road is provided in fore-and-aft direction with described.At this moment, described tractor truck is entered relatively easily from the fore-and-aft direction both sides.
In addition, preferred described abutting part possesses the roller (scheme 3) that can rotate according to the butt with described guide part.
At this moment, can reduce described tractor truck from the described contact resistance that contacts with described guide part when entering the road and entering and produce, can described tractor truck successfully be entered by the described road that enters.
In addition, the described connecting portion that preferred described tractor truck possesses have can lifting on vertical direction axle shape connecting pin,
The described engagement section that described conveying trolley possesses can make described connecting pin insert in vertical direction, possesses the connecting hole (scheme 4) of the slotted hole shape that forms more longways on left and right directions.
When vertical direction was inserted described connecting pin, when drawing described conveying trolley along the road surface, the masterpiece that is used for traction was used for making the possibility of the direction that described connecting pin extracts to become minimum with respect to described connecting hole.In addition, if make described connecting hole form the long hole shape of wider width at left and right directions, when then direction is drawn to the left and right, can avoid described connecting pin to be connected to interior all sides of described connecting hole, and make described abutting part be connected to more effectively described guide part.
In addition, the position configuration that preferred described guide part is relative with described abutting part is that the position of fore-and-aft direction is with respect to the center of gyration of described 21 group drive wheel of described driver element roughly consistent (scheme 5).
At this moment, when the described conveying trolley of left and right directions traction, described abutting part becomes the front of the steering of the drive wheel that is positioned at each driver element, can make the propulsive effort of described driver element pass to more efficiently described guide part.
In addition, preferred described connecting portion is configured in respect to 2 places and states the position (scheme 6) that driver element is equivalent to fore-and-aft direction central authorities.
At this moment, in the fore-and-aft direction both sides, can similarly set the position relationship of described driver element and described connecting portion.Because in the time of can suppressing side-lining before the direction forwards, backwards and forwards, backwards the controlled condition during side-lining different after the direction are improved operating efficiency so can determine efficiently to control specification.
Automatic Guided Vehicle of the present invention is that combination has the Automatic Guided Vehicle that possesses Universal wheel and the conveying trolley that can oneself stand and pierce and be connected in the tractor truck of conveying trolley downside, because connection location only has 1 place, so it is for small-sized, low-cost and have an Automatic Guided Vehicle of the good characteristic of the position control when easily connecting.
Description of drawings
Fig. 1 is the block diagram of the Automatic Guided Vehicle among the expression embodiment 1.
Fig. 2 is the block diagram of observing the tractor truck the embodiment 1 from oblique upper.
Fig. 3 is the block diagram of the tractor truck from oblique beneath embodiment 1.
Fig. 4 is the block diagram of the driver element among the expression embodiment 1.
Fig. 5 is the birds-eye view of the driver element among the expression embodiment 1.
Fig. 6 is the lateral plan that the connecting pin among the expression embodiment 1 is in the linkage unit of projected state.
Fig. 7 is the lateral plan that the connecting pin among the expression embodiment 1 is in the linkage unit of fallback state.
Fig. 8 is the block diagram of the conveying trolley among the expression embodiment 1.
Fig. 9 is the front view of the conveying trolley among the expression embodiment 1.
Figure 10 is the birds-eye view (birds-eye view of the bottom that cuts off along the line of rupture A place among Fig. 8) of the part of the conveying trolley among the expression embodiment 1.
Figure 11 is the block diagram (corresponding to the block diagram of Figure 10) of the part of the conveying trolley among the expression embodiment 1.
Figure 12 is the conveying trolley of expression among the embodiment 1 and the mode chart of the coupled condition of tractor truck.
Figure 13 is the block diagram that the system of the Automatic Guided Vehicle among the expression embodiment 1 consists of.
Figure 14 is the instruction diagram for the Automatic Guided Vehicle situation about moving up in front and back of explanation embodiment 1.
Figure 15 is the instruction diagram of the situation about moving up at right and left of the Automatic Guided Vehicle for explanation embodiment 1.
