JP2016150692A - Automatic carrier and coupling member therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide: a coupling member for an automatic carrier which makes it easy to introduce into a relatively small-scale conveyance system; and the automatic carrier.SOLUTION: A coupling plate 4 for an automatic carrier includes: a first coupling hole 41 that accommodates therein a first coupling pin 31A included in a tow car 2; a second coupling hole 42 that accommodates a second coupling pin 31B therein; and a guide structure formed so as to face in the shape of being widened toward the end around the first coupling hole 41 and so as to include a pair of inside surfaces interfering with the first coupling pin 31A.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic conveyance vehicle that is a combination of a self-supporting conveyance carriage provided with a free wheel and a traction vehicle coupled to the conveyance carriage.

  2. Description of the Related Art Conventionally, for example, an automatic conveyance vehicle is known in which a tow vehicle capable of self-propelling along a preset route is combined with a conveyance carriage having a free wheel. The towing vehicle includes a driving motor, a battery, and the like, and a detection sensor for detecting a magnetic tape or the like laid on the floor surface. If a transport cart is connected to this towing vehicle, the transport cart loaded with workpieces such as parts and members can be moved along the magnetic tape. Further, as such an automatic transport vehicle, there is known an automatic transport vehicle including a short towing vehicle that is connected to the transport cart by using a connecting pin that can be moved up and down, and can be moved up and down (for example, , See Patent Document 1 below).

  In the body of the towing vehicle that constitutes this automatic conveyance vehicle, drive units having left and right wheels that can be individually driven are arranged at two positions in the front and rear, and the connecting pin for connecting the conveyance cart is an intermediate position in the front and rear direction. It is provided on the upper surface that hits. Each drive unit is rotatably attached to the vehicle body, and the forward direction can be changed by reversely rotating the left and right wheels. For example, if the two drive units are rotated sideways, the towing vehicle can be moved to the side.

  On the other hand, a pair of guide rails facing each other with a small clearance between the connected towing vehicles are provided on the transport carriage side in addition to the connecting holes that can accommodate the connecting pins of the towing vehicles. If an attempt is made to pull the carriage with only one connecting pin, there is a risk that the rolling carriage will act on the free wheel on the front side of the connecting pin and turn sideways to rotate the carriage. If a guide rail facing the traction vehicle is provided on the conveyance trolley side like the above automatic conveyance vehicle, the rotation of the conveyance trolley can be regulated from both outer sides, and stable traction by only one connecting pin is possible. It becomes possible. Furthermore, when the towing vehicle is moved in the lateral direction, the conveyance carriage can be pulled to the side with high stability by a towing posture that pushes the guide rail on the forward side.

JP 2011-102076 A

  The conventional automatic transport vehicle has the advantage that the transport cart can be pulled with high stability only by providing one connecting pin, but has the following problems. In other words, the structure on the side of the transport carriage is slightly complicated, such as the need to provide guide rails, and in order to ensure stability when towing the transport carriage in the lateral direction, the drive unit for the left and right wheels before and after the towing truck It is preferable to install one unit at a time. Therefore, the configuration is complicated and the size of the towing vehicle is likely to increase, and the compatibility with a relatively large system is high. There is a problem that it cannot be said to be an optimal configuration.

  The present invention has been made in view of the above-described conventional problems, and is an automatic transport vehicle that combines a self-supporting transport carriage equipped with a free wheel and a tow truck coupled to the transport carriage. It is an object of the present invention to provide a connection member for an automatic transport vehicle and an automatic transport vehicle that can be easily introduced into a small transport system.

A first aspect of the present invention relates to an automatic transport vehicle that combines a self-supporting transport cart provided with a free wheel and a tow vehicle provided with two connecting pins, in order to connect the tow vehicle to the transport cart. A connecting member attached to the transport carriage,
A first coupling hole for accommodating a first coupling pin;
A second coupling hole for accommodating a second coupling pin;
And a guide structure formed to include a pair of inner surfaces that face each other in a divergent shape with the first connection hole as a center and interfere with the first connection pin. It exists in a member (Claim 1).

