CN105883316A - Automatic carrying vehicle and traveling control method therefor - Google Patents
Automatic carrying vehicle and traveling control method therefor Download PDFInfo
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- CN105883316A CN105883316A CN201510609386.0A CN201510609386A CN105883316A CN 105883316 A CN105883316 A CN 105883316A CN 201510609386 A CN201510609386 A CN 201510609386A CN 105883316 A CN105883316 A CN 105883316A
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- connecting pin
- hole
- link
- conveying trolley
- link hole
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Abstract
The invention provides an automatic carrying vehicle and a traveling control method therefor, wherein the automatic carrying vehicle is small in size and is easy to import. The automatic carrying vehicle (1) consists of a traction vehicle (2) and a carrying platform vehicle (10). The traction vehicle (2) comprises drive driving wheels (211), a first connecting pin (31A), and a second connecting pin (31B) separated from the first connecting pin (31A). The carrying platform vehicle (10) is provided with a first connecting hole (41) storing the first connecting pin (31A), and a second connecting hole (42) storing the second connecting pin (31B) disposed on a circle taking the first connecting hole (41) as the center.
Description
The application is Application No. 201510599148.6, filing date JIUYUE 18 day, in 2015
The divisional application of the patent application of the linking method of bright entitled Automatic Guided Vehicle and Automatic Guided Vehicle.
Technical field
The present invention relates to a kind of Automatic Guided Vehicle, this Automatic Guided Vehicle is by will be provided with Universal wheel and energy
Enough conveying trolleys supported oneself and the towed trailer combination linked with this conveying trolley form.
Background technology
In the past, for example, it is known that on the tractor automatically can walked along path set in advance group
Close the Automatic Guided Vehicle of the conveying trolley possessing Universal wheel.Tractor is except possessing driving
Outside motor, accumulator etc., the detection being also equipped with being laid on ground magnetic recording tape etc. for detection passes
Sensor.If linking conveying trolley on this tractor, then stowage can be made to have the workpiece such as parts, component
Conveying trolley move along magnetic recording tape.Additionally, as such Automatic Guided Vehicle, known in include diving
Enter the downside of conveying trolley and utilize the connecting pin that can lift to link the low tractor of conveying trolley
Automatic Guided Vehicle is (for example, referring to following patent documentation 1.).
In constituting the vehicle body of tractor of this Automatic Guided Vehicle, possesses the left and right wheels that can be operated alone
Driver element be arranged at before and after two, be arranged on fore-and-aft direction for the connecting pin linking conveying trolley
The upper surface of middle position.Each driver element by can relative to vehicle body rotation in the way of install,
Direction of advance can be changed by making left and right wheels reversely rotate.Such as, if making two driver element horizontal strokes
To rotation, then it also is able to make tractor move to positive side.
On the other hand, in conveying trolley side, at the base linking hole of the connecting pin that can house tractor
On plinth, it is additionally provided with few a pair the most facing guide rail across the tractor linked.If thinking
Enter to utilize a connecting pin traction transport chassis, then rotary resistance acts on and is located further forward side than connecting pin
Universal wheel, this Universal wheel becomes horizontal, and conveying trolley may rotate.If as the most above-mentioned automatically
Mover is such, and the guide rail facing across tractor be arranged at conveying trolley side, then can be from
The rotation of conveying trolley is limited, it is possible to realize stable traction by only connecting pin outside two.This
Outward, when making tractor transverse shifting, it is possible to by the guide rail of advance side is ejected such traction
Conveying trolley high stability is drawn by attitude to positive side.
Citation
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2011-102076 publication
In above-mentioned conventional Automatic Guided Vehicle, have a connecting pin is only set just can high stability
The advantages such as ground traction transport chassis, but there is also following problem.That is, guide rail is set owing to needing
Deng and the structure of conveying trolley side is slightly complicated, and, in order to ensure lateral traction carry platform
Stability during car and the driver element of a left and right wheels is preferably respectively set before and after tractor, because of
This, be easily caused the maximization etc. of the complication of structure, tractor, be more suitable for larger be
System, exists and can not assert it is the problem of optimum structure for applying to small-scale handling system.
Summary of the invention
The present invention is to complete in view of above-mentioned conventional problem, it is provided that a kind of Automatic Guided Vehicle and from
The ambulation control method of dynamic mover, this Automatic Guided Vehicle is by will be provided with Universal wheel and can supporting oneself
Conveying trolley and the towed trailer combination that links with this conveying trolley form, and this automatic transporting appearance of vehicle
Easily import to the handling system that scale is less.
For solving the means of problem
One mode of the present invention relates to a kind of Automatic Guided Vehicle, and it is by will be provided with Universal wheel and energy
Enough conveying trolleys supported oneself and slip into the downside of conveying trolley the traction linked with conveying trolley
Car combines, it is characterised in that
Described tractor has: with the driving wheel that two is a group, its arranged coaxial, and can be with
It is operated alone including counter-rotating in interior mode；And connecting pin, it is used for linking described carrying platform
Car and can lifting, including being arranged on two as this connecting pin is in the described driving wheel of a group
Between the first connecting pin and with the second connecting pin of this first connecting pin configured separate,
Described conveying trolley is provided with the first link hole housing described first connecting pin, and,
Along the circumference centered by this first link hole, the collecting described second being provided with at least two places links
Second link hole of pin.
One mode of the present invention relates to the ambulation control method of a kind of Automatic Guided Vehicle, this automatic transporting
Car is by will be provided with Universal wheel and the conveying trolley that can support oneself and slipping into conveying trolley
Downside and with conveying trolley link towed trailer combination described in Automatic Guided Vehicle, its feature exists
In,
Described tractor has: with the driving wheel that two is a group, its arranged coaxial, and can be with
It is operated alone including counter-rotating in interior mode；And connecting pin, it is used for linking described carrying platform
Car and can lifting, including being arranged on two as this connecting pin is in the described driving wheel of a group
Between the first connecting pin and with the second connecting pin of this first connecting pin configured separate,
Described conveying trolley is provided with the first link hole housing described first connecting pin, and,
On the circumference centered by this first link hole, it is provided with the collecting described second at least two places even
Second link hole of knot pin,
In the ambulation control method of described Automatic Guided Vehicle,
Hole contains described first connecting pin and arbitrary second even changing to link with described first
Knot hole contains the trailed described conveying trolley of complete connecting state of described second connecting pin
During advance side, perform:
First step, links hole from described arbitrary second and extracts described second connecting pin；
Second step, contains described first connecting pin in described first link hole and described second connects
Knot Kong Zhongwei contains under the middle connecting state of described second connecting pin, is one group by making with two
Described driving wheel reversely rotate so that described tractor is with described first connecting pin as approximate centre
Ground rotates, and thus makes described second to link hole and rotates the position being indexed to the second new link hole；And
Third step, is contained in described second connecting pin in the second new link hole.