Nomenclature
The 1-Automatic Guided Vehicle; The 10-conveying trolley; The 11-side wall portion; 13-guide rail (guide part); The 131-guide path; 133-enters the road; The 15-fastening plate; The 150-connecting hole; The 18-Universal wheel; The 2-tractor truck; The 20-car body; 210-roller (abutting part); The 3-driver element; The 33-rotating part; The 331-drive wheel; The 351-line sensor; The 352-mark sensor; The 4-linkage unit; The 41-connecting pin; The 44-beam sensor; The 45-lifting mechanism; 50 control units.
The specific embodiment
Utilize following embodiment to specifically describe embodiments of the present invention.
Embodiment 1
As shown in Figure 1, the present embodiment relates to the Automatic Guided Vehicle 1 that combination has the tractor truck 2 that possesses Universal wheel 18 and the conveying trolley 10 that can oneself stand and be connected in this conveying trolley 10.
Such as Fig. 1～shown in Figure 3, tractor truck 2 possesses that width is wide and short transverse is thin and the long sunken bed formula car body 20 of fore-and-aft direction.Start-up portion in car body 20 front sides accommodates control unit 50 (illustrating in the back with reference to Figure 13), is equipped with for the storage battery 280 that stores electric power at rear end part.Fore-and-aft direction 2 places at the centre portion of car body 20 dispose driver element 3, and it possesses on coaxial side by side 21 group drive wheel 331 of configuration, and the central configuration at 2 groups of driver elements 3 is useful on the linkage unit 4 that connects conveying trolley 10 simultaneously.
Bottom in car body 20 front and back is provided with energy disperser 22, and it contains impact switch 220 (with reference to Figure 13) in inside when direction forwards, backwards is outstanding.The auxiliary wheel 208 that is made of Universal wheel is installed in the left and right sides on the bottom surface that is equivalent in the middle of the fore-and-aft direction of 2 place's driver elements 3.
Except operation display panel 23, also be equipped with communication unit 25, obstacle sensor 26 etc. in the front 201 of front side.Dispose emergency stop switch 231, operating switch 232, display lamp 233, light-emitting diode display 234 (with reference to Figure 13) etc. at operation display panel 23.Communication unit 25 is for the unit by the infrared communication transmitting and receiving data, and it is configured to make the receipts illuminating part forwards outstanding.Obstacle sensor 26 be for detection of around the detecting sensor of infradred sensor etc. of obstacle, it is configured in positive 201 substantial middle.
202 bottom is equipped with the tactile limit switch 27 that is equipped with banded layering type switch at India rubber tube interpolation wildcard in total length roughly in the side.202 rearward end is equipped with the charging terminal 28 that charges for the storage battery 280 to inside in the side.In addition, 202 substantial middle is equipped with the obstacle sensor 26 that detects peripheral obstacle in the side.
Also penetrated roller window 21 on the side 202 of tractor truck 2, its part for the outer peripheral face that makes discoid roller (abutting part) 210 is outstanding laterally.Roller window 21 with identical level configurations on 2 positions of fore-and-aft direction.Roller 210 is supported on the discoid swing roller in the rotating shaft (omit diagram) of vertical direction by axle, and is set with 202 states that a part is outstanding laterally from the side, in order to rotate with guide rail 13 butts of conveying trolley 10 sides.
The side 202 that identical specification consists of both sides that is configured to that in tractor truck 2, comprises roller window 21 grades.Since width over sides of car body on total length roughly overhang certain and each roller 210 be set as all identical, so all be common guiding width W a (with reference to Figure 12) by the width of the outer peripheral face regulation of left and right sides roller 210 at the front side rear side.
Before and after on sunken bed formula car body 20, namely being equivalent near 203 the central authorities on the position of central authorities of 2 place's driver elements 3, penetrate and be useful on the outstanding through hole 241 of connecting pin 41 that makes linkage unit 4.In addition, on the next door of through hole 241 (left and right directions), adjacent apertures has the detection window 242 of the beam sensor 44 (illustrating in the back with reference to Fig. 6) that linkage unit 4 possesses.
Such as Fig. 4 and shown in Figure 5, driver element 3 is that combination has the rotating part 33 that is fixed in the adapter plate 32 of car body 20 sides and comprises 21 group drive wheel 331 by bolts such as linings.Rotating part 33 is to run through centered by the S. A. 330 that remains on the adapter plate 32 and being fixed on the adapter plate 32 by rotating state.The degreeof turn that is equipped with for detection of S. A. 330 in the end to the outstanding S. A. 330 of the upper face side of adapter plate 32 is the manipulation angle test section 350 of the manipulation angle of drive wheel 331.