The second aspect of the present invention is an automatic transport vehicle that combines a self-supporting transport carriage equipped with a free wheel and a tow truck that is submerged and connected to the lower side of the transport carriage.
The towing vehicle is arranged coaxially and has a set of two driving wheels that can be individually driven including reverse rotation, and a connecting pin that can be moved up and down to connect the transport carriage. The connection pins include a first connection pin provided in the middle of the set of two driving wheels, and a second connection pin disposed away from the first connection pin.
On the floor surface of the transport carriage facing the floor surface, there is an automatic transport vehicle to which the connecting member of the first aspect is attached (Claim 5).

  The connecting member for an automated guided vehicle according to the present invention is a member that is attached to a floor surface of a transporting carriage, for example, and serves to connect a towing vehicle that includes the two connecting pins. In addition to the first and second connection holes, the connection member includes the guide structure facing in a divergent shape centered on the first connection hole.

  The guide structure is configured to interfere with a first connecting pin provided in the towing vehicle. When the towing vehicle is inserted under the transport carriage, the outer peripheral surface of the first connecting pin is pressed against the pair of inner surfaces. If such a contact occurs, it is possible to automatically adjust the position of the transport carriage relative to the towing vehicle by the contact load.

  According to the pair of inner side surfaces formed in a divergent shape with the first connection hole as a center, the relative position as described above can be adjusted, and thus the first connection pin can be securely connected. It can lead to the position of the first connecting hole with high performance. If the first connecting pin can be guided to the position of the first connecting hole, then, for example, control for accommodating the first connecting pin in the first connecting hole can be executed relatively easily. .

  Naturally, the distance between the first connecting hole and the second connecting hole is designed to be substantially the same as the distance between the first connecting pin and the second connecting pin. For example, if the first connecting pin is accommodated in the corresponding connecting hole, the control for guiding the other second connecting pin to the second connecting hole becomes relatively easy. For example, if control is performed such that the towing vehicle is rotated with respect to the transport carriage around the first connection pin, the second connection pin is guided to the second connection hole with high reliability. Can do.

In the automated guided vehicle according to the present invention, the cost required for remodeling or the like for preparing the corresponding conveying cart is reduced. By attaching the connecting member to the transport cart, the transport cart capable of connecting the towing vehicle can be prepared.
As described above, if the connecting member according to the present invention is used, an automatic transport vehicle that combines a self-supporting transport cart having a free wheel and a tow vehicle coupled to the transport cart can be transported at a relatively small scale. It becomes easy to introduce into the system.

In a connection member for an automated guided vehicle according to a preferred aspect of the present invention, a plurality of the guide structures are provided in a circumferential direction centering on the first connection hole.
In this case, when connecting the tow vehicle, the tow vehicle can be connected to the transport carriage from a plurality of directions in which the guide structure is provided.

  In the guide structure of the connection member for the automatic guided vehicle according to the preferred embodiment of the present invention, the ratio of the end spread of the pair of inner side surfaces is different between the inner peripheral side and the outer peripheral side near the first connection hole. On the circumferential side, a restricting portion having a small proportion of the end spread is provided (claim 3).

  Thus, if the ratio of the end spread is increased on the outer peripheral side, the opening width of the guide structure can be widened, and the positional accuracy required when the towing vehicle is brought close to the transport carriage can be relaxed. In addition, according to the inner peripheral side restriction portion with a small end spread ratio, the first connection hole can be positioned with high accuracy on the path of the first connection pin according to the movement of the towing vehicle. . Thus, if the first connecting hole is accurately positioned on the path of the first connecting pin, the first connecting pin can be guided to the position of the first connecting hole with high positional accuracy. Become.

In a connection member for an automatic guided vehicle according to a preferred aspect of the present invention, a plurality of the second connection holes are provided along a circumference centering on the first connection hole. .
In this case, for example, by changing the second connection hole that accommodates the second connection pin, it is possible to control to change the forward side of the transport carriage when towing by the towing vehicle. And control can be diversified.

