JP2003011813A - Carrier coupling mechanism for automatically guided vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carrier coupling mechanism for an automatically guided vehicle automatically coupling and decoupling a self-propelled vehicle and a carrier along with traveling by rotation of a driving wheel of the self-propelled vehicle. SOLUTION: In a conveyance vehicle 1 connecting the carrier 3 to the self-propelled vehicle 2 traveling while following a guide path 4 by the driving wheel 8, the self-propelled vehicle 2 is provided with a cam plate 23 provided on the steerable driving wheel 8, a hook 44 and a cam member 46 in the front of the self-propelled vehicle 2, and a hook 35 and an engagement piece 34 in the rear, and the carrier 3 is provided with frames 3a and 3b capable of respectively engaging with the hooks 44 and 35. In the self-propelled vehicle 2 engaging the hook 44 with the frame 3a of the carrier 3, when the driving wheel 8 is traveling along the substantially circular guide path 4 and the cam member 46 is abutted on the cam plate 23, the carrier 3 is uncoupled by disengaging the hook 44 from the frame 3b. When the self-propelled vehicle is traveling along the guide path 4 formed in a predetermined shape, the carrier 3 can be coupled to the self-propelled vehicle 2 by engaging the frame 3a between the hook 35 and the engagement piece 34.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a carriage connecting mechanism for an automatic guided vehicle. In particular, a self-propelled vehicle is connected to a non-self-propelled transport carriage along a taxiway laid on the floor of the factory, and is used as a cart connection mechanism for an unmanned transport vehicle that transports luggage unmanned. Pertain.

[0002]

2. Description of the Related Art For example, in a factory for manufacturing parts, when moving the manufactured parts to another place as cargo, an automatic guided vehicle for carrying the cargo is used. The unmanned guided vehicle is designed to run along a taxiway made of magnetic tape laid on the floor of the factory by connecting a non-self-propelled trolley for loading luggage to the self-propelled vehicle with a hook. . The taxiway of an unmanned guided vehicle is provided as a connection between the locations for transporting luggage from one location to another. In the transportation of an unmanned transportation vehicle, luggage is loaded on a trolley at a certain location, the trolley is manually connected to a self-propelled vehicle, and the transportation is started to another location. A trolley loaded with luggage by a self-propelled vehicle is transported to another destination and stopped. With the unmanned transport vehicle stopped, the bogie is manually separated from the self-propelled vehicle. Then, when the self-propelled vehicle returns, the empty cart is manually connected to the self-propelled vehicle and returned to the place where the luggage is loaded again. Such conveyance is repeated. Conventionally, at the destination, a so-called bogie exchanging work such as a work for separating the conveyed bogie from the self-propelled vehicle or a work for connecting the empty bogie to the self-propelled vehicle has been conventionally performed manually.

[0003]

In the transportation of the above-mentioned conventional unmanned guided vehicle, the carriage loaded with luggage at the destination is separated from the self-propelled vehicle or the empty cart is connected to the self-propelled vehicle. Since the work is done manually, there is a problem that it takes time. In particular, when the work of connecting and disconnecting the self-propelled vehicle and the bogie is repeatedly performed, there is a problem that a worker who exclusively performs this work is required. The present invention was devised to solve such a problem, and the problem to be solved by the present invention is to replace a bogie with a self-propelled vehicle at a destination, and The purpose is to automatically perform connection and disconnection operations with a dolly by the meandering rotation of the drive wheels of a self-propelled vehicle. That is, it is an object of the present invention to provide a bogie connecting mechanism for an unmanned guided vehicle that can be detachably connected to a bogie while traveling a self-propelled vehicle.

[0004]