Rotating part 33 possesses rotary support side by side at coaxial 2 drive wheels 331 and not corresponding with 331 of these drive wheels and can be rotated independently respectively 2 drive motor 332 of control.Be equipped with the line sensor 351 for detection of the guide rail circuit in the front of rotating part 33, be equipped with in the position of departing from line sensor 351 simultaneously for the mark sensor 352 from guide rail sign reading address information etc.
When each drive wheel 331 of driver element 3 was driven individually, rotating part 33 turned round centered by S. A. 330 according to its slip, has handled thus driver element 3.In the driver element 3 of the present embodiment, S. A. 330 becomes the central control post of drive wheel 331, steering range be set as can cover 360 the degree all-round.In the driver element 3 of the present embodiment, so that be provided in the line sensor 351 of rotating part 33 fronts and each drive wheel 331 of form control that mark sensor 352 is positioned at the advance side front all the time.
As having omitted the Figure 6 and Figure 7 of a part of sidewall, linkage unit (connecting portion) the 4th comprises the unit of box-shaped framework 40.Fig. 6 represents the state that connecting pin 41 is given prominence to, and Fig. 7 represents the state that connecting pin 41 retreats.Linkage unit 4 possesses columniform connecting pin 41, make the lifting mechanism 45 of connecting pin 41 liftings and for detection of the beam sensor 44 above the framework 40 of being installed on outstanding opportunity of connecting pin 41.
Connecting pin 41 interpolations are disposed at the advance and retreat guide cylinder 411 cylindraceous on the top board 401 that is fixed on framework 40, and are held with the state that can advance and retreat in the axial direction.Aft end face upper shed at connecting pin 41 has the spring eye (omitting diagram) of boring a hole with form vertically, is fixed with flat plate 458 with the form of stretching out to outer circumferential side simultaneously.
Be installed at linkage unit 4 under the state of tractor truck 2 (Fig. 2), connecting pin 41 can be outstanding upward by the through hole 241 of 203 perforation on car body 20.Beam sensor 44 can be by the detection window 242 in the next door of through hole 241 adjacent apertures, and the insertion objects that detects connecting pin 41 is fastening plate 15 described later (Figure 11, Figure 12 etc.).
Lifting mechanism 45 by the lifting motor 452 that is used for making connecting pin 41 liftings, be used for the rotation of lifting motor 452 be converted to the straight-line cam 454 of connecting pin 41, to the coil spring 456 of projected direction effect connecting pin 41 and be fixed on plate 458 on the aft end face of connecting pin 41 etc. and consist of.Coil spring 456 is to insert in described spring eye in its upper end, the state that inserts in simultaneously the pivot shaft 431 that uprightly arranges from the bottom surface of framework 40 outside the bottom sets and is compressive state.
In linkage unit 4, by the application force of coil spring 456, connecting pin 41 is in the state that is pushed to the top.If the tip side at connecting pin 41 does not have obstacle, then connecting pin 41 projects to the position that plate 458 is connected to the end face butt of cam 454 or plate 458 and advance and retreat guide cylinder 411.Under this state, when making lifting motor 452 rotation, the motion composition of the horizontal direction in the circular movement of cam 454 is absorbed by the advance and retreat action along the cam 454 on the surface of plate 458, and connecting pin 41 is advanced and retreat in the axial direction by the motion of the vertical direction (axially) be left.
Such as Fig. 8 and shown in Figure 9, conveying trolley 10 is the chassis that are the framed structure of cuboid profile at fore-and-aft direction.This framed structure presents to be made along the pair of sidewalls section 11 of fore-and-aft direction mutually relatively, and the structure that interfixes by the connection pipe 115,116 across relative direction.Side wall portion 11 by uprightly be arranged on the vertical direction 2 main shafts 110 in both sides and with respect to these 2 main shafts 110 across in the horizontal direction many connection pipes 111,112 and form.
2 connection pipes 115,116 of upper strata and lower floor are fixed on 2 main shafts 110 that are positioned at the fore-and-aft direction front side, similarly are being positioned at 2 connection pipes 115,116 that also are fixed with upper strata and lower floor on 2 main shafts 110 of rear side.In addition, be separately installed with the Universal wheel 18 that can rotate freely according to lead in the lower end of 4 main shafts 110.Conveying trolley 10 can oneself be stood by 4 Universal wheels 18, simultaneously can be mobile in all directions along the road surface.
Between the upper strata connection pipe 115 of the upper strata of front side connection pipe 115 and rear side, be crossed with 2 row roller paths 117.Connection pipe 116 for lower floor is crossed with 2 row roller paths 117 too.At this, tilt in order to make roller path 117, the setting height(from bottom) of the upper strata connection pipe 115 of front side and the upper strata connection pipe 115 of rear side is different slightly.Connection pipe 116 for lower floor is different slightly on the setting height(from bottom) of front side and rear side too.Be placed on workpiece on the roller path 117 (omitting diagram) side shifting under this direction of tilt, can be placed very close to each otherly.In addition, the connection pipe 116 of lower floor is installed on the position higher from the road surface with the form of the height that only can guarantee to make tractor truck 2 and pierce.
Being positioned on undermost each connection pipe 112 in the connection pipe of the fore-and-aft direction that consists of side wall portion 11 is equipped with elongated tabular guide rail (guide part) 13 and the feeler lever 12 that is made of elongated tubular.And, between undermost 2 connection pipes 112, be crossed with strut 119 for fixed card plywood (engagement section) 15 to relative direction.
, be equipped with and extend the collision arm 121 that arranges downwards with the form corresponding with the tactile limit switch 27 of tractor truck 2 at the both ends of feeler lever 12.Be connected at conveying trolley 10 under the state (with reference to Fig. 1) of tractor truck 2, when arbitrarily obstacle contact feeler lever 12, corresponding to being pressed into of feeler lever 12,121 of collision arms beat and touch limit switch 27.Thus, the Automatic Guided Vehicle 1 of the present embodiment can detect from the side obstacle that contacts with feeler lever 12.
Such as Fig. 8～shown in Figure 12, guide rail 13 is to surpass slightly the elongated plate-like members of conveying trolley 10 total lengths, and is installed on the inboard of side wall portion 11 along the fore-and-aft direction of conveying trolley 10.In addition, Figure 10 cuts off main shaft 110 with the birds-eye view of the bottom of expression conveying trolley 10 along the A position among Fig. 8, and Figure 11 is the block diagram of this part.Figure 12 is the mode chart of the coupled condition of expression conveying trolley 10 and tractor truck 2.
Pars intermedia 130 forms the scope that sets that can cover 2 place's rollers 210 on the side 202 that is provided in tractor truck 2.Mutually relative pars intermedia 130 separate guiding width W a (with reference to Figure 12) degree that surpasses slightly tractor truck the interval and relatively.Mutually relative pars intermedia 130 is formed with and can limits the relative orientation that makes tractor truck 2 and produce the relative attitude change that departs from, and makes the guide path 131 (the scope A among Figure 10) of the duct width Wb that tractor truck 2 advances and retreat at fore-and-aft direction.On the other hand, mutual relative both ends 132 present the gradually shape of expansion towards fore-and-aft direction.Shape that this is expanded gradually forms and enters road 133 (the scope B among Figure 10), and it is used for when making tractor truck 2 pierce the downside of conveying trolley 10, according to the relative position of automatically adjusting conveying trolley 10 that contacts of tractor truck 2.
Fastening plate 15 is near the flat members of essentially rectangular that are penetrated with connecting hole 150 central authorities.This fastening plate 15 is fixed with the state relative with the road surface by being suspended to across the strut 119 between the connection pipe 112 of pair of sidewalls section 11 near the central authorities below the conveying trolley 10.In addition, in Figure 10, omitted strut 119.
Connecting hole 150 is the holes for the connecting pin 41 that inserts tractor truck 2.Connecting hole 150 presents in the long long hole shape of left and right directions.The width of the fore-and-aft direction of connecting hole 150 is set as the degree that can insert connecting pin 41 narrowlyer.On the other hand, the width of the left and right directions of connecting hole 150 forms long enough, even so that with respect to the 13 pushing tractor trucks 2 of guide rail arbitrarily, the end of long hole shape also can not be connected to the circumferential lateral surface of connecting pin 41.
