CN103848176A

CN103848176A - Transporting system

Info

Publication number: CN103848176A
Application number: CN201310581548.5A
Authority: CN
Inventors: 白川孝之; 堀井幸泰
Original assignee: JATCO Ltd
Current assignee: JATCO Ltd
Priority date: 2012-11-29
Filing date: 2013-11-19
Publication date: 2014-06-11
Anticipated expiration: 2033-11-19
Also published as: CN103848176B; JP5728463B2; JP2014105100A

Abstract

Provided is a transporting system. To-be-transported objects between unmanned transport vehicles can be automatically transported, and automation and labor saving in a factory can be further achieved. An unloading device (6) comprises an inclined convey belt (31). The inclined transport belt is arranged above a passage (T1) and inclines in a way that the exit is higher than the entrance, and the height of the entrance is the same as or is smaller than the height of the front end of a tray (3) carried by an unmanned transport vehicle (2). The unloading device also comprises a guide rail (32) which is arranged under and parallel to the inclined convey belt (31). The unmanned transport vehicle (2) further comprises a linkage rod (23) which extends upwards from the unmanned transport vehicle (2) to contact with the back end of the tray (3). When the unmanned transport vehicle (2) enters the passage (T1), the linkage rod contacts with the guide rail (32) and moves upwards, and the contact between the linkage rod and the back end of the tray (3) is kept, so the tray (3) is allowed to move on the inclined convey belt (31) along with the forward moving of the unmanned transport vehicle (2).

Description

Handling system

Technical field

The present invention relates to a kind of and automatic guided vehicle between carry out the handing-over of load handling system.

Background technology

For the automation in factory, Labor-saving, in the carrying of the load of pallet etc. as disclosed in Patent Document 1, utilize automatic guided vehicle (AGV).Automatic guided vehicle can be along independently being travelled by the track of the appointment such as tape, laser.

Load is loaded in on automatic guided vehicle, directly to carry out the situation of operation less, conventionally, the load of being carried by automatic guided vehicle is transferred on belt conveyor, utilizes belt conveyor to be transported near operator.In addition, the load after the end of job utilizes other belt conveyor to be moved near the track of automatic guided vehicle, turns back on automatic guided vehicle.

Patent documentation 1:(Japan) JP 2008-114743 communique

As mentioned above, as long as use automatic guided vehicle, can advance automation, Labor-saving in factory.But, between automatic guided vehicle and belt conveyor, shift the operation of load and still undertaken by operator's craft, the leeway of further automation in also existing, Labor-saving.

Summary of the invention

The present invention develops in view of this technical problem, and its object is, by the handing-over automation of the load between automatic guided vehicle and belt conveyor, further advances automation, Labor-saving in factory.

According to a mode of the present invention, handling system of the present invention is configured to and comprises: automatic guided vehicle, and its mounting is also carried load; Handling (handing) device, its inside has the path that described automatic guided vehicle passes through, when described automatic guided vehicle receives described load from described automatic guided vehicle during by described path, described handler possesses: inclination belt conveyor, it is arranged at the top of described path, and tilt in the outlet mode higher than entrance, the height of described entrance is with to load height in the front end of the described load of described automatic guided vehicle identical or lower than described front end; Guiding parts, it is arranged at the below of described inclination belt conveyor and parallel with described inclination belt conveyor, described automatic guided vehicle possesses linkage part, this linkage part from described automatic guided vehicle extend upward and with described load end in contact, in the time that described automatic guided vehicle enters described path, contact and be moved upward with described guiding parts, thus, maintain and the contacting of the rear end of described load, and move before making described load along with described automatic guided vehicle and then on described inclination belt conveyor.

According to aforesaid way, the handing-over between automatic guided vehicle and belt conveyor, by automation, can further advance automation, Labor-saving in factory.

Brief description of the drawings

Fig. 1 is the front view of the handling system of embodiment of the present invention;

Fig. 2 is the birds-eye view of the handling system of embodiment of the present invention;

Fig. 3 A is the figure of the action for separation device and direction switching mechanism are described;

Fig. 3 B is the figure of the action for separation device and direction switching mechanism are described;

Fig. 3 C is the figure of the action for separation device and direction switching mechanism are described;

Fig. 3 D is the figure of the action for separation device and direction switching mechanism are described;

Fig. 3 E is the figure of the action for separation device and direction switching mechanism are described;

Fig. 4 is the figure of the detailed part-structure for ejecting mechanism is described;

Fig. 5 A is the figure of the action for ejecting mechanism is described;

Fig. 5 B is the figure of the action for ejecting mechanism is described;

Fig. 6 is the figure of the detailed part-structure for arrange agencie is described;

Fig. 7 A is the figure of the action for arrange agencie is described;

Fig. 7 B is the figure of the action for arrange agencie is described;

Fig. 7 C is the figure of the action for arrange agencie is described;

Fig. 8 A is that the A of Fig. 7 A is to view (inclined-plane omission);

Fig. 8 B is that the B of Fig. 7 B is to view (inclined-plane omission).

