CN105883316B - The ambulation control method of Automatic Guided Vehicle and Automatic Guided Vehicle - Google Patents
The ambulation control method of Automatic Guided Vehicle and Automatic Guided Vehicle Download PDFInfo
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- CN105883316B CN105883316B CN201510609386.0A CN201510609386A CN105883316B CN 105883316 B CN105883316 B CN 105883316B CN 201510609386 A CN201510609386 A CN 201510609386A CN 105883316 B CN105883316 B CN 105883316B
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- connecting pin
- connecting hole
- conveying trolley
- automatic guided
- guided vehicle
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Abstract
The present invention provides the ambulation control method of Automatic Guided Vehicle and Automatic Guided Vehicle that handling system lesser for scale is also easily guided into.Automatic Guided Vehicle (1) is made of the combination of tractor (2) and conveying trolley (10), the tractor (2) includes the driving wheel (211) for being one group with two that can be operated alone, the first connecting pin (31A) with two centres for one group of driving wheel (211) is set, and the second connecting pin (31B) with the first connecting pin (31A) configured separate, the first connecting hole (41) for accommodating first connecting pin (31A) is provided on the conveying trolley (10), and, along on the circumference centered on the first connecting hole (41), it is provided with the second connecting hole (42) of the second connecting pin of receiving (31B) at least two.
Description
The application is to be September in 2015 18 application No. is the 201510599148.6, applying date, entitled remove automatically
Transport the divisional application of the patent application of the linking method of vehicle and Automatic Guided Vehicle.
Technical field
The present invention relates to a kind of Automatic Guided Vehicle, the Automatic Guided Vehicle is by will be provided with Universal wheel and what can be supported oneself remove
Fortune trolley and the towed trailer combination linked with the conveying trolley form.
Background technique
In the past, for example, it is known that can on the tractor along preset path automatically walk combination have it is universal
Automatic Guided Vehicle made of the conveying trolley of wheel.Tractor is also equipped with other than having the motor of driving, battery etc.
For detecting the detection sensor for being laid with magnetic recording tape on the ground etc..It, can if linking conveying trolley on the tractor
Stowage is set to have the conveying trolley of the workpiece such as component, component to move along magnetic recording tape.In addition, as such Automatic Guided Vehicle, it is public
Know the downside including slipping into conveying trolley and removing automatically using the low tractor for the connecting pin connection conveying trolley that can be gone up and down
Vehicle is transported (for example, referring to following patent documents 1.).
In the vehicle body of tractor for constituting the Automatic Guided Vehicle, has the driving unit for the left and right wheels that can be operated alone
At front and back two, the upper surface of middle position in the front-back direction is arranged in the connecting pin for linking conveying trolley for configuration.Respectively
Driving unit is installed in a manner of it can rotate relative to vehicle body, changes advance side and enabling left and right wheels to reversely rotate
To.For example, can also make tractor mobile to positive side if making two driving unit transverse rotations.
On the other hand, it is also set up on the basis of can accommodate the connecting hole of connecting pin of tractor in conveying trolley side
There is the tractor across connection and lacks a pair of of guide rail facing with gap.If wanting into a piece connecting pin traction transport of utilization
Trolley, then rotary resistance acts on the Universal wheel that side is located further forward than connecting pin, which becomes laterally, and conveying trolley can
It can rotate.If as above-mentioned Automatic Guided Vehicle conveying trolley side will be set to across the facing guide rail of tractor, then
Stable traction can be realized by an only connecting pin from the rotation of two outside limitation conveying trolleys.In addition, making to lead
It, can be by traction posture as the guide rail ejection by advanced side by conveying trolley high stability when drawing vehicle transverse shifting
It is drawn to positive side.
Citation
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2011-102076 bulletin
In above-mentioned previous Automatic Guided Vehicle, have connecting pin is only set being capable of the traction transport of high stability ground
The advantages that trolley, but there is also following projects.That is, omiting the structure of conveying trolley side due to needing to be arranged the equal of guide rail
Be slightly variable complexity, moreover, stability when in order to ensure lateral traction conveying trolley and it is preferred that one is respectively arranged before and after tractor
Therefore the driving unit of platform left and right wheels is easy to cause the complication of structure, enlargement of tractor etc., more suitable for scale compared with
Big system, exist for small-scale handling system application for cannot assert be optimum structure project.
Summary of the invention
The present invention is completed in view of above-mentioned previous project, and a kind of Automatic Guided Vehicle and Automatic Guided Vehicle are provided
Ambulation control method, the Automatic Guided Vehicle by the conveying trolley that will be provided with Universal wheel and can support oneself and with the carrying platform
The towed trailer combination of vehicle connection forms, and the Automatic Guided Vehicle is easy to import to the lesser handling system of scale.
Means for solving the problems
One embodiment of the present invention is related to a kind of Automatic Guided Vehicle, by will be provided with Universal wheel and what can be supported oneself remove
It transports trolley and slips into the downside of conveying trolley and formed with the towed trailer combination of conveying trolley connection, which is characterized in that
The driving wheel that it is one group with two that the tractor, which is included, arranged coaxial, and can be to include reversely rotating
Mode inside is operated alone；And connecting pin, it is used to link the conveying trolley and can go up and down, as the connecting pin packet
Include be arranged in the first connecting pin of two centres for one group of the driving wheel and with the first connecting pin configured separate
The second connecting pin,
Be provided with the first connecting hole for accommodating first connecting pin on the conveying trolley, also, along with this
Circumference centered on one connecting hole is provided with the second connecting hole of receiving second connecting pin at least two.
One embodiment of the present invention is related to a kind of ambulation control method of Automatic Guided Vehicle, the Automatic Guided Vehicle be pass through by
Have Universal wheel and the conveying trolley that can support oneself and the downside for slipping into conveying trolley and is led with conveying trolley connection
Draw the Automatic Guided Vehicle that vehicle is composed, which is characterized in that
The driving wheel that it is one group with two that the tractor, which is included, arranged coaxial, and can be to include reversely rotating
Mode inside is operated alone；And connecting pin, it is used to link the conveying trolley and can go up and down, as the connecting pin packet
Include be arranged in the first connecting pin of two centres for one group of the driving wheel and with the first connecting pin configured separate
The second connecting pin,
Be provided with the first connecting hole for accommodating first connecting pin on the conveying trolley, also, along with this
On circumference centered on one connecting hole, it is provided with the second connecting hole of receiving second connecting pin at least two,
In the ambulation control method of the Automatic Guided Vehicle,
Changing to contain in first connecting pin and any second connecting hole and accommodate in first connecting hole
When having the advanced side of the trailed conveying trolley of the complete connecting state of second connecting pin, execute:
First step extracts second connecting pin from any second connecting hole；
Second step contains first connecting pin in first connecting hole and does not receive in second connecting hole
Under the intermediate connecting state for having second connecting pin, reversely rotated by making with two for one group of the driving wheel, from
And rotate the tractor with the first connecting pin approximate centre, thus it is indexed to the second connecting hole rotation
The position of the second new connecting hole；And
Second connecting pin is contained in the second new connecting hole by third step.