Next, the built-in system of tractor truck 2 constitutes as shown in figure 13.Control unit 50 for control system, except 2 groups of driver elements 3 and linkage unit 4, also be electrically connected with impact switch 220, obstacle sensor 26, emergency stop switch 231, operating switch 232, display lamp 233, light-emitting diode display 234, loud speaker 235, communication unit 25 etc.
It is I/F circuit 55 and to the main control circuit 51 of driver element 3 and the various control signals of linkage unit 4 outputs that control unit 50 possesses for the interface that carries out handshaking with various switches etc.
The inside of driver element 3 consists of roughly to be divided into the drive division 31 that drive wheel 331 (with reference to Fig. 4) is driven according to the control signal that receives from control unit 50 and reads in the detection signal of various sensors and send to the test section 35 of control unit.Drive division 31 constitutes and comprises the wheel unit 310 with drive motor 332 and the motor driver 315 of controlling drive motor 332.Motor driver 315 is according to the rotation of the control signal control drive motor 332 that receives from control unit 50.
Consist of as the inside of linkage unit 4, possess according to the control signal that receives from control unit 50 and lifting motor 452 is rotated the motor driver 451 of driving and reads in the detection signal of beam sensor 44 and send to the I/F circuit 48 of control unit 50.
In the Automatic Guided Vehicle 1 of the present embodiment that as above consists of, the situation by tractor truck 2 traction transport chassis 10 is described.
As shown in figure 14, when fore-and-aft direction draws, the power of the working direction of tractor truck 2 by connecting pin 41 circumferential lateral surface and the contact position of interior all sides of connecting hole 150 pass to conveying trolley 10.So, conveying trolley 10 can become propulsive force with the power that tractor truck 2 transmits and move up in front and back.At this moment, the 2 place's Universal wheels 18 that are equivalent to the moving direction front side in 4 place's Universal wheels 18 of conveying trolley 10 are compared with connecting pin 41 and are positioned at the moving direction front side.
When comparing the 2 place's Universal wheels 18 that are positioned at the moving direction front side with connecting pin 41 and produce resistance, produce then conveying trolley 10 deflections and towards changing of power that direction to the left and right flees from, might cause producing with tractor truck 2 between relative attitude change.In the Automatic Guided Vehicle 1 of the present embodiment, with respect to the overall with of the left and right sides roller 210 of the tractor truck 2 width W a that namely leads, the duct width Wb of the guide path 131 that pair of guide rails 13 is relative sets enough narrowly.
Therefore, as shown in the attitude change of emphasizing among Figure 14, it is limit that the relative attitude change between conveying trolley 10 and the tractor truck 2 is restricted to be positioned at the position of rotation that 2 place's rollers 210 on the diagonal angle of tractor truck 2 are connected to different guide rail 13.Therefore, according to the Automatic Guided Vehicle 1 of the present embodiment, can be only 1 connecting pin 41 of central authorities by being configured in tractor truck 2 stably carry out the traction of fore-and-aft direction both sides.
On the other hand, as shown in figure 15, when left and right directions drew, connecting pin 41 did not contact interior all sides of connecting hole 150 of the slotted hole shape of left and right directions, and the 2 place's rollers 210 that are configured on the side of the working direction that is equivalent to tractor truck 2 are connected to guide rail 13.Thus, when left and right directions drew, the power of left and right directions had passed to conveying trolley 10 with the form of roller 210 pushing guide rails 13.
Especially in the Automatic Guided Vehicle 1 of the present embodiment, be S. A. 330 with respect to the central control post of driver element 3, dispose roller 210 with the form of the position consistency of fore-and-aft direction.Therefore, when left and right directions drew, roller 210 became the front of the steering that is configured in respectively each driver element 3.The propulsive effort of each driver element 3 passes to guide rail 13 efficiently from being configured in positive roller 210.