Nomenclature

2: automatic guided vehicle

3: pallet (load)

6: handler

31: inclination belt conveyor

32: guide rail (guiding parts)

23: gangbar (linkage part)

41: lifting belt conveyor

44: fixing belt conveyor

51: release parts

52: link mechanism

91: standby belt conveyor

96: arm

97: flap (flap)

100: handling system

Detailed description of the invention

Below, with reference to accompanying drawing, embodiments of the present invention are described.

Fig. 1, Fig. 2 represent that the entirety of the handling system 100 of embodiment of the present invention forms.Handling system 100 by multiple automatic guided vehicles 2 and and automatic guided vehicle 2 between carry out the handing-over of pallet 3 handler 6 form.In addition, in the following description, for easy understanding, suppose that automatic guided vehicle 2 is one and describes.

(formation of automatic guided vehicle 2)

Automatic guided vehicle 2 is mobile vehicles independently on the track 10 of being specified by tape, laser etc.The automatic guided vehicle 2 of present embodiment had propulsion source before draw car traction and move, but can be also itself to there is the propulsions source such as electrical motor and the structure that moves.

Automatic guided vehicle 2 has the car body 21 of box-shaped, on car body, is placed with pallet 3 on 22.Three layers of shelf 4 are installed on pallet 3, can load multiple undressed or workpiece 5 of machining.In the present embodiment, workpiece 5 is oil pumps that automatic transmission with hydraulic torque converter uses.

The front end of pallet 3 forms low dip plane after front height, so that in the time that automatic guided vehicle 2 arrives the entrance of separation device 30 described later, pallet 3 can be multiplied by the inclination belt conveyor 31 of separation device 30.

In addition, above car body, 22 front side forms low early and high after dip plane, so that in the time that automatic guided vehicle 2 enters the path T2 of direction-changing device described later 40 bottoms and contact to the shank 42 of downward-extension with the lifting belt conveyor 41 from direction-changing device 40, shank 42 can be multiplied by above car body 22.Above car body, 22 rear side forms low dip plane after front height, and with at automatic guided vehicle 2 during through path T2, shank 42, along this dip plane action, declines lifting belt conveyor 41 swimmingly.

In addition, 22 rear side on car body, is provided with gangbar 23 to connect above car body 22 mode.Gangbar 23 its parts above car body 22 upward outstanding and with pallet 3 end in contact.Gangbar 23 is taking the position shown in Fig. 1 as extreme lower position, and this position is slidably mounted on above car body 22 upward certainly.In addition, in the lower end of gangbar 23, wheel 24 is installed.

(formation of handler 6)

Handler 6 have from automatic guided vehicle 2 receive be mounted with the pallet 3 of unprocessed workpiece 5 and by its be automatically transported to operator place job transfer band 70 function and the pallet 3 that is mounted with the workpiece 5 processing is automatically transported near the track of automatic guided vehicle 2, then pallet 3 is taken out of to the function of automatic guided vehicle 2.

Handler 6 is roughly divided into by separation device 30, direction switching mechanism 40, ejecting mechanism 50, reception belt conveyor 60, job transfer band 70, return conveyer 80 and takes out of mechanism 90 and forms.Below, each structure is described.

Separation device 30 is mechanisms that the pallet 3 that is mounted with unprocessed workpiece 5 is separated from automatic guided vehicle 2, and it possesses: be fixed on inclination belt conveyor 31 and guide rail 32 on the framework of handler 6.The path T1 that automatic guided vehicle 2 can pass through is formed at the bottom of separation device 30.

Inclination belt conveyor 31 is by multiple rollers and supports the roll conveyor that the framework of these rollers forms.Tilt in the outlet mode higher than entrance, entrance height is identical or lower than front end with the height of front end that loads the pallet 3 on automatic guided vehicle 2.

Guide rail 32 is that this guide rail 32 is arranged at the below of inclination belt conveyor 31 and parallel with inclination belt conveyor 31 for contacting and guide the track of gangbar 23 with the lower end (wheel 24) of the gangbar 23 of automatic guided vehicle 2.

Fig. 3 A～Fig. 3 D represents that the pallet 3 loading in automatic guided vehicle 2 utilizes the situation that separation device 30 separates, pallet 3 shifts to inclination belt conveyor 31.

When automatic guided vehicle 2 is during near the entrance of separation device 30, as shown in Figure 3A, the front end of pallet 3 contacts with the roller in entrance side of inclination belt conveyor 31.Due to gangbar 23 and the rear end in contact of pallet 3, therefore, along with automatic guided vehicle 2 inlet passage T1, pallet 3 is pushed to front by gangbar 23, and as shown in Figure 3 B, pallet is multiplied by inclination belt conveyor 31.

Because inclination belt conveyor 31 tilts, during automatic guided vehicle 2 advances on path T1, automatic guided vehicle 2 increases with the distance of the above-below direction of pallet 3.But gangbar 23 is pushed to by guide rail 32, pallet 3 is kept necessarily with the distance of the above-below direction of gangbar 23, so, maintain contact (Fig. 3 B, Fig. 3 C) of pallet 3 and gangbar 23.

Thus, along with advancing of automatic guided vehicle 2, pallet 3 moves on inclination belt conveyor 31.And in the time of path T2 by approach axis switching mechanism 40 bottoms after path T1 of automatic guided vehicle 2, as shown in Figure 3 D, pallet 3 shifts to the lifting belt conveyor 41 of direction switching mechanism 40.

Turn back to Fig. 1, Fig. 2, continue other formation of handler 6 to describe, direction switching mechanism 40 possess to the lifting belt conveyor 41 of the direction delivery tray 3 identical with the direction of feed of inclination belt conveyor 31 and to the fixing belt conveyor 44 of the rectangular direction delivery tray 3 of direction of feed of lifting belt conveyor 41.The path T2 that automatic guided vehicle 2 can pass through is formed at the bottom of direction switching mechanism 40.

Lifting belt conveyor 41 is by multiple rollers and supports the roll conveyor that the framework of these rollers forms, with can first height (with reference to Fig. 3 C) identical with the outlet of inclination belt conveyor 31 and than first highly low the second mode of highly carrying out lifting between (with reference to Fig. 3 E), be slidably mounted on the framework of handler 6.Be extended with shank 42 downwards from lifting belt conveyor 41, in the lower end of shank 42, wheel 43 be installed.Also give prominence in path T2 the lower end that comprises the shank 42 of wheel 43.

Fixing belt conveyor 44 is by multiple rollers and supports the roll conveyor that the framework of these rollers forms, is fixed on the framework of handler 6 to become than the first mode highly low, the highly high position than second of lifting belt conveyor 41.The roller of fixing belt conveyor 44 configures in the mode meeting at right angles with the roller of lifting belt conveyor 41 and avoid the roller of lifting belt conveyor 41, even if lifting belt conveyor 41 carries out lifting, lifting belt conveyor 41 and fixing belt conveyor 44 also can not disturb.

Fig. 3 C～Fig. 3 E represents to be transferred to lifting belt conveyor 41 from inclination belt conveyor 31 pallet 3 out, is then transferred to the situation of fixing belt conveyor 44.

As shown in Figure 3 C, in the time of automatic guided vehicle 2 inlet passage T2, the shank 42 extending downwards from lifting belt conveyor 41 is multiplied by above the car body of automatic guided vehicle 2 22, and thus, lifting belt conveyor 41 rises to the first height.The first height and inclination belt conveyor 31 to go out open height identical, therefore, as shown in Fig. 3 C, Fig. 3 D, the pallet 3 that enters inclination belt conveyor 31 is transferred to lifting belt conveyor 41 swimmingly.

In the time that automatic guided vehicle 2 is advanced further and passes path T2, the shank 42 extending downwards from lifting belt conveyor 41 leaves above the car body of automatic guided vehicle 2 22, and thus, lifting belt conveyor 41 drops to the height of second shown in Fig. 3 E.The height arranging due to the fixing belt conveyor 44 of the second aspect ratio is low, and therefore, pallet 3 is transferred to fixing belt conveyor 44 from lifting belt conveyor 41.

As mentioned above, because the direction of feed of fixing belt conveyor 44 is and the rectangular direction of direction of feed of lifting belt conveyor 41, therefore shift the direction conversion that realizes pallet 3 from lifting belt conveyor 41 to fixing belt conveyor 44 by pallet 3.

Turn back to Fig. 2, continue other formation of handler 6 to describe, ejecting mechanism 50 is mechanisms that the pallet 3 of transferring to from lifting belt conveyor 41 fixing belt conveyor 44 is released to the direction of feed of fixing belt conveyor 44.

As shown in Figure 4, ejecting mechanism 50 by the release parts 51 of pole shape and the lifting action of lifting belt conveyor 41 is converted to fixing belt conveyor 44 direction of feed action and form to releasing the link mechanism 52 that parts 51 transmit.

Link mechanism 52 forms to be had: one end rotation is connected in the first ring 53 of lifting belt conveyor 41 freely; One end rotation is connected in the second ring 54 on the framework that the other end of first ring 53 and rotation be midway connected in handler 6 freely freely, to link with the other end of the second ring 54 with the angled mode one end of the second ring 54 and to be fixed with and to release the 3rd of parts 51 and encircle 55 at the other end.

Fig. 5 A, Fig. 5 B represent the appearance that ejecting mechanism 50 moves.

In the time of automatic guided vehicle 2 inlet passage T2, as shown in Figure 5A, the shank 42 of lifting belt conveyor 41 is multiplied by above the car body of automatic guided vehicle 2 on 22, and lifting belt conveyor 41 rises.In the time that lifting belt conveyor 41 rises, as shown in Figure 5A, this action converts the action of horizontal direction to by link mechanism 52 and is passed to releases parts 51, releases parts 51 and dodges the bight of direction switching mechanism 40 (with pallet 3, the position of disturbing not occurring).

When automatic guided vehicle 2 is during through path T2, as shown in Figure 5 B, the shank 42 of lifting belt conveyor 41 leaves above the car body of automatic guided vehicle 2 22, and lifting belt conveyor 41 declines.This action of lifting belt conveyor 41 is converted to the action of horizontal direction by link mechanism 52 and is passed to releases parts 51, releases parts 51 and moves to the direction of feed of fixing belt conveyor 44.

Thus, the direction of feed that the pallet 3 on fixing belt conveyor 44 is pushed out parts 51 pushes fix belt conveyor 44 to, the pallet 3 on fixing belt conveyor 44 is pushed out into and receives on belt conveyor 60.

Turn back to Fig. 2, continue other formation of handler 6 to describe, receiving belt conveyor 60 is belt conveyor that direction of feed is identical with fixing belt conveyor 44, will between direction switching mechanism 40 and job transfer band 70, connect.The outlet that receives belt conveyor 60 is lower than entrance, and in the time that pallet 3 is released from fixing belt conveyor 44 to reception belt conveyor 60 by ejecting mechanism 50, pallet 3 utilizes deadweight to be moved to job transfer band 70.

On job transfer band 70 having multiple movable castors 71 to any direction delivery tray 3 and by wheel state configuration upward.Operator receives unprocessed workpiece 5 from the pallet 3 being transported to job transfer band 70 by reception belt conveyor 60, workpiece 5 is implemented to the processing of regulation.Then the workpiece 5 that, makes to machine turns back on pallet 3.

Return conveyer 80 belt conveyor contrary with receiving belt conveyor 60 that be directions of feed, by job transfer band 70 with take out of between mechanism 90 and connect.The outlet of return conveyer 80 is lower than entrance, and when being mounted with the pallet 3 of the workpiece 5 machining while being released return conveyer 80 by operator, pallet 3 utilizes deadweight to be moved to and takes out of mechanism 90.

Taking out of mechanism 90 possesses: arrange agencie 92, the inclined-plane 93 of the pallet 3 standby belt conveyor 91, the arrangement standby belt conveyor 91 of the pallet 3 that reception transports from return conveyer 80.The bottom of taking out of mechanism 90 forms the automatic guided vehicle 2 path T3(that can pass through with reference to Fig. 1).

Standby belt conveyor 91 is waited for and is received the pallet 3 transporting from return conveyer 80.On standby belt conveyor 91, so that wheel state configuration upward has multiple movable castors 94, and the pallet 3 on standby belt conveyor 91 can be moved to any direction.

As shown in Figure 6, arrange agencie 92 is located at the side of standby belt conveyor 91, by S. A. 95, be fixed on arm 96 on S. A. 95 and flap 97, the spring 98 that connects the framework of flap 97 and handler 6 forms.The mode bending of arm 96 taking the working direction side of automatic guided vehicle 2 as depression, in the upside of standby belt conveyor 91 and extension abreast above standby belt conveyor 91.In addition, flap 97 extends abreast at the downside of standby belt conveyor 91 and above standby belt conveyor 91 and is outstanding to path T3.

Inclined-plane 93 is connected with the outlet of standby belt conveyor 91, and the pallet 3 that makes to take out of from standby belt conveyor 91 drops to above the car body of automatic guided vehicle 2 22 height gradually.

Fig. 7 A～Fig. 7 C represents to take out of the action of mechanism 90.Fig. 8 A be the A of Fig. 7 A to view, Fig. 8 B is that the B of Fig. 7 B is to view (omitting respectively inclined-plane 93).

Fig. 7 A and Fig. 8 A are the states before automatic guided vehicle 2 inlet passage T3.

In the time of automatic guided vehicle 2 inlet passage T3, as shown in Fig. 7 B and Fig. 8 B, the side of automatic guided vehicle 2 contacts with flap 97, the power of flap 97 antagonistic springs 98 and to the working direction rotation of automatic guided vehicle 2, arm 96 with this action interlock to identical direction rotation.Because the arm 96 working direction side taking automatic guided vehicle 2 described above is the mode bending of depression, therefore, in the time that arm 96 rotates with the pillar P of shelf 4 that is installed on pallet 3 contact and pull into, along with the rotation of arm 96, pallet 3 pallet 3 is arranged furthers to the side of standby belt conveyor 91.

In the time of automatic guided vehicle 2 further inlet passage T3, as shown in Fig. 7 C, gangbar 23 promotes pallet 3 with the rear end in contact of pallet 3, and pallet 3 is taken out of from standby belt conveyor 91.Arm 96 in the time arranging, the pillar P of shelf 4 is pulled into, but open due to working direction side, therefore, the pillar P of shelf 4 can depart from from arm 96, arm 96 can not hinder advancing of pallet 3.

The pallet 3 of taking out of from standby belt conveyor 91 is transferred to automatic guided vehicle 2 by inclined-plane 93.

According to above-mentioned embodiment, utilize separation device 30 and take out of mechanism 90, make the handing-over automation of the pallet 3 between automatic guided vehicle 2, can further advance automation, Labor-saving in factory.Due to the power utilization joining as pallet 3 action of automatic guided vehicle 2, therefore, do not need the power (effect corresponding with first aspect present invention) such as electric, air pressure.

In addition, by possessing direction switching mechanism 40, the direction of the pallet 3 of handler 6 is changed by automation (effect corresponding with second aspect present invention).

In addition, by possessing ejecting mechanism 50, the transfer of pallet 3 from direction switching mechanism 40 to reception belt conveyor 60 is by automation (effect corresponding with third aspect present invention).

Above, embodiments of the present invention are illustrated, but above-mentioned embodiment only representing Application Example of the present invention, is not the concrete formation that technical scope of the present invention is defined in to above-mentioned embodiment.

Claims

1. a handling system, it is configured to and comprises: automatic guided vehicle, its mounting is also carried load; Handler, its inside has the path that described automatic guided vehicle passes through, when described automatic guided vehicle receives described load from described automatic guided vehicle during by described path, it is characterized in that,

Described handler possesses:

Inclination belt conveyor, it is arranged at the top of described path, and tilts in the outlet mode higher than entrance, and the height of described entrance is with to load height in the front end of the described load of described automatic guided vehicle identical or lower than described front end;

Guiding parts, it is arranged at the below of described inclination belt conveyor and parallel with described inclination belt conveyor,

Described automatic guided vehicle possesses linkage part, this linkage part from described automatic guided vehicle extend upward and with described load end in contact, in the time that described automatic guided vehicle enters described path, contact and be moved upward with described guiding parts, thus, maintain and the contacting of the rear end of described load, and move before making described load along with described automatic guided vehicle and then on described inclination belt conveyor.

2. handling system as claimed in claim 1, is characterized in that,

Described handler possesses at the described outlet side of described inclination belt conveyor:

Lifting belt conveyor, it is in the time contacting with described automatic guided vehicle, rise to the primary importance with the described outlet equal height of described inclination belt conveyor, in the time not contacting with described automatic guided vehicle, drop to the second place lower than described primary importance, carry described load to the direction identical with the direction of feed of described inclination belt conveyor;

Fixing belt conveyor, it is fixed on position lower than described primary importance and that set high than described second, carries described load to the direction different from the direction of feed of described inclination belt conveyor.

3. handling system as claimed in claim 2, is characterized in that,

Described handler possesses:

Link mechanism, by described lifting belt conveyor, the action between described primary importance and the described second place is converted to the action of described fixing belt conveyor in direction of feed for it;

Release parts, it is connected with described link mechanism, utilizes the action of transmitting from described link mechanism, and the described load on described fixing belt conveyor is released to the direction of feed of described fixing belt conveyor.