In tractor of the invention, as the connecting pin for linking the conveying trolley, in addition to being arranged with two
Except the first connecting pin for the centre of one group of the driving wheel, it is also equipped with and is located at the position separated with first connecting pin
Second connecting pin.On the other hand, first connection in conveying trolley side of the invention, in addition to accommodating first connecting pin
Except hole, it is additionally provided with the second connecting hole for accommodating second connecting pin.
It is contained in first connecting pin and second connecting hole if being contained in first connecting hole
The complete connecting state of second connecting pin, can be using two connecting pins with the carrying in high reliability limitation traction
The relative rotation of trolley.It, can be with institute if being in the complete connecting state based on first connecting pin and the second connecting pin
The movement for stating tractor correspondingly draws the conveying trolley with high stability.
On conveying trolley of the invention, along the circumference centered on first connecting hole, it is provided at least two
Second connecting hole.In Automatic Guided Vehicle of the invention, according to which in second connecting hole at least two
Second connecting pin is contained in one, can change the advanced side of the conveying trolley.
In Automatic Guided Vehicle of the invention, when changing the advanced side of the conveying trolley, as long as executing from described the
Two connecting holes are extracted the first step of second connecting pin, are made under the intermediate connecting state for being based only upon first connecting pin
The second step of the tractor rotation and the step for the third being contained in second connecting pin in the second new connecting hole
It is rapid.According to the ambulation control method for executing the first~third step, second connecting pin is accommodated by changing
Second connecting hole of object side can change direction of the tractor relative to the conveying trolley, and thereby, it is possible to change quilt
The advanced side of the conveying trolley of traction.
In particular, when rotating the tractor, second connecting pin is to receive if being in the intermediate connecting state
Hold centered on first connecting hole of first connecting pin and rotates.On the other hand, due in the conveying trolley lateral edge
Circumference centered on first connecting hole therefore make to draw as described above configured with second connecting hole
Centainly there is second connecting hole on the path that second connecting pin when vehicle rotates is rotated.In this way, according to institute
The second step for making the tractor rotation under intermediate connecting state is stated, use can be executed with high reliability extremely simplely
In the contraposition for accommodating second connecting pin to second connecting hole.
As above, in Automatic Guided Vehicle of the invention, if the conveying trolley side be arranged first connecting hole with
And second connecting hole, handling system lesser for scale are also easily guided into.In addition, in Automatic Guided Vehicle of the invention
In, by rotating the tractor under the intermediate connecting state that only first connecting pin is contained in corresponding connecting hole,
The advanced side of the conveying trolley can relatively easily be changed with high reliability.As long as the tractor, which has, individually to be driven
The dynamic driving wheel for being one group with two is easier to realize small design.
The Automatic Guided Vehicle of a mode appropriate of the invention has coupling member, which can be relative to institute
Conveying trolley installation and disassembly are stated, and is provided with first connecting hole and second connecting hole.
At this point, conveying trolley corresponding with Automatic Guided Vehicle of the invention can be prepared by installing the coupling member.
For example, being able to suppress in the case where continuing to use general conveying trolley and preparing carrying corresponding with Automatic Guided Vehicle of the invention
The cost of transformation needed for trolley etc..
In the Automatic Guided Vehicle of a mode appropriate of the invention, second connecting hole is set to described first
On circumference centered on connecting hole it is substantially equally spaced everywhere.
At this point, accommodate second connecting hole of second connecting pin by changing, such as can be all around etc.
The advanced side of the conveying trolley is set on substantially orthogonal four direction.
The second connecting hole in the Automatic Guided Vehicle of a mode appropriate of the invention is long hole, with second connecting hole
The size of the circumferencial direction centered on first connecting hole compare, the radial size of second connecting hole is longer.
If the rotation relative to second connecting pin when rotating the tractor under the intermediate connecting state
The direction of displacement expands the width of second connecting hole, then can mitigate and require when aligning to second connecting pin
Position precision is able to suppress the burden etc. of control aspect.
Detailed description of the invention
Fig. 1 is the perspective view for showing the Automatic Guided Vehicle of embodiment 1.
Fig. 2 is the perspective view for showing the tractor of embodiment 1.
Fig. 3 is the bottom view of the tractor of embodiment 1.
Fig. 4 be show embodiment 1 connecting pin be in projected state connection unit side view.
Fig. 5 be show embodiment 1 connecting pin be in fallback state connection unit side view.
Fig. 6 is the explanatory diagram for showing the front end geometry of the first connecting pin of embodiment 1.
Fig. 7 is the block diagram for showing the electric system structure of the tractor of embodiment 1.
Fig. 8 is the perspective view for showing the conveying trolley of embodiment 1.
Explanatory diagram when Fig. 9 is the tractor of the connection conveying trolley of embodiment 1 viewed from above.
Figure 10 is the bottom view of the conveying trolley of embodiment 1.
Perspective view when Figure 11 is the link plate monomer of the disassembly status of embodiment 1 from bottom surface side.
Figure 12 is the enlarged drawing for showing the guide portion of link plate of embodiment 1.
Figure 13 is the flow chart that the connection control to embodiment 1 is illustrated.
Figure 14 is the explanatory diagram for the situation for showing the tractor of embodiment 1 close to conveying trolley.
Figure 15 be show embodiment 1 tractor slip into conveying trolley downside situation explanatory diagram.
Figure 16 is the flow chart being illustrated to other connection controls of embodiment 1.
Figure 17 is the flow chart being illustrated for the travelling control of right-hand rotation to embodiment 1.
Specific embodiment
Embodiments of the present invention are specifically described using following embodiment.
