JP2003002190A - Bumper device of unmanned carrier vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To pass through a passage way which is narrower than the width of a bumper, and to avoid contact between a load and a stumbling block even when loading a larger load than the width of a wagon. SOLUTION: Bumper devices 21F and 21R of a unmanned carrier vehicle which automatically runs by detecting a guiding magnetic tape 5 laid down on a floor through a drive guiding censor 6, is constituted by loading a bumper 23 on the front and rear units of the wagon 1, setting flexible bumpers 26 which can be in and out freely through a bumper in and out driving device, and taking in and out the flexible bumpers 26 by operating the bumper in and out driving device through a carrier control device when a bumper retreating command is detected on a magnetic tape for address by an address censor 9.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bumper device for an automated guided vehicle.

[0002]

2. Description of the Related Art An automatic guided vehicle that is automatically driven by a remote command is one that travels to a destination and delivers a load while detecting a conductor laid on a running floor based on a carrier command from a command device. Is. This unmanned guided vehicle is provided with bumpers at the front and rear of the bogie main body, which detect the contact and reduce the impact when an obstacle on the running floor comes into contact with or collides with.

This type of bumper is set such that its lateral width is the same as or slightly protrudes from the width of the bogie main body, and an obstacle that may come into contact with the bogie main body is brought into contact with the pan bar to detect and stop. It is configured. However,
When loading a pallet or load larger than the width of the trolley body,
An obstacle that does not come into contact with the bumper may come into contact with or collide with a pallet or a load mounted on the trolley body, damaging the load or the pallet, or dropping. Therefore, it is conceivable to set the width of the bumper to be long corresponding to the maximum width of the load to be loaded.

[0004]

However, since the bumper projects laterally from the trolley body to the left and right sides, it becomes difficult to drive in a narrow passage and when a pallet having a gate-shaped front view is mounted. However, it is necessary to secure a bottom width through which the bumper member can pass, and it is necessary to facilitate a wide pallet, which causes a problem of high cost.

The present invention solves the above problems and allows passage of narrow passages, and prevents contact between obstacles and loads or pallets even when a load or pallet larger than the width of the truck is mounted. It is an object of the present invention to provide a bumper device for an automated guided vehicle that can be used.

[0006]

In order to achieve the above-mentioned object, the invention according to claim 1 is an unmanned conveyance in which the traveling guidance detecting means detects a derivative laid on the traveling floor surface and the traveling control device automatically travels. A bumper device for a car, wherein a bumper body is attached to at least a front part of a bogie body of an automated guided vehicle, and movable bumpers which can be reciprocated to left and right sides by a bumper reciprocating drive device at both left and right end portions of the bumper body. When the address detection means detects a bumper leaving / leaving command on the address identification member arranged on the running floor, the transfer control device operates the bumper leaving / leaving drive device to move the movable bumper back and forth. It is configured in.

According to the above construction, even if a load wider than the trolley body is loaded, the movable bumper protruding from the trolley body to the left and right sides can prevent the collision of the load with the obstacle in advance and ensure safe transportation. Becomes Further, by providing a bumper withdrawal command to an address identification member arranged at an entrance to a narrow passage or an entrance to a gate-shaped pallet, the transfer control device operates an exit / retract drive means to retract the movable bumper. You can pass through and enter narrow passages and the bottom of narrow portal pallets. Therefore, by retracting the movable bumper, it becomes possible to pass through a narrow passage through which the truck body can pass, and even if a load or pallet larger than the width of the truck body is mounted, the movable bumper can be projected.
It is possible to prevent contact between obstacles and loads or pallets. According to a second aspect of the present invention, in the structure according to the first aspect, movable bumpers are attached to both ends of the bumper body so as to be rotatable around a vertical axis, and a retractable drive means is provided for the movable bumper and the bumper body. And a protruding position where the movable bumper extends in a straight line with the bumper body, being connected between
The movable bumper is constituted by an advance / retreat drive device for rotating the movable bumper to a retracted position in which the movable bumper body is bent approximately 90 degrees toward the carriage main body side, and the bumper main body and the movable bumper are provided with contact detection means.

According to the above construction, since the movable pan bar which is bent by about 90 degrees by the bumper advance / retreat drive device and is capable of retracting / moving is provided, the structure can be simplified and a large impact force accidentally received during traveling is Since the load is applied to the retracted position in the rotation direction, the number of damaged members can be minimized. Further, since the movable bumper is also provided with the contact detection means, it is possible to detect an obstacle in a wide range, prevent contact accidents in advance, and enable safe driving.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of an automatic guided vehicle according to the present invention will now be described with reference to FIGS.

As shown in FIGS. 1 and 2, this automated guided vehicle is provided at the four corners of the bottom of the carriage main body 1 and is provided with a traveling drive unit 2.
And a traveling device 4 having a steering section 3, a traveling guidance sensor (travel guidance detecting means) 6 for detecting a traveling magnetic tape (derivative) 5 laid on the traveling floor surface F along the traveling route L1, and the traveling. A conveyance control device 7 that operates the traveling drive unit 2 and the steering unit 3 based on the detection signal of the induction sensor 6, and an address magnetic tape (at a predetermined position on the arrangement lines La to Lh on the traveling floor surface F). A plurality of address sensors (address detecting means) 9 for reading the address identification member) 8, a lift device 11 for vertically moving the truck main body 1 for delivering a load or a pallet P, and a front portion and a rear portion of the truck main body 1. Bumper device 21
It is composed of F and 21R.

A lift device 11 is integrally formed with the traveling device 4, and as shown in FIGS.
The traveling drive unit 2 is provided to the steering unit 3 attached to the vehicle via the lift device 11.

In other words, the steering section 3 includes a steering member 3 on the carriage main body 1 via a steering bearing 3a.
b is attached rotatably around a vertical axis. A steering gear 3c is provided on the outer peripheral portion of the steering member 3b, and a steering pinion 3e rotatably driven by a steering drive device (steering electric motor) 3d is meshed with the steering gear 3c via an intermediate gear 3f. . Therefore, in the steering unit 3, the traveling drive unit 2 can be steered around the vertical axis by the steering drive device 3d via the steering pinion 3e, the intermediate gear 3f, and the steering gear 3c.

The lift portion 11 includes a steering member 3
An upper lift arm 11a is provided so as to project obliquely downward from b, and a lower lift arm 11b is rotatably connected to a lower portion of the upper lift arm 11a via a horizontal shaft 11d. A lift drive device (electric jack) 11c, which is a linear drive device, is pin-connected between the upper and lower lift arms 11a and 11b. Therefore, by vertically expanding and contracting the four lift driving devices 11c, respectively, the carriage main body 1 is moved up and down between the lowered position shown in FIG. 3A and the raised position shown in FIG. The pallet or load can be lifted and transported.

In the traveling unit, a traveling unit frame 2a is attached to a lower end portion of a lower lift arm 11b, and traveling shafts 2b having traveling wheels 2c mounted and fixed on both sides are rotatably supported on the traveling unit frame 2a. ing. A traveling drive device (electric motor for traveling) 2d provided on the traveling frame 2a rotationally drives the traveling shaft 2b via a plurality of drive gears (not shown).

At the front and rear of the front-rear traveling device 4 arranged on the right side of the bogie main body 1, traveling guidance sensors 6 for detecting the traveling magnetic tape (derivative) 5 are respectively arranged via sensor support members 6a. Based on the detection signal of the traveling magnetic tape (derivative) 5, the transport controller 7 drives and controls the front, rear, left and right steering portions 3 and the traveling driving portion 2, respectively.

At the center of the bottom of the bogie main body 1, address sensors 9 are arranged at predetermined intervals in the transverse direction via a sensor support device 9a having a copying roller. For example, address lines La to parallel to the traveling route L1. It is possible to detect the address magnetic tape 8 located in front of the load delivery position on the Lh, in front of the narrow traveling floor surface, or in the load delivery position. And these address magnetic tapes 8
The bumper drive command is identified from.

As shown in FIGS. 4 and 5, the bumper devices 21F and 21R respectively arranged at the front and rear portions of the bogie main body 1 are provided with a plurality of bumper devices 21F and 21R for alleviating impact force from the front or rear of the bogie main body 1. The bumper body 23 is arranged via the damper device 22 over a width narrower than the entire width Wf of the carriage body 1. On the left and right sides of the bumper body 23, movable bumpers 26 are mounted on the bracket 24 via the vertical pins 25 and extend along the straight line with the bumper body 23 so as to be wider than the full width Wf of the carriage body 1 and a movable position G. The bumper 26 is rotatably supported between the bumper main body 23 and a retracted position B which is bent by approximately 90 degrees toward the bogie main body 1 side and has a width Wn narrower than the full width Wf of the bogie main body 1. The movable bumper 26 is provided between the rotating lever 28 connected to the movable bumper 26 via the vertical pin 25 and the bumper body 23 between the protruding position G and the retracted position B.
A bumper advance / retreat drive device (electric jack, etc.) 27 for rotating the is connected to a pin. Also, the bumper device 2
1F, 21R movable bumper 26 and bumper body 2
Belt switches 29a, which are contact detection means for detecting contact with an obstacle, are provided on the front side and the back side of 3, respectively.
29b is attached to the entire surface.

The bumper ejection drive device 27 is operated by an operation signal from the transport control device 7 based on a bumper retreat command identified by the address sensor 9 from the address magnetic tape 8.

In the above structure, as shown in FIGS. 6 to 8, at the load transfer position where the load is transferred via the pallet 12 in the front view portal shape in which the legs 12b are hung on the left and right sides of the support plate 12a. In the pallet 12 in which the approach width Wp between the leg portions 12a is narrower than the total width Wo of the bumper device 21,
The address magnetic tape 8 arranged at the entrance of the pallet 12 contains a bumper retract command, and the address magnetic tape 8 immediately below the pallet 12 contains a lift command and a bumper drive command.

The pallet 12 where the automatic guided vehicle is at the delivery position
When the address sensor 9 detects the address magnetic tape 8 and the conveyance control device 7 reads the bumper retreat command, an operation signal is output to the bumper retreat drive device 27, and the bumper retreat drive device 27 is activated. Be contracted.
As a result, the movable bumper 2 of the front bumper device 21F is
6 is rotated and retracted from the protruding position G to the retracted position B, and the traveling device 4 is driven to move the automatic guided vehicle to the pallet 12 with the entire width of the front bumper device 21F contracted from Wo to Wc. Enter the bottom of the.

When the address sensor 9 detects the address magnetic tape 8 directly below the pallet and the transport controller 7 identifies the lift command, the lift device 11
An operation signal is output to the pallet 12 to raise the trolley body 1 from the lowered position to the raised position by the lifting stroke H.
Is loaded with a load (not shown). Also,
When the bumper protrusion command is identified by the pa / transport control device 7, an operation signal is output to the bumper advance / retreat drive device 27, and the front bumper advance / retreat drive device 27 is extended to move the movable bumper 26 from the retracted position B. Is projected to the projecting position G,
The traveling is started in this state.

Although the above-mentioned operation has been described as an operation at the load delivering position, the address magnetic tape 8 is used even when traveling in a narrow passage.
Thus, the front and rear bumper devices 21F and 21R are similarly contracted.

According to the above-described embodiment, the bumper devices 21F, 21R arranged in front of and behind the bogie main body 1 are moved back and forth by the bumper moving-out drive device 27 to move the movable bumper 26. The width of 21R is configured to be expandable and contractible,
By reading the bumper drive command of the address magnetic tape 8 by the address sensor 9, it is configured to move out between the full width Wo of the protruding position G wider than the width of the carriage main body 1 and the full width Wc of the narrow retracted position B. As the protruding position G, the loaded load and the pallet 12 can be prevented from coming into contact with obstacles during normal transportation. Also, before approaching a narrow passage or entering the bottom of the pallet 12,
By contracting the bumper devices 21F and 21R,
You can run and enter smoothly.

[0024]

As described above, according to the first aspect of the present invention, even if a load wider than the main body of the truck is mounted, the movable bumpers projecting from the main body of the truck to the left and right sides collide with the obstacle. Can be prevented in advance, and safe transportation is possible. Further, by providing a bumper withdrawal command to an address identification member arranged at an entrance to a narrow passage or an entrance to a gate-shaped pallet, the transfer control device operates an exit / retract drive means to retract the movable bumper. You can pass through and enter narrow passages and the bottom of narrow portal pallets. Therefore, by retracting the movable bumper, it becomes possible to pass through a narrow passageway through which the truck body can pass,
Further, even if a load or pallet larger than the width of the bogie body is mounted, it is possible to prevent the obstacle from contacting the load or pallet by projecting the movable bumper. According to the invention of claim 2, Since the movable pan bar that bends approximately 90 degrees by the linear drive device is provided, a simple structure can be achieved, and a large impact force that is accidentally received during traveling is applied in the direction of turning to the retracted position, so that the member is damaged. Can be minimized. Further, since the movable bumper is also provided with the contact detection means, it is possible to detect an obstacle in a wide range, prevent contact accidents in advance, and enable safe driving.

[Brief description of drawings]

FIG. 1 is an overall plan view showing an embodiment of an automated guided vehicle according to the present invention.

FIG. 2 is an overall side view showing the automatic guided vehicle.

FIG. 3 is a side sectional view showing a traveling device and a lifting device of the same automated guided vehicle, in which (a) is a lowered position and (b) is a raised position.

FIG. 4 is a partially enlarged front view showing a bumper device of the automated guided vehicle.

FIG. 5 is a partially enlarged plan sectional view showing a bumper device of the automatic guided vehicle.

FIG. 6 is a plan view showing a state in which a pallet is delivered by the unmanned guided vehicle, (a) showing a state before entering a pallet and (b) showing a state after entering.

FIG. 7 is a side view showing a state where a pallet is delivered by the same automated guided vehicle, (a) showing a state before entering the pallet and (b) showing a state after entering the pallet.

FIG. 8 is a front view of a state in which a pallet is delivered by the automatic guided vehicle.

[Explanation of symbols]

H lift stroke G protruding position B retracted position Ww, Wn width Wp Pallet entry width 1 trolley body 2 Travel drive 2c traveling wheel 3 Steering section 4 traveling devices 5 running magnetic tape 6 Travel guidance sensor 7 Transport control device 8 address magnetic tape 9 Address sensor 11 Lift device 12 pallets 13 packages 21F, 21R Bumper device 22 Damper device 23 Bumper body 24 bracket 25 vertical pins 26 Movable bumper 27 Bumper jack

Front page continuation (51) Int.Cl. ⁷ Identification code FI theme code (reference) G05D 1/02 G05D 1/02 RF terms (reference) 3F333 AA01 AD06 AE01 BD02 CA01 CA06 CA11 FA11 FA20 FA21 FA25 FA28 FD12 FE05 FE07 FG05 5H301 AA01 BB05 CC06 EE06 FF04 LL01 LL11 MM09

Claims (2)

[Claims] 1. A bumper device for an automatic guided vehicle, which detects a dielectric laid on a traveling floor surface by a traveling guidance detecting means, and automatically travels by a transportation control device, wherein at least a front portion of a bogie main body of the automatic guided vehicle. The bumper body is attached, and movable bumpers that can be pushed out and left side by a bumper push-out drive device are provided at both left and right ends of the bumper body. A bumper device for an automated guided vehicle, characterized in that, when a bumper moving-out command is detected, the transfer control device operates the bumper moving-out driving device to move the movable bumper in and out. 2. A movable bumper is attached to both ends of the bumper body so as to be rotatable about a vertical axis, and a bumper advance / retreat drive device is provided which has a protruding position at which the movable bumper extends in a straight line with the bumper body and a movable bumper. 2. The bumper main body is configured by a bumper moving-out / retracting device that rotates between a retracted position where the bumper main body bends toward the bogie main body side by approximately 90 degrees, and contact detection means is provided on the bumper main body and the movable bumper. Bumper device for the automated guided vehicle described.