In the automated guided vehicle according to the second aspect, in the guide structure provided in the connecting member, the ratio of the end spread of the pair of inner side surfaces is different between the inner peripheral side and the outer peripheral side near the first connecting hole, The peripheral side is provided with a restricting portion where the pair of inner side surfaces face each other in a parallel manner with a smaller proportion of the end spread.
The first connecting pin included in the towing vehicle has a substantially circular cross section, and a tip-shaped portion having a generally rectangular cross section obtained by removing both sides with respect to the advancing direction based on the circular cross section. Preferably, it is provided (claim 6).

  In this case, the movement of the first connecting pin in the restricting portion is smoothed by the combination of the restricting portion that forms a nearly parallel gap where the pair of inner side surfaces face each other and the Tosaka-shaped portion having a substantially rectangular cross section. Can be. Thereby, the first connecting pin can be guided to the first connecting hole with higher accuracy.

FIG. 3 is a perspective view showing an automatic guided vehicle in the first embodiment. 1 is a perspective view showing a tow vehicle in Embodiment 1. FIG. FIG. 3 is a bottom view of the towing vehicle in the first embodiment. The side view which shows the connection unit in Example 1 in which the connection pin protrudes. The side view which shows the connection unit in Example 1 in which the connection pin retreats. Explanatory drawing which shows the front-end | tip shape of the 1st connection pin in Example 1. FIG. 1 is a block diagram showing an electric system configuration of a tow vehicle in Embodiment 1. FIG. FIG. 3 is a perspective view showing a transport carriage in the first embodiment. Explanatory drawing which anticipates the towing vehicle which connects the conveyance trolley | bogie in Example 1 from an upper surface. The bottom view of the conveyance trolley | bogie in Example 1. FIG. FIG. 3 is a perspective view of a single connection plate in a detached state viewed from the bottom side in the first embodiment. The enlarged view which shows the guide part of the connection plate in Example 1. FIG. The flowchart explaining connection control in Example 1. FIG. Explanatory drawing which shows a mode that a tow vehicle approaches the conveyance trolley | bogie in Example 1. FIG. FIG. 3 is an explanatory diagram showing a state in which the towing vehicle has entered the lower side of the transport carriage in the first embodiment. The flowchart explaining the other connection control in Example 1. FIG.

The embodiment of the present invention will be specifically described with reference to the following examples.
Example 1
As shown in FIG. 1, the present example relates to an automatic transport vehicle 1 that combines a transport cart 10 that is provided with a free wheel 111 and that can stand on its own, and a towing vehicle 2 that is submerged and connected to the lower side of the transport cart 10. . The contents will be described with reference to FIGS.

  As shown in FIGS. 1 to 3, the towing vehicle 2 includes a low-profile flat car body 20 that can enter the lower side of the transport carriage 10. The vehicle body 20 is supported by a pair of left and right drive wheels 211 arranged coaxially at a position near the center in the front-rear direction and an auxiliary wheel 22 at the rear end. Further, on the upper surface of the vehicle body 20, the first and second connecting pins 31A and 31B are arranged in the front-rear direction.

  As shown in FIGS. 2 and 3, a bumper 251 in which a bumper switch 220 (see FIG. 7) is accommodated is attached to the lower part of the front side of the vehicle body 20. On the upper side of the bumper 251, an obstacle sensor 252 that protrudes forward is disposed in the center, and operation panels 23 are disposed on both sides thereof. On the operation panel 23, an emergency stop switch 231, an operation switch 232, a display lamp 233, an LED indicator 234, and the like, which will be described later with reference to FIG.

  On the upper surface of the vehicle body 20, through-holes 201A and B for penetrating the first and second connecting pins 31A and B are formed. The first and second connecting pins 31A and B can be moved up and down in a state where the first and second connecting pins 31A and B are disposed through the through holes 201A and 201B.

  Two sensors necessary for automatic traveling are attached to the floor surface (bottom surface) of the vehicle body 20 (see FIG. 3). The line sensor 253 disposed at the approximate center on the front side of the left and right drive wheels 211 is a magnetic sensor for detecting a magnetic tape (not shown) laid on the floor surface on which the automatic guided vehicle 1 travels. The address reading sensor 254 arranged beside the line sensor 253 is a sensor for reading address information recorded on a guide marker (not shown) arranged at each important point on the moving path such as a connection position with respect to the transport carriage 10 and a turning angle. is there.

  The vehicle body 20 includes two drive units 21 each having one drive wheel 211, connection units 3A and 3B for raising and lowering the connection pins 31A and B, a control unit 50 (see FIG. 7), and a battery for storing electric power. (Not shown) and the like are accommodated. The two drive units 21 are arranged on the left and right sides of the vehicle body 20 so that the respective drive wheels 211 are arranged coaxially. The connection unit 3A corresponding to the first connection pin 31A is disposed in the gap between the left and right drive units 21, and the connection unit 3B corresponding to the second connection pin 31B is disposed on the rear side of the vehicle body 20. Note that the heavy battery is disposed in the rear part near the auxiliary wheel 22. By arranging the battery in this way, it is possible to avoid a situation in which the auxiliary wheel 22 is lifted with the drive wheel 211 as a fulcrum. In addition, the connecting unit 3A is disposed so that the axial direction of the connecting pin 31A is substantially orthogonal to the rotation shaft of the left and right drive wheels 211.

The drive unit 21 is a unit that rotationally drives the drive wheels 211 by the drive motor 332. Each drive unit 21 can individually drive and drive the drive wheels 211 independently of the other drive unit 21.
For example, if the left and right drive wheels 211 are rotated at the same speed in the same direction, the tow vehicle 2 can be moved forward or backward. If the left and right drive wheels 211 are rotated at the same speed in reverse, the tow vehicle 2 can be moved around the middle of the left and right drive wheels 211. Can rotate on the spot. Further, for example, if the left and right drive wheels 211 are reversely rotated in an intermediate connection state in which the transport carriage 10 is connected only by the first connection pins 31A positioned between the left and right drive wheels 211, the connection pins 31A are The towing vehicle 2 can be rotated on the spot without following the carriage 10 as the center. At this time, the second connection pin 31B located at the rear portion of the vehicle body 20 rotates around the first connection hole 41 that accommodates the first connection pin 31A.

  The connecting unit (connecting portion) 3A for raising and lowering the first connecting pin 31A is a unit for projecting the connecting pin 31A from the upper surface of the box-shaped housing 30, as shown in FIGS. In this connection unit 3 </ b> A, a lifting motor 352 for driving the connection pin 31 </ b> A is attached to the side surface of the housing 30.

  The casing 30 houses a string spring (biasing means) 356 that biases the connecting pin 31A in the protruding direction, a protrusion restricting mechanism (restricting means) 35 that restricts the protrusion of the connecting pin 31A, and the like. . In FIG. 4 showing the state in which the connecting pin 31A protrudes to the connecting position, and in FIG. 5 showing the state in which the connecting pin 31A is restricted to the retracted position, a part of the side wall of the housing 30 is shown to make the internal structure easier to see. The illustration is omitted.

  The connection pin 31 </ b> A is inserted and disposed in a cylindrical advance / retreat guide 311 fixed to the top plate 301 of the housing 30, and is held in a state in which it can advance / retreat in the axial direction. A tip portion of the first connecting pin 31 </ b> A having a substantially cylindrical shape is formed with a torus shape portion 318 having a substantially rectangular cross section as shown in FIG. 6, which is scraped off on both sides corresponding to the width direction of the vehicle body 20. As will be described in detail later, the thickness W1 of the crest-shaped portion 318 is a thickness corresponding to a minimum width W2 (see FIG. 12) of a later-described guide portion (guide structure) 45 provided on the transport carriage 10 side. Yes.

  A spring hole (not shown) is opened on the rear end face of the connecting pin 31A, and a string-wound spring 356 inserted into the support shaft 331 on the bottom surface of the housing 30 is accommodated. The string spring 356 biases the connecting pin 31A in the protruding direction (upward direction). A flat plate 358 is attached to the rear end surface of the connecting pin 31A so as to project in the horizontal direction on the outer peripheral side in the radial direction. The plate 358 is a component part of the protrusion restricting mechanism 35 described below.

  The protrusion restricting mechanism 35 is fixed to the rear end face of the connecting pin 31A as described above, and is fixed to the rear end face of the connecting pin 31A in the horizontal direction. It is comprised by the combination etc. with the plate 358 extended in this. The protrusion restricting mechanism 35 restricts the protrusion of the connecting pin 31 </ b> A by limiting the position where the plate 358 presses against the cam 354.

  The position of the cam 354 is controlled at either the top dead center or the bottom dead center in the vertical circulation path. When the cam 354 is located at the top dead center shown in FIG. 4, for example, if the connecting pin 31 </ b> A is located corresponding to the first connecting hole 41 on the transport carriage 10 side, the cam 354 protrudes to the penetrating position accommodated in the connecting hole 41. it can. On the other hand, when the cam 354 is located at the bottom dead center shown in FIG. 5, the plate 358 is engaged with the cam 354 and the protrusion of the connecting pin 31A is restricted as shown in FIG.

  The connection unit 3B of the second connection pin 31B has substantially the same specifications as the connection unit 3A, but the tip shape of the connection pin 31 is different. As described above, the tip end of the first connecting pin 31A has a crest shape, while the tip end shape of the second connecting pin 31B has a circular cross section similar to the root side (see FIG. 2).

  Next, an electrical system configuration of the towing vehicle 2 will be described. As shown in FIG. 7, the tow vehicle 2 is electrically configured with a control unit 50 as a center. The control unit 50 includes an I / F circuit 55 that is an interface for exchanging various signals with switches, sensors, and the like, and a main control circuit that outputs various control signals to the drive unit 21 and the coupling units 3A and 3B. 51.

  For the control unit 50, in addition to the drive unit 21 and the coupling units 3A and B, a bumper switch 220, an obstacle sensor 252, an emergency stop switch 231, an operation switch 232, a display lamp 233, an LED display 234, a speaker 235, A line sensor 253, an address reading sensor 254, and the like are electrically connected.

  The drive unit 21 is a drive motor 332 that rotates the drive wheels 211 (see FIGS. 2 and 3), a motor driver 215 that controls the rotation of the drive motor 332, and an I / I that receives control signals output from the control unit 50. It is electrically configured including the F circuit 218 and the like. The motor driver 215 controls the rotation of the drive motor 332 based on the control signal received from the control unit 50. On the motor driver 215 side, the rotation angle of the drive motor 332 can be detected, whereby the rotation amount of the drive wheel 211 can be detected.

  On the control unit 50 side, the rotation amount of the drive wheel 211 can be acquired from each drive unit 21. For example, if the left and right drive wheels 211 are rotated in the same direction, the advance distance based on the acquired rotation amount. Alternatively, the reverse distance can be calculated. For example, when the left and right drive wheels 211 are rotated in reverse, the rotation angle of the towing vehicle 2 can be calculated based on the rotation amount of each drive unit 21.

  The connection units 3A and 3B include a lift motor 352 that moves the connection pins 31A and B up and down, a motor driver 351 that controls the rotation of the lift motor 352, and a limit switch 379 that detects the connection pins 31A and B at the connection positions illustrated in FIG. And an I / F circuit 378 that transmits and receives control signals and detection signals to and from the control unit 50.

  Next, the conveyance cart 10 is a cart framed by the pipe material 100 as shown in FIG. The substantially square bottom surface is formed by a pipe material 100 connected in a lattice shape. At the lower end of the pipe member 100 provided in the four corners of the transport carriage 10 in the vertical direction, a free wheel 111 capable of freely changing the rotation direction is attached. In addition, a connection plate 4, which is an example of a connection member provided with connection holes 41 and 42, is attached to the bottom surface (floor surface) of the transport carriage 10.

  In particular, the transport carriage 10 constituting the automatic transport vehicle 1 of this example in combination with the towing vehicle 2 has the first connection pin 31 </ b> A accommodated in the first connection hole 41 of the connection plate 4, while the second When the connecting pin 31B is in an intermediate connection state that is not accommodated, the pipe member 100, the universal wheel 111, and the like are arranged so that the towing vehicle 2 can relatively rotate as shown in FIG.

  As shown in FIGS. 10 and 11, the connection plate 4 is a substantially disk-shaped component in which a first connection hole 41 that accommodates a first connection pin 31 </ b> A included in the towing vehicle 2 is drilled in the center. A second connection hole 42 for receiving the second connection pin 31B is formed in the outer peripheral portion 48 of the connection plate 4. The second connection holes 42 are formed at four locations on the circumference around the first connection hole 41 every 90 degrees.

  The first connection hole 41 and the second connection hole 42 are slightly different in the shape of the holes. The first connection hole 41 provided in the center of the connection plate 4 is a round hole whose cross-sectional shape is close to a perfect circle, while the second connection hole 42 of the outer peripheral portion 48 is long in the radial direction of the connection plate 4. It is a long hole.

  In the connection plate 4, connection portions 46 that connect the second connection holes 42 and the first connection holes 41 are formed for each of the four second connection holes 42 in the circumferential direction. An inner peripheral portion 49 is formed. The outer periphery of the cross-shaped inner peripheral portion 49 is continuous with an annular outer peripheral portion 48 in which a second connection hole 42 is formed.

  The connecting plate 4 is attached so that the extending direction of the connecting portion 46 is orthogonal to each side of the bottom surface of the transport carriage 10 having a square shape. In the transport carriage 10, the second connection holes 42 are respectively arranged at positions adjacent to the four side surfaces, and each second connection hole 42 is set when the opposite side surface is set to the advance side during towing. It is a connection hole which should accommodate the 2nd connection pin 31B.

  The pipe material 100 on the bottom surface of the transport carriage 10 is connected in a lattice pattern of 3 vertical grids and 3 horizontal grids (see FIG. 10). The connecting plate 4 is attached to the center of the bottom surface thereof, and the first connecting hole 41 at the center is located at the center of the three vertical and three horizontal grids. Further, the four second connection holes 42 on the outer periphery are located in the middle mass in the outer vertical row or horizontal row. The connection holes 41 and 42 are located inside any one of the masses. Therefore, the connection pins 31 </ b> A and B do not interfere with the pipe material 100 when the towing vehicle 2 is connected.

  The connecting plate 4 is bolted to a pipe material 100 that is connected in the form of a grid of three vertical and three horizontal lines forming the bottom surface of the transport carriage 10. Specifically, screw holes (not shown) are drilled in portions of the grid-like pipe material 100 on the bottom surface that overlap the connection portions 46 of the connection plate 4, and through holes (not shown) are formed in the corresponding portions of the connection portions 46. (Omitted) is perforated. The connecting plate 4 is disposed through the through hole, and is fixed by an attachment bolt 465 screwed into the screw hole of the pipe material 100.

  A pair of two guide rails 451 is attached to the surface of each connecting portion 46 (the surface facing the floor surface) as shown in FIGS. 10 to 12, and the first connecting pin 31 </ b> A is connected to the first connecting hole 41. A guide portion 45 is formed to guide the guide. The guide rail 451 is a rail that interferes with the toothed portion 318 at the tip of the first connecting pin 31A, and the standing height thereof is within the formation range of the toothed portion 318 (dimension L1 in FIG. 6). On the other hand, it is slightly lower. In FIG. 12, the configuration of the connection plate 4 other than the guide portion 45 and the first and second connection holes 41 and 42 is omitted.

  The guide rail 451 is attached so as to form a divergent figure with the first coupling hole 41 as the center, and a pair of inner side surfaces 45S facing each other is a divergent guide space (gap between the pair of inner side surfaces 45S). 45G is formed. However, the ratio of the end spread of the pair of inner side surfaces 45S is different between the inner peripheral side and the outer peripheral side close to the first connecting hole 41 (see FIG. 12). On the outer peