JP2000231411A - Automatic traction device for carriage by unmanned travel vehicle - Google Patents
Automatic traction device for carriage by unmanned travel vehicleInfo
- Publication number
- JP2000231411A JP2000231411A JP11032310A JP3231099A JP2000231411A JP 2000231411 A JP2000231411 A JP 2000231411A JP 11032310 A JP11032310 A JP 11032310A JP 3231099 A JP3231099 A JP 3231099A JP 2000231411 A JP2000231411 A JP 2000231411A
- Authority
- JP
- Japan
- Prior art keywords
- bogie
- towing
- traveling vehicle
- vehicle
- lever
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 claims description 57
- 230000008878 coupling Effects 0.000 abstract description 5
- 238000010168 coupling process Methods 0.000 abstract description 5
- 238000005859 coupling reaction Methods 0.000 abstract description 5
- 239000002184 metal Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【0001】[0001]
【発明が属する技術分野】この発明は、工場内や倉庫内
等において各種の物品を無人で運搬させる無人走行車に
よる台車の自動牽引方法及び自動牽引装置の技術分野に
属し、更に云えば、路面に形成した誘導路に沿って自走
する無人走行車を牽引車とし、前記誘導路に沿って待機
する台車を被牽引車として牽引する場合に、前記無人走
行車と前記台車との連結、連結解除を自動的に行う牽引
方法及び牽引装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of an automatic traction method and an automatic traction device for a bogie by an unmanned traveling vehicle for carrying various articles unmannedly in a factory or a warehouse. In the case where the unmanned traveling vehicle that is self-propelled along the taxiway formed as the towing vehicle and the bogie that stands by along the taxiway is towed as the towed vehicle, the unmanned traveling vehicle and the bogie are connected and connected. The present invention relates to a traction method and a traction device for automatically canceling.
【0002】[0002]
【従来の技術】従来の無人走行車による台車の自動牽引
方法及び自動牽引装置としては、例えば下記のものが提
案され、公知である。2. Description of the Related Art As a conventional automatic towing method and an automatic towing device for a bogie by an unmanned traveling vehicle, for example, the following are proposed and known.
【0003】 特開平3−224807号公報に記載
された無人走行車による台車の自動牽引方法及び自動牽
引装置は、無人走行車の後部に後ろ向きで先端に連結部
を有する昇降ロッドを設け、誘導路に設けた円弧状の部
分で台車と無人走行車との向きを一時的に一致させ、こ
の時の無人走行車の尻振り動作を利用して、台車の被連
結具を無人走行車の昇降ロッド先端の連結部に自動的に
連結させている。また、台車の行き先位置を検出するセ
ンサーの信号を受け、これにより駆動するモーターを動
力としてカムフォロアーを回転させ、前記昇降ロッドを
上昇させて台車の被連結具から無人走行車の連結部を自
動的に連結解除させている。An automatic towing method and an automatic towing device for a bogie by an unmanned traveling vehicle described in Japanese Patent Application Laid-Open No. 3-224807 are provided with a lifting rod having a connecting portion at a rear end and a rear end at a rear portion of the unmanned traveling vehicle. The direction of the bogie and the unmanned traveling vehicle is temporarily matched by the arc-shaped part provided in the above, and the connected object of the bogie is moved up and down by the lifting rod of the unmanned traveling vehicle using the swinging motion of the unmanned traveling vehicle at this time. It is automatically connected to the connecting part at the tip. Also, a signal from a sensor for detecting a destination position of the bogie is received, a cam follower is rotated by a motor driven thereby, and the elevating rod is raised to automatically connect a connecting portion of the unmanned traveling vehicle from a connected component of the bogie. The connection is disconnected.
【0004】 特開平4−328008号公報に記載
された無人走行車による台車の自動牽引方法及び自動牽
引装置は、無人走行車の後部に、左右に開口部を有し中
央に連結基部(連結部)を有する引掛金具を設け、湾曲
走行時の無人走行車の尻振り動作を利用して、前記引掛
金具を台車の連結ピン(被連結具)に自動的に連結させ
ている。又は前記引掛金具を無人走行車の両側に突出さ
せ、直線走行時においても台車の連結ピン(被連結具)
に自動的に連結させている。また、台車の行き先位置に
スタンドを設け、これを利用し、前記引掛金具を起伏さ
せて、自動的に連結解除させている。An automatic towing method and an automatic towing device for a bogie by an unmanned traveling vehicle described in Japanese Patent Laid-Open No. 4-328008 are disclosed. ) Is provided, and the hook is automatically connected to a connecting pin (connected object) of the bogie by utilizing the swinging motion of the unmanned traveling vehicle during curved traveling. Alternatively, the hook is projected on both sides of the unmanned traveling vehicle so that the connecting pin of the bogie (connected object) even in straight traveling.
Is automatically linked to Further, a stand is provided at a destination position of the bogie, and by using the stand, the hook is raised and lowered to automatically release the connection.
【0005】 特開平6−183232号公報に記載
された無人走行車による台車の自動牽引方法及び自動牽
引装置は、その基本構成は前記の牽引方法及び牽引装
置と同様であり、台車の行き先位置に到達した時に、無
人走行車を一旦停止させ、切り離しモーターにより、引
掛金具を起伏させて、自動的に連結解除させていること
が異なる。An automatic traction method and an automatic traction device for a bogie by an unmanned traveling vehicle described in Japanese Patent Application Laid-Open No. 6-183232 have the same basic configuration as that of the traction method and the traction device described above. The difference is that when the vehicle arrives, the unmanned traveling vehicle is temporarily stopped, and the hook is raised and lowered by the separation motor to automatically release the connection.
【0006】 実公平7−32166号公報に記載さ
れた無人走行車による台車の自動牽引方法及び自動牽引
装置は、無人走行車の外方に向けて水平に張り出す円弧
状の牽引金具の連結基部(連結部)に、台車に設けた連
結棒(被連結具)を連結させている。また、台車の行き
先位置にスタンドを設け、これを利用して牽引金具を起
伏させ、自動的に連結解除させている。[0006] The automatic towing method and the automatic towing device described in Japanese Utility Model Publication No. 7-32166 by an unmanned traveling vehicle are disclosed in Japanese Patent Application Laid-Open No. 7-32166. The connecting rod (connected tool) provided on the truck is connected to the (connecting portion). In addition, a stand is provided at the destination position of the bogie, and this is used to raise and lower the tow metal fitting to automatically release the connection.
【0007】[0007]
【発明が解決しようとする課題】上記従来技術の方法
及び装置は、連結解除をモーター駆動で行う。従って、
その構成が複雑なので、コスト高となる。また、直線走
行時での連結ができないので、デッドスペースが必要と
なり、敷地の有効利用ができない。The prior art method and apparatus described above perform the decoupling by motor drive. Therefore,
Since the configuration is complicated, the cost is high. In addition, since connection cannot be made during straight running, dead space is required and the site cannot be used effectively.
【0008】上記従来技術の方法及び装置は、湾曲走
行時の尻振り動作を利用して引掛金具を連結させるの
で、上記同様にデッドスペースが必要となり、敷地の有
効利用ができない。引掛金具を無人走行車の両側に突出
させ、直線走行時での連結も可能としたタイプは、引掛
金具のばね力を超える大きな荷重の台車では、引掛金具
の回転が戻り難く、無人走行車に追従させ、安定走行さ
せることが困難である。In the above-described prior art method and apparatus, since the hooks are connected by utilizing the swinging motion during the curved running, dead space is required similarly to the above, and the site cannot be effectively used. The type in which the hooks protrude from both sides of the unmanned traveling vehicle and can be connected during straight running is possible.With a truck with a large load exceeding the spring force of the hooks, the rotation of the hooks is difficult to return, making it unattended. It is difficult to follow and stably drive.