In order to achieve the above object, the first invention of the bogie connecting mechanism of the unmanned guided vehicle according to the present invention takes the means as described in claim 1. The transport vehicle apparatus according to claim 1 is a luggage transport vehicle apparatus for operating an unmanned transport operation by connecting a self-propelled vehicle that is capable of unmanned transport operation according to a travel guide means to a trolley capable of loading luggage. A truck connecting mechanism for an unmanned guided vehicle for automatically connecting and disconnecting a self-propelled vehicle and a bogie, wherein the self-propelled vehicle is mounted on a vehicle body so as to be able to rotate in a serpentine manner according to a traveling guide means. The drive wheel for one-way drive rotation can be connected to the first connecting portion for connecting the carriage provided at either the front position or the rear position in the traveling direction and the carriage provided at the front position in the traveling direction. And the second
And a second connecting portion of the self-propelled vehicle, and a first connecting portion of the bogie that is connectable to the first connecting portion of the self-propelled vehicle. And a second connecting portion for connecting the second connecting portion of the self-propelled vehicle and the second connecting portion of the bogie to the separated state, and the first self-propelled vehicle. The operation of the connecting portion of the vehicle and the first connecting portion of the trolley from the disconnected state to the connected state is automatically performed by the meandering rotation traveling of the drive wheels that allows the vehicle body to run in reverse. Characterize. Thus, the connecting and disconnecting operations of the self-propelled vehicle and the bogie at the destination can be automatically performed by the meandering rotation of the drive wheels of the self-propelled vehicle. A second invention of the bogie connecting mechanism of the unmanned guided vehicle according to the present invention takes the means as described in claim 2. The transport vehicle apparatus according to claim 2 is the bogie coupling mechanism of the unmanned transport vehicle according to claim 1, wherein the first coupling portion of the self-propelled vehicle is rotatably attached to the vehicle body. A hook having an inclined surface is provided at the tip of the elongated first connecting member, and the first connecting portion of the carriage contacts the inclined surface of the hook to rotate the first connecting member. It is characterized in that it is brought into a connected state by engaging with the hook while moving. This allows
The first connecting portion of the self-propelled vehicle is formed with a mechanically simple structure, and the self-propelled vehicle and the bogie can be connected to each other in a reliable manner. Further, a third invention of the bogie connecting mechanism of the unmanned guided vehicle according to the present invention takes the means as described in claim 3. The bogie connecting mechanism of the unmanned guided vehicle according to claim 3 is the bogie connecting mechanism of the unmanned guided vehicle according to claim 1 or 2, wherein the second connecting portion of the self-propelled vehicle is connected to the vehicle body. A hook that engages with the second connecting portion of the trolley is provided at the tip of the elongated second connecting member that is movably attached, and the other end of the drive wheel has a predetermined wheel wobbling rotation. The other cam portion that engages with one cam portion disposed on the side to rotate the second connecting member is provided, and one and the other when the drive wheel makes a predetermined turning rotation. Is a state in which the cam connecting portion engages with the second connecting member to turn the second connecting member so that the second connecting member can be separated from the second connecting portion of the carriage. As a result, the operation for bringing the dolly into the separated state is enabled by the cam mechanism operated by the turning rotation of the drive wheels. That is, the disconnecting operation can be performed with a mechanically reliable structure. A fourth aspect of the bogie coupling mechanism for an unmanned guided vehicle according to the present invention employs means as described in claim 4. The bogie connecting mechanism for an unmanned guided vehicle according to claim 4 is the bogie connecting mechanism for an unmanned guided vehicle according to any one of claims 1 to 3,
The self-propelled vehicle is characterized in that it is provided with signal receiving means for receiving a transmission signal for driving the self-propelled vehicle. Thereby, for example, when the self-propelled vehicle is driven by the centralized control, the operation command for stopping or transmitting the self-propelled vehicle can be performed by remote operation. A fifth aspect of the bogie connecting mechanism for an unmanned guided vehicle according to the present invention employs means as described in claim 5. The bogie connecting mechanism of the unmanned guided vehicle according to claim 5 is the bogie connecting mechanism of the unmanned guided vehicle according to any one of claims 1 to 4, wherein the self-propelled vehicle is It is characterized in that means for confirming the traveling position is provided. As a result, the self-propelled vehicle can confirm its own traveling position. For example, when the self-propelled vehicle travels by centralized control, when the self-propelled vehicle reaches a specific traveling position, the empty cart is moved in advance. Can be prepared to wait in the place to be connected to,
It is possible to eliminate time loss in transporting a self-propelled vehicle.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below.
This will be described with reference to the drawings. In the description of the present embodiment, the trolley in which the luggage is loaded is referred to as “actual trolley 3A”, and the trolley in which the luggage is not loaded is referred to as “empty trolley 3A”.
B ". When the actual truck and the empty truck are collectively referred to, they are simply referred to as "truck 3". In addition, a generic name of a state in which the self-propelled vehicle 2 and the dolly 3 are connected is referred to as a "transport vehicle 1". In general, an unmanned guided vehicle is formed by connecting a self-propelled vehicle 2 having a power source shown in FIGS. 1 to 5 and a non-self-propelled carriage 3 (for example, shown in FIG. 9) on which luggage such as parts is loaded. Consists of Then, the unmanned transport vehicle 1 is guided and transported along a guideway 4 as a travel guide means laid in the factory. In the case of the present embodiment, as shown in FIG. 9, an actual trolley 3A loaded with luggage 5 at the X position is connected to the front part of the self-propelled vehicle 2 and guided to the Y position by the guideway 4y for unmanned conveyance. Then, at the Y position, the actual truck 3A is separated. Immediately after that, an empty carriage 3B, which is empty of the luggage 5 at the Z position adjacent to the Y position, is connected to the rear part of the self-propelled vehicle 2 and is automatically guided back to the X position by the return guideway 4x. Come and disconnect the empty carriage 3B. At the X position, the actual carriage 3A loaded with the luggage 5 is connected again, and thereafter, the same transportation is repeated. First, the configuration of the self-propelled vehicle 2 will be described with reference to FIGS. 1 to 5. 1 is a perspective view showing a schematic image of a self-propelled vehicle, FIG. 2 is a plan view of the self-propelled vehicle, FIG. 3 is a front view of the self-propelled vehicle, and FIG. 4 is a left side showing a front portion of the self-propelled vehicle. FIG. 5 is a right side view showing the rear part of the self-propelled vehicle. The self-propelled vehicle 2 includes a vehicle body 19, a drive control unit 18, a first connecting unit 70,
The second connecting portion 80 is generally configured. As shown in FIG. 1, the vehicle body 19 includes a vehicle body portion 19A and a vehicle body front portion 19B connected to the front portion of the vehicle body portion 19A in the traveling direction. The direction indicated by arrow Fr in FIG. 1 is the traveling direction of the self-propelled vehicle. The vehicle body portion 19A is formed of a frame material frame and has a substantially rectangular parallelepiped outer frame shape. The vehicle body front portion 19B is configured such that the caster beam 38 is integrally connected to the vehicle body portion 19A via a connecting plate 60. Fixed casters 21 are attached via caster bases 22 to both rear lower portions of the vehicle body portion 19A. On the other hand, casters 39 capable of swinging are attached to the lower frame member via caster bases 40 on both sides of the lower part of the caster beam 38. The drive control unit 18
As shown in FIG. 3, it is provided in the lower front portion of the vehicle body portion 19A. Details of the drive control unit 18 are shown in FIGS. 6 and 7. 6 is a plan view showing the drive controller 18, FIG.
Is a front view of the same. In FIGS. 6 and 7, a cam plate 23 (illustrated in FIGS. 4 and 5) described later is omitted for convenience. As well shown in FIG. 7, the drive wheel 8 is rotatably attached to a wheel frame 9 via a rotation shaft 10. The wheel frame 9 to which the drive wheels 8 are attached is the attachment member 1
6 is attached so as to be rotatable in the direction of the paper surface as seen in FIG. The attachment member 16 is attached to the vehicle body portion 19 by the attachment 16a.
It is fixedly attached to A. The drive wheel 8 is guided by a well-known method by a taxiway to drive the self-propelled vehicle unmanned.