(embodiment 1)
As shown in Figure 1, this example is related to Automatic Guided Vehicle 1, the Automatic Guided Vehicle 1 is by will be provided with Universal wheel 111 and energy
The conveying trolley 10 enough supported oneself and the downside for slipping into the conveying trolley 10 and combined with the tractor 2 that conveying trolley 10 links and
At.Referring to Fig.1~Figure 17 is illustrated the content.
As shown in FIG. 1 to 3, tractor 2 has the low and flat vehicle body 20 for the downside that can slip into conveying trolley 10.
The vehicle body 20 is leaning on ectocentral position by the driving wheel using two as one group of left and right of arranged coaxial in the front-back direction
211 and rear end auxiliary wheel 22 support.In addition, being configured with the first connecting pin along the longitudinal direction in the upper surface of vehicle body 20
31A and the second connecting pin 31B.
As Fig. 2 and Fig. 3, it is equipped in the positive lower part in the front side of vehicle body 20 and contains buffering 220 (reference of switch
Fig. 7.) buffer 251.In the upside of buffer 251, the configuration of obstacle sensor 252 outstanding is in center forwards, at it
Two sides are equipped with operation panel 23.Referring to Fig. 7, configured with aftermentioned emergency stop switch 231, operation on operation panel 23
Switch 232, display lamp 233, light-emitting diode display 234 etc..
The perforation for the first connecting pin 31A and the second connecting pin 31B perforation configuration is configured in the upper surface of vehicle body 20
Hole 201A, 201B.First connecting pin 31A and the second connecting pin 31B can penetrate through the shape for being configured at through hole 201A, 201B
It is gone up and down under state.
It is equipped in the floor (bottom surface) of vehicle body 20 for two sensors necessary to automatically walk (referring to Fig. 3.).
The line sensor 253 of the substantial middle of the front side for the driving wheel 211 configured in left and right is Magnetic Sensor, is laid on for detecting
The magnetic recording tape (not shown) on ground walked for Automatic Guided Vehicle 1.The address for configuring the side of on-line sensor 253, which is read, to be passed
Sensor 254 is the sensor for reading address information, and address information recording is configured in leader label (not shown), leader label in phase
Each of in the movement routines such as coupling position, corner for conveying trolley 10 at important point.
On vehicle body 20, other than driving wheel 211 is two driving units 21 of each one wheel, also containing makes to link
Sell connection unit 3A, 3B, (the reference Fig. 7 of control unit 50 of 31A, 31B lifting.) and storage electric power battery (save sketch map
Show) etc..The left and right sides that two driving units 21 configured in a manner of respective 211 arranged coaxial of driving wheel in vehicle body 20.With
The corresponding connection unit 3A of first connecting pin 31A is configured at the gap of the driving unit 21 of left and right, corresponding with the second connecting pin 31B
Connection unit 3B configuration vehicle body 20 rear portion side.It should be noted that the battery configuration as weight object is close to auxiliary
Help the rear portion of wheel 22.If being configured so that battery, can be avoided auxiliary wheel 22 with driving wheel 211 be fulcrum float situation in
Possible trouble.In addition, connection unit 3A is configured to, the rotary shaft of the driving wheel 211 axially with respect to left and right of connecting pin 31A is substantially just
It hands over.
Driving unit 21 is the unit for carrying out rotation driving to driving wheel 211 by drive motor 332.Each driving unit 21
Rotation driving can individually independently be carried out to driving wheel 211 relative to the driving unit 21 of another party.
For example, tractor 2 can be made to move forward or back, if making a left side if making the 211 constant speed rotating Vortex of driving wheel of left and right
Right 211 constant speed of driving wheel reversely rotates, then revolves tractor 2 in the position centered on the centre of the driving wheel 211 of left and right
Turn.In addition, for example, if the first connecting pin 31A in the centre merely with the driving wheel 211 for being located at left and right links conveying trolley 10
Intermediate connecting state under, make left and right driving wheel 211 reversely rotate, then conveying trolley 10 can not be made driven and make tractor
2 are rotated in the position centered on connecting pin 31A.At this point, being located at the second connecting pin 31B at the rear portion of vehicle body 20 around receiving first
The first connecting hole 41 of connecting pin 31A rotates.
Connection unit (linking part) 3A for going up and down the first connecting pin 31A is to make connecting pin 31A as Fig. 4 and Fig. 5
From the upper surface unit outstanding of the shell 30 of box-like.In connection unit 3A, for driving the lifting horse of connecting pin 31A
The side for being mounted on shell 30 up to 352.
In the inside of shell 30, the helical spring (force application mechanism) to exert a force to connecting pin 31A to projected direction is contained
356, the prominent limiting mechanism (limiting mechanism) 35 outstanding etc. of connecting pin 31A is limited.It should be noted that showing connection
Fig. 4 from pin 31A to coupling position state outstanding and Fig. 5 that connecting pin 31A is limited in the state of going-back position is shown
In, it is illustrated in a manner of a part of side wall for omitting shell 30 to be easy observation internal structure.
In the advance and retreat guiding piece 311 of cylindrical shape of the connecting pin 31A interpolation configuration on the top plate 301 for being fixed on shell 30,
Remain the state that can be retreated in the axial direction.The front end of generally cylindrical first connecting pin 31A is formed with vehicle body 20
Coronal 318 as Fig. 6 made of two sides in width direction ream.The thickness W1 of the coronal 318 is formed as and is arranged
In the minimum widith W2 (referring to Fig.1 2 of the aftermentioned guide portion (guide structure) 45 of 10 side of conveying trolley.) corresponding thickness, in detail
Thin content is aftermentioned.
Spring eye (illustration omitted) is offered in the rear end face of connecting pin 31A, contains the bottom surface for being inserted in shell 30 outside
Helical spring 356 in support shaft 331.The helical spring 356 exerts a force to connecting pin 31A to projected direction (ascent direction).?
The rear end face of connecting pin 31A installs the flat plate 358 that the horizontal direction of oriented radially outer peripheral side is stretched out.The plate 358 be as
The structural elements of the protrusion limiting mechanism 35 of lower explanation.
