JP2004262288A - Automatic guided vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic guided vehicle capable of preventing a coupling device from being damaged and deteriorated without decelerating or stopping the vehicle in coupling. <P>SOLUTION: An impact absorbing device 4 installed in the automatic guided vehicle 1 comprises two guide members 40 and a coil spring 39. The guide members 40 are opposed to each other on both sides of the moving locus of the connection pin 33 of a carrying vehicle moving relative to a U-shaped groove 22 in the automatic guided vehicle 1 when the automatic guided vehicle 1 is coupled to a carrying vehicle. The guide members 40 are installed so as to be moved close to and apart from each other, and the coil spring 39 energizes the guide members 40 in directions for moving them in proximity to each other. The connection pin 33 is engaged with the U-shaped groove 22 after being slid between the guide members 40. Thus, the impact absorbing device 4 absorbs and damps an impact generated when the connection pin is engaged with the U-shaped groove 22. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an automatic guided vehicle provided with an automatic traveling vehicle that automatically travels and a transport vehicle that is pulled by the automatic traveling vehicle.
[0002]
[Prior art]
Generally, an automatic guided vehicle is provided with an automatic traveling vehicle, a transportation vehicle towed by the automatic traveling vehicle, and a coupling device for coupling the both. In the connecting device that connects the automatic traveling vehicle and the transporting vehicle while the automatic traveling vehicle is maintained in the traveling continuation state, the connection pin of the transporting vehicle in the stopped state in the standby state is inserted from the opening of the hook of the automatic traveling vehicle, The connecting pin and the hook are engaged (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-4-328008 [0004]
[Problems to be solved by the invention]
However, in the automatic guided vehicle described in Patent Literature 1, since the connecting pin of the transporting vehicle in the stopped state engages with and engages with the hook of the automatic traveling vehicle in the traveling state, the relative speed of the two immediately before coupling is large. In addition, the hooks directly and instantaneously receive the kinetic energy (moment of inertia) of the self-propelled vehicle. For this reason, the connecting device receives an excessive impact, which is one of the causes of damage or deterioration.
[0005]
Further, if the impact at the time of connection is excessive, the drive unit and the electrical components for the automatic traveling vehicle also receive an excessive impact, which may cause damage or deterioration.
[0006]
Furthermore, it also contributes to loosening of screws, which are components of the automatic traveling vehicle and the transport vehicle.
[0007]
Then, the number of stops of the automatic guided vehicle increases due to breakage or deterioration of the connecting device or the like, and the average failure occurrence time increases, which may result in a decrease in productivity.
[0008]
Note that these inconveniences can be avoided by decelerating or stopping the self-propelled vehicle at the time of connection. However, deceleration or stoppage of the self-propelled vehicle causes an increase in transport time and complexity of the system.
[0009]
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an automatic guided vehicle that can prevent damage or deterioration of a coupling device or the like without decelerating or stopping an automatic traveling vehicle during coupling. And
[0010]
[Means for Solving the Problems]
The automatic guided vehicle according to the present invention includes an automatic traveling vehicle, a transport trolley, a coupling device, and an impact absorbing device. An automatic traveling vehicle automatically travels by the driving force of a driving source. The transport trolley is pulled by an autonomous vehicle. The connecting device has a connecting pin provided on one of the automatic traveling vehicle and the transporting vehicle, and a receiving portion provided on the other of the automatic traveling vehicle and the transporting vehicle. The self-propelled vehicle and the transport vehicle are connected by the engagement between the connection pin and the receiving portion. The shock absorbing device is provided on the other of the automatic traveling vehicle and the transport vehicle. For example, if the connecting pin is located on the vehicle and the receiving part is located on the carrier, the shock absorber is located on the carrier, and conversely, the connecting pin is located on the carrier and the receiving part travels automatically. If each is arranged in a vehicle, the shock absorbing device is arranged in an automatic traveling vehicle. The shock absorbing device absorbs and reduces shock generated when the connecting pin and the receiving portion are engaged.
[0011]
In the above configuration, the shock generated at the time of engagement between the connection pin and the receiving portion (at the time of connection between the automatic traveling vehicle and the transport vehicle) is absorbed and reduced by the shock absorbing device. Therefore, it is possible to prevent the connection device or the like from being damaged or deteriorated without decelerating or stopping the automatic traveling vehicle at the time of connection.