A guide sensor 48 is provided in front of the mounting member 16 via a member 65. The guide sensor 48 detects the signal from the magnetic tape 7 forming the guide path 4 and drives and controls the traveling motor 11. The traveling motor 11 is attached to the wheel frame 9 at a rear position of the drive wheel 8 and arranged. The traveling motor 11 serves as a drive source for the self-propelled vehicle 2, and the drive rotation of the traveling motor 11 is transmitted to the drive wheels 8. Driving rotation transmission from the traveling motor 11 to the driving wheels 8 is performed by an appropriate means such as a belt or a gear. A well-known motor is used as the traveling motor 11. The traveling motor 11 is drive-controlled according to the type of the output signal of the magnetic tape 7 forming the guide path 4, and controls the traveling state of the self-propelled vehicle 2. For example, when the magnetic tape 7 for speed switching is detected, the speed of the self-propelled vehicle 2 is decelerated or accelerated. In addition, the drive rotation of the drive wheels 8 by the traveling motor 11 is only one direction. That is, the drive wheel 8 is the traveling motor 1
It is not driven in reverse by 1. Therefore, in the normal state, the traveling motor 11 and the drive wheels 8 are arranged so as to travel in the forward direction.

Further, the mounting member 16 is provided with a steering mechanism 12 for steering the drive wheels. Steering motor 14 constituting the steering mechanism 12
Are attached to the mounting member 16 at the rear position of the traveling motor 11. Then, one end of a steering shaft 13, which serves as a steering shaft of the drive wheel 8, is attached to the wheel frame 9, and the other end is rotatably attached to the attachment member 16. The steering rotation transmission from the steering motor 14 to the steering shaft 13 is performed by a belt or a gear which is also well known. Therefore, when the steering motor 14 rotates, the steering shaft 1
3 is rotated so that the drive wheels 8 are turned and rotated. The steering rotation can be performed at least 180 degrees to the left and right. As a result, the self-propelled vehicle 2
If the steering wheel 12 causes the drive wheels 8 to rotate relative to the vehicle body 19 by 90 degrees or more, the traveling direction can be changed to the opposite direction. That is, even if the drive rotation direction of the drive wheels 8 remains the same, the traveling direction of the self-propelled vehicle 2 is reversed by setting the turning rotation of the drive wheels 8 to 90 degrees or more with respect to the vehicle body 19. Can be changed to

A control device 15 is provided at the rearmost position of the mounting member 16. The control device 15 receives the signal in the magnetic tape 7 detected by the guide sensor 48 and controls the rotation of the traveling motor 11 and the steering motor 14. The battery 1 as a power source for driving the traveling motor 11 and the steering motor 14
7, is mounted at a front position of the vehicle body portion 19A, as shown in FIG.