Prominent limiting mechanism 35 is by having the rotation of the lift motor 352 of rotary shaft 353 and rotary shaft 353 correspondingly
Along the circular cam 354 of vertical direction and the rear end face as described above for being fixed on connecting pin 31A and in the horizontal direction
Combination of plate 358 of extension etc. is constituted.The protrusion limiting mechanism 35 is using 358 face contact of plate in the position of cam 354 as pole
Limit and limit the protrusion of connecting pin 31A.
The position of cam 354 is limited in top dead centre or lower dead center in the circular path of vertical direction.It is located in cam 354
In the case where top dead centre shown in Fig. 4, if connecting pin 31A is positioned at corresponding with such as the first connecting hole 41 of 10 side of conveying trolley
Position, then connecting pin 31A can project to the perforation position for being contained in connecting hole 41.On the other hand, it is located at Fig. 5 in cam 354
Shown in the case where lower dead center, plate 358 engages with cam 354, and the protrusion of connecting pin 31A is limited as the figure.
It should be noted that the specification of the connection unit 3B of the second connecting pin 31B is roughly the same with connection unit 3A, separately
On the one hand, the front end geometry of connecting pin 31 exists different.As described above, the front end of the first connecting pin 31A is in coronal, another party
Face, the front end geometry of the second connecting pin 31B is in section round identical with root side (referring to Fig. 2.).
Next, the electric system structure to tractor 2 is illustrated.As shown in fig. 7, tractor 2 is in electrical aspect to control
It is constituted centered on unit 50 processed.Control unit 50 includes: I/F circuit 55, is for each with the carry out such as switch, sensor
The interface of the exchange of kind signal；And main control circuit 51, various controls are exported to driving unit 21 and connection unit 3A, 3B
Signal processed.
In control unit 50, other than electrical connection driving unit 21 and connection unit 3A, 3B, also it is electrically connected with slow
Wash open pass 220, obstacle sensor 252, emergency stop switch 231, Operation switch 232, display lamp 233, light-emitting diode display 234,
Sensor 254 etc. is read in loudspeaker 235, line sensor 253, address.
Driving unit 21 is configured to include making driving wheel 211 (referring to Fig. 2 and 3 in electrical aspect.) rotation driving horse
The control signal exported up to the 332, motor driver 215 of the rotation of control drive motor 332 and progress by control unit 50
Reception etc. I/F circuit 218 etc..Motor driver 215 controls driving horse according to from the received control signal of control unit 50
Up to 332 rotation.In 215 side of motor driver, it is able to detect the rotation angle of drive motor 332, thus, it is possible to detect driving
The rotation amount of wheel 211.
It should be noted that the rotation amount of driving wheel 211 can be obtained from each driving unit 21 in 50 side of control unit,
For example, make left and right 211 rotating Vortex of driving wheel in the case where, can according to acquired rotation amount calculate forward travel distance or
Backway.In addition, for example, make left and right driving wheel 211 reversely rotate in the case where, can be according to each driving unit 21
The rotation angle of rotation amount calculating tractor 2.
Connection unit 3A, 3B is configured to include the lift motor 352, right for going up and down connecting pin 31A, 31B in electrical aspect
Connecting pin 31A, 31B of the coupling position of motor driver 351, detection Fig. 4 illustration that the rotation of lift motor 352 is controlled
Limit switch 379 and transmitting-receiving control signal, I/F circuit 378 of detection signal etc. etc. between control unit 50.
Next, as shown in figure 8, conveying trolley 10 is the trolley for constituting skeleton using tubing 100.Generally square bottom
Face is formed by the tubing 100 for being connected to clathrate.In the case where being set to the tubing 100 of quadrangle of conveying trolley 10 along vertical direction
End, is equipped with the Universal wheel 111 that can be changed direction of rotation freely.In addition, in the bottom surface (floor) of conveying trolley 10
On the link plate 4 of an example as the coupling member for being provided with connecting hole 41,42 is installed.
In particular, in the conveying trolley 10 for the Automatic Guided Vehicle 1 for constituting this example and combining with tractor 2, tubing
100, Universal wheel 111 etc. is configured to, and contains the first connecting pin 31A in the first connecting hole 41 of link plate 4 and second connects
When the intermediate connecting state that knot pin 31B is not received, tractor 2 being capable of relative rotation as shown in Figure 9.
Link plate 4 is substantially disk-shaped component, as shown in figs.10 and 11, is equipped with receiving tractor in center
The first connecting hole 41 of 2 the first connecting pin 31A having.It is equipped in the peripheral part 48 of link plate 4 and connects for accommodating second
The second connecting hole 42 of knot pin 31B.Second connecting hole 42 be threaded through on the circumference centered on the first connecting hole 41 every 90
Four positions of degree.
The hole shape of first connecting hole 41 and the second connecting hole 42 is slightly different.It is set to the first of the center of link plate 4
The section shape of connecting hole 41 is the circular hole close to positive round, and on the other hand, the second connecting hole 42 of peripheral part 48 is formed as even
The radially longer long hole of knot tying 4.
In link plate 4, be accordingly respectively formed with circumferential second connecting hole 42 everywhere connect the second connecting hole 42 and
The interconnecting piece 46 of first connecting hole 41 is integrally formed the inner peripheral portion 49 of cross shape.Also, in the cross shape
The periphery of circumference 49 is connected with the circular peripheral part 48 for being equipped with the second connecting hole 42.It should be noted that in this example,
The surface for offering the inner peripheral portion 49 of the first connecting hole 41 becomes an example of the first bottom surface 490, offers the second connecting hole 42
The surface of peripheral part 48 becomes an example of the second bottom surface 480.In this example, the first bottom surface 490 is connected into the second bottom surface 480
It is coplanar.It should be noted that the first bottom surface 490 and the second bottom surface 480 are either this integrated face, is also possible to individually
Face.
The bottom surface for the conveying trolley 10 that link plate 4 is mounted to the extending direction of interconnecting piece 46 and formation is square it is each
Side is orthogonal.In conveying trolley 10, the second connecting hole 42 is respectively configured in the position adjacent with each side in four faces, each second
The side of opposite side when being set as advanced side when drawing as the connection for being used to accommodate the second connecting pin 31B by connecting hole 42
Hole.
The connection of tubing 100 of the bottom surface of conveying trolley 10 for vertical 3 lattice × 3 lattice of cross clathrate (referring to Fig.1 0.).Link plate
4 are installed on the center of its bottom surface, and the first central connecting hole 41 is located at the grid in the center of vertical 3 lattice × 3 lattice of cross.In addition, periphery
The second connecting hole 42 everywhere be located at the grid of the file in outside or the middle of row.Connecting hole 41,42 is located at any grid
Inside, therefore, carry out tractor 2 connection when, connecting pin 31A, 31B will not be interfered with tubing 100.
Link plate 4 is fastened by bolts the clathrate in the bottom surface and connection for forming conveying trolley 10 for vertical 3 lattice × 3 lattice of cross
Tubing 100 on.Specifically, the position Chong Die with each interconnecting piece 46 of link plate 4 in the tubing 100 of the clathrate of bottom surface
It sets and wears threaded hole (illustration omitted), be equipped with through hole (illustration omitted) in the corresponding position of interconnecting piece 46.Link plate 4
Through hole is set to by perforation and the installation bolt 465 being threaded into the threaded hole of tubing 100 is solid with dismountable state
It is fixed.
On the surface (surface faced with ground) of each interconnecting piece 46, guide portion is formed with as Figure 10~Figure 12
45, the guide rail 451 that it is one group with two that guide portion 45, which is equipped with, for guiding the first connecting pin 31A to the first connecting hole
41.Guide rail 451 is the guide rail interfered with the coronal 318 of the front end portion of the first connecting pin 31A above-mentioned, erects height
Formation range (the size L1 in Fig. 6) relative to coronal 318 is slightly lower.It should be noted that being drawn in Figure 12 with omitting
The mode for leading the structure of the link plate 4 other than portion 45, the first connecting hole 41 and the second connecting hole 42 is illustrated.
Guide rail 451 is mounted to be formed as the splayed shape of end extension centered on the first connecting hole 41, faces each other
A pair of inside face 45S formed end extension guide space (gap of a pair of inside face 45S) 45G.Wherein, a pair of inside
The ratio of the end extension of face 45S is in the inner circumferential side close to the first connecting hole 41 different from peripheral side (referring to Fig.1 2.).In distance
The remote peripheral side of first connecting hole 41, by the opening width of guide space 45G can be ensured greatly in a manner of, by a pair of inside
The ratio of the end extension of face 45S is set to be large.
On the other hand, in the limiting unit 450 close to the inner circumferential side of the first connecting hole 41, the end of a pair of inside face 45S
The ratio of extension is set small, close in parallel.The gap of a pair of inside face 45S with 41 adjoining position of the first connecting hole most
It is narrow.Its minimum widith W2 is set as to insert for being formed in the coronal 318 of the width W1 of the front end portion of the first connecting pin 31A
The degree entered.It should be noted that a pair of inside face 45S about limiting unit 450, facing nearly parallel to be not required
Important document.As long as the ratio that the end of limiting unit 450 extends is smaller than peripheral side, it will be able to realize excellent function and effect.
It is put down by two side planes of the coronal 318 of the first connecting pin 31A and the close of limiting unit 450 (guide portion 45)
The combination of facing a pair of inside face 45S capablely, the approach axis that the first connecting pin 31A can be made to enter from peripheral side are high
Precision close to link plate 4 radial direction.If the approach axis of the first connecting pin 31A with it is diametrically substantially consistent, can with height
The first connecting pin 31A is guided to the first connecting hole 41 by property.
About the movement of Automatic Guided Vehicle 1 as constructed as above, the control executed according to the control unit 50 that tractor 2 has
System, 3 flow chart etc. is illustrated referring to Fig.1.
When tractor 2 is linked to conveying trolley 10, the rule on the path for being equipped with magnetic recording tape (not shown) are needed
Fixed standby place is pre-configured with conveying trolley 10.The standby place is that the magnetic recording tape being layed on ground passes through or imported
Point, the standby site setting are that, when being configured with conveying trolley 10, magnetic recording tape is located at link plate 4 substantially directly below.
When tractor 2 is linked to conveying trolley 10, control unit 50 makes tractor 2 move and approach along magnetic recording tape
Conveying trolley 10 (S101).On detecting the ground for being laid on the front in the connection place relative to conveying trolley 10 not
Before the in-position label (leader label) of diagram (S102: no), control unit 50 as shown in Figure 14 executes tractor 2
(S102: no → S101) usually is moved along magnetic recording tape, is switched to connection mode simultaneously after detecting in-position label
Tractor 2 is set to slow down (S102: being → S103).
Control unit 50 detect in-position label after, when tractor 2 has advanced predetermined distance (S104:
It is), the limitation that the prominent limiting mechanism 35 is carried out is released, keeps the first connecting pin 31A prominent (S105, first step).It needs
It is noted that the predetermined distance is set as, the first connecting pin 31A is reached in the surface of the link plate 4 of 10 side of conveying trolley
Than needed for the inner side of the second connecting hole 42 and position corresponding with the guide space 45G in gap of a pair of inside face 45S away from
From.
The the first connecting pin 31A to be exerted a force to projected direction is projected to be pressed with the surface of link plate 4 (the first bottom surface 490)
The position (first abuts state) of contact, forms by the state of a pair of inside face 45S restriction site.If passing through control unit 50
It controls and tractor 2 is made to advance with keeping intact (S106), then before capable of being limited by a pair of inside face 45S that end narrows
The position of the first connecting pin 31A slided to the surface face contact of end face and link plate 4, can guide to the first connecting hole
41 position (second step).
Due to being exerted a force by helical spring 356 to projected direction, the first connecting pin 31A reaches the first connecting hole 41
Position when can further protrude, be contained in the first connecting hole 41 and rise to coupling position (referring to Fig. 4.).It needs
Bright, control unit 50 is according to detecting that the moving distance after the in-position label judges as shown in Figure 15 the
When one connecting pin 31A reaches the first connecting hole 41 (S107: yes), can judgement detect that the first connecting pin 31A reaches connection position
Set this case (S108).
For example, deviateing this generating in the axial direction of connecting hole 41 and the axial direction of connecting pin 31A due tos the fluctuating on ground etc.
In the case where sample, oblique insertion etc. is generated sometimes and makes connecting pin 31A that can not reach coupling position.Although making tractor 2
The position (S107: yes) that the first connecting pin 31A reaches the first connecting hole 41 has been proceeded to, can not detect coupling position (ginseng
According to Fig. 4.) the first connecting pin 31A in the case where (S108: no), control unit 50 execute to conveying trolley 10 apply vibration
Add vibration control (S118).This add vibration control be executed in the range of about 30 degree repeatedly in left and right directions tractor 2 anticlockwise and
The control of right rotation.If executing such plus vibration control, conveying trolley 10 can be applied by the movement of tractor 2 dynamic
Make, vibration, generate as a result, the axial moment of connecting hole 41 and connecting pin 31A can be made substantially uniform and promote the effect of insertion,
It can promote the effect being inserted into connecting hole 41 for example, by the spinning movement of the connecting pin 31A as drill bit.
After the first connecting pin 31A is contained in the first connecting hole 41 (S108: yes), control unit 50 releases described prominent
Limitation of the limiting mechanism 35 to connection unit 3B out keeps the second connecting pin 31B prominent (S109, third step).At this point, if
The position consistency of two connecting pin 31B and the second connecting hole 42, then the second connecting pin 31B can directly be indexed to coupling position.
Control unit 50 terminates connection control when detecting displacement of the second connecting pin 31B to coupling position (S110: yes).
On the other hand, in the case where that can not detect displacement of the second connecting pin 31B to coupling position (S110: no),
Be formed as the second connecting pin 31B to be released from limitation and press the state abutted with the surface of link plate 4 (the second bottom surface 480)
In the case where (second abuts state), control unit 50 revolves tractor 2 by the reverse rotation of the driving wheel 211 of left and right
Turn, thereby, it is possible to the second connecting pin 31B slided with making the surface face contact of front end face and link plate 4 around the first connecting pin
31A rotation displacement (S120, four steps).
Here, since the first connecting pin 31A is contained in the first connecting hole 41, the second connecting pin 31B connects around first
Tie the rotation displacement of hole 41.On the other hand, as described above, on the link plate 4 of conveying trolley 10, in being with the first connecting hole 41
The second connecting hole 42 is configured on the circumference of the heart.Therefore, if making to lead under the intermediate connecting state for being based only upon the first connecting pin 31A
Draw the rotation of vehicle 2, then can reliably and easily guide the second connecting pin 31B to position corresponding with the second connecting hole 42.
It is pressed towards coupling position by force with the surface of link plate 4 as noted previously, as the second connecting pin 31B is in
The abutting state of press contacts, therefore, connecting pin 31B can further protrude when consistent with the second connecting hole 42, connect as a result,
Knot pin 31B is contained in the second connecting hole 42, and the connection of tractor 2 terminates.When control unit 50 detects the second connecting pin 31B
When being contained in the second connecting hole 42 and being indexed to coupling position (S110: yes), connection control terminates, and forms complete connecting state.
If being in complete connecting state, conveying trolley 10 can be made integrally to move together with tractor 2.
Connection control next, 6 flow chart referring to Fig.1, when to from tractor 2 to returning direction traction transport trolley 10
The content of system is illustrated.In the flow chart, S101~S107: the processing before being is identical as the processing of Figure 13, in Figure 16
In illustrated in a manner of omitting identical each step.
In the case where making the first connecting pin 31A be contained in the first connecting hole 41 by connection same as figure 13 control
(S108: yes), control unit 50 among this reversely rotate under connecting state the driving wheel 211 of left and right, make tractor 2 with the
(S201) is rotated centered on one connecting pin 31A.Make the direction (direction of advance) of tractor 2 close to the carrying platform of new settings as a result,
The advanced side of vehicle 10.In the case that tractor 2 is along returning direction traction transport trolley 10, tractor 2 is made to invert required mesh
Target rotation amount is 180 degree.
In the case where target rotation amount is 180 degree, when actual rotation amount reaches 170 degree or so (S202: yes),
Control unit 50 releases the prominent limitation (S203) of the second connecting pin 31B.Thus, it is possible to target the second connecting hole 42 with
The circumferential position at preceding place keeps the second connecting pin 31B prominent, and makes the front end of the second connecting pin 31B and the surface (the of link plate 4
Two bottom surfaces 480) face contact (second abuts state).
Control unit 50 makes tractor 2 further rotate (S204) in the case where keeping such face contact state.
If keeping the second connecting pin 31B and the position of the second connecting hole 42 substantially uniform by the rotation of tractor 2, the second connection
Pin 31B can be protruded further and is contained in the second connecting hole 42.Control unit 50 can be according to the detection of limit switch 379
Signal detection has risen to coupling position (referring to Fig. 4 to the second connecting pin 31B being contained in the second connecting hole 42.) this feelings
Condition (S205: yes).In this way, if the connection in tractor 2 terminates and tractor 2 is made after being changed into complete connecting state to advance,
Then tractor 2 can be along returning direction traction transport trolley 10.
Next, being illustrated to the travelling control of the direction of advance for changing Automatic Guided Vehicle 1.7 stream referring to Fig.1
Cheng Tu is illustrated the example of travelling control when 10 right angle of conveying trolley being made to turn right in traction.
Control unit 50 when executing the travelling control, make first the complete connecting state tractor 2 stop and
The conveying trolley 10 in traction is set to stop (S301).Later, make the second connecting pin 31B from connecting hole 42 extract (S302, first
Step), setting is based only upon the intermediate connecting state of the first connecting pin 31A.
Control unit 50 among this reversely rotates under connecting state the driving wheel 211 of left and right, makes tractor 2 with first
(second step, S303) is rotated centered on connecting pin 31A.Thereby, it is possible to make the direction (direction of advance) of tractor 2 is close newly to set
The advanced side of fixed conveying trolley 10.If the case where advanced side of conveying trolley 10 is changed to right side, then make tractor 2
Direction required target rotation amount consistent with the new advanced side of conveying trolley 10 is about 90 degree clockwise.
Such as in the case where target rotation amount is 90 degree, control unit 50 is when actual rotation amount reaches 80 degree or so
(S304: yes) releases the prominent limitation (S305) of the second connecting pin 31B.So, it is possible target the second connecting hole 42 with
It is prominent that the circumferential position at preceding place makes the second connecting pin 31B, and makes front end and 4 face contact of link plate of the second connecting pin 31B.
Control unit 50 makes tractor 2 further rotate (S306) in the case where keeping such face contact state.
If the second connecting pin 31B is substantially uniform by the rotation of tractor 2 and the position of the second connecting hole 42, the second connecting pin
31B can be protruded further and is contained in the second connecting hole 42 (third step).Control unit 50 can be according to limit switch
379 detection signal detection has risen to the perforation position to the second connecting pin 31B being contained in the second connecting hole 42
(S307: yes).In this way, control unit 50 is after the connection in tractor 2 terminates and is changed into complete connecting state for direction
The advanced side traction transport trolley 10 of new settings and make tractor 2 advance (S308).According to the above control of control unit 50,
It is able to carry out the such drawing-in motion of right angle right-hand rotation.
The Automatic Guided Vehicle 1 of this example as constructed as above small design easy to accomplish and being only two for driving wheel 211
Tractor 2 combined with the better simply conveying trolley 10 of the structure for being provided only with the first connecting hole 41 and the second connecting hole 42 and
At.In the Automatic Guided Vehicle 1, simply removed due to can steadily be drawn very much by comparing the tractor 2 for being easy miniaturization
Trolley 10 is transported, therefore handling system lesser for scale is also easily guided into.In addition, if conveying trolley has with tractor 2
The minimum ground height that can slip into and the floor that can install link plate 4, then being capable of general common conveying trolley.This
Sample, cost needed for transformation of conveying trolley 10 etc. is low, and handling system lesser for scale is also easily guided into the automatic of this example
Carrier 1.
In the Automatic Guided Vehicle 1, it is also able to carry out the connection control of the direction of advance of switching tractor 2.For example, at this
In Automatic Guided Vehicle 1, also it is able to carry out the side for example for entering tractor 2 to conveying trolley 10 and is incited somebody to action as advanced side
The connection that conveying trolley 10 is drawn to returning direction controls (Figure 16).In the case where carrying out the control, preferably connect by first
Knot pin 31A is contained in after connecting hole 41, is made the rotation of tractor 2 about 180 degree and is inverted, then executes for by the second connecting pin
31B is contained in the control of the second connecting hole 42.In this way, after the second connecting pin 31B is contained in connecting hole 42, if making tractor
2 advance, then can be to link the side of the entrance of front haulage vehicle 2 as advanced side, the return of traction transport trolley 10.In the same manner,
It can carry out using the side of the left or right side for the side that tractor 2 enters as advanced side for controlling along orthogonal side
Controlled to the connection of traction transport trolley 10 etc..If being able to carry out the connection control of such tractor 2, such as can will remove
Right angle corner position of the standby site setting of trolley 10 on the final position or path on path is transported, can be improved in path
Design freedom when the standby place of upper arrangement.
In the conveying trolley 10 for constituting the Automatic Guided Vehicle 1, the is accordingly respectively arranged with each side in four faces
Two connecting holes 42.In Automatic Guided Vehicle 1, the second connecting pin 31B can be contained according in which the second connecting hole 42
To change the advanced side of conveying trolley 10.In the Automatic Guided Vehicle 1, it can make to draw during traction transport trolley 10
After vehicle 2 temporarily ceases, the second connecting pin 31B is only pulled out, later rotates tractor 2, and by the second connecting pin 31B
The control being contained in the second new connecting hole 42.If before starting again at progress tractor 2 after executing such control
Into, then can change traction in conveying trolley 10 advanced side.Thereby, it is possible to turn right to the left in traction right angle or
The travelling controls such as return after reversion.
In the Automatic Guided Vehicle 1 of this example, the first connecting hole 41 is circular hole, and on the other hand, the second connecting hole 42 is even
The radially longer long hole of knot tying 4.If the second connecting hole 42 is formed as long hole, make to lead under the intermediate connecting state
When drawing the rotation of vehicle 2, the second connecting pin 31B around the rotation displacement of the first connecting hole 41 being capable of high reliability the second connecting hole of arrival
42 position.
In addition, can mitigate the first connecting hole 41 and second if the second connecting hole 42 is formed as wide long hole and connect
It is consistent required by tying between the distance between borehole and the first connecting pin 31A and the axle base of the second connecting pin 31B in hole 42
Degree.Therefore, position precision when processing link plate 4, when assembling connection unit 3A, 3B to vehicle body 20 etc. can be set to
It is low, it is able to suppress the manufacturing cost with processing, assembling.
It should be noted that this example is the example for being provided with multiple guide portions 45, the second connecting hole 42, but can also use
It is provided only with the structure of guide portion 45 at one or connecting hole 42 etc..In addition, in the first connecting hole 41 and the second connecting hole 42
Between be provided with guide portion 45, still, the circumferential position and guide portion of the second connecting hole 42 centered on the first connecting hole 41
45 circumferential position can also be different.In addition, the setting quantity of the setting quantity of the second connecting hole 42 and guide portion 45 can also
With difference.
The the first connecting pin 31A and the second connecting pin 31B of tractor 2 are configured preferably along the front-rear direction of vehicle body 20.
In particular, the first connecting pin 31A is preferably configured at the centre of the driving wheel 211 of left and right on the center line of vehicle body 20.If in this way
The first connecting pin 31A is configured, then when rotating tractor 2, is able to suppress
Displacement on the position of first connecting pin 31A, avoids the driven of conveying trolley 10.But the configuration of such connecting pin 31A
It is not required structure, connecting pin 31A can also deviate from above-mentioned position.Although at this point, due to corresponding to the rotation of tractor 2
Ground generates the rotation displacement of connecting pin 31A, therefore generates driven displacement in 10 side of conveying trolley, but also can be realized the present invention
Function and effect.
It should be noted that in this example, being arranged for in-position label (the guidance mark to connection Mode change
Note), correspondingly make the first connecting pin 31A prominent with the travel distance after the label of the in-position is detected, or execute for
First connecting hole 41 is inserted into the described of the first connecting pin 31A plus vibration control.Instead of the situation, can also with make the first connecting pin
The position outstanding 31A is executed for corresponding to position for adding vibration control of the first connecting pin 31A of the first connecting hole 41 insertion etc.
Ground, setting indicate the leader label of the meaning.It is examined in addition it is also possible to be arranged on link plate 4 using such as infrared ray etc.
The beam sensor of survey releases the prominent limitation of connecting pin 31A premised on beam sensor detects link plate 4.It is preferred that light
Beam sensor is accordingly respectively set with the first connecting pin 31A, the second connecting pin 31B.
The first connecting pin 31A of this example when relieving the limitation that prominent limiting mechanism 35 is carried out with a pair of inside face
45S interference.In addition, in this example, after the state of setting connecting pin 31A and 4 face contact of link plate, protecting tractor 2
It holds and moves as former state, connecting pin 31A is made to reach the position of connecting hole 41, terminate connection.Instead of the situation, it is also configured to energy
The first connecting pin A is enough set to be indexed to the middle position of the centre of coupling position and going-back position, and the connection in the middle position
31A and a pair of inside face 45S is sold to interfere.Alternatively, being also configured to the connecting pin 31A and a pair of inside face 45S of going-back position
Interference.Alternatively, it is also possible to release prominent limitation at the position of connecting pin 31A arrival connecting hole 41.It should be noted that should
The releasing moment of prominent limitation is also identical for the second connecting pin 31B.
More than, concrete example of the invention is described in detail, but these concrete examples only disclose what claims were included
An example of technology.It is self-evident, it should not interpret the claims with being limited according to structure, numerical value of concrete example etc..Claim
School bag, which is included, carries out various modifications and changes or appropriate to the concrete example using well-known technique, knowledge of those skilled in the art etc.
Technology after combination.
Description of symbols
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: link plate (coupling member)
41: the first connecting holes
42: the second connecting holes
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 (6)
1. a kind of Automatic Guided Vehicle by the conveying trolley that will be provided with Universal wheel and can support oneself and slips into carrying
The downside of trolley is simultaneously formed with the towed trailer combination of conveying trolley connection, which is characterized in that
The driving wheel that it is one group with two that the tractor, which is included, arranged coaxial, and can be including reverse rotation
Mode be operated alone；And connecting pin, it is used to link the conveying trolley and can go up and down, include setting as the connecting pin
It sets with the first connecting pin of two centres for one group of the driving wheel and the with the first connecting pin configured separate
Two connecting pins,
The first connecting hole for accommodating first connecting pin is provided on the conveying trolley, also, along with first company
The circumference centered on hole is tied, the second connecting hole of receiving second connecting pin at least two is provided with.
2. Automatic Guided Vehicle according to claim 1, which is characterized in that
The Automatic Guided Vehicle has coupling member, which can install and dismantle relative to the conveying trolley,
And it is provided with first connecting hole and second connecting hole.
3. Automatic Guided Vehicle according to claim 1, which is characterized in that
Second connecting hole be set on the circumference centered on first connecting hole it is substantially equally spaced everywhere.
4. Automatic Guided Vehicle according to claim 2, which is characterized in that
Second connecting hole be set on the circumference centered on first connecting hole it is substantially equally spaced everywhere.
5. Automatic Guided Vehicle according to any one of claims 1 to 4, which is characterized in that
Second connecting hole is long hole, the size phase with the circumferencial direction centered on first connecting hole of second connecting hole
Than the radial size of second connecting hole is longer.
6. a kind of ambulation control method of Automatic Guided Vehicle, which is by will be provided with Universal wheel and can support oneself
Conveying trolley and slip into conveying trolley downside and with conveying trolley connection towed trailer combination made of claim
Automatic Guided Vehicle described in any one of 1~5, which is characterized in that
The driving wheel that it is one group with two that the tractor, which is included, arranged coaxial, and can be including reverse rotation
Mode be operated alone；And connecting pin, it is used to link the conveying trolley and can go up and down, include setting as the connecting pin
It sets with the first connecting pin of two centres for one group of the driving wheel and the with the first connecting pin configured separate
Two connecting pins,
The first connecting hole for accommodating first connecting pin is provided on the conveying trolley, also, along with first company
On circumference centered on knot hole, it is provided with the second connecting hole of receiving second connecting pin at least two,
In the ambulation control method of the Automatic Guided Vehicle,
Changing to contain in first connecting pin and any second connecting hole and be accommodated in first connecting hole
When stating the advanced side of the trailed conveying trolley of complete connecting state of the second connecting pin, execute:
First step extracts second connecting pin from any second connecting hole；
Second step contains first connecting pin in first connecting hole and does not contain in second connecting hole
Under the intermediate connecting state of second connecting pin, reversely rotated by making with two for one group of the driving wheel, to make
The tractor as approximate centre is rotated using first connecting pin, is thus indexed to the second connecting pin rotation new
The position of second connecting hole；And
Second connecting pin is contained in the second new connecting hole by third step.
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-026240 | 2015-02-13 | ||
| JP2015026240A JP5855296B1 (en) | 2015-02-13 | 2015-02-13 | Automated guided vehicle and travel control method for automated guided vehicle |
| JP2015029616A JP6009010B2 (en) | 2015-02-18 | 2015-02-18 | Automatic conveyance vehicle and method of connecting automatic conveyance vehicles |
| JP2015029618A JP6009011B2 (en) | 2015-02-18 | 2015-02-18 | Automatic carrier and connecting member for automatic carrier |
| JP2015-029618 | 2015-02-18 | ||
| JP2015-029616 | 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 CN105883316A (en) | 2016-08-24 |
| CN105883316B true 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 |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2467947A (en) * | 1945-05-22 | 1949-04-19 | Goodrich Co B F | Traction apparatus |
| FR1490600A (en) * | 1966-06-06 | 1967-08-04 | Stabilizer device for temporary such as camping caravan towed by a motor vehicle | |
| CH534625A (en) * | 1971-11-12 | 1973-03-15 | Fischer Ag Georg | Control device for the tension of a rotating conveyor organ |
| US3806161A (en) * | 1972-07-21 | 1974-04-23 | G Fenton | Trailer hitch adapter |
| JPS5836333B2 (en) * | 1974-04-16 | 1983-08-09 | イノウエ ヨシオ | How to get started |
| EP0049587B1 (en) * | 1980-10-07 | 1986-01-15 | Towbile Technology Limited | 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 |
| 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 |
| CN103625863B (en) * | 2013-04-26 | 2016-12-28 | 江苏汇博机器人技术股份有限公司 | A kind of 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 |
| CN104210794B (en) * | 2014-09-03 | 2016-04-27 | 昆明七零五所科技发展总公司 | The track shuttle that a kind of electric cylinder drive-type turns to |
-
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
Also Published As
| Publication number | Publication date |
|---|---|
| CN105883315A (en) | 2016-08-24 |
| CN105883316A (en) | 2016-08-24 |
| CN105883315B (en) | 2019-09-24 |
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Granted publication date: 20190924 Termination date: 20210918 |