[0012]
The shock absorbing device may include first and second guide members and an elastic member. The first and second guide members are opposed to each other with a movement trajectory of a connection pin relatively moving toward the receiving portion when the automatic traveling vehicle and the transport vehicle are connected. The first guide member is provided so as to be close to and away from the second guide member. The elastic member urges the first guide member toward the second guide member. The connecting pin engages with the receiving portion after sliding between the first and second guide members.
[0013]
In the above configuration, when the transporting vehicle in the stopped state and the automatic traveling vehicle in the traveling state are coupled, the coupling pin slides between the first and second guide members and then engages with the receiving portion. That is, due to the sliding resistance when the connecting pin slides between the first and second guide members against the urging force from the elastic member, the relative speed difference between the automatic traveling vehicle and the transport vehicle gradually increases. The shock generated at the time of engagement between the connection pin and the receiving portion (at the time of connection between the automatic traveling vehicle and the transport vehicle) is absorbed and reduced. Therefore, the automatic guided vehicle is decelerated or stopped at the time of connection only by providing the existing automatic guided vehicle having no shock absorbing device with the shock absorbing device having the simple structure of the first and second guide members and the elastic member. Thus, it is possible to prevent the connection device and the like from being damaged or deteriorated.
[0014]
The first and second guide members may each have a parallel portion, and at least one of the first and second guide members may have an inclined portion. The two parallel portions are disposed substantially parallel to the movement locus of the connecting pin and face each other. Each parallel portion has one end located near the receiving portion and the other end opposite thereto. The inclined portion is bent from the other end of one of the parallel portions of the first and second guide members, and extends in a direction away from the other of the first and second guide members. The inclined portion guides the connecting pin between the parallel portions of the first and second guide members.
[0015]
In the above configuration, when the stopped transport vehicle and the traveling automatic vehicle are connected, the connecting pin is guided from the inclined portion to between the parallel portions, and is smoothly guided from between the parallel portions to the receiving portion. That is, in addition to the function as the shock absorbing device, the first and second guide members also function as a so-called self-centering mechanism that guides the connecting pin to the receiving portion to assist smooth engagement between the two. .
[0016]
The second guide member may be provided so as to be close to and away from the first guide member, and the elastic member may bias the second guide member toward the first guide member. , The first and second guide members may each have an inclined portion. In this case, each inclined portion bends from the other end of each parallel portion of the first and second guide members, and extends in opposite directions.
[0017]
In the above configuration, the first and second guide members are freely movable toward and away from each other, and the elastic member urges the first and second guide members toward each other. When the transporting vehicle in the stopped state and the automatic traveling vehicle in the traveling state are coupled to each other, the coupling pins are guided from the inclined portions of the first and second guide members to between the parallel portions, and the impact is absorbed. , And smoothly guided to the receiving portion from between the parallel portions.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings.
[0019]
FIG. 1 is an overall perspective view of an automatic traveling vehicle that constitutes an automatic guided vehicle according to the present embodiment, FIG. 2 is a front view of a transport vehicle that constitutes the automatic guided vehicle according to the present embodiment, and FIG. FIG. 4 is a perspective view of a main part of FIG. 1, and FIG. 5 is a plan view of FIG. In the following description, the front-rear direction means the front-rear direction of the traveling direction of the automatic guided vehicle (automatic traveling vehicle), and the left-right direction is the width direction of the automatic guided vehicle (automatic traveling vehicle) substantially orthogonal to the front-rear direction. Means
[0020]
As shown in FIGS. 1 and 2, the optically guided automatic guided vehicle according to the present embodiment includes an automatic traveling vehicle 1, a transport vehicle 2, a coupling device 3, and a shock absorbing device 4. .
[0021]
As shown in FIG. 1, the self-driving vehicle 1 includes a base frame 5, a front mount 6, a control box 7, a battery 8, a front driven wheel 9, a rear driven wheel 10, and a drive motor unit 11. , A drive wheel 12, a sensor 13, a coupler 14 constituting the connecting device 3, and a shock absorbing device 4. On the base frame 5, a front mount 6, a control box 7, and a battery 8 are arranged and fixed side by side from the front in the traveling direction to the rear.
[0022]
Brackets 15 and 16 are fixed to two places on the left and right sides of the lower surface of the front end of the base frame 5 and two places on the left and right sides of the lower face of the rear end (only one place is shown in FIG. 1). The rear driven wheel 10 is rotatably supported by the rear bracket 16. The front bracket 15 is rotatably connected to the base frame 5 to allow the traveling direction of the automatic traveling vehicle 1 to be changed.
[0023]
A drive motor unit 11 as a drive source is fixed below the base frame 5. The drive motor unit 11 has two independent motors (not shown), and two (only one is shown in FIG. 1) drive wheels 12 are respectively attached to a drive shaft (not shown) of each motor. (Not shown). The drive motor unit 11 is driven by receiving power supply from the battery 8, whereby the drive wheels 12 are driven and rotated, and the automatic traveling vehicle 1 is caused to travel. Further, the steering of the automatic traveling vehicle 1 is performed by turning on / off the two motors independently.
[0024]
On the floor surface 18, a guide tape 19 such as a light reflecting tape that defines a traveling route of the automatic guided vehicle is attached. A sensor 13 is fixed to a front part of the drive motor unit 11. The sensor 13 detects the position of the guide tape 19 and outputs a detection signal to a control circuit (not shown) in the control box 7. The control circuit controls the two motors of the drive motor unit 11 according to the detection signal from the sensor 13 and drives the drive wheels 12 so that the self-propelled vehicle 1 runs along the guide tape 19.
[0025]
The collision prevention sensor 55 and the pilot lamp 17 are fixed to the upper surface of the front end of the base frame 5. The collision prevention sensor 55 detects an obstacle ahead and prevents a collision of the automatic traveling vehicle 1 before it occurs. That is, when detecting the obstacle, the collision prevention sensor 55 outputs a detection signal to a control circuit (not shown) in the control box 7, and the control circuit stops the two motors of the drive motor unit 11. The pilot lamp 17 is turned on while the automatic traveling vehicle 1 is traveling (while the drive motor unit 11 is driving), and notifies the surroundings that the automatic traveling vehicle 1 is traveling.
[0026]
The front frame 6 has four legs 20 (only three are shown in FIG. 1) extending upward from the base frame 5, and an upper plate portion 21 fixed on the legs 20. The coupler 14 is fixed to a rear portion of the upper surface of the upper plate portion 21 and has a U-shaped groove 22 as a receiving portion. The U-shaped groove 22 opens at the front and extends rearward. The shock absorbing device 4 is disposed at a front portion of the upper surface of the upper plate portion 21 (in front of the opening of the U-shaped groove 22 of the coupler 14).
[0027]
An operation switch group 29 for inputting operations such as transmitting and stopping the automatic traveling vehicle 1 is fixed to a front end of a lower surface of the upper plate portion 21 of the front mount 6.
[0028]
As shown in FIGS. 2 and 3, the transport trolley 2 includes a frame mount 25 having an intermediate plate 23 and an upper plate 24, and a driven wheel 27 attached to the lower four corners of the frame mount 25 via brackets 26 and 56. , Is provided. The front bracket 26 is rotatably connected to the frame base 25, and the rear bracket 56 is fixed to the frame base 25. At the lower part of the frame base 25, an automatic traveling vehicle housing portion 28 is provided which is open on both front and rear sides and in which the automatic traveling vehicle 1 is accommodated. A conveyed object such as a component is placed on the middle plate 23 and the upper plate 24.
[0029]
The transport vehicle 2 includes a substantially L-shaped arm 30. The corner portion 30a of the arm 30 is rotatably supported by a pair of arm support portions 57 (shown in FIG. 3) projecting downward from side edge portions of the middle plate 23. The arm 30 includes a horizontal portion 31 extending from the corner 30a to substantially the center in the vehicle width direction of the automatic traveling vehicle accommodating portion 28, a vertical portion 32 extending downward from the corner 30a, and a connecting pin extending downward from the tip of the horizontal portion 31. 33, and an input section 34 protruding outward from the lower end of the vertical section 32. An arm support bracket 35 is fixed to the lower surface of the middle plate 23 to abut against the horizontal portion 31 of the arm 30 from below to prevent the horizontal portion 31 from moving downward. In the normal state, the horizontal portion 31 of the arm 30 is supported by the arm support bracket 35. The positions of the arm 30 and the arm support bracket 35 with respect to the frame base 25 are set such that the connecting pin 33 is arranged at a predetermined position and the horizontal portion 31 is substantially horizontal in a normal state. The predetermined position refers to a position at which the U-shaped groove 22 (shown in FIG. 1) of the coupler 14 of the automatic traveling vehicle 1 accommodated in the automatic traveling vehicle accommodation portion 28 can be engaged. When the input section 34 is pressed downward or inward with respect to the arm 30 in the normal state, the entire arm 30 rotates, the horizontal section 31 separates from the arm support bracket 35, and the connecting pin 33 moves upward from a predetermined position. (Indicated by a two-dot chain line in FIG. 2). The connection pin 33 at the release position is located above the U-shaped groove 22 (shown in FIG. 1) of the automatic traveling vehicle 1 and does not engage with the U-shaped groove 22.
[0030]
Next, the shock absorbing device 4 will be described with reference to FIGS.
[0031]
As shown in FIGS. 4 and 5, the shock absorbing device 4 includes a slide base 36, four guide rail support brackets 37, four guide rails 38, four coil springs 39 as elastic members, And two guide members 40.
[0032]
A rectangular plate-shaped slide base 36 is provided on the upper plate 21 of the front mount 6 of the automatic traveling vehicle 1 in front of the opening of the U-shaped groove 22, and the movement locus of the center of the connecting pin 33 (hereinafter, the connecting pin 33 It is arranged and fixed along a direction substantially perpendicular to the movement locus (a direction substantially perpendicular to the traveling direction of the automatic traveling vehicle 1).
[0033]
The guide rail support brackets 37 having a substantially L-shaped cross section are symmetrically arranged two by two on the left and right sides of the movement trajectory of the connection pin 33, and are fixed to the slide base 36 by bolts 41, respectively.
[0034]
The guide member 40 having a substantially L-shaped cross section is disposed between the left and right guide rail support brackets 37 (the center space among the three spaces defined by the four guide rail support brackets 37 arranged on a substantially straight line). . The two guide members 40 are disposed one by one on the left and right sides of the movement trajectory of the connecting pin 33. Each of the left and right guide members 40 has a vertical wall 42 facing each other, and a horizontal wall 43 extending from the lower end of the vertical wall 42 in a direction opposite to (a direction moving away from the movement locus of the connecting pin 33). The side wall 43 slides on the slide base 36. Each guide member 40 has a parallel portion 44 and an inclined portion 45. One end of the parallel portion 44 is disposed immediately in front of the opening of the U-shaped groove 22, and the vertical walls 42 of the left and right parallel portions 44 are disposed substantially parallel to the movement locus of the connection pin 33 and face each other. The left and right inclined portions 45 are respectively bent from the other ends of the left and right parallel portions 44 and extend in opposite directions (directions away from the movement locus of the connecting pin 33).
[0035]
The guide rails 38 extend from two front and rear portions of the outer surface of the vertical wall 42 of the parallel portion 44 of each guide portion 40 in a direction substantially orthogonal to the vertical wall 42 (a direction substantially orthogonal to the movement locus of the connecting pin 33). . Each guide rail support bracket 37 is formed with two guide holes 46 through which the guide rails 38 are inserted. That is, the guide rail 40 and the guide hole 46 allow the guide member 40 to slide only in a direction substantially orthogonal to the movement locus of the connection pin 33.
[0036]
The coil spring 39 is of a compression type, and is provided on each guide rail 38 between the vertical wall 42 of the left and right guide members 40 and the left and right guide rail support brackets 37 opposed thereto. In such an initial state, the coil springs 39 are mutually pressed and balanced via the vertical walls 42 of the parallel portions 44 of the left and right guide members 40, and the inner surfaces of the left and right vertical walls 42 They are in contact with each other near the movement locus (near the extension of the center line of the U-shaped groove 22).
[0037]
Next, the operation of the present embodiment will be described.
[0038]
The automatic traveling vehicle 1 automatically travels along a guide tape 19 on a floor surface 18. The transport path defined by the guide tape 19 includes a connection position at which the transport vehicle 2 is automatically connected to the automatic traveling vehicle 1 and a connection release position at which the transport vehicle 2 is automatically disconnected from the automatic travel vehicle 1. It is. The automatic traveling vehicle 1 travels alone before the connection position and after the disconnection position, and pulls the transport vehicle 2 between the connection position and the disconnection position.
[0039]
At the connection position, the transport vehicle 2 on which the transported object is placed is stopped at a predetermined position in a stopped state, and the automatic traveling vehicle 1 enters the automatic traveling vehicle housing portion 28 of the transport vehicle 2 in the standby state (stop state). I do. When the automatic traveling vehicle 1 enters, the coupler 14 and the shock absorbing device 4 approach the connecting pin 33, and the connecting pin 33 enters between the inclined portions 45 of the guide member 40 as shown in FIG. In the following description based on FIGS. 6 to 8, for convenience, it is assumed that the connecting pin 33 moves with respect to the coupler 14 and the shock absorbing device 4 that are stopped.
[0040]
First, as shown in FIG. 6, when the connecting pin 33 enters between the vertical walls 42 of the inclined portion 45 of the guide member 40, the inclined portion 45 connects the connecting pin 33 to the vertical portion of the parallel portion 44 of the guide member 40. Guide between the walls 42. As the connecting pin 33 enters, the guide member 40 is pushed out against the urging force of the coil spring 39 and slides to the right and left to separate, and the connecting pin 33 reaches between the vertical walls 42 of the parallel portion 44. .
[0041]
Next, as shown in FIG. 7, the connecting pin 33 slides between the vertical walls 42 of the parallel portion 44. During this sliding, the connecting pin 33 receives the urging force of the coil spring 39 via the guide member 40.
[0042]
Finally, as shown in FIG. 8, the connecting pin 33 is disengaged from the parallel portion 44, advances in the U-shaped groove 22, and contacts the rear end 22 a of the U-shaped groove 22. In such a state, the connecting pin 33 and the U-shaped groove 22 are engaged, and the connecting pin 33 is prevented from coming off forward by the guide member 40 closed by the coil spring 39. Thereby, the automatic traveling vehicle 1 and the transport vehicle 2 are connected, and the transport vehicle 2 is pulled by the automatic traveling vehicle 1.
[0043]
Further, a connection release member (not shown) that abuts on the input unit 34 of the arm 30 of the traveling carriage 2 and presses the input unit 34 downward or inward is fixed to the connection release position. When the input portion 34 is pressed by the connection release member, the entire arm 30 rotates, the horizontal portion 31 separates from the arm support bracket 35, and the connection pin 33 moves from the predetermined position to the upward release position. As a result, the connection between the automatic traveling vehicle 1 and the transportation vehicle 2 is released, the transportation vehicle 2 stops at the disconnection position, and only the automatic traveling vehicle 1 continues traveling.
[0044]
As described above, in the present embodiment, when the transporting vehicle 2 in the stopped state and the automatic traveling vehicle 1 in the traveling state are coupled, the coupling pin 33 slides between the vertical walls 42 of the parallel portion 44 of the guide member 40. Then, it engages with the U-shaped groove 22. That is, due to the sliding resistance when the connecting pin 33 slides between the guide members 40 against the urging force from the coil spring 39, the relative speed difference between the automatic traveling vehicle 1 and the transport vehicle 2 gradually decreases. Then, the shock generated when the connecting pin 33 and the U-shaped groove 22 are engaged (when the automatic traveling vehicle 1 and the transport vehicle 2 are connected) is absorbed and reduced. As shown in FIG. 9, the shock absorbing force of the coil spring 39 rises substantially linearly until the connecting pin 33 reaches the parallel portion 44, decreases to a predetermined value when reaching the parallel portion 44, and slides the parallel portion 44. During the movement, it is maintained at a predetermined value, and decreases to zero as it comes off the parallel portion 44 (becomes out of the space between the guide members 40).
[0045]
In this manner, the shock generated when the automatic traveling vehicle 1 and the transport vehicle 2 are connected can be alleviated and absorbed, so that the connection device 3 and the like can be damaged without decelerating or stopping the automatic traveling vehicle 1 during the connection. Deterioration and the like can be prevented.
[0046]
By simply providing the shock absorbing device 4 having a simple configuration in an existing automatic guided vehicle that does not have the shock absorbing device 4, it is possible to prevent the connection device 3 and the like from being damaged or deteriorated.
[0047]
When the transporting vehicle 2 in the stopped state and the automatic traveling vehicle 1 in the traveling state are coupled, the coupling pin 33 is guided from the inclined portion 45 to between the parallel portions 44 and smoothly from the parallel portion 44 to the U-shaped groove 22. Led to. That is, in addition to the function as the shock absorbing device 4, the guide member 40 also functions as a so-called self-aligning mechanism that guides the connecting pin 33 to the U-shaped groove 22 to assist smooth engagement between the two.
[0048]
FIG. 10 is a side view showing the second embodiment. In addition, about the part substantially the same as 1st Embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.
[0049]
In the present embodiment, a guide projection 47 extending substantially parallel to the guide rail 38 (see FIG. 5) and in contact with the lower surface of the guide member 40 (the lower surface of the side wall 43 of the parallel portion 44) is integrally formed on the upper surface of the slide base 36. It is provided. The guide projection 47 allows the guide member 40 to slide more smoothly. The guide member 40 may be provided with a guide protrusion, and the guide member 40 and the slide base 36 may each be provided with a guide protrusion and a guide groove engaged with the guide protrusion.
[0050]
FIG. 11 is a plan view showing the third embodiment. In addition, about the part substantially the same as 1st Embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.
[0051]
In the present embodiment, extension portions 48 and 49 are integrally provided at the rear ends of the parallel portions 44 of the respective guide members 40, and the accommodation portions of the connection pins 33 are defined by the extension portions 48 and 49. is there. Thereby, the coupler 14 (U-shaped groove 22) shown in FIG. 5 can be omitted, and the cost can be reduced by reducing the number of components.
[0052]
FIG. 12 is a plan view showing the fourth embodiment. In addition, about the part substantially the same as 1st Embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.
[0053]
In the present embodiment, the direction of the guide rail 50 is different from the first embodiment. That is, the left and right guide rails 50 extend in a direction inclined forward in the moving direction of the connecting pin 33 with respect to a direction substantially orthogonal to the moving path of the connecting pin 33. As a result, the guide member 40 slides obliquely forward in the direction of movement of the connecting pin 33, so that the operation of the guide member 40 when the space between the guide members 40 is expanded by the connecting pin 33 is stabilized, and shock absorption is more smoothly performed. Done in
[0054]
FIG. 13 is a plan view showing the fifth embodiment. In addition, about the part substantially the same as 1st Embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.
[0055]
This embodiment is different from the first embodiment in that the guide member 40 is rotatably supported. That is, the front end of the inclined portion 45 of the guide member 40 is rotatably connected to the slide base 36 by the pin 51. One end of a guide rail 54 is rotatably connected to the rear end of the parallel portion 44 of the guide member 40 via a connecting member 52. The other end of the guide rail 54 passes through the inside of the rotation support member 53. The rotation support member 53 is rotatably supported by the slide base 36. The coil spring 39 is provided on the guide rail 54 between the connecting member 52 and the rotation support member 53, and urges the guide member 40 so that the rear ends of the parallel portions 44 contact each other.
[0056]
When the connecting pin 33 enters between the inclined portions 45 and reaches the parallel portion 44, the connecting pin 33 moves rearward while expanding the interval between the parallel portions 44 against the urging force of the coil spring 39. During this movement, the guide member 40 rotates about the pin 51, the distance between the connecting member 52 and the rotation supporting member 53 gradually decreases, and the urging force from the coil spring 39 gradually increases. That is, as shown in FIG. 14, the shock absorbing force of the coil spring 39 gradually increases with the movement of the connecting pin 33, and reaches a peak immediately before the connecting pin 33 comes off the guide member 40. Therefore, the shock absorbing force does not suddenly reach a peak, and the shock generated at the time of connection can be more appropriately relaxed and absorbed.
[0057]
In the first to fifth embodiments, only one of the guide members 40 may be movable, or the inclined portion 45 may be provided only on one of the guide members 40.
[0058]
The cross-sectional shape of the guide member 40 is not limited to a substantially L-shape, and may be any shape such as a circular shape or a rectangular shape.
[0059]
Instead of the compression type coil spring 39, various configurations such as a tension type coil spring, a hydraulic or pneumatic shock absorber, a leaf spring, a shock absorbing gel, and an elastic member such as rubber can be applied. . When a leaf spring is applied, the guide member 40 and the leaf spring can be integrally formed.
[0060]
The drive system of the self-propelled vehicle 1 is not limited to the self-propelled system, and may be a passive system (a type having a drive source outside the vehicle body). The guidance system of the automatic traveling vehicle 1 is not limited to the optical guidance system, but may be another system such as a mechanical guidance system.
[0061]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to aim at prevention of breakage, deterioration, etc. of a coupling device etc. without decelerating or stopping an automatic traveling vehicle at the time of connection with a conveyance trolley, and productivity by shortening the average failure occurrence time. Improvement can be achieved.
[Brief description of the drawings]
FIG. 1 is an overall perspective view of an automatic traveling vehicle constituting an automatic guided vehicle according to a first embodiment.
FIG. 2 is a front view of a transport vehicle constituting the automatic guided vehicle of FIG. 1;
FIG. 3 is a side view of the transport vehicle shown in FIG. 2;
FIG. 4 is a perspective view of a main part of FIG. 1;
FIG. 5 is a plan view of FIG. 4;
FIG. 6 is a main part plan view showing a state immediately before connection of the first embodiment.
FIG. 7 is a plan view of a main part showing a state in the middle of connection according to the first embodiment;
FIG. 8 is a main part plan view showing a state after connection according to the first embodiment.
FIG. 9 is a diagram illustrating a relationship between a shock absorbing force and a position of a connection pin according to the first embodiment.
FIG. 10 is a side view showing the second embodiment.
FIG. 11 is a plan view showing a third embodiment.
FIG. 12 is a plan view showing a fourth embodiment.
FIG. 13 is a plan view showing a fifth embodiment.
FIG. 14 is a diagram illustrating a relationship between a shock absorbing force and a position of a connection pin according to a fifth embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Automatic traveling vehicle 2 Carriage 3 Coupling device 4 Shock absorption device 11 Drive motor part (drive source)
14 Coupler 19 Induction tape 22 U-shaped groove (receiving part)
33 Connecting Pin 36 Slide Base 37 Guide Rail Support Bracket 38 Guide Rail 39 Coil Spring 40 Guide Member 44 Parallel Portion 45 Inclined Portion

Claims (3)

An autonomous vehicle that automatically travels by the driving force of the drive source,
A transport vehicle towed by the autonomous vehicle,
A connecting pin provided on one of the automatic traveling vehicle and the transporting vehicle, and a receiving portion provided on the other of the automatic traveling vehicle and the transporting vehicle, and by engagement of the connecting pin with the receiving portion. A connecting device that connects the automatic traveling vehicle and the transport vehicle,
An impact absorbing device that is provided on the other of the automatic traveling vehicle and the transport vehicle and that reduces an impact generated when the connection pin and the receiving portion are engaged;
An automatic guided vehicle characterized by comprising: The automatic guided vehicle according to claim 1,
The shock absorbing device includes first and second guide members, and an elastic member,
The first and second guide members are opposed to each other across a movement trajectory of the connection pin that relatively moves toward the receiving portion when the automatic traveling vehicle and the transport vehicle are connected,
The first guide member is provided so as to be close to and away from the second guide member,
The elastic member biases the first guide member toward the second guide member,
The unmanned transport vehicle, wherein the connecting pin engages with the receiving portion after sliding between the first and second guide members. The automatic guided vehicle according to claim 2,
The first and second guide members each include a parallel portion that is disposed substantially in parallel with the movement locus of the connection pin and faces each other,
The parallel portion has one end disposed near the receiving portion and the other end on the opposite side,
One of the first and second guide members has an inclined portion bent from the other end of the parallel portion and extending in a direction away from the other of the first and second guide members,
The said inclined part guides the said connection pin between the parallel parts of the said 1st and 2nd guide member, The automatic guided vehicle characterized by the above-mentioned.

Images