In the tractor of the present invention, as the connecting pin for linking described conveying trolley, except setting
Put outside the first connecting pin of the centre of the described driving wheel with two being a group, be also equipped with being positioned at
Second connecting pin of the position that this first connecting pin separates.On the other hand, at the conveying trolley of the present invention
Side, in addition to housing described the first of described first connecting pin and linking hole, is additionally provided with collecting described
Second link hole of the second connecting pin.
Described first connecting pin and described second link is contained if being in described first link hole
Hole contains the complete connecting state of described second connecting pin, it is possible to utilize two connecting pins can with height
By rotating against of the described conveying trolley in property restriction traction.If being in based on described first connecting pin
And the second complete connecting state of connecting pin, it is possible to the movement with described tractor is correspondingly steady with height
The described conveying trolley of qualitative traction.
On the conveying trolley of the present invention, along the circumference centered by described first link hole, arrange
Described the second of at least two places are had to link hole.In the Automatic Guided Vehicle of the present invention, according at least two
Described the second of place link in hole which in contain described second connecting pin, it is possible to change described
The advance side of conveying trolley.
In the Automatic Guided Vehicle of the present invention, when changing the advance side of described conveying trolley, as long as holding
Row links hole from described second and extracts the first step of described second connecting pin, is being based only upon described first
Second step that described tractor rotates is made and by described second under the middle connecting state of connecting pin
Connecting pin is contained in the step of the 3rd in the second new link hole.According to perform described first～
The ambulation control method of third step, by changing the second of the object side housing described second connecting pin
Link hole, it is possible to change described tractor relative to described conveying trolley towards, thereby, it is possible to change
Turn the advance side of trailed described conveying trolley.
Particularly, if being in described middle connecting state, when making described tractor rotate, described
Two connecting pins rotate centered by the described first link hole housing described first connecting pin.The opposing party
Face, owing to having configured along the circumference centered by described first link hole in described conveying trolley side
State the second link hole, therefore, described second connecting pin when making tractor rotate as described above
Carry out certain on the path that rotates occurring that described second links hole.So, link according in the middle of described
Make the described second step that described tractor rotates, it is possible to hold with high reliability under state extremely simplely
Row houses the para-position of described second connecting pin for linking hole to described second.
As above, in the Automatic Guided Vehicle of the present invention, as long as arrange described in described conveying trolley side
One links hole and second links hole, and the handling system less for scale is also easily guided into.Separately
Outward, in the Automatic Guided Vehicle of the present invention, by being contained in the company of correspondence at the most described first connecting pin
Described tractor is made to rotate under the middle connecting state in knot hole, it is possible to change with comparalive ease with high reliability
Become the advance side of described conveying trolley.As long as described tractor possess can be operated alone with two be
The described driving wheel of one group, is easier to realize small design.
The Automatic Guided Vehicle of a suitable mode of the present invention possesses coupling member, this coupling member energy
Enough relative to the installation of described conveying trolley and dismounting, and it is provided with described first link hole and institute
State the second link hole.
Now, by installing described coupling member, it is possible to prepare corresponding with the Automatic Guided Vehicle of the present invention
Conveying trolley.Such as, in the case of continuing to use general conveying trolley, it is possible to suppression prepares and this
The cost of the transformation etc. needed for the conveying trolley corresponding to Automatic Guided Vehicle of invention.
In the Automatic Guided Vehicle of a suitable mode of the present invention, described second links hole is arranged at
By described first link on the circumference centered by hole the most equally spaced everywhere.
Now, house described the second of described second connecting pin link hole by changing, such as can be
The advance side of described conveying trolley is set on the four direction all around etc. being substantially orthogonal.
The second link hole in the Automatic Guided Vehicle of a suitable mode of the present invention is elongated hole, with this
The size of the second circumferencial direction centered by described first link hole linking hole is compared, this second company
The size of the radial direction in knot hole is longer.
If relative to described second when making described tractor rotate under described middle connecting state even
The direction rotating displacement of knot pin expands the described second width linking hole, then can relax described the
Two connecting pins carry out the positional precision of requirement during para-position, it is possible to the burden etc. in terms of suppression control.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the Automatic Guided Vehicle illustrating embodiment 1.
Fig. 2 is the axonometric chart of the tractor illustrating embodiment 1.
Fig. 3 is the upward view of the tractor of embodiment 1.
Fig. 4 is the side view of the connection unit illustrating that the connecting pin of embodiment 1 is in projected state.
Fig. 5 is the side view of the connection unit illustrating that the connecting pin of embodiment 1 is in fallback state.
Fig. 6 is the explanatory diagram of the front end geometry of the first connecting pin illustrating embodiment 1.
Fig. 7 is the block diagram of the electric system structure of the tractor illustrating embodiment 1.
Fig. 8 is the axonometric chart of the conveying trolley illustrating embodiment 1.
Fig. 9 is the explanatory diagram during tractor linking conveying trolley of embodiment 1 viewed from above.
Figure 10 is the upward view of the conveying trolley of embodiment 1.
Figure 11 is the axonometric chart when the web monomer of the disassembly status that bottom surface side observes embodiment 1.
Figure 12 is the enlarged drawing of the guide portion of the web illustrating embodiment 1.
Figure 13 is the flow chart that the link to embodiment 1 controls to illustrate.
Figure 14 is the tractor illustrating embodiment 1 explanatory diagram close to the situation of conveying trolley.
Figure 15 is the explanatory diagram of the situation of the downside illustrating that the tractor of embodiment 1 slips into conveying trolley.
Figure 16 is the flow chart that other links to embodiment 1 control to illustrate.
Figure 17 is the flow chart illustrated for the travelling control turned right to embodiment 1.
Detailed description of the invention
Use following example that embodiments of the present invention are specifically described.
(embodiment 1)
As it is shown in figure 1, this example relates to Automatic Guided Vehicle 1, this Automatic Guided Vehicle 1 is by will be provided with ten thousand
To wheel 111 and the conveying trolley 10 that can support oneself with slip into this conveying trolley 10 downside and with remove
The tractor 2 that fortune chassis 10 links combines.With reference to Fig. 1～Figure 17, this content is illustrated.
As shown in FIG. 1 to 3, tractor 2 possess can slip into conveying trolley 10 downside low and
Flat vehicle body 20.This vehicle body 20 fore-and-aft direction by ectocentral position by arranged coaxial with
Two support as the driving wheel 211 of the left and right of a group and the auxiliary wheel 22 of rear end.It addition,
The upper surface of vehicle body 20, is configured with the first connecting pin 31A and the second connecting pin along the longitudinal direction
31B。
As Fig. 2 and Fig. 3, be provided with in the bottom in the front, front side of vehicle body 20 contain slow
Wash pass 220 open (with reference to Fig. 7.) buffer 251.In the upside of buffer 251, forwards dash forward
The obstacle sensor 252 gone out is arranged in central authorities, is equipped with guidance panel 23 in its both sides.With reference to figure
7, guidance panel 23 is configured with emergency stop switch 231 described later, operation switch 232, shows
Show lamp 233, light-emitting diode display 234 etc..
Upper surface at vehicle body 20 is configured with and passes through for the first connecting pin 31A and the second connecting pin 31B
Through hole 201A, 201B that wildcard is put.First connecting pin 31A and the second connecting pin 31B can
When through be configured at through hole 201A, 201B lifting.
The floor (bottom surface) of vehicle body 20 is provided with for two required sensings of automatically walking
Device is (with reference to Fig. 3.).It is arranged in the line sensor of the substantial middle of the front side of the driving wheel 211 of left and right
253 is Magnetic Sensor, is laid on for detection and supplies the ground not shown of Automatic Guided Vehicle 1 walking
Magnetic recording tape.It is to read address that sensor 254 is read in the address of the side being arranged in line sensor 253
The sensor of information, address information recording is arranged in not shown leader label, leader label relatively
At each important point on the mobile routes such as the coupling position of conveying trolley 10, corner.
On vehicle body 20, in addition to two driver elements 21 that driving wheel 211 is each wheel,
Also contain make connecting pin 31A, 31B lift connection unit 3A, 3B, control unit 50 (ginseng
According to Fig. 7.) and the accumulator (omitting diagram) etc. of storage electric power.Two driver elements 21 are with respectively
From the mode of driving wheel 211 arranged coaxial be arranged in the left and right sides of vehicle body 20.Link with first
Connection unit 3A corresponding for pin 31A is configured at the gap of the driver element 21 of left and right, with second even
Connection unit 3B corresponding for knot pin 31B is arranged in the rear portion side of vehicle body 20.It should be noted that make
Accumulator for weight thing is arranged in the rear portion near auxiliary wheel 22.If being configured so that accumulator, then
It can be avoided that the situation that auxiliary wheel 22 floats with driving wheel 211 for fulcrum is in possible trouble.It addition, link
Unit 3A is configured to, and the rotary shaft axially with respect to the driving wheel 211 of left and right of connecting pin 31A is big
Cause orthogonal.
Driver element 21 is by driving motor 332 to carry out driving wheel 211 rotating the unit driven.
Each driver element 21 can be independent to driving wheel 211 independently relative to the driver element 21 of the opposing party
Carry out rotating and drive.
Such as, if making the driving wheel 211 constant speed rotating Vortex of left and right, then tractor 2 can be made to advance
Or retreat, if making driving wheel 211 constant speed of left and right reversely rotate, then with the driving wheel 211 of left and right
Tractor 2 is made to rotate in this position centered by centre.It addition, such as, if merely with being positioned at left and right
Driving wheel 211 centre first connecting pin 31A link conveying trolley 10 middle connecting state
Under, make the driving wheel 211 of left and right reversely rotate, then conveying trolley 10 can not be made driven and make to lead
Draw car 2 to rotate in this position centered by connecting pin 31A.Now, the rear portion of vehicle body 20 it is positioned at
Second connecting pin 31B rotates around the first link hole 41 housing the first connecting pin 31A.
Connection unit (linking part) 3A making the first connecting pin 31A lifting is such as Fig. 4 and Fig. 5
Make the unit that the upper surface of the connecting pin 31A housing 30 from box like is prominent like that.In this connection unit
In 3A, for driving the lift motor 352 of connecting pin 31A to be arranged on the side of housing 30.
In the inside of housing 30, contain the helical spring that connecting pin 31A is exerted a force to projected direction
(force application mechanism) 356, the prominent prominent limiting mechanism (limiting mechanism) of restriction connecting pin 31A
35 etc..It should be noted that illustrate state prominent to coupling position for connecting pin 31A Fig. 4,
And illustrate in Fig. 5 of state that connecting pin 31A is limited in going-back position, in easily observing
Cage structure and by omit housing 30 a part of sidewall in the way of illustrate.
The cylindric advance and retreat that connecting pin 31A interpolation is arranged on the top board 301 being fixed on housing 30
In guiding piece 311, remain the state that can retreat in the axial direction.Generally cylindrical first links
The front end of pin 31A is formed with the Fig. 6 reamed the both sides on the width of vehicle body 20 so
Coronal 318.The thickness W1 of this coronal 318 is formed as and is arranged at conveying trolley 10 side
The minimum widith W2 of guide portion described later (guide structure) 45 is (with reference to Figure 12.) corresponding thickness,
Detailed content is aftermentioned.
Rear end face at connecting pin 31A offers spring eye (omitting diagram), is inserted in shell outside containing
Helical spring 356 in the support shaft 331 of the bottom surface of body 30.This helical spring 356 is to connecting pin
31A exerts a force to projected direction (ascent direction).Rear end face at connecting pin 31A installs oriented radial direction
The flat plate 358 that the horizontal direction of outer circumferential side is stretched out.This plate 358 is prominent limit as described below
The structural elements of mechanism 35 processed.
Prominent limiting mechanism 35 is by possessing lift motor 352 and the rotary shaft 353 of rotary shaft 353
Rotate accordingly along the cam 354 of vertical cincture and be fixed on link as described above
The combination etc. of the rear end face selling 31A and the plate 358 extended in the horizontal direction is constituted.This prominent restriction
Mechanism 35 limits connecting pin 31A using plate 358 face contact in the position of cam 354 as the limit
Prominent.
The position limitation of cam 354 is in the top dead centre in the path of vertical or lower dead center.?
In the case of cam 354 is positioned at the top dead centre shown in Fig. 4, if connecting pin 31A is positioned at and such as carries
The position of the first link hole 41 correspondence of chassis 10 side, then connecting pin 31A can project to be contained in
Link the through position in hole 41.On the other hand, it is positioned at the lower dead center shown in Fig. 5 at cam 354
In the case of, plate 358 engages with cam 354, and the prominent of connecting pin 31A is limited as this figure.
It should be noted that the specification of connection unit 3B of the second connecting pin 31B and connection unit 3A
Roughly the same, on the other hand, there is difference in the front end geometry of connecting pin 31.As it has been described above, first
The front end of connecting pin 31A is crown, on the other hand, the front end geometry of the second connecting pin 31B in
The section toroidal that root side is identical is (with reference to Fig. 2.).
It follows that the electric system structure of tractor 2 is illustrated.As it is shown in fig. 7, tractor 2
Constituted centered by control unit 50 at electric aspect.Control unit 50 includes: I/F circuit
55, it is the interface of the exchange for carrying out various signal with switch, sensor etc.；And main control
Circuit 51, it exports various control signals to driver element 21 and connection unit 3A, 3B.
In control unit 50, except electrical connection driver element 21 and connection unit 3A, 3B it
Outward, buffer switch 220, obstacle sensor 252, emergency stop switch 231, behaviour also it are electrically connected with
Make switch 232, display lamp 233, light-emitting diode display 234, speaker 235, line sensor 253,
Sensor 254 etc. is read in address.
Driver element 21 is configured to include making driving wheel 211 (with reference to Fig. 2 and 3 at electric aspect.)
Rotate drive motor 332, control drive motor 332 rotation motor driver 215 and
Carry out the I/F circuit 218 etc. of the reception etc. of the control signal exported by control unit 50.Motor drives
Dynamic device 215 controls to drive the rotation of motor 332 according to the control signal received from control unit 50.
In motor driver 215 side, it is possible to detection drives the anglec of rotation of motor 332, it is possible to detection
The rotation amount of driving wheel 211.
It should be noted that in control unit 50 side, it is possible to obtain driving wheel from each driver element 21
The rotation amount of 211, such as, in the case of driving wheel 211 rotating Vortex making left and right, it is possible to root
Forward travel distance or backway is calculated according to acquired rotation amount.It addition, such as, driving of left and right is made
In the case of driving wheel 211 reversely rotates, it is possible to calculate traction according to the rotation amount of each driver element 21
The anglec of rotation of car 2.
Connection unit 3A, 3B are configured to include making connecting pin 31A, 31B lift at electric aspect
Motor driver 351 that lift motor 352, rotation to lift motor 352 are controlled, detection
Fig. 4 illustrate coupling position connecting pin 31A, 31B limit switch 379 and with control
The I/F circuit 378 etc. of control signal, detection signal etc. is received and dispatched between unit 50.
It follows that as shown in Figure 8, conveying trolley 10 is the chassis utilizing tubing 100 to constitute skeleton.
Generally square bottom surface is formed by connecting to cancellate tubing 100.It is being arranged at along vertical
The lower end of the tubing 100 of the corner of conveying trolley 10, is provided with and can change direction of rotation freely
Universal wheel 111.It addition, be provided with as setting on the bottom surface (floor) of conveying trolley 10
It is equipped with the web 4 of an example of the coupling member linking hole 41,42.
Particularly, the carrying platform of the Automatic Guided Vehicle 1 of this example is being constituted by combining with tractor 2
In car 10, tubing 100, Universal wheel 111 etc. are configured to, in the first link hole of web 4
The first connecting pin 31A is contained and middle connecting state that the second connecting pin 31B is not received in 41
Time, tractor 2 can rotate against as shown in Figure 9.
Web 4 is the most discoideus parts, and as shown in figs.10 and 11, it is worn in central authorities
It is provided with the first link hole 41 housing the first connecting pin 31A that tractor 2 is possessed.At web 4
Peripheral part 48 be equipped with for house the second connecting pin 31B second link hole 42.Second links
Hole 42 be located in by first link on the circumference centered by hole 41 every four positions of 90 degree.
First links hole 41 is slightly different with the second hole shape linking hole 42.It is arranged at web 4
Center first link hole 41 section shape be the circular hole close to positive round, on the other hand, periphery
The second link hole 42 in portion 48 is formed as the longest elongated hole at web 4.
In web 4, everywhere with circumference second link hole 42 and be respectively formed with accordingly and be connected the
Two link hole 42 and the connecting portion 46 in the first link hole 41, are integrally formed the interior of cross shape
Perimembranous 49.Further, the periphery connection in the inner peripheral portion 49 of this cross shape is equipped with the second link
The circular peripheral part 48 in hole 42.It should be noted that in this example, the first link is offered
The surface of the inner peripheral portion 49 in hole 41 becomes an example of the first bottom surface 490, offers the second link hole 42
The surface of peripheral part 48 become an example of the second bottom surface 480.In this example, the first bottom surface 490
Connect into coplanar with the second bottom surface 480.It should be noted that the first bottom surface 490 and the second bottom surface 480
Both can be the face of this one, it is also possible to be single face.
Web 4 is mounted to the bearing of trend of connecting portion 46 and is formed as foursquare conveying trolley 10
Each limit of bottom surface orthogonal.In conveying trolley 10, in the position adjacent with each side in four faces
Being respectively configured the second link hole 42, each second links hole 42 is being set as traction by the side of opposition side
Time advance side time become the link hole for housing the second connecting pin 31B.
The tubing 100 of the bottom surface of conveying trolley 10 links the clathrate (ginseng for vertical 3 lattice × horizontal 3 lattice
According to Figure 10.).Web 4 is installed on the central authorities of its bottom surface, and the first link hole 41 of central authorities is positioned at vertical
The grid of the central authorities of 3 lattice × horizontal 3 lattice.It addition, the second link hole 42 everywhere of periphery is positioned at outside
The grid of the middle of file or line.Link hole 41,42 and be positioned at the inner side of arbitrary grid, therefore,
When carrying out the link of tractor 2, connecting pin 31A, 31B will not disturb with tubing 100.
Web 4 is fastened by bolts in forming the bottom surface of conveying trolley 10 and linking for vertical 3 lattice × horizontal stroke 3
On the cancellate tubing 100 of lattice.Specifically, in the cancellate tubing 100 of bottom surface with
The position of each connecting portion 46 overlap of web 4 wears screwed hole (omitting diagram), at connecting portion 46
Corresponding position be equipped with through hole (omitting diagram).Web 4 by through be arranged at through
Hole and the installation bolt 465 in being threaded into the screwed hole of tubing 100 are fixed with dismountable state.
On the surface (with the surface faced by ground) of each connecting portion 46, as Figure 10～Figure 12
Being formed with guide portion 45, guide portion 45 is provided with the guide rail 451 that two is a group, and being used for will
First connecting pin 31A guides to the first link hole 41.Guide rail 451 is to link with aforesaid first
The guide rail of coronal 318 interference of the fore-end of pin 31A, it erects height relative to coronal
The forming range (size L1 in Fig. 6) of 318 is lower slightly.It should be noted that in fig. 12,
To omit the knot of the web 4 beyond guide portion the 45, first link hole 41 and the second link hole 42
The mode of structure illustrates.
Guide rail 451 is mounted to be formed as the splayed of end extension centered by the first link hole 41
Shape, opposed facing pair of inside face 45S forms guide space (the pair of inside face 45S of end extension
Gap) 45G.Wherein, the ratio of the end extension of pair of inside face 45S is linking near first
The inner circumferential side in hole 41 is different from outer circumferential side (with reference to Figure 12.).Distance first link hole 41 remote outside
Week side, by the A/F of guide space 45G can be guaranteed greatly in the way of, by pair of inside face
The ratio of the end extension of 45S is set to greatly.
On the other hand, in link the limiting unit 450 of inner circumferential side in hole 41 near first, one to interior
The ratio of the end extension of side 45S is set to little, close to parallel.The gap of pair of inside face 45S
The narrowest with the first link hole 41 adjoining position.Its minimum widith W2 is set as can be for being formed
In the degree that the coronal 318 of the width W1 of the fore-end of the first connecting pin 31A inserts.Need
Illustrating, about the pair of inside face 45S of limiting unit 450, the most facing is not must
The important document of palpus.As long as the ratio of the end extension of limiting unit 450 is less than outer circumferential side, it becomes possible to realize excellent
Different action effect.
By two side planes of the coronal 318 of the first connecting pin 31A and limiting unit 450 (guide portion
45) combination of the most facing pair of inside face 45S, it is possible to make the first connecting pin 31A
From the approach axis of outer circumferential side entrance accurately close to the radial direction of web 4.If the first connecting pin
First connecting pin 31A with the most consistent, then can be drawn by the approach axis of 31A with high reliability
It is directed at the first link hole 41.
About the action of Automatic Guided Vehicle 1 as constructed as above, the control list possessed according to tractor 2
The control that unit 50 performs, the flow chart etc. with reference to Figure 13 illustrates.
When tractor 2 is linked to conveying trolley 10, need be equipped with not shown magnetic recording tape
Path on the standby place of regulation be pre-configured with conveying trolley 10.This standby place is to be layed in ground
On magnetic recording tape by or the place that is imported into, this standby site setting is to be configured with conveying trolley
When 10, magnetic recording tape is positioned at web 4 substantially directly below.
When tractor 2 is linked to conveying trolley 10, control unit 50 makes tractor 2 along magnetic
Property Tape movement and close to conveying trolley 10 (S101).It is laid on relative to conveying trolley 10 detecting
Link place front ground not shown in-position labelling (leader label) before
(S102: no), control unit 50 makes tractor 2 perform leading to along magnetic recording tape as shown in Figure 14
The most mobile (S102: no → S101), is switched to link pattern after in-position labelling being detected
And make tractor 2 slow down (S102: be → S103).
Control unit 50 after in-position labelling being detected, tractor 2 advanced regulation away from
From time (S104: yes), release the restriction that described prominent limiting mechanism 35 is carried out, make the first link
Pin 31A is prominent (S105, first step).It should be noted that this predetermined distance is set as, the
Ratio second in the surface of the web 4 that one connecting pin 31A arrives conveying trolley 10 side links hole 42
Inner circumferential side side and with needed for corresponding for the guide space 45G position in the gap of pair of inside face 45S away from
From.
The the first connecting pin 31A exerted a force to projected direction projects to the surface (first with web 4
Bottom surface 490) position (first abut state) of face contact, formed and limited by pair of inside face 45S
The state of position.If making tractor 2 advance with keeping intact by the control of control unit 50
(S106), then front end face and web 4 can be limited by the pair of inside face 45S that end narrows
The position of the first connecting pin 31A slided, surface face contact ground, it is possible to guide to first and link hole
The position (second step) of 41.
Owing to being exerted a force to projected direction by helical spring 356, therefore, the first connecting pin 31A arrives
Can highlight further during the position that first links hole 41, be contained in the first link hole 41 and rise
To coupling position (with reference to Fig. 4.).It should be noted that control unit 50 is according to detecting
In-position labelling after displacement judge that the first connecting pin 31A arrives the as shown in Figure 15
During one link hole 41 (S107: yes), it is judged that can detect that the first connecting pin 31A arrives and link position
Put this situation (S108).
Such as, axially axial with connecting pin 31A in hole 41 is being linked because of the fluctuating on ground etc.
Upper generation is deviateed under such circumstances, sometimes produces oblique insertion and waits and connecting pin 31A cannot be arrived
Reach coupling position.Although arriving the first link hole making tractor 2 proceed to the first connecting pin 31A
The position (S107: yes) of 41, cannot detect that coupling position is (with reference to Fig. 4.) first link
In the case of pin 31A (S108: no), control unit 50 performs conveying trolley 10 is applied vibration
Add control (S118) of shaking.This adds control of shaking is repeatedly to perform in the range of left and right directions about 30 degree
The anticlockwise of tractor 2 and the control of right rotation.If performing such to add control of shaking, then can pass through
The action of tractor 2 applies action, vibration to conveying trolley 10, and thus, generation can make link
Hole 41 is substantially uniform with the axial moment of connecting pin 31A and promotes the effect inserted, can pass through example
As drill bit, the spinning movement of connecting pin 31A promotes to linking the effect that hole 41 is inserted.
(S108: yes), control unit after the first connecting pin 31A is contained in the first link hole 41
50 release the restriction to connection unit 3B of the described prominent limiting mechanism 35, make the second connecting pin 31B
Prominent (S109, third step).Now, if the second connecting pin 31B and second links hole 42
Position consistency, then the second connecting pin 31B can directly be indexed to coupling position.Control unit 50 exists
The second connecting pin 31B (S110: yes) when the displacement of coupling position detected, terminate to link control.
On the other hand, cannot detect that the second connecting pin 31B is in the case of the displacement of coupling position
(S110: no), be i.e. formed as the second connecting pin 31B be released from limiting and with the surface of web 4
In the case of the state (second abuts state) that (the second bottom surface 480) pressing abuts, control unit
50 make tractor 2 rotate by the reverse rotation of the driving wheel 211 of left and right, thereby, it is possible to before making
The second connecting pin 31B that the face contact ground, surface of end face and web 4 slides is around the first connecting pin
31A rotates displacement (S120, the 4th step).
Here, owing to the first connecting pin 31A is contained in the first link hole 41, therefore, the second connecting pin
31B links hole 41 around first and rotates displacement.On the other hand, as it has been described above, at conveying trolley 10
On web 4, the circumference centered by the first link hole 41 is configured with the second link hole 42.
Therefore, if making tractor 2 rotate, then under the middle connecting state being based only upon the first connecting pin 31A
Reliably and easily the second connecting pin 31B can be guided and link, to second, the position that hole 42 is corresponding.
It is as noted previously, as the second connecting pin 31B to be in and exerted a force towards coupling position and and web
The abutting state of the surface face contact of 4, therefore, connecting pin 31B can link hole 42 with second
Highlighting further time consistent, thus, connecting pin 31B is contained in the second link hole 42, tractor 2
Link terminate.When control unit 50 detects that the second connecting pin 31B is contained in the second link hole 42
And it is indexed to during coupling position (S110: yes), link control and terminate, form complete connecting state.
If being in complete connecting state, then conveying trolley 10 can be made to move integratedly together with tractor 2.
It follows that with reference to the flow chart of Figure 16, to tractor 2 to Return-ing direction traction transport chassis
The content controlled that links when 10 illustrates.In this flow chart, S101～S107: before being
Process identical with the process of Figure 13, illustrate in the way of omitting identical each step in figure 16.
The first connecting pin 31A is made to be contained in the first link by the link control identical with Figure 13
In the case of hole 41 (S108: yes), control unit 50 makes left and right under this middle connecting state
Driving wheel 211 reversely rotates, and makes tractor 2 rotate (S201) centered by the first connecting pin 31A.
Thus, the advance of the conveying trolley 10 towards (direction of advance) close to new settings of tractor 2 is made
Side.When tractor 2 is along in the case of Return-ing direction traction transport chassis 10, tractor 2 is made to invert
The rotation amount of required target is 180 degree.
In the case of target rotation amount is 180 degree, when actual rotation amount reaches about 170 degree
(S202: yes), control unit 50 releases the prominent restriction (S203) of the second connecting pin 31B.In
It is possible to the circumferential position at the front in the second link hole 42 of target and make the second connecting pin 31B
Prominent, and make the front end of the second connecting pin 31B press with the surface (the second bottom surface 480) of web 4
Press contacts (second abuts state).
Control unit 50 makes tractor 2 further in the case of keeping such face contact state
Rotate (S204).If made the second connecting pin 31B and second link hole by the rotation of tractor 2
The position of 42 is substantially uniform, then the second connecting pin 31B can highlight further and be contained in second even
In knot hole 42.Control unit 50 can be according to the detection signal detection of limit switch 379 to being contained in
Second links the second connecting pin 31B in hole 42 has risen to coupling position (with reference to Fig. 4.) this
Situation (S205: yes).So, if terminating in the link of tractor 2 and being changed into and link shape completely
Make tractor 2 advance after state, then tractor 2 can be along Return-ing direction traction transport chassis 10.
It follows that the travelling control of the direction of advance for changing Automatic Guided Vehicle 1 is illustrated.
With reference to the flow chart of Figure 17, the example to travelling control when making conveying trolley 10 right angle turn right in traction
Son illustrates.
Control unit 50, when performing this travelling control, first makes leading of described complete connecting state
Draw car 2 to stop and making the conveying trolley 10 in traction stop (S301).Afterwards, the second connecting pin is made
31B extracts (S302, first step) from linking hole 42, sets and is based only upon the first connecting pin 31A's
Middle connecting state.
Control unit 50 makes the driving wheel 211 of left and right reversely rotate under this middle connecting state, makes to lead
Draw car 2 and rotate (second step, S303) centered by the first connecting pin 31A.Thereby, it is possible to make
The advance side of the conveying trolley 10 towards (direction of advance) close to new settings of tractor 2.If
The advance side of conveying trolley 10 is changed to right side situation, then make tractor 2 towards with carrying
The unanimously required target rotation amount of the new advance side of chassis 10 is about 90 degree clockwise.
Such as in the case of target rotation amount is 90 degree, control unit 50 reaches at actual rotation amount
The prominent restriction (S305) of the second connecting pin 31B is released to (S304: yes) when about 80 degree.As
This, it is possible to the circumferential position at the front in the second link hole 42 of target makes the second connecting pin 31B
Prominent, and make front end and web 4 face contact of the second connecting pin 31B.
Control unit 50 makes tractor 2 further in the case of keeping such face contact state
Rotate (S306).If the second connecting pin 31B links hole 42 by the rotation of tractor 2 with second
Position substantially uniform, then the second connecting pin 31B can highlight and be contained in the second link hole further
In 42 (third step).Control unit 50 can arrive according to the detection signal detection of limit switch 379
The the second connecting pin 31B being contained in the second link hole 42 has risen to described through position
(S307: yes).So, after the link of tractor 2 terminates and is changed into complete connecting state,
Control unit 50 makes tractor 2 advance for the advance side traction transport chassis 10 towards new settings
(S308).Above control according to control unit 50, it is possible to carry out the right angle such traction of right-hand rotation and move
Make.
The Automatic Guided Vehicle 1 of this example is by easily real by driving wheel 211 only two as constructed as above
The tractor 2 of existing small design links the knot in hole 42 with being provided only with the first link hole 41 and second
The better simply conveying trolley of structure 10 combines.In this Automatic Guided Vehicle 1, owing to passing through
The tractor 2 being easier miniaturization the most stably draws simple conveying trolley 10, therefore for rule
The handling system that mould is less is also easily guided into.If additionally, conveying trolley possess there is tractor 2 can
The minimum ground height slipped into and the floor that can install web 4, then can general common remove
Fortune chassis.So, the low cost that the transformation of conveying trolley 10 etc. is required, for less the removing of scale
Fortune system is also easily guided into the Automatic Guided Vehicle 1 of this example.
In this Automatic Guided Vehicle 1, it is also possible to switch over the link control of the direction of advance of tractor 2
System.Such as, in this Automatic Guided Vehicle 1, it is also possible to carry out such as by tractor 2 to carrying
The link control that conveying trolley 10 is drawn to Return-ing direction by the side that chassis 10 enters as advance side
System (Figure 16).In the case of carrying out this control, preferably the first connecting pin 31A is being contained in even
After knot hole 41, make tractor 2 rotate about 180 degree and invert, then perform for by second even
Knot pin 31B is contained in the control in the second link hole 42.So, it is contained at the second connecting pin 31B
After linking hole 42, if making tractor 2 advance, then can be to link the one of front haulage car 2 entrance
Side returns as advance side, traction transport chassis 10.In the same manner, it is also possible to enter with tractor 2
The left side of side or the side on right side as advance side, carry out for leading along orthogonal direction in left and right
Draw the link control etc. of conveying trolley 10.If the link that can carry out such tractor 2 controls,
The most such as can be by the standby site setting of conveying trolley 10 final position on path or path
Right angle corner position, it is possible to increase on path, arrange design freedom during standby place.
In the conveying trolley 10 constituting this Automatic Guided Vehicle 1, with each side in four faces accordingly
It is respectively arranged with the second link hole 42.In Automatic Guided Vehicle 1, it is possible to according in which the second company
Knot contains the second connecting pin 31B to change the advance side of conveying trolley 10 in hole 42.Automatic at this
In mover 1, it is possible to after making tractor 2 temporarily cease during traction transport chassis 10,
Only pull out the second connecting pin 31B, make tractor 2 rotate afterwards, and by the second connecting pin 31B
It is contained in the control in the second new link hole 42.If starting again at after performing such control
Carry out the advance of tractor 2, then can change the advance side of conveying trolley 10 in traction.Thus,
Can be carried out turning right to the left in traction after right angle or reversion the travelling control such as return.
In the Automatic Guided Vehicle 1 of this example, the first link hole 41 is circular hole, on the other hand, and second
Linking hole 42 is the longest elongated hole at web 4.If the second link hole 42 is formed as
Elongated hole, then, when making tractor 2 rotate under described middle connecting state, link 41 turns of hole around first
Second connecting pin 31B of dynamic displacement can arrive the second position linking hole 42 by high reliability.
If it addition, the second link hole 42 is formed as wide elongated hole, then the first link hole can be relaxed
41 and second distance between borehole and the first connecting pin 31A and the second connecting pin 31B linking hole 42
Axle base between required consistent degree.During therefore, it is possible to web 4 will be processed, to car
Positional precision when body 20 assembles connection unit 3A, 3B etc. is set to low, it is possible to suppress with
Processing, the manufacturing cost assembled.
It should be noted that this example is provided with multiple guide portion 45, second links the example in hole 42,
But can also use and be provided only with the structure in guide portion 45 or link hole 42 etc. at.It addition,
One centre linking hole 41 and the second link hole 42 is provided with guide portion 45, but, link with first
The position of the circumference in the second link hole 42 centered by hole 41 is with the position of the circumference of guide portion 45 also
Can be different.Additionally, the second quantity that arranges arranging quantity and guide portion 45 linking hole 42 also may be used
With difference.
The first connecting pin 31A and the second connecting pin 31B of tractor 2 are preferably along vehicle body 20
Fore-and-aft direction configures.Particularly, the first connecting pin 31A preferably configures on the centrage of vehicle body 20
Centre in the driving wheel 211 of left and right.If being configured so that the first connecting pin 31A, then in the company of being based only upon
When making tractor 2 rotate under the middle connecting state of knot pin 31A, it is possible to suppress the first connecting pin 31A
Position on displacement, it is to avoid conveying trolley 10 driven.But, such connecting pin 31A's
Configuring optional structure, connecting pin 31A can also deviate from above-mentioned position.Now, although by
The rotation displacement of connecting pin 31A is correspondingly produced, therefore at conveying trolley in the rotation with tractor 2
10 sides produce driven displacement, but also are able to realize the action effect of the present invention.
It should be noted that in this example, it is provided for the in-position labelling linking Mode change
(leader label), correspondingly makes the first link with the travel distance after this in-position labelling being detected
Pin 31A highlights, or performs to be used for inserting to the first link hole 41 adding described in first connecting pin 31A
Shake control.Replace this situation, it is also possible to the position prominent with making the first connecting pin 31A, perform for
To first link hole 41 insert the first connecting pin 31A add shake the position etc. controlled accordingly, arrange
Represent the leader label of this implication.Such as infrared ray is utilized in addition it is also possible to arrange on web 4
Etc. carrying out the beam sensor that detects, detect premised on web 4 by beam sensor, the company of releasing
The prominent restriction of knot pin 31A.Preferably beam sensor and the first connecting pin 31A, the second connecting pin
31B is respectively provided with accordingly.
The first connecting pin 31A of this example when relieving the restriction that prominent limiting mechanism 35 is carried out with
Pair of inside face 45S disturbs.Additionally, in this example, connecting pin 31A and web 4 are being set
After the state of face contact, make tractor 2 keep intact mobile, make connecting pin 31A arrive even
The position in knot hole 41, terminates to link.Replace this situation, it is also possible to be configured to make the first link
Pin A is indexed to the centre position of coupling position and the centre of going-back position, and the company in this centre position
Knot pin 31A and pair of inside face 45S disturbs.Or, it is also possible to it is configured to the connecting pin of going-back position
31A and pair of inside face 45S disturbs.Hole 41 is linked alternatively, it is also possible to arrive at connecting pin 31A
Position time, release prominent restriction.It should be noted that this prominent releasing moment limited is for the
Two connecting pin 31B are the most identical.
Above, the concrete example of the present invention is described in detail, but these concrete examples only disclose claim
One example of the technology that book is comprised.Self-evident, should not limit according to the structure of concrete example, numerical value etc.
Claims are explained on ground.Claims include using known technology, the knowing of those skilled in the art
Know etc. described concrete example carried out various deformation, change or appropriately combined after technology.
Description of reference numerals
1: Automatic Guided Vehicle
10: conveying trolley
2: tractor
20: vehicle body
211: driving wheel
3A: the first connection unit
3B: the second connection unit
31A: the first connecting pin
31B: the second connecting pin
318: coronal
35: prominent limiting mechanism (limiting mechanism)
356: helical spring (force application mechanism)
4: web (coupling member)
Link hole at 41: the first
Link hole at 42: the second
45: guide portion (guide structure)
451: guide rail
45S: medial surface
450: limiting unit
48: peripheral part
480: the second bottom surfaces
49: inner peripheral portion
490: the first bottom surfaces
50: control unit
Claims (5)
1. an Automatic Guided Vehicle, its by will be provided with Universal wheel and the conveying trolley that can support oneself,
And slip into conveying trolley downside and with conveying trolley link towed trailer combination form, its feature
It is,
Described tractor has: with the driving wheel that two is a group, its arranged coaxial, and can be with
It is operated alone including counter-rotating in interior mode；And connecting pin, it is used for linking described carrying platform
Car and can lifting, including being arranged on two as this connecting pin is in the described driving wheel of a group
Between the first connecting pin and with the second connecting pin of this first connecting pin configured separate,
Described conveying trolley is provided with the first link hole housing described first connecting pin, and,
Along the circumference centered by this first link hole, the collecting described second being provided with at least two places links
Second link hole of pin.
Automatic Guided Vehicle the most according to claim 1, it is characterised in that
Described Automatic Guided Vehicle possesses coupling member, and this coupling member can be relative to described conveying trolley
Install and dismounting, and be provided with described first link hole and described second link hole.
Automatic Guided Vehicle the most according to claim 1 and 2, it is characterised in that
Described second link hole be arranged at by described first link on the circumference centered by hole substantially etc.
Interval is everywhere.
4. according to the Automatic Guided Vehicle according to any one of claims 1 to 3, it is characterised in that
Second link hole is elongated hole, with the circle centered by described first link hole in this second link hole
The size of circumferential direction is compared, and the size of this second radial direction linking hole is longer.
5. an ambulation control method for Automatic Guided Vehicle, this Automatic Guided Vehicle is by will be provided with ten thousand
To wheel and the conveying trolley that can support oneself and the downside slipping into conveying trolley and conveying trolley
The Automatic Guided Vehicle according to any one of Claims 1 to 4 of the towed trailer combination linked, it is special
Levy and be,
Described tractor has: with the driving wheel that two is a group, its arranged coaxial, and can be with
It is operated alone including counter-rotating in interior mode；And connecting pin, it is used for linking described carrying platform
Car and can lifting, including being arranged on two as this connecting pin is in the described driving wheel of a group
Between the first connecting pin and with the second connecting pin of this first connecting pin configured separate,
Described conveying trolley is provided with the first link hole housing described first connecting pin, and,
On the circumference centered by this first link hole, it is provided with the collecting described second at least two places even
Second link hole of knot pin,
In the ambulation control method of described Automatic Guided Vehicle,
Hole contains described first connecting pin and arbitrary second even changing to link with described first
Knot hole contains the trailed described conveying trolley of complete connecting state of described second connecting pin
During advance side, perform:
First step, links hole from described arbitrary second and extracts described second connecting pin；
Second step, contains described first connecting pin in described first link hole and described second connects
Knot Kong Zhongwei contains under the middle connecting state of described second connecting pin, is one group by making with two
Described driving wheel reversely rotate so that described tractor is with described first connecting pin as approximate centre
Ground rotates, and thus makes described second to link hole and rotates the position being indexed to the second new link hole；And
Third step, is contained in described second connecting pin in the second new link hole.
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015026240A JP5855296B1 (en) | 2015-02-13 | 2015-02-13 | Automated guided vehicle and travel control method for automated guided vehicle |
| JP2015-026240 | 2015-02-13 | ||
| JP2015029618A JP6009011B2 (en) | 2015-02-18 | 2015-02-18 | Automatic carrier and connecting member for automatic carrier |
| JP2015029616A JP6009010B2 (en) | 2015-02-18 | 2015-02-18 | Automatic conveyance vehicle and method of connecting automatic conveyance vehicles |
| JP2015-029616 | 2015-02-18 | ||
| JP2015-029618 | 2015-02-18 | ||
| CN201510599148.6A CN105883314B (en) | 2015-02-13 | 2015-09-18 | The linking method of Automatic Guided Vehicle and Automatic Guided Vehicle |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510599148.6A Division CN105883314B (en) | 2015-02-13 | 2015-09-18 | The linking method of Automatic Guided Vehicle and Automatic Guided Vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105883316A true CN105883316A (en) | 2016-08-24 |
| CN105883316B CN105883316B (en) | 2019-09-24 |
Family
ID=57002258
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510609386.0A Expired - Fee Related CN105883316B (en) | 2015-02-13 | 2015-09-18 | The ambulation control method of Automatic Guided Vehicle and Automatic Guided Vehicle |
| CN201510608364.2A Expired - Fee Related CN105883315B (en) | 2015-02-13 | 2015-09-18 | Automatic Guided Vehicle and the automobile-used coupling member of automatic transporting |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510608364.2A Expired - Fee Related CN105883315B (en) | 2015-02-13 | 2015-09-18 | Automatic Guided Vehicle and the automobile-used coupling member of automatic transporting |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN105883316B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7164444B2 (en) * | 2019-01-10 | 2022-11-01 | シャープ株式会社 | traveling device and trolley |
| CN112478541A (en) * | 2019-09-12 | 2021-03-12 | 锥能机器人（上海）有限公司 | Carrier and carrying system |
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| GB1167773A (en) * | 1966-06-06 | 1969-10-22 | Georges Carrez | Improvements in or relating to Stabilizers for Coupling Systems |
| US3806161A (en) * | 1972-07-21 | 1974-04-23 | G Fenton | Trailer hitch adapter |
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| US3974374A (en) * | 1974-04-16 | 1976-08-10 | Yoshio Inoue | Device for positioning and punching platemaking films |
| CN203283786U (en) * | 2013-04-26 | 2013-11-13 | 苏州博实机器人技术有限公司 | Conveying robot for AGV logistics |
| CN103625863A (en) * | 2013-04-26 | 2014-03-12 | 苏州博实机器人技术有限公司 | AGV logistics carrying robot |
| CN103771102A (en) * | 2014-02-26 | 2014-05-07 | 盐城东方天成机械有限公司 | Forward accumulation device for ground transportation line |
| CN104210794A (en) * | 2014-09-03 | 2014-12-17 | 昆明七零五所科技发展总公司 | Electric cylinder steered rail shuttle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3173509D1 (en) * | 1980-10-07 | 1986-02-27 | Towbile Techn Ltd | Hitch |
| US4961676A (en) * | 1987-12-11 | 1990-10-09 | Intermotra | Goods transport systems which are transformable into rail vehicles, and rail bogies for use therewith |
| CN1065470C (en) * | 1995-04-21 | 2001-05-09 | 詹华新 | Method for cutting big granite square tile |
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2015
- 2015-09-18 CN CN201510609386.0A patent/CN105883316B/en not_active Expired - Fee Related
- 2015-09-18 CN CN201510608364.2A patent/CN105883315B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB611543A (en) * | 1945-05-22 | 1948-11-01 | Goodrich Co B F | Improvements in or relating to traction apparatus for endless track vehicles |
| GB1167773A (en) * | 1966-06-06 | 1969-10-22 | Georges Carrez | Improvements in or relating to Stabilizers for Coupling Systems |
| US3809832A (en) * | 1971-11-12 | 1974-05-07 | Fischer Ag Georg | Tension supervisory apparatus for conveyor transport systems detecting breakage or malfunction in a cable or the like |
| US3806161A (en) * | 1972-07-21 | 1974-04-23 | G Fenton | Trailer hitch adapter |
| US3974374A (en) * | 1974-04-16 | 1976-08-10 | Yoshio Inoue | Device for positioning and punching platemaking films |
| CN203283786U (en) * | 2013-04-26 | 2013-11-13 | 苏州博实机器人技术有限公司 | Conveying robot for AGV logistics |
| CN103625863A (en) * | 2013-04-26 | 2014-03-12 | 苏州博实机器人技术有限公司 | AGV logistics carrying robot |
| CN103771102A (en) * | 2014-02-26 | 2014-05-07 | 盐城东方天成机械有限公司 | Forward accumulation device for ground transportation line |
| CN104210794A (en) * | 2014-09-03 | 2014-12-17 | 昆明七零五所科技发展总公司 | Electric cylinder steered rail shuttle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105883315B (en) | 2019-09-24 |
| CN105883316B (en) | 2019-09-24 |
| CN105883315A (en) | 2016-08-24 |
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