As implied above, in the Automatic Guided Vehicle 1 of the present embodiment, the connecting pin 41 at only 1 place that can possess by tractor truck 2 forwards, backwards about traction transport chassis 10 stably.If connecting pin 41 only has 1 place, then only set 1 group of linkage unit 4 and get final product, can realize miniaturization, the cost degradation of tractor truck 2.Comprise that the little revolution of this Automatic Guided Vehicle 1 small-sized, cheaply the present embodiment of tractor truck 2 in small space proves effective, and be the excellent product of low price.And, if connecting pin 41 only has 1 place, then since required when connecting tractor truck 2 with respect to conveying trolley 10 only be 1 place to bit position, so position control becomes easily and can reduce the control burden.
In addition, as the length of the length direction of slotted hole shape connecting hole 150, no matter preferably be set as to guide rail 13 pushing tractor trucks 2 arbitrarily, connecting pin 41 all is positioned in front of the end of length direction of connecting hole 150.If set like this, then when left and right directions draws, power that can traction is required pass to conveying trolley 10 sides near 100% by roller 210.
And, for the connecting hole 150 of the present embodiment, because the end of left and right directions is optional, so also can adopt seam shape connecting hole 2 fastening plates cut apart on fore-and-aft direction that clip left and right directions.In the fastening plate of this 2 segmenting structures, form the end do not have left and right directions and at the connecting hole of the left and right directions both-side opening of fastening plate.The same with the present embodiment, by inserting connecting pin 41 with respect to seam shape connecting hole, tractor truck 2 can be connected in conveying trolley 10.Connecting hole of the present invention needn't be the complete besieged hole of periphery, also can be that a part is in the incomplete hole of periphery side opening.
In addition, adopt in the present embodiment the conveying trolley 10 that presents the cuboid profile along the fore-and-aft direction that tractor truck 2 is entered.Replace, also the rectangular short side direction of observing conveying trolley from the top can be set as the fore-and-aft direction that tractor truck 2 is entered.At this moment, can with respect to the width of guide path 131, widely guarantee the width in the zone of place work piece.
Above, although understand in detail as described in Example 1 specific embodiments of the invention, these specific embodiments only are to disclose an example that is included in the technology in the claim scope.Much less should not explain according to the formation of specific embodiment, numerical value etc. the scope of claim with limiting.The scope of claim comprises the technology that knowledge of utilizing known technology, those skilled in the art etc. is carried out diversified change or change to described specific embodiment.
Claims (11)
1. Automatic Guided Vehicle, its combination has: conveying trolley possesses Universal wheel and can oneself stand; And tractor truck, 2 places at fore-and-aft direction dispose driver element, this driver element is at coaxial 21 group the drive wheel that disposes independent driving and according to the slip revolution of this drive wheel of 21 group and handled, described tractor truck pierces and is connected in the downside of described conveying trolley from fore-and-aft direction, it is characterized in that
Described conveying trolley has: engagement section, 1 place is used for connecting described tractor truck; And guide part, with in the side of the left and right directions both sides of the described tractor truck that connects separately relative form set,
Described tractor truck has: connecting portion, and state driver element with respect to 2 places and be positioned at the centre of fore-and-aft direction and be connected in described engagement section; And abutting part, with can limit make this tractor truck towards with the form of the relative attitude change that departs from towards generation of described conveying trolley, relatively be equipped on each relative on left and right directions side with described guide part respectively,
When described tractor truck is connected in described conveying trolley, the position that described guide part is relative with described abutting part, each side at described tractor truck clips the both sides that described connecting portion is configured in respectively fore-and-aft direction,
When the described tractor truck of coupled condition moves up in front and back, limit under the state of described relative attitude change in the combination by described guide part and described abutting part, based on the power that acts on the fore-and-aft direction of described engagement section from described connecting portion, at the described conveying trolley of fore-and-aft direction traction, on the other hand
The described tractor truck of coupled condition is when right and left moves up, based on clipping described connecting portion acts on the left and right directions of described guide part in the described abutting part of fore-and-aft direction both sides power from the side at the moving direction of facing described tractor truck, at the described conveying trolley of left and right directions traction.
2. Automatic Guided Vehicle according to claim 1, it is, the described guide part relative with each side of described tractor truck extends continuously without interruption on fore-and-aft direction respectively and arranges,
Clipping the mutual relative a pair of described guide part of described tractor truck is formed with: guide path, limit described relative attitude change and have the certain intervals that can make described tractor truck advance and retreat degree; And enter the road, arrange to extend with respect to the form of at least any one party adjacency in described guide path and the fore-and-aft direction, have from the position of described guide path more away from the wider gradually expanded configuration in interval then.