【0009】上記従来技術の方法及び装置は、前記
の方法及び装置と同様な課題を有する。また、台車を一
旦停止させてモータ駆動により引掛金具を連結解除させ
るから、作業性が悪く、また、その構成が複雑で、コス
ト高となる。The prior art method and apparatus have similar problems as the method and apparatus described above. In addition, since the carriage is temporarily stopped and the hook is disengaged by driving the motor, the workability is poor, the configuration is complicated, and the cost increases.
【0010】上記従来技術の方法及び装置は、上記従
来技術、の方法及び装置とかなり似た構成であるの
で、やはり同様の課題がある。牽引金具を円弧としてい
るので、従来技術、の方法及び装置に比べ、引掛金
具に相当する牽引金具に負荷する荷重は幾らか軽減され
てはいるが、台車の連結棒(被連結具)が無人走行車の
牽引金具の連結基部(連結部)に移行する際に、該連結
基部(連結部)に近付くに従い、スムーズに連結せず、
やはり無人走行車に追従させ、安定走行させることが困
難である。The above-mentioned prior art method and apparatus have substantially the same configuration as that of the above-described prior art method and apparatus, and therefore have the same problems. Since the traction fitting is formed as an arc, the load applied to the traction fitting corresponding to the hooking fitting is somewhat reduced as compared with the method and apparatus of the related art, but the connecting rod (connected part) of the bogie is unmanned. When moving to the connection base (connection part) of the towing metal fitting of the traveling vehicle, the connection is not smooth as it approaches the connection base (connection part).
After all, it is difficult to follow an unmanned vehicle and make it run stably.
【0011】従って、本発明の目的は、誘導路に対し
て、無人走行車が通り抜けて、且つ連結可能な配置に台
車の被連結具を待機させるだけで、走行中の無人走行車
と台車とを自動的に連結させることが可能であり、デッ
ドスペースが少なくて敷地の有効利用ができ、また、台
車が無人走行車にスムーズに連結され、容易に無人走行
車に追従させ、安定走行させることができ、さらに、牽
引装置の連結解除機構に対応する配置で、台車の行き先
位置に解除部材を設けるだけで、走行中の無人走行車と
台車とを自動的に連結解除することができ、解除後は、
無人走行車の次に連結する態勢も自動的に調え、しかも
低コストで実施できる、無人走行車による台車の自動牽
引方法及び自動牽引装置を提供することである。[0011] Therefore, an object of the present invention is to provide an unmanned traveling vehicle and a traveling vehicle only by making the unconnected vehicle of the traveling vehicle stand by in an arrangement where the unmanned traveling vehicle can pass through and be connected to the taxiway. Can be connected automatically, there is little dead space and the site can be used effectively, and the bogie can be smoothly connected to unmanned vehicles, easily follow unmanned vehicles, and run stably. In addition, in an arrangement corresponding to the uncoupling mechanism of the traction device, it is possible to automatically disconnect the unmanned traveling vehicle and the bogie while traveling simply by providing a release member at the destination position of the bogie. After that,
An object of the present invention is to provide an automatic traction method and an automatic traction device for a bogie by an unmanned traveling vehicle, which automatically adjusts the state of connection next to the unmanned traveling vehicle and can be implemented at low cost.
【0012】[0012]
【課題を解決するための手段】上述した課題を解決する
ための手段として、請求項1記載の発明に係る無人走行
車による台車の自動牽引方法は、路面に形成した誘導路
に沿って自走する無人走行車を牽引車とし、前記誘導路
に沿って待機する台車を被牽引車として牽引する場合
に、前記無人走行車と前記台車との連結、連結解除を自
動的に行う牽引方法であって、台車は、前輪を自由車、
後輪は固定車とし、前部に被連結具を設けてあり、該被
連結具を前記誘導路に対して、無人走行車が通り抜け
て、且つ連結可能な配置で待機させること、無人走行車
には、前記台車を牽引する以前には待機する前記台車の
被連結具と干渉を起こすように側方を向いており、台車
の被連結具と干渉し連結すると、同台車の追従動作にし
たがって回転し後方へ向く構成の牽引レバーを備えた牽
引装置を設置すること、無人走行車を走行させ、待機す
る台車の被連結具へ牽引装置の牽引レバーが連結した後
は、台車を無人走行車によりその目的位置へ牽引走行さ
せること、前記無人走行車の牽引装置に連結解除機構を
組み込み、前記台車の行き先位置には前記連結解除機構
の駆動手段を設け、該駆動手段により、前記連結解除機
構を駆動させて台車の被連結具と無人走行車の牽引レバ
ーとの連結を解除させること、をそれぞれ特徴とする。According to a first aspect of the present invention, there is provided a method for automatically towing a truck by an unmanned vehicle according to the present invention. A towing method for automatically connecting and disconnecting the unmanned traveling vehicle and the bogie when the unmanned traveling vehicle is a tow vehicle and the bogie standing by along the taxiway is towed as a tow vehicle. The truck is a free wheel on the front wheel,
The rear wheel is a fixed vehicle, and a connected device is provided at a front portion, and the connected device is allowed to stand by in an arrangement where an unmanned traveling vehicle can pass through and be connected to the taxiway. Before pulling the bogie, it is turned to the side so as to cause interference with the connected component of the bogie that stands by. Therefore, it is necessary to install a towing device equipped with a towing lever configured to rotate and point to the rear, to run the unmanned traveling vehicle, and after the towing lever of the towing device is connected to the connected component of the waiting truck, the unmanned traveling of the truck Towing the vehicle to its destination position, incorporating a disconnection mechanism in the towing device of the unmanned traveling vehicle, providing a drive means for the disconnection mechanism at a destination position of the bogie, and releasing the connection by the driving means. Driving mechanism and bogie Thereby releasing the connection between the traction lever of the connector and the unmanned vehicle, respectively characterized.
【0013】請求項2記載の発明は、請求項1記載の無
人走行車による台車の自動牽引方法において、連結解除
機構は、無人走行車の牽引装置から下向きに設けた解除
用アームを含み、前記連結解除機構の駆動手段として、
台車の行き先位置の床面に前記解除用アームと接触しこ
れを動作させる解除部材を設置し、無人走行車の走行に
したがい解除用アームが解除部材へ接触して動く動作を
利用して台車の被連結具と無人走行車の牽引レバーとの
連結を解除させることを特徴とする。According to a second aspect of the present invention, in the method for automatically towing a bogie by an unmanned traveling vehicle according to the first aspect, the connection release mechanism includes a release arm provided downward from the towing device of the unmanned traveling vehicle, As a driving means of the connection release mechanism,
A release member for contacting and operating the release arm is provided on the floor surface at the destination position of the bogie, and the release arm contacts the release member and moves according to the travel of the unmanned traveling vehicle to move the bogie. The connection between the connected component and the traction lever of the unmanned traveling vehicle is released.
【0014】請求項3記載の発明に係る無人走行車によ
る台車の自動牽引装置は、路面に形成した誘導路に沿っ
て自走する無人走行車を牽引車とし、前記誘導路に沿っ
て待機する台車を被牽引車として牽引する場合に、前記
無人走行車と前記台車との連結、連結解除を自動的に行
う牽引装置であって、牽引装置は前記無人走行車の車体
後部に設けられていること、前記台車の被連結具と干渉
し連結する連結部を有する牽引レバーが、前記牽引装置
に回転自在に、且つ傾動自在に取り付けられているこ
と、前記牽引装置には、前記牽引レバーが側方へ向くよ
うに復元回転力を与える手段が設けられていること、後
方へ回転した前記牽引レバーの直下位置に、同牽引レバ
ーの回転を固定する位置決め部材が設けられているこ
と、前記牽引レバーの先端側を持ち上げて前記台車の被
連結具及び前記位置決め部材から抜き外す連結解除機構
が設けられ、同連結解除機構を駆動する解除用アームが
下向きに設けられ、前記台車の行き先位置には、前記解
除用アームを駆動する解除部材が干渉する配置で設けら
れていること、をそれぞれ特徴とする。According to a third aspect of the present invention, there is provided an automatic towing device for a bogie using an unmanned traveling vehicle, wherein an unmanned traveling vehicle which is self-propelled along a taxiway formed on a road surface is used as a towing vehicle and stands by along the taxiway. A towing device that automatically connects and disconnects the unmanned traveling vehicle and the bogie when the towing vehicle is towed, and the towing device is provided at a rear part of the vehicle body of the unmanned traveling vehicle. A tow lever having a connecting portion that interferes with and connects to the connected member of the bogie is rotatably and tiltably attached to the tow device; Means for applying a restoring rotational force so as to be directed in the direction, a positioning member for fixing the rotation of the towing lever is provided immediately below the towing lever rotated backward, and the towing lever is provided. of A disconnection mechanism that lifts an end side and removes it from the connected member of the carriage and the positioning member is provided, a release arm that drives the disconnection mechanism is provided downward, and the destination position of the carriage is And a release member for driving the release arm is provided so as to interfere with each other.