Next, the first connecting portion 70 will be described. The first connecting portion 70 is arranged at a rear position of the vehicle body portion 19A. As shown in FIG. 1 or 3, two frame members 29 and 30 are arranged in the width direction of the vehicle body portion 19A. A long first connecting member 28 is rotatably attached to a frame member 29 by a pivot 32 via a supporting member 31. The frame member 30 is provided with a stopper member 33. Stopper member 33
Is designed to prevent downward rotation of the first connecting member 28 as viewed in the figure due to its own weight. The height position of the first connecting member 28 whose rotation is regulated by the stopper member 33 is determined corresponding to the height of the frame 3b as the first connecting portion of the carriage 3 described later.

A hook 35 is provided at the rear end of the elongated first connecting portion 28 in the traveling direction. The hook 35 has an inclined guide surface 36 and a locking piece 34 formed on the back side thereof. The inclined guide surface 36 is formed in a substantially right triangle shape. The locking piece 34 is provided at a position slightly left of the inclined guide surface 36 in the figure. As a result, when the frame 3b as the first connecting portion of the trolley 3 shown in phantom in FIG. 3 relatively moves in the direction of the hook 35, the frame 3b moves while contacting the inclined guide surface 36. At this time, the first connecting member 28 rotates counterclockwise. On the contrary, when the frame 3b passes over the inclined guide surface 36, the first connecting member 28 is rotated in the clockwise direction by its own weight, and the frame 3 of the carriage 3 is rotated.
b is engaged at a position between the inclined guide surface 36 and the locking piece 34. Due to this engagement state, the carriage 3 is connected to the self-propelled vehicle 2.

Next, the second connecting portion 80 will be described. The second connecting portion 80 is provided on the vehicle body front portion 19B. Second connecting member 41 that constitutes the second connecting portion 80
2, is formed in a substantially U-shape in which two elongated members are connected at the rear, as well shown in FIG. Then, as well shown in FIG. 3, the second connecting member 41
Is supported by the caster beam 38 via the support member 43.
It is attached by 2 so as to be rotatable in the vertical direction. The rotation of the second connecting member 41 is restricted by a locking member 38a attached to the lower portion of the caster beam 38 immediately before the pivot shaft 42. That is, the clockwise rotation of the second connecting member 41 as seen in FIG. 3 is performed by contacting the lower surface of the locking member 38a. The second connecting member 41 has a pivot shaft 42.
A clockwise urging force is always applied by the balance of the left and right weights from. It should be noted that if the clockwise urging force is appropriately performed by interposing a spring member, the rotational urging force can be more reliably applied. Hooks 44 each having a substantially right-angled triangle shape are provided at the tip ends of the two second connecting members 41, respectively. As a result, FIG.
As indicated by a phantom line, a frame 3a as a second connecting portion of the trolley 3 described later is engaged between the hook 44 and the locking member 38 so that the trolley 3 and the self-propelled vehicle. 2 is connected.

The forcible rotation of the second connecting member 41 in the counterclockwise direction is performed by a predetermined turning rotation of the drive wheels 8 of the drive control section 18. To describe the configuration, a cam member 46 serving as the other cam portion is provided at a position where the two members of the second connecting member 41 are connected. The cam member 46 is formed in a substantially convex shape having a seat surface 46a on the lower surface. On the other hand, on the side of the drive control unit 18 having the drive wheels 8, the mounting member 16 is provided with a cam plate 23 as one cam portion. This cam plate 23
Is provided at a position rearward of the rotary shaft 10 of the drive wheel 8 and is composed of a flat plate portion 23b and an inclined portion 23a.
When the self-propelled vehicle shown in Fig. 4 is viewed from the front, the inclined portion 23a is inclined downward to the lower right. As a result, when the drive wheel 8 makes a predetermined turning rotation as shown in FIG. 9, the inclined portion 23a of the cam plate 23 contacts the seat surface 46a of the cam member 46, and the inclined height of the inclined portion 23a is increased. Only the second connecting member 41 is rotated counterclockwise. Since this rotation is the rotation to lower the hook 44 at the tip of the second connecting member 41 downward, the engagement with the frame 3a as the second connecting portion of the carriage 3 is released at the lowered position of the hook 44. It becomes a state. In the present embodiment, the operation of separating the trolley 3 described later is performed by turning the drive wheels 8 in the clockwise direction.
The slanted portion 23a is inclined downward in the lower right direction. However, when performing the disconnecting operation by turning the steering wheel counterclockwise, it is necessary to form the inclined portion in the opposite lower left direction. The upper part of the caster beam 38 is shown in FIG.
Further, as shown in FIG. 3, a sensor 47 is provided to detect an obstacle on the traveling path when the transport vehicle 1 travels on the taxiway 4. The signal from the sensor 47 is transmitted to the control device 15, and when an obstacle obstructing the traveling of the transport vehicle 1 is detected forward, the control device 15 travels so as to stop the traveling of the transport vehicle 1. The driving rotation of the motor 11 is stopped.

As shown in FIG. 1 or 2, a shelf plate 25 is provided at the front of the vehicle body 19A, and a photoelectric switch 26 and a reflecting plate 27 are mounted on the shelf plate 25. . The photoelectric switch 26 is, for example, a first optical switch 61 (see FIG. 1) for infrared rays installed near the ceiling of a factory.
(Shown in (1)). The signal received by the photoelectric switch 26 is the drive controller 18
Is transmitted to the control device 15, and the control device 15 performs control to start the self-propelled vehicle 2 based on the signal detected by the photoelectric switch 26. Further, the shelf plate 25 is provided with a reflection plate 27 that reflects the output signal emitted from the second optical switch 63 (shown in FIG. 1) installed near the ceiling, like the photoelectric switch 26. Has been. A switch 37 is installed on the frame above the vehicle body 19A. This switch 37
The self-propelled vehicle 2 can be started by manually operating.

Next, the carriage 3 will be described. Dolly 3
Although a drawing showing a specific configuration is omitted, as shown in FIG. 3 by a partly phantom line and as shown in a schematic block in FIG. 9, it is configured by an outer frame shape of a substantially rectangular parallelepiped frame structure in which a frame material is assembled. It is configured so that the luggage 5 can be loaded. The dolly 3 is provided with fixed casters in four well-known configurations at four corners. A circular pipe-shaped frame 3b that engages with the hook 35 of the self-propelled vehicle is provided on one of the frame members forming the carriage 3. The other is provided with a similar frame 3a which engages the hook 44. Finally, the taxiway 4 will be described. The guide path 4 is formed by using a commercially available magnetic tape 7 of magnetic induction type. Then, as shown in FIG. 9, it is installed in the factory so as to coincide with the transfer route of the transfer vehicle 1. Since the drive wheels 8 travel on the taxiway 4, there is little unevenness and the taxiway 4 is laid on a hard floor. The taxiway 4 corresponds to, for example, a straight traveling direction, a branch road from the straight traveling path to the left-right direction, a merging passage,
A traveling road such as a cross road is freely formed. Further, the taxiway 4 is affixed to the floor 6 with a predetermined combination of magnetic tapes 7 classified for constant speed, for speed switching, for stopping, and for changing direction according to the traveling method of the self-propelled vehicle 2. It In the case of the present embodiment, the taxiway 4 is laid as shown in FIG. 9, and the traveling control of the transport vehicle 1 transported according to this taxiway 4 is performed by centralized control at one location. . Taxiway 4
The route from the X position to the Y position is a forward guide route 4y for carrying the luggage 5. The Y position serves as a taxiway that disconnects the actual carriage 3A loaded with the luggage 5. The Z position serves as a taxiway connecting the empty carriage 3B. Z position to X
Up to the position is the return taxiway 4x. The guide path 4 at the Y position is formed in a substantially circular locus. The guide path 4 at the Z position is formed by combining a curved line and a straight line so as to have a locus formed by connecting a substantially ∪-shaped shape and a substantially ∩-shaped shape. In any of the loci, the drive wheels 8 are mounted on the vehicle body 9
Therefore, the self-propelled vehicle 2 is in a so-called reverse-traveling traveling state because the steered vehicle is relatively turned by 90 degrees or more.

Next, the transport control of the transport vehicle 1 will be described. The real trolley 3A carrying the luggage 5 is separated from the self-propelled vehicle 2 at the Y position. The sensor S1 is adapted to detect that the carriage 3 is in a state of being loaded with luggage 5. The actual carriage 3A separated from the self-propelled vehicle 2 at the Y position is moved to another place. The sensor S2 is adapted to detect that the empty carriage 3B is empty. In the transport control of the present embodiment, the self-propelled vehicle 2
Before the vehicle arrives at the Z position for connecting the empty vehicle 3B, the empty vehicle 3B to be connected next is made to stand by in advance. Therefore, the passage confirmation when the self-propelled vehicle 2 passes a predetermined position, and the self-propelled vehicle 2 Checking the presence of the vehicle 2 when the vehicle 2 is temporarily stopped. Reflector 27 provided at the front position of the self-propelled vehicle 2
Returns the signal output from the second optical switch 63 to the second optical switch 63 again, so that the self-propelled vehicle 2
It is possible to check the passing of cars and the presence of cars. That is, after the sensor S2 detects the empty carriage 3B, when it is confirmed by the second optical switch 63 that the self-propelled vehicle 2 has reached the S point at the S point position, the first optical switch The photoelectric switch 26 receives the output signal emitted from 61, and the self-propelled vehicle 2 starts. If the empty carriage 3B is not detected, the self-propelled vehicle stands still at the position S and waits until the empty carriage 3B is confirmed. And it will start when it is confirmed.

Next, the transport vehicle 1 configured as described above.
The operation of disconnecting the actual carriage 3A from the self-propelled vehicle 2 and the operation of connecting the empty carriage 3B to the self-propelled vehicle 2 will be described with reference to the drawings. FIG. 10 is a schematic diagram showing the operation of the self-propelled vehicle 2 disconnecting the carriage 3 at the Y position of the taxiway 4. FIG. 11 is a schematic diagram showing the operation of the self-propelled vehicle 2 connecting the carriage 3 at the Z position of the taxiway 4. First, the case where the carriage 3 is separated from the self-propelled vehicle 2 at the Y position of the taxiway 4 will be described with reference to FIG. Self-propelled vehicle 2 has 5 luggage
While pushing the real trolley 3A on which the vehicle is loaded from the rear side, the vehicle travels on the forward guide path 4y. The position of the self-propelled vehicle 2 is confirmed at the point S shown in FIG.
When the confirmation of the existence of B is detected, the vehicle runs toward the X position. Then, at the X position, the drive wheels 8 travel in the clockwise direction along the circular guide path 4 at a predetermined speed. During this traveling, the vehicle body 19 of the self-propelled vehicle 2 is driven by the drive wheels 8
Tries to change the position by following the turning of. However, since the circular locus is a relatively small circular locus, the follow-up cannot catch up and the relative position rotation with respect to the vehicle body 19 exceeds 90 degrees, and the self-propelled vehicle 2 moves in the reverse running state and runs backward. To do. When the self-propelled vehicle 2 is in the reverse running state, the inclined portion 23a of the cam plate 23, which is one of the cam portions on the drive wheel 8 side,
The relative rotation state with respect to the vehicle body 9 is engaged with the seat surface 46a of the cam member 46 of the second connecting member 41. Then,
The second connecting member 41 is rotated by the cam structure of the inclined portion 23a and the seat surface 46a, and the hook 44 at the tip of the second connecting member 41 is lowered downward. The frame 3a of the actual bogie 3A is disengaged from the hook 44 by the hook 44 being lowered downward, and the bogie 3 is separated from the self-propelled vehicle 2 by the backward traveling of the self-propelled vehicle 2 in this state. The above separating operation will be described in more detail by analyzing it. When the drive wheel 8 reaches the position A of the taxiway 4, the steering mechanism 12 steers the traveling direction of the drive wheel 8 to the left. When the self-propelled vehicle 2 continues to travel in this state, the actual carriage 3A connected to the self-propelled vehicle 2 is in a posture such that it can be arranged in a line at a predetermined position, for example, as shown in FIG. Move to.

When the traveling wheels 8 reach the position B of the circular locus, the steering mechanism 12 starts steering the driving wheels 8 to the right turning direction. At this time, the vehicle body 1 of the self-propelled vehicle 2
9 tries to change the direction following the turning rotation of the drive wheel 8, but cannot follow it and increases the relative rotation with the drive wheel 8. When the traveling of the drive wheels 8 proceeds while increasing the relative rotation, the relative rotation finally exceeds 90 degrees, and the self-propelled vehicle 2 travels backward. The state of the position C is a backward traveling state. When the drive wheel 8 is at the position C, as shown in FIG. 8, the cam plate 23 pushes up the cam member 46 and the hook 44 of the second connecting member 41.
To lower. As a result, the connection between the self-propelled vehicle 2 and the actual bogie 3A is disconnected, and the self-propelled vehicle 2 in which the drive wheels 8 travel on the guideway 4c is completely disconnected by the backward traveling. The separated real trolley 3A is moved so that it can be arranged in a line at a predetermined position, for example. The self-propelled vehicle 2 separated from the actual bogie 3A continues to travel toward the next Z position by itself. When the drive wheels 8 come to the taxiway 4d, the posture of the vehicle body 19 of the self-propelled vehicle 2 follows the traveling direction of the drive wheels 8 and the vehicle travels in the posture state in the normal traveling direction.

Next, the operation of connecting the carriage 3 to the self-propelled vehicle 2 at the Z position of the taxiway 4 will be described with reference to FIG. When the self-propelled vehicle 2 reaches the Z position, the drive wheels 8 travel along a substantially ∪-shaped trajectory formed by the guideways 4e, 4f, 4g. At this time, the empty carriage 3B is in a standby state, and the self-propelled vehicle 2 is in the taxiway 4 with respect to the empty carriage 3B.
By approaching e, 4f, and 4g, the vehicle faces backward and approaches. That is, when the drive wheels 8 travel from the taxiway 4f to 4g, the vehicle body 19 of the self-propelled vehicle 2 tries to change its posture by following the turning of the drive wheels 8, but the vehicle body 19 cannot follow and the vehicle body 19 cannot follow. The drive wheel 8 is in a relative rotation state with respect to 19, and this relative rotation state is 9 when traveling on the guideway 4g.
When the drive wheel 8 is at the position D and the drive wheel 8 travels, the vehicle body 19 is in the reverse running state and the self-propelled vehicle 2 travels backward. When the self-propelled vehicle 2 travels backward, the hook 35 of the first coupling member 28 of the self-propelled vehicle 2 engages with the frame 3b serving as the first coupling portion of the empty carriage 3B and is conveyed in the coupled state. The vehicle 1 state is set. The transport vehicle 1 in the connected state travels in a towed state by being transported along the guideway 4i. After that, the vehicle runs along the return taxiway 4x and returns to the first X position. Then, the same transfer operation is repeated.

The above connecting operation will be described in more detail.
When the drive wheel 8 reaches the position E, the inclined guide surface 36 of the hook 35 included in the first connecting member 28 starts contact with the frame 3b as the first connecting portion of the carriage 3. When the self-propelled vehicle 2 continues to travel in this state and the drive wheels 8 reach the position F, the first connecting member 28 rotates against its own weight,
The frame 3b is engaged between the hook 35 and the locking piece 34. By this engagement, the empty carriage 3B is connected to the self-propelled vehicle 2.

As described above, in the present embodiment, the self-propelled vehicle 2 has the real carriage 3 carrying the luggage 5.
After disconnecting A from the self-propelled vehicle 2, replacement work of the dolly 3 that connects the empty trolley 3B to the self-propelled vehicle 2 is performed while the driving wheels 8 are driven and rotated in one direction. Is something that can be done.

The present invention is not limited to the above-described embodiments, but can be modified as appropriate without departing from the scope of the invention. For example, in the case of the above-described embodiment, the case of the replacement work in which the actual carriage 3A is transported to the destination and the empty carriage 3B is returned has been described.
The present invention can also be applied to replacement work in which an empty truck is transported to a destination and the actual truck is returned. Further, the transport vehicle 1 in which the first connecting portion 70 is provided at the rear of the self-propelled vehicle 2 and the second connecting portion 80 is provided at the front has been described. The connecting portion 70 and the second connecting portion 80 may be provided, and the location where the first connecting portion and the second connecting portion according to claim 1 are installed in the self-propelled vehicle can be appropriately changed. In addition, the first connecting portion 7 is provided behind the self-propelled vehicle 2.
0 is provided at one place to connect the empty carriage 3B.
You may provide the 1st connection part with respect to both the front and back of a self-propelled vehicle. Further, in the case of the above-described embodiment, the hooks 35 and 44 of the first connecting portion 70 and the second connecting portion 80 rotate in the vertical direction to rotate the first connecting portion 3b and the second connecting portion 3b of the carriage.
Although the description has been given of the case of engaging with the connecting portion 3a of the above, it may be configured to rotate and engage in the lateral direction of the vehicle body width direction. Further, the frame 3a of the trolley 3 to which the hook 44 is connected in front of the self-propelled vehicle 2 is separated, and the frame 3 of the trolley 3 to which the hook 35 is connected behind the self-propelled vehicle 2.
Although engaged with b, the method of connecting the self-propelled vehicle and the bogie, the method of disconnecting the bogie from the self-propelled vehicle, and the location of the self-propelled vehicle for connecting and disconnecting the bogie can be variously changed. Is. Although the method of using the guide path 4 formed of the magnetic tape 7 has been described as the unmanned conveying method, various known methods can be applied as the unmanned conveying method. Further, the hooks 35 and 44 formed in a substantially right-angled triangular shape are respectively connected to the circular pipe-shaped frame 3a,
Although the self-propelled vehicle 2 and the dolly 3 are connected to each other by engaging with the 3b, various shapes of hooks and frames, and a connection configuration of the self-propelled vehicle and the dolly are conceivable. Also, the cam member 4
The hook 44 is configured to be lowered when 6 comes into contact with the cam plate 23, but various methods of lowering the hook 44 are conceivable.

[0022]

As described in detail above, according to the bogie connecting mechanism for an unmanned guided vehicle according to the present invention, when exchanging a bogie to be connected to a self-propelled vehicle, the self-propelled vehicle and the bogie are moved to the destination. The connecting and disconnecting operations can be automatically performed by the meandering rotation of the drive wheels of the self-propelled vehicle. That is, the self-propelled vehicle can be connected to and removed from the bogie while traveling.