3. Automatic Guided Vehicle according to claim 2, it is that described abutting part possesses the roller that can rotate according to the butt with described guide part.
4. the described Automatic Guided Vehicle of any one according to claim 1～3, it is, the described connecting portion that described tractor truck possesses have can lifting on vertical direction axle shape connecting pin,
The described engagement section that described conveying trolley possesses can make described connecting pin insert in vertical direction, possesses the connecting hole of the slotted hole shape that forms more longways on left and right directions.
5. the described Automatic Guided Vehicle of any one according to claim 1～3, it is that the position configuration that described guide part is relative with described abutting part is that the position of fore-and-aft direction is roughly consistent with respect to the center of gyration of described 21 group drive wheel of described driver element.
6. Automatic Guided Vehicle according to claim 4, it is that the position configuration that described guide part is relative with described abutting part is that the position of fore-and-aft direction is roughly consistent with respect to the center of gyration of described 21 group drive wheel of described driver element.
7. the described Automatic Guided Vehicle of any one according to claim 1～3, it is that described connecting portion is configured in respect to 2 places and states the position that driver element is equivalent to fore-and-aft direction central authorities.
8. Automatic Guided Vehicle according to claim 4, it is that described connecting portion is configured in respect to 2 places and states the position that driver element is equivalent to fore-and-aft direction central authorities.
9. Automatic Guided Vehicle according to claim 5, it is that described connecting portion is configured in respect to 2 places and states the position that driver element is equivalent to fore-and-aft direction central authorities.
10. Automatic Guided Vehicle according to claim 6, it is that described connecting portion is configured in respect to 2 places and states the position that driver element is equivalent to fore-and-aft direction central authorities.
11. a tractor truck is characterized in that, is used in the described Automatic Guided Vehicle of any one in the claim 1～10.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009257321A JP5557510B2 (en) | 2009-11-10 | 2009-11-10 | Automated guided vehicle |
| JP2009-257321 | 2009-11-10 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102050155A CN102050155A (en) | 2011-05-11 |
| CN102050155B true CN102050155B (en) | 2013-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010133395 Expired - Fee Related CN102050155B (en) | 2009-11-10 | 2010-03-10 | Automatic transport vehicle |
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| Country | Link |
|---|---|
| JP (1) | JP5557510B2 (en) |
| CN (1) | CN102050155B (en) |
Cited By (1)
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|---|---|---|---|---|
| CN110573401A (en) * | 2017-04-27 | 2019-12-13 | 株式会社明电舍 | Unmanned carrying vehicle |
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| CN103171639B (en) * | 2013-03-22 | 2015-11-18 | 南通皋液液压机有限公司 | Homing guidance transfer robot |
| CN106627002B (en) * | 2016-11-13 | 2023-08-22 | 南京云科芝生健康科技有限公司 | Automatic traction mechanism of intelligent multipurpose tractor for hospital |
| CN109317344A (en) * | 2018-11-29 | 2019-02-12 | 三威塑胶制品(珠海)有限公司 | Spray carrier and spray-painting production line |
| JP7181097B2 (en) * | 2019-01-10 | 2022-11-30 | シャープ株式会社 | Dolly and transport system |
| CN110654794B (en) * | 2019-09-27 | 2021-12-03 | 日本电产新宝(浙江)有限公司 | Automatic carrier and carrying system |
| JP7384681B2 (en) | 2020-01-31 | 2023-11-21 | シャープ株式会社 | traveling device |
| KR102558590B1 (en) * | 2020-07-14 | 2023-07-24 | (주)금강오토텍 | Automatic guided vehicle equipped with variable holder |
| JP2022108905A (en) * | 2021-01-14 | 2022-07-27 | 日本発條株式会社 | Carrier device including connection mechanism |
| KR20220162607A (en) | 2021-06-01 | 2022-12-08 | 아이치 기까이 테크노 시스템 가부시끼가이샤 | Traction apparatus and automatic guided vehicle equipped with traction apparatus |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN102050155A (en) | 2011-05-11 |
| JP2011102072A (en) | 2011-05-26 |
| JP5557510B2 (en) | 2014-07-23 |
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