【0015】請求項4記載の発明は、請求項3記載の無
人走行車による台車の自動牽引装置において、連結解除
機構の解除用アームは無人走行車の車体外側に下向きに
回動自在に設けられ、同解除用アームの回転軸には、位
置決め部材にて回転を固定された牽引レバーの直下位置
に台車の被連結具及び前記位置決め部材から牽引レバー
を抜き外すに必要なリフトの円板カムが取り付けられて
いることを特徴とする。According to a fourth aspect of the present invention, in the automatic towing device for a bogie using an unmanned traveling vehicle according to the third aspect, the release arm of the connection release mechanism is provided rotatably downward on the outside of the vehicle body of the unmanned traveling vehicle. On the rotation axis of the releasing arm, a disk cam of a lift necessary for removing the towing lever from the connected member of the bogie and the positioning member at a position immediately below the towing lever fixed to rotate by the positioning member. It is characterized by being attached.
【0016】請求項5記載の発明は、請求項3記載の無
人走行車による台車の自動牽引装置において、牽引装置
が、無人走行車の車体前後方向の中心線の左右に対称的
な配置で二台設置されていることを特徴とする。According to a fifth aspect of the present invention, there is provided an automatic towing device for a bogie by an unmanned traveling vehicle according to the third aspect, wherein the towing device is arranged symmetrically with respect to the center line of the unmanned traveling vehicle in the longitudinal direction of the vehicle body. It is characterized by being installed on a table.
【0017】[0017]
【発明の実施形態及び実施例】請求項1、2に記載した
発明に係る無人走行車による台車の自動牽引方法は、路
面に形成した誘導路(具体的には誘導信号用として路面
に敷設した磁気テープ、光反射テープ等による誘導路。
以下同じ。)に沿って自走する無人走行車を牽引車と
し、前記誘導路に沿って待機する台車を被牽引車として
牽引する場合に、前記無人走行車と前記台車との連結、
連結解除を走行しながら自動的に行う牽引方法として好
適に実施され、具体的には請求項3〜5に記載した発明
に係る自動牽引装置により実施される。DESCRIPTION OF THE PREFERRED EMBODIMENTS The automatic towing method of a bogie by an unmanned traveling vehicle according to the first and second aspects of the invention is directed to a taxiway formed on a road surface (specifically, a taxiway laid on a road surface for a guidance signal). Guideway with magnetic tape, light reflection tape, etc.
same as below. ) Is a tow vehicle, and a tow vehicle standing by along the taxiway is a tow vehicle. When the tow vehicle is towed as a tow vehicle, the unmanned vehicle and the bogie are connected to each other.
The present invention is suitably implemented as a towing method for automatically performing the disconnection while traveling, and specifically, is implemented by the automatic towing device according to the third to fifth aspects of the present invention.
【0018】先ず、請求項3〜5に記載した発明に係る
自動牽引装置について、図3〜図9に示した実施形態を
説明する。First, an embodiment shown in FIGS. 3 to 9 of the automatic traction device according to the third to fifth aspects of the present invention will be described.
【0019】図3、図4に示したように、牽引装置10
は無人走行車2の車体後部に設けられている。先端部に
台車7の被連結具8と干渉を起こして連結する連結部1
1aを有する牽引レバー11は、前記牽引装置10に回
転自在に、且つ上下方向への傾動が自在に取り付けられ
ている。図示した実施例では、無人走行車2の車体後部
に設けられた軸受け14に軸13が回転可能に支持さ
れ、アダプター12へ牽引レバー11の後端が水平なピ
ン15により上下方向への傾動が自在に取り付けられて
いる。As shown in FIG. 3 and FIG.
Is provided at the rear of the vehicle body of the unmanned traveling vehicle 2. The connecting portion 1 that is connected to the leading end portion by causing interference with the connected member 8 of the carriage 7
The traction lever 11 having 1a is attached to the traction device 10 so as to be rotatable and vertically tiltable. In the illustrated embodiment, the shaft 13 is rotatably supported by a bearing 14 provided at the rear of the vehicle body of the unmanned traveling vehicle 2, and the rear end of the towing lever 11 is tilted in the vertical direction by a horizontal pin 15 to the adapter 12. Mounted freely.
【0020】図4に示したように、前記牽引レバー11
の連結部11aは鉤形に形成され、前記台車7の被連結
具8は(前記鉤形が掛け止まるように)垂直上向きに立
ち上がる棒形状に形成され、もって両者は干渉により連
結可能とされている。但し、図5A、Bに示したよう
に、逆の構成でも実施可能である。つまり、台車7の被
連結具8が鉤形に形成され、牽引レバー11の連結部1
1aは垂直下向きに垂下した棒形状に形成される。この
場合も、後述する連結解除機構を含めたその他の構成は
全て同じで実施することができる。As shown in FIG. 4, the pulling lever 11
The connecting portion 11a of the carriage 7 is formed in a hook shape, and the connected member 8 of the carriage 7 is formed in the shape of a bar that rises vertically upward (so that the hook shape stops), so that the two can be connected by interference. I have. However, as shown in FIG. 5A and FIG. That is, the connected member 8 of the carriage 7 is formed in a hook shape, and the connecting portion 1 of the towing lever 11 is formed.
1a is formed in a bar shape hanging vertically downward. Also in this case, all other configurations including a connection release mechanism described later can be implemented in the same manner.
【0021】また、図3及び図4に示した実施例では、
図7に詳細を示したように、鉤形に形成された牽引レバ
ー11の連結部11aの開口部に、当該開口部へ嵌った
棒形状に形成された台車7の被連結具8の抜け出しを防
ぐ戻り防止用のストッパー26が設けられている。この
逆の構成とされた図5A、Bに示した実施例では、鉤形
に形成された台車7の被連結具8に前記同様の戻り防止
用のストッパー26が設けられている。これにより連結
状態が自己保持される。図7中の符号32は前記戻り防
止用のストッパー26に閉鎖位置への復元回転力を与え
るバネであり、符号27はストッパー26の最大回転位
置を規制する止め具である。In the embodiment shown in FIGS. 3 and 4,
As shown in detail in FIG. 7, in the opening of the connecting portion 11 a of the towing lever 11 formed in a hook shape, the connected member 8 of the bogie 7 formed in a rod shape fitted into the opening is pulled out. A stopper 26 for preventing return is provided. In the embodiment shown in FIGS. 5A and 5B having the reverse structure, the stoppers 26 for preventing return as described above are provided on the connected member 8 of the carriage 7 formed in a hook shape. As a result, the connected state is maintained by itself. Reference numeral 32 in FIG. 7 is a spring for applying a return rotational force to the stopper 26 for preventing return to the closed position, and reference numeral 27 is a stopper for regulating the maximum rotational position of the stopper 26.
【0022】図4に示したように、前記アダプター12
と前記無人走行車2の車体との間には、前記牽引レバー
11が側方へ略直角な向きとなるように常時復元回転力
を与える手段としてのダンパー16が設置されている。
図示例の場合、ダンパー16には圧縮用バネが使用され
ているが、ガススプリングを使用してもよい。ダンパー
16が伸長する作用力により、アダプター12と共に、
牽引レバー11が軸13を中心に回転し、図4中に仮想
線で示したように無人走行車2の側方へ向いた姿勢とな
り、台車7の被連結具8と連結する態勢を調える。As shown in FIG.
A damper 16 is provided between the vehicle and the vehicle body of the unmanned traveling vehicle 2 as a means for constantly applying a restoring rotational force so that the traction lever 11 is oriented substantially perpendicularly to the side.
In the illustrated example, a compression spring is used for the damper 16, but a gas spring may be used. Due to the action force of the damper 16 extending, together with the adapter 12,
The towing lever 11 rotates about the shaft 13 and assumes a posture facing the side of the unmanned traveling vehicle 2 as indicated by a virtual line in FIG.
【0023】台車7を牽引することにより図4に実線で
示したように後方へ回転した前記牽引レバー11の直下
位置に、同牽引レバー11の回転を固定する位置決め部
材17が設けられている。図6に詳細を示したように、
位置決め部材17は、牽引レバー11の幅寸と略同じ溝
幅の凹状をなす切欠き部17aを有する。そして、牽引
レバー11の後方への回転方向に見て前記切欠き部17
aより後側の部位が軸31により無人走行車2の車体後
端部に取り付けられた支持板18へ回転自在で支持さ
れ、また、切欠き部17aの直下部がバネ24で上向き
に押されている。但し、位置決め部材17は、ストッパ
ー23に当って常時水平姿勢を保つ。従って、牽引レバ
ー11が無人走行車2の後方側へ回転して来ると、位置
決め部材17は漸次手前側端部を押し下げられ、前記凹
状の切欠き部17aの位置へ牽引レバー11が到達する
と、位置決め部材17がバネ24で浮上させられて牽引
レバー11は切欠き部17aの中に嵌まり込み、回転を
固定される仕組みである。こうして位置決め部材17
は、無人走行車2が台車7を牽引する際に、牽引レバー
11のむやみな回転を止め、ひいては台車7がフラフラ
しない安定走行を確保する。As shown by the solid line in FIG. 4, a positioning member 17 for fixing the rotation of the towing lever 11 is provided at a position immediately below the towing lever 11 which is rotated rearward as shown by a solid line in FIG. As shown in detail in FIG.
The positioning member 17 has a concave notch 17 a having a groove width substantially equal to the width of the pulling lever 11. The notch 17 is viewed in the direction of rotation of the towing lever 11 rearward.
A portion of the notch 17a is rotatably supported by a support plate 18 attached to a rear end portion of the unmanned traveling vehicle 2 by a shaft 31, and a portion immediately below the notch 17a is pushed upward by a spring 24. ing. However, the positioning member 17 always keeps a horizontal posture by hitting the stopper 23. Therefore, when the towing lever 11 is rotated to the rear side of the unmanned traveling vehicle 2, the positioning member 17 is gradually pushed down at the front end, and when the towing lever 11 reaches the position of the concave notch 17a, The positioning member 17 is lifted by the spring 24, and the traction lever 11 is fitted into the notch 17a to fix the rotation. Thus, the positioning member 17
When the unmanned traveling vehicle 2 pulls the bogie 7, the towing lever 11 stops rotating unnecessarily, and as a result, stable running without bouncing of the bogie 7 is ensured.
【0024】図4と図7で明解な符号25は、牽引レバ
ー11の回転時に水平姿勢と移動を維持するために設け
たガイドである。図3と図4中の符号3’は無人走行車
2の走行ユニットの駆動用車輪であり、符号3は無人走
行車2の四隅に設置した走行用車輪、符号30はバンパ
ー、符号5は制御盤、符号6は動力源としてのバッテリ
ーである。Reference numeral 25 in FIGS. 4 and 7 denotes a guide provided for maintaining the horizontal posture and the movement of the traction lever 11 when the traction lever 11 rotates. Reference numerals 3 'in FIGS. 3 and 4 denote driving wheels of a traveling unit of the unmanned traveling vehicle 2, numeral 3 denotes traveling wheels installed at four corners of the unmanned traveling vehicle 2, numeral 30 denotes a bumper, and numeral 5 denotes a control. Reference numeral 6 denotes a battery as a power source.
【0025】図7、図8に示したように、前記牽引装置
10には、前記牽引レバー11の先端側を持ち上げて、
台車7の被連結具8及び前記位置決め部材17の切欠き
部17aから抜き外す、解除用アーム21により駆動さ
れる連結解除機構が設けられている。当該解除用アーム
21は、無人走行車2の車体の外側に下向きに、且つ回
動自在に設けられ、同解除用アーム21の回転軸19
は、無人走行車2の車体上の軸受け28、28により水
平に支持されている。前記回転軸19には、位置決め部
材17の切欠き部17aにて回転を固定された牽引レバ
ー11の直下位置に、台車7の被連結具8及び位置決め
部材17の切欠き部17aから牽引レバー11を上方へ
押し上げて抜き外すのに必要なリフトを有する円板カム
20が取り付けられている(請求項4記載の発明)。図
7及び図8中の符号22は解除用アーム21の先端に設
けられたコロである。As shown in FIGS. 7 and 8, the towing device 10 is provided with the tip of the towing lever 11 raised.
There is provided a connection release mechanism driven by a release arm 21 which is removed from the connected member 8 of the carriage 7 and the notch 17a of the positioning member 17. The release arm 21 is rotatably provided on the outside of the vehicle body of the unmanned traveling vehicle 2 in a downward and rotatable manner.
Are horizontally supported by bearings 28 on the body of the unmanned traveling vehicle 2. On the rotary shaft 19, the pulling lever 11 is moved from the notched part 8 of the carriage 7 and the notch 17 a of the positioning member 17 to a position directly below the towing lever 11, the rotation of which is fixed by the notch 17 a of the positioning member 17. A disk cam 20 having a lift necessary to push up and remove the cam is attached (the invention according to claim 4). Reference numeral 22 in FIGS. 7 and 8 denotes a roller provided at the tip of the release arm 21.
【0026】一方、前記台車7の行き先位置には、前記
解除用アーム21が突き当たり回転を生じさせる配置及
び形態で解除部材9が設けられている。On the other hand, a release member 9 is provided at a destination position of the carriage 7 in an arrangement and form in which the release arm 21 abuts and causes rotation.
【0027】要するに前記連結解除機構は、無人走行車
2が台車7の行き先位置へ到達すると、同行き先位置に
設置された解除部材9に前記無人走行車2の車体外側へ
下向きに設けられた解除用アーム21のコロ22が突き
当たり、同アーム21に或る回転角の回転を生じさせ
る。その回転は回転軸19を介して円板カム20の回転
として伝達され、同円板カム20のリフトによって位置
決め部材17の切欠き部17aから牽引レバー11を上
方へ押し上げて抜き外し、同時に台車7の被連結具8と
の連結も解除する構成である。In short, when the unmanned traveling vehicle 2 reaches the destination position of the bogie 7, the connection release mechanism is provided with a release member 9 provided at the destination position, which is provided downwardly to the outside of the vehicle body of the unmanned traveling vehicle 2. The roller 22 of the arm 21 abuts and causes the arm 21 to rotate at a certain rotation angle. The rotation is transmitted as rotation of the disc cam 20 via the rotating shaft 19, and the lift of the disc cam 20 pushes up the pulling lever 11 upward from the notch 17 a of the positioning member 17 and removes the pulling lever 11. The connection with the connected device 8 is also released.
【0028】本発明に係る牽引装置の構成、配置は、上
記実施例に限らず、例えば図9に示したように、牽引装
置10を無人走行車2の車体前後方向の中心線の左右に
対称的な配置で二台設置された形態で実施することもで
きる(請求項5記載の発明)。かくすると、誘導路の両
サイドに配置し待機させたどちらか一方の台車の連結、
牽引も可能である。The configuration and arrangement of the towing device according to the present invention is not limited to the above embodiment. For example, as shown in FIG. 9, the towing device 10 is symmetrical with respect to the center line of the unmanned traveling vehicle 2 in the vehicle longitudinal direction. It can also be implemented in a form in which two units are installed in a typical arrangement (the invention according to claim 5). In this way, connecting one of the trucks placed on both sides of the taxiway and waiting,
Towing is also possible.
【0029】図9に示した実施例では、二台設置された
牽引装置10、10のそれぞれの牽引レバー11、1
1’の前記位置決め部材17を超えた部位に蝶番29が
設けられ、上方へ折り畳み可能な構成とされている。図
示したように、誘導路の両サイドに待機させた場合、
(無人走行車2の進行方向に対して)誘導路の左サイド
に待機させた台車7だけを連結牽引させるためには、牽
引レバー11’は蝶番29の部分で上方へ折り畳んでお
き、牽引レバー11のみを連結牽引可能な状態とする。
誘導路の右サイドに待機させた台車7だけを連結牽引さ
せる場合は、この逆に牽引レバー11を蝶番29の部分
で上方へ折り畳んでおき、牽引レバー11’のみを連結
牽引可能な状態とすればよい。つまりは、必要に応じて
交互に牽引レバー11、11’を連結牽引可能な状態と
することで、誤って逆サイドの台車を連結牽引すること
なく、両サイドに待機する台車を順次牽引することがで
きる訳である。In the embodiment shown in FIG. 9, the respective towing levers 11, 1 of two towing devices 10, 10 are provided.
A hinge 29 is provided at a position 1 'beyond the positioning member 17, so that it can be folded upward. As shown in the figure, when waiting on both sides of the taxiway,
In order to connect and pull only the bogie 7 waiting on the left side of the taxiway (with respect to the traveling direction of the unmanned traveling vehicle 2), the towing lever 11 'is folded upward at the hinge 29, and the towing lever is folded. Only 11 can be connected and pulled.
In the case where only the bogie 7 that is waiting on the right side of the taxiway is connected and towed, on the contrary, the towing lever 11 is folded upward at the hinge 29 and only the towing lever 11 ′ is brought into a state in which only the towing lever 11 ′ can be connected and towed. I just need. In other words, by alternately setting the towing levers 11 and 11 ′ as needed to connect and tow, it is possible to sequentially tow the bogies waiting on both sides without accidentally connecting and towing the bogie on the opposite side. Can be done.
【0030】次に、上記構成の牽引装置10を備えた無
人走行車2と、被連結具8を備えた台車7とによって実
施される、請求項1、2に記載した発明に係る自動牽引
方法を、図1、図2に示した実施形態に基いて説明す
る。Next, the automatic towing method according to the first and second aspects of the present invention is carried out by the unmanned traveling vehicle 2 having the above-described towing device 10 and the bogie 7 having the connected components 8. Will be described based on the embodiment shown in FIGS.
【0031】台車7は、その前部に被連結具8を設けて
あり、該被連結具8を誘導路Yに対して、無人走行車2
は通り抜けるが、牽引レバー11とは干渉を起こして連
結する配置で待機させる(図1A)。台車7は、前輪7
aを自由車、後輪7bは固定車とすることにより、後述
する連結時の追従動作がスムーズに行われ、無人走行車
2による牽引中の台車7の走行も安定したものとなる。The bogie 7 is provided with a connected member 8 at a front portion thereof.
Passes through, but causes interference with the traction lever 11 and waits in an arrangement to connect (FIG. 1A). The cart 7 is a front wheel 7
By setting a to be a free vehicle and the rear wheel 7b to be a fixed vehicle, the following operation at the time of connection, which will be described later, is performed smoothly, and the traveling of the bogie 7 during towing by the unmanned traveling vehicle 2 becomes stable.
【0032】無人走行車2の牽引レバー11は、前記台
車7を牽引する以前には、前記のように待機する台車7
の被連結具8と干渉を起こすように略直角に側方を向い
ている(図1A)。この牽引レバー11が台車7の被連
結具8の位置へ到達し干渉を起こして連結すると(図1
B)、同台車7の追従動作にしたがって牽引レバー11
は回転して後方へ向き、安定した牽引走行の状態となる
(図1C)。こうして台車7を無人走行車2によりその
目的位置へ牽引走行させる。Before the trolley 7 is pulled, the traction lever 11 of the unmanned traveling vehicle 2 moves the trolley 7 on standby as described above.
(See FIG. 1A) so as to cause interference with the connected member 8 of FIG. When the towing lever 11 reaches the position of the connected member 8 of the bogie 7 and causes interference to connect (FIG. 1)
B), the traction lever 11 according to the following operation of the bogie 7
Rotates and turns rearward, and is in a stable towing state (FIG. 1C). Thus, the truck 7 is towed by the unmanned traveling vehicle 2 to its target position.
【0033】図1A〜Cは、直線走行時(直線の誘導路
Y)における連結動作を示しているが、図2に示したよ
うな湾曲走行時(湾曲状の誘導路Y)での連結も可能で
ある。また、台車7を待機させる配置は、誘導路Yに対
して略直角と説明したが、上述したように、被連結具8
を前記誘導路Yに対し、無人走行車2が通り抜けて、牽
引レバー11と連結可能な配置で待機させればよいの
で、様々な配置での待機が許容される。よって、誘導路
のデッドスペースを極力少なくすることができ、敷地の
有効利用ができる。FIGS. 1A to 1C show the connection operation during straight running (straight guideway Y), but also the connection during curved running (curved guideway Y) as shown in FIG. It is possible. In addition, the arrangement in which the carriage 7 waits has been described to be substantially perpendicular to the guide path Y, but as described above,
Can be made to stand by in an arrangement that allows the unmanned traveling vehicle 2 to pass through the taxiway Y and be connected to the tow lever 11, so that standby in various arrangements is allowed. Therefore, the dead space of the taxiway can be minimized and the site can be effectively used.
【0034】無人走行車2が台車7の目的位置へ到着す
ると、解除用アーム21が解除部材9へ当って回転させ
られ、上記した要領で連結解除機構が駆動され(図7、
図8参照)、台車7の被連結具8と無人走行車2の牽引
レバー11との連結が解除される。こうして連結が解除
されると同時に、無人走行車2の牽引レバー11はダン
パー16の作用で元の側方を向いた状態に復元し、次な
る連結に備えている。When the unmanned traveling vehicle 2 arrives at the target position of the bogie 7, the release arm 21 rotates against the release member 9, and the connection release mechanism is driven in the manner described above (FIG. 7,
8), the connection between the connected object 8 of the bogie 7 and the traction lever 11 of the unmanned traveling vehicle 2 is released. At the same time when the connection is released in this way, the towing lever 11 of the unmanned traveling vehicle 2 is restored to its original sideward state by the action of the damper 16 and is ready for the next connection.
【0035】なお、無人走行車2から連結を解除された
台車7は、例えばコンベアラインにより自動的に、ある
いは人手により引き取るなどして誘導路Y上から取り除
かれる。The truck 7 disconnected from the unmanned traveling vehicle 2 is removed from the taxiway Y, for example, automatically by a conveyor line or manually.
【0036】[0036]
【発明の奏する効果】請求項1、2に記載した発明に係
る自動牽引方法及び請求項3〜5に記載した発明に係る
自動牽引装置によれば、誘導路に対して、無人走行車が
通り抜けて、且つ連結可能な配置として台車の被連結具
を待機させるだけで、無人走行車と台車とを自動的に連
結させることが可能であり、これによりデッドスペース
を少なくして敷地の有効利用ができる。また、台車が無
人走行車にスムーズに連結されるので、容易に無人走行
車に追従させ、安定走行させることができる。According to the automatic towing method according to the first and second aspects of the present invention and the automatic towing apparatus according to the third to fifth aspects, the unmanned vehicle passes through the taxiway. It is possible to automatically connect the unmanned traveling vehicle and the bogie only by waiting for the bogie's connected components as a connectable arrangement, thereby reducing dead space and effectively using the site. it can. In addition, since the bogie is smoothly connected to the unmanned traveling vehicle, it can easily follow the unmanned traveling vehicle and run stably.
【0037】さらに、牽引装置の連結解除機構に対応す
る配置で、台車の行き先位置に解除部材を設けるだけで
無人走行車と台車とを自動的に連結解除することができ
ると共に、解除後は、無人走行車の次に連結する態勢も
自動的に調え、しかも低コストで実施できる。Further, in the arrangement corresponding to the uncoupling mechanism of the traction device, the unmanned vehicle and the bogie can be automatically uncoupled simply by providing a release member at the destination position of the bogie. The system to automatically connect to the unmanned vehicle is automatically adjusted, and can be implemented at low cost.
【図1】本発明に係る自動牽引方法において、A〜Bは
無人走行車と台車との直線走行時の連結動作を示した平
面図である。FIG. 1 is a plan view showing a connection operation between an unmanned traveling vehicle and a bogie during straight traveling in an automatic towing method according to the present invention.
【図2】本発明に係る自動牽引方法において、無人走行
車と台車との湾曲走行時の連結動作の一部を示した平面
図である。FIG. 2 is a plan view showing a part of a connecting operation of the unmanned traveling vehicle and the bogie during a curved traveling in the automatic towing method according to the present invention.
【図3】本発明に係る自動牽引装置の実施例を示した正
面図である。FIG. 3 is a front view showing an embodiment of the automatic traction device according to the present invention.
【図4】前記図3の平面図である。FIG. 4 is a plan view of FIG. 3;
【図5】本発明に係る自動牽引装置において、牽引レバ
ーの連結部と台車の被連結具の構成を逆にした場合の実
施例を示した、Aは平面図であり、Bは正面図である。FIG. 5 is a plan view and FIG. 5B is a front view of the automatic towing device according to the present invention, in which the configuration of the connecting portion of the towing lever and the connected component of the bogie are reversed. is there.
【図6】前記図3のP−P線矢視における拡大断面図で
ある。FIG. 6 is an enlarged sectional view taken along line PP of FIG. 3;
【図7】連結解除機構の詳細を示した平面図である。FIG. 7 is a plan view showing details of a connection release mechanism.
【図8】前記図7の正面図である。FIG. 8 is a front view of FIG. 7;
【図9】無人走行車に牽引装置を二台設置した場合の実
施例を示した、Aは平面図であり、Bは正面図である。FIG. 9 is a plan view and FIG. 9B is a front view showing an embodiment in which two traction devices are installed in an unmanned traveling vehicle.
Y 誘導路 2 無人走行車 7 台車 7a 前輪 7b 後輪 8 被連結具 11 牽引レバー 10 牽引装置 21 解除用アーム 9 解除部材 11a 連結部 16 復元回転力を与える手段(ダンパー) 17 位置決め部材 19 回転軸 20 円板カム Y Taxiway 2 Unmanned traveling vehicle 7 Bogie 7a Front wheel 7b Rear wheel 8 Connected tool 11 Traction lever 10 Traction device 21 Release arm 9 Release member 11a Connection portion 16 Means for giving restoring torque (damper) 17 Positioning member 19 Rotary shaft 20 disk cam
─────────────────────────────────────────────────────
────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成12年4月12日(2000.4.1
2)[Submission date] April 12, 2000 (2004.1.
2)
【手続補正1】[Procedure amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】発明の名称[Correction target item name] Name of invention
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【発明の名称】 無人走行車による台車の自動牽
引装置[Title of the Invention] Automatic trolley for bogies by unmanned vehicles
【手続補正2】[Procedure amendment 2]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】特許請求の範囲[Correction target item name] Claims
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【特許請求の範囲】[Claims]
【請求項1】路面に形成した誘導路に沿って自走する無
人走行車を牽引車とし、前記誘導路に沿って待機する台
車を被牽引車として牽引する場合に、前記無人走行車と
前記台車との連結、連結解除を自動的に行う牽引装置で
あって、 牽引装置は前記無人走行台車の車体後部に設けられてい
ること、 前記台車の被連結具と干渉し連結する連結部を有する牽
引レバーが、前記牽引装置に回転自在に、且つ傾動自在
に取り付けられていること、 前記牽引装置には、前記牽引レバーが側方へ向くように
復元回転力を与える手段が設けられていること、 後方へ回転した前記牽引レバーの直下位置に、同牽引レ
バーの回転を固定する位置決め部材が設けられているこ
と、 前記位置決め部材により回転を固定された牽引レバーの
先端側を持ち上げて前記台車の被連結具及び前記位置決
め部材から抜き外す連結解除機構が牽引装置に設けられ
ていること、 同連結解除機構を駆動する解除用アームは無人走行車の
車体外側に下向きに回動自在に設けられ、同解除用アー
ムの回転軸には、位置決め部材にて回転を固定された牽
引レバーの直下位置に台車の被連結具及び前記位置決め
部材から牽引レバーを抜き外すのに必要なリフトの円板
カムが取り付けられていること、 前記台車の行き先位置には、前記解除用アームを駆動す
る解除部材が干渉する配置で設けられていること、をそ
れぞれ特徴とする、無人走行車による台車の自動牽引装
置。 1. A unmanned vehicle for self-propelled along a guide path formed in the road surface and the tractor, the carriage to wait along the guide path when towing as towed vehicle, the said unmanned vehicle A traction device for automatically connecting and disconnecting to and from a truck, wherein the traction device is provided at a rear portion of the vehicle body of the unmanned traveling vehicle, and has a connecting portion that interferes with and connects to a connected member of the truck. A tow lever is rotatably and tiltably attached to the tow device, and the tow device is provided with a means for applying a restoring rotational force so that the tow lever is directed sideways. , immediately below the position of the traction lever rotated backward, the positioning member for fixing the rotation of the traction lever is provided, lifting the tip side of the fixed traction lever rotated by the positioning member wherein Uncoupling mechanism is provided on the traction device to remove disconnect from the connector and the positioning member of the vehicle
To have it, releasing the arm to drive the same uncoupling mechanism of unmanned vehicles
An unlocking arm is provided on the outside of the car
The rotation shaft is fixed to the rotating shaft of the
The bogie's connected part and the positioning above the pull lever
Lift disk required to pull the traction lever out of the component
Automatic towing of the bogie by an unmanned traveling vehicle , wherein a cam is mounted, and a release member for driving the release arm is provided at the destination position of the bogie so as to interfere with the release member. apparatus.
【手続補正3】[Procedure amendment 3]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】0012[Correction target item name] 0012
【補正方法】削除[Correction method] Deleted
【手続補正4】[Procedure amendment 4]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】0013[Correction target item name] 0013
【補正方法】削除[Correction method] Deleted
【手続補正5】[Procedure amendment 5]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】0014[Correction target item name] 0014
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【0014】 [0014]
【課題を解決するための手段】上述した課題を解決する
ための手段として、 請求項1記載の発明に係る無人走行
車による台車の自動牽引装置は、路面に形成した誘導路
に沿って自走する無人走行車を牽引車とし、前記誘導路
に沿って待機する台車を被牽引車として牽引する場合
に、前記無人走行車と前記台車との連結、連結解除を自
動的に行う牽引装置であって、牽引装置は前記無人走行
台車の車体後部に設けられていること、前記台車の被連
結具と干渉し連結する連結部を有する牽引レバーが、前
記牽引装置に回転自在に、且つ傾動自在に取り付けられ
ていること、前記牽引装置には、前記牽引レバーが側方
へ向くように復元回転力を与える手段が設けられている
こと、後方へ回転した前記牽引レバーの直下位置に、同
牽引レバーの回転を固定する位置決め部材が設けられて
いること、前記位置決め部材により回転を固定された牽
引レバーの先端側を持ち上げて前記台車の被連結具及び
前記位置決め部材から抜き外す連結解除機構が牽引装置
に設けられていること、同連結解除機構を駆動する解除
用アームは無人走行車の車体外側に下向きに回動自在に
設けられ、同解除用アームの回転軸には、位置決め部材
にて回転を固定された牽引レバーの直下位置に台車の被
連結具及び前記位置決め部材から牽引レバーを抜き外す
のに必要なリフトの円板カムが取り付けられているこ
と、前記台車の行き先位置には、前記解除用アームを駆
動する解除部材が干渉する配置で設けられていること、
をそれぞれ特徴とする。 [Means for Solving the Problems] To solve the above-mentioned problems.
As a means for achieving this, the automatic towing device for a bogie by an unmanned traveling vehicle according to the invention according to claim 1 uses an unmanned traveling vehicle that is self-propelled along a taxiway formed on a road surface as a towing vehicle, and runs along the taxiway. A towing device for automatically connecting and disconnecting the unmanned traveling vehicle and the bogie when the standby bogie is towed as a towed vehicle, wherein the towing device is provided at a rear portion of the vehicle body of the unmanned traveling vehicle. A towing lever having a connecting portion that interferes with and connects to a connected member of the bogie is rotatably and tiltably attached to the towing device; and the towing device includes the towing lever. Is provided with means for applying a restoring rotational force so as to face sideways, and a positioning member for fixing the rotation of the tow lever is provided at a position directly below the tow lever rotated backward, position Lift the tip side of牽<br/> pull lever which is fixed to rotate by fit member removing disconnect from the connector and the positioning member of the carriage coupling release mechanism pulling device
It is provided in, release arm that drives the coupling release mechanism pivotally downward in the vehicle body outer side of the unmanned vehicle
A positioning member is provided on the rotation axis of the release arm.
At the position just below the traction lever, the rotation of which is fixed,
Pull out the traction lever from the coupling and the positioning member
That the disk cam of the lift necessary for
If, the destination position of the carriage, the release member for driving the releasing arm is provided with interfering arrangement,
Are characterized.
【手続補正6】[Procedure amendment 6]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】0015[Correction target item name] 0015
【補正方法】削除[Correction method] Deleted
【手続補正7】[Procedure amendment 7]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】0016[Correction target item name] 0016
【補正方法】削除[Correction method] Deleted
【手続補正8】[Procedure amendment 8]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】0017[Correction target item name] 0017
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【0017】[0017]
【発明の実施形態及び実施例】図1、図2に例示した無
人走行車による台車の自動牽引方法は、路面に形成した
誘導路(具体的には誘導信号用として路面に敷設した磁
気テープ、光反射テープ等による誘導路。以下同じ。)
に沿って自走する無人走行車を牽引車とし、前記誘導路
に沿って待機する台車を被牽引車として牽引する場合
に、前記無人走行車と前記台車との連結、連結解除を走
行しながら自動的に行う牽引方法として好適に実施さ
れ、具体的には請求項1に記載した発明に係る自動牽引
装置により実施される。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The method of automatically towing a bogie by an unmanned traveling vehicle illustrated in FIGS. 1 and 2 uses a taxiway formed on a road surface (specifically, on a road surface for a guidance signal). Guideways with laid magnetic tape, light reflecting tape, etc. The same applies hereinafter.)
When an unmanned traveling vehicle that is self-propelled along is a tow vehicle, and a tow vehicle that stands by along the taxiway is towed as a towed vehicle, the unmanned traveling vehicle and the bogie are connected and disconnected while traveling. The present invention is suitably implemented as an automatic towing method, and specifically, is implemented by the automatic towing device according to the first aspect of the present invention.
【手続補正9】[Procedure amendment 9]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】0018[Correction target item name] 0018
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【0018】先ず、請求項1に記載した発明に係る自動
牽引装置について、図3〜図9に示した実施形態を説明
する。[0018] First, the automatic retraction device according to the invention described in claim 1, an embodiment shown in FIGS. 3 to 9.
【手続補正10】[Procedure amendment 10]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】0025[Correction target item name] 0025
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【0025】図7、図8に示したように、前記牽引装置
10には、前記牽引レバー11の先端側を持ち上げて、
台車7の被連結具8及び前記位置決め部材17の切欠き
部17aから抜き外す、解除用アーム21により駆動さ
れる連結解除機構が設けられている。当該解除用アーム
21は、無人走行車2の車体の外側に下向きに、且つ回
動自在に設けられ、同解除用アーム21の回転軸19
は、無人走行車2の車体上の軸受け28、28により水
平に支持されている。前記回転軸19には、位置決め部
材17の切欠き部17aにて回転を固定された牽引レバ
ー11の直下位置に、台車7の被連結具8及び位置決め
部材17の切欠き部17aから牽引レバー11を上方へ
押し上げて抜き外すのに必要なリフトを有する円板カム
20が取り付けられている。図7及び図8中の符号22
は解除用アーム21の先端に設けられたコロである。As shown in FIGS. 7 and 8, the towing device 10 is provided with the tip of the towing lever 11 raised.
There is provided a connection release mechanism driven by a release arm 21 which is removed from the connected member 8 of the carriage 7 and the notch 17a of the positioning member 17. The release arm 21 is rotatably provided on the outside of the vehicle body of the unmanned traveling vehicle 2 in a downward and rotatable manner.
Are horizontally supported by bearings 28 on the body of the unmanned traveling vehicle 2. On the rotary shaft 19, the pulling lever 11 is moved from the notched part 8 of the carriage 7 and the notch 17 a of the positioning member 17 to a position directly below the towing lever 11, the rotation of which is fixed by the notch 17 a of the positioning member 17. the that have disc cam 20 is mounted with the lift required to remove pulling it pushed upward. Reference numeral 22 in FIGS. 7 and 8
Is a roller provided at the tip of the release arm 21.
【手続補正11】[Procedure amendment 11]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】0028[Correction target item name] 0028
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【0028】本発明に係る牽引装置の構成、配置は、上
記実施例に限らず、例えば図9に示したように、牽引装
置10を無人走行車2の車体前後方向の中心線の左右に
対称的な配置で二台設置された形態で実施することもで
きる。かくすると、誘導路の両サイドに配置し待機させ
たどちらか一方の台車の連結、牽引も可能である。The configuration and arrangement of the towing device according to the present invention is not limited to the above embodiment. For example, as shown in FIG. 9, the towing device 10 is symmetrical with respect to the center line of the unmanned traveling vehicle 2 in the vehicle longitudinal direction. it that-out also de <br/> be implemented in two Projectors form in arrangement. In this way, it is possible to connect and tow one of the trucks arranged and waiting on both sides of the taxiway.
【手続補正12】[Procedure amendment 12]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】0030[Correction target item name] 0030
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【0030】次に、上記構成の牽引装置10を備えた無
人走行車2と、被連結具8を備えた台車7とによって実
施される自動牽引方法を、図1、図2に示した実施形態
に基いて説明する。Next, the unmanned vehicle 2 provided with a traction device 10 configured as described above, embodiments of the automatic traction how implemented by the carriage 7 provided with the connector 8, FIG. 1, shown in FIG. 2 A description will be given based on the form.
【手続補正13】[Procedure amendment 13]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】0036[Correction target item name] 0036
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【0036】[0036]
【発明の奏する効果】請求項1に記載した発明に係る無
人走行車による台車の自動牽引装置によれば、誘導路に
対して、無人走行車が通り抜けられ、且つ台車はその被
連結具を連結可能な配置として待機させるだけで、無人
走行車と台車とを自動的に連結させることが可能であ
り、これによりデッドスペースを少なくして敷地の有効
利用ができる。また、台車が無人走行車にスムーズに連
結されるので、容易に無人走行車に追従させ、安定走行
させることができる。[Effect exhibited by the Invention No according to the invention described in claim 1
According to the automatic traction device of the truck by a person traveling vehicle, relative to the taxiway, unmanned vehicles is through, and dolly under the
The driverless vehicle and the bogie can be automatically connected simply by waiting the connecting tool in a connectable arrangement , so that the dead space can be reduced and the site can be effectively used. In addition, since the bogie is smoothly connected to the unmanned traveling vehicle, it can easily follow the unmanned traveling vehicle and run stably.
Claims (5)
人走行車を牽引車とし、前記誘導路に沿って待機する台
車を被牽引車として牽引する場合に、前記無人走行車と
前記台車との連結、連結解除を自動的に行う牽引方法で
あって、 台車は、前輪を自由車、後輪は固定車とし、前部に被連
結具を設けてあり、該被連結具を前記誘導路に対して、
無人走行車が通り抜けて、且つ連結可能な配置で待機さ
せること、 無人走行車には、前記台車を牽引する以前には待機する
前記台車の被連結具と干渉を起こすように側方を向いて
おり、台車の被連結具と干渉し連結すると、同台車の追
従動作にしたがって回転し後方へ向く構成の牽引レバー
を備えた牽引装置を設置すること、 無人走行車を走行させ、待機する台車の被連結具へ牽引
装置の牽引レバーが連結した後は、台車を無人走行車に
よりその目的位置へ牽引走行させること、 前記無人走行車の牽引装置に連結解除機構を組み込み、
前記台車の行き先位置には前記連結解除機構の駆動手段
を設け、該駆動手段により、前記連結解除機構を駆動さ
せて台車の被連結具と無人走行車の牽引レバーとの連結
を解除させること、をそれぞれ特徴とする、無人走行車
による台車の自動牽引方法。An unmanned vehicle that travels by itself along a taxiway formed on a road surface is a tow vehicle, and a truck that stands by along the taxiway is a tow vehicle. A towing method for automatically connecting and disconnecting a bogie, wherein the bogie has a front wheel as a free wheel, a rear wheel as a stationary wheel, and a front part provided with a connected part, and the connected part is For taxiways,
An unmanned traveling vehicle passes through and stands by in a connectable arrangement. The unmanned traveling vehicle is turned sideways so as to cause interference with a connected component of the bogie that stands by before towing the bogie. The trolley is equipped with a traction device that has a traction lever that is configured to rotate according to the following operation of the trolley and point backward when it interferes with the connected component of the trolley. After the towing lever of the towing device is connected to the connected component, the truck is towed by the unmanned traveling vehicle to its target position, and a disconnection mechanism is incorporated in the towing device of the unmanned traveling vehicle,
Driving means for the disconnection mechanism is provided at the destination position of the bogie, and the driving means drives the disconnection mechanism to release the connection between the connected member of the bogie and the towing lever of the unmanned traveling vehicle, An automatic towing method for bogies by unmanned vehicles.
ら下向きに設けた解除用アームを含み、前記連結解除機
構の駆動手段として、台車の行き先位置の床面に前記解
除用アームと接触しこれを動作させる解除部材を設置
し、無人走行車の走行にしたがい解除用アームが解除部
材へ接触して動く動作を利用して台車の被連結具と無人
走行車の牽引レバーとの連結を解除させることを特徴と
する、請求項1記載の無人走行車による台車の自動牽引
方法。2. The uncoupling mechanism includes an uncoupling arm provided downward from the traction device of the unmanned traveling vehicle, and as a driving means of the uncoupling mechanism, the uncoupling mechanism contacts the uncoupling arm on the floor at the destination position of the bogie. A release member for operating this is installed, and the connection between the connected member of the bogie and the towing lever of the unmanned traveling vehicle is performed using the operation in which the release arm contacts the releasing member and moves according to the traveling of the unmanned traveling vehicle. The method for automatically pulling a bogie by an unmanned traveling vehicle according to claim 1, wherein the bogie is released.
人走行車を牽引車とし、前記誘導路に沿って待機する台
車を被牽引車として牽引する場合に、前記無人走行車と
前記台車との連結、連結解除を自動的に行う牽引装置で
あって、 牽引装置は前記無人走行車の車体後部に設けられている
こと、 前記台車の被連結具と干渉し連結する連結部を有する牽
引レバーが、前記牽引装置に回転自在に、且つ傾動自在
に取り付けられていること、 前記牽引装置には、前記牽引レバーが側方へ向くように
復元回転力を与える手段が設けられていること、 後方へ回転した前記牽引レバーの直下位置に、同牽引レ
バーの回転を固定する位置決め部材が設けられているこ
と、 前記牽引レバーの先端側を持ち上げて前記台車の被連結
具及び前記位置決め部材から抜き外す連結解除機構が設
けられ、同連結解除機構を駆動する解除用アームが下向
きに設けられ、前記台車の行き先位置には、前記解除用
アームを駆動する解除部材が干渉する配置で設けられて
いること、をそれぞれ特徴とする、無人走行車による台
車の自動牽引装置。3. An unmanned vehicle that travels by itself along a taxiway formed on a road surface as a tow vehicle, and a truck that stands by along the taxiway is towed as a tow vehicle. A traction device for automatically connecting and disconnecting a truck, wherein the traction device is provided at a rear portion of the vehicle body of the unmanned traveling vehicle, and has a connecting portion that interferes with and connects to a connected member of the truck. A tow lever is rotatably and tiltably attached to the tow device, and the tow device is provided with a means for applying a restoring rotational force so that the tow lever is directed sideways. A positioning member for fixing the rotation of the towing lever is provided at a position directly below the towing lever rotated rearward, and a leading end of the towing lever is lifted to connect the connected member of the bogie and the positioning member. A disconnection disconnecting mechanism for disconnecting and disconnecting is provided, a release arm for driving the disconnection mechanism is provided downward, and a release member for driving the release arm is provided at a destination position of the bogie so as to interfere. An automatic traction device for bogies driven by unmanned vehicles, characterized in that:
の車体外側に下向きに回動自在に設けられ、同解除用ア
ームの回転軸には、位置決め部材にて回転を固定された
牽引レバーの直下位置に台車の被連結具及び前記位置決
め部材から牽引レバーを抜き外すに必要なリフトの円板
カムが取り付けられていることを特徴とする、請求項3
記載の無人走行車による台車の自動牽引装置。4. A release lever of a disconnection mechanism is provided on the outside of the vehicle of the unmanned traveling vehicle so as to be rotatable downward, and a rotation shaft of the release arm has a rotation member fixed by a positioning member. 4. A disk cam of a lift necessary for detaching and pulling a tow lever from a connected member of a bogie and the positioning member is mounted at a position immediately below the lifter.
An automatic towing device for a bogie by an unmanned traveling vehicle as described in the above.
中心線の左右に対称的な配置で二台設置されていること
を特徴とする、請求項3記載の無人走行車による台車の
自動牽引装置。5. The unmanned traveling vehicle according to claim 3, wherein two traction devices are installed symmetrically on the left and right sides of the center line of the unmanned traveling vehicle in the longitudinal direction of the vehicle body. Automatic traction device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP03231099A JP3215916B2 (en) | 1999-02-10 | 1999-02-10 | Automatic trolley for trucks using unmanned vehicles |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP03231099A JP3215916B2 (en) | 1999-02-10 | 1999-02-10 | Automatic trolley for trucks using unmanned vehicles |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2000231411A true JP2000231411A (en) | 2000-08-22 |
JP3215916B2 JP3215916B2 (en) | 2001-10-09 |
Family
ID=12355379
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP03231099A Expired - Fee Related JP3215916B2 (en) | 1999-02-10 | 1999-02-10 | Automatic trolley for trucks using unmanned vehicles |
Country Status (1)
Country | Link |
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JP (1) | JP3215916B2 (en) |
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