[Brief description of drawings]

FIG. 1 is a perspective view showing a schematic image of a self-propelled vehicle.

FIG. 2 shows a plan view of a self-propelled vehicle.

FIG. 3 shows a front view of a self-propelled vehicle.

FIG. 4 is a side view showing the front side of the self-propelled vehicle.

FIG. 5 is a side view showing the rear side of the self-propelled vehicle.

FIG. 6 is a schematic plan view showing a drive control unit of a self-propelled vehicle.

FIG. 7 is a schematic front view showing a drive control unit of a self-propelled vehicle.

FIG. 8 is a schematic diagram showing an operation when the hook is lowered to release the connection between the self-propelled vehicle and the bogie.

FIG. 9 is a diagram showing a schematic layout of a taxiway on which a self-propelled vehicle travels.

FIG. 10 is a schematic diagram showing an operation in which the self-propelled vehicle separates the bogie.

FIG. 11 is a schematic diagram showing an operation in which the self-propelled vehicle connects the bogies.

[Explanation of symbols] 1 ... Transport vehicle 2 ... self-propelled vehicle 3 ... trolley 3a ... Frame (second connecting portion) 3b ... frame (first connecting portion) 4 ... Taxiway (travel guide means) 8 ... Drive wheel 19 ... Body 19A ... Body body 19B ... front part of vehicle body 23 ... Cam plate (one cam part) 26 ... Photoelectric switch (signal receiving means) 27 ... Reflector (running position confirmation means) 28 ... 1st connection member (1st connection part) 35 ... Hook (first connecting portion) 36 ... Inclined guide surface 41 ... Second connecting member (second connecting portion) 44 ... Hook (second connecting portion) 46 ... Cam member (other cam part)

Claims (5)

[Claims] 1. A self-propelled vehicle in a luggage-conveying vehicle device for unmanned conveying operation by connecting a bogie capable of loading luggage to a self-propelled vehicle capable of unmanned conveying operation according to a travel guide means. A trolley connecting mechanism for an unmanned guided vehicle for automatically connecting and disconnecting with a trolley, wherein a self-propelled vehicle has a one-way drive rotatably attached to a vehicle body according to a traveling guide means. Rotating drive wheels,
A first connecting portion capable of connecting a trolley provided at either a front position or a rear position in the traveling direction and a second coupling portion capable of connecting a trolley provided at a front position in the traveling direction are provided. A first connecting portion that can be connected to the first connecting portion of the self-propelled vehicle and a second connecting portion that can be connected to the second connecting portion of the self-propelled vehicle Is provided, the operation of the second connecting portion of the self-propelled vehicle and the second connecting portion of the bogie from the connected state to the disconnected state, and the first connecting portion of the self-propelled vehicle and the first bogie of the bogie. The unmanned guided vehicle is characterized in that the operation from the disconnected state to the connected state of No. 1 from the connected state is automatically performed by the meandering rotation running of the drive wheels that enable the vehicle body to run in reverse. Truck connection mechanism. 2. The bogie connecting mechanism for an unmanned guided vehicle according to claim 1, wherein the first connecting portion of the self-propelled vehicle is a long first member rotatably attached to a vehicle body. Is formed by providing a hook having an inclined guide surface at the tip of the connecting member, and the first connecting portion of the carriage contacts the inclined guide surface of the hook to rotate the first connecting member. A bogie connecting mechanism for an unmanned guided vehicle, which is brought into a connected state by engaging with. 3. The bogie connecting mechanism for an unmanned guided vehicle according to claim 1 or 2, wherein the second connecting portion of the self-propelled vehicle is an elongated body rotatably attached to a vehicle body. A hook that engages with the second connecting portion of the trolley is provided at the tip of the second connecting member, and at the other end, one cam portion provided on the drive wheel side when the drive wheel makes a predetermined turning rotation. The other cam portion that engages with and rotates the second connecting member is provided and formed, and when the drive wheel makes a predetermined turning rotation, the one and the other cam portions engage and the second cam portion is formed. A bogie connecting mechanism for an unmanned guided vehicle, wherein the bogie connecting mechanism can be separated from the second connecting portion of the bogie by rotating the connecting member. 4. The bogie coupling mechanism for an unmanned guided vehicle according to claim 1, wherein the self-propelled vehicle receives a transmission signal for driving the self-propelled vehicle. A bogie connecting mechanism for an unmanned guided vehicle, which is provided with. 5. The bogie connecting mechanism for an unmanned guided vehicle according to claim 1, wherein the self-propelled vehicle is provided with means for confirming a traveling position of the self-propelled vehicle. A bogie connection mechanism for unmanned guided vehicles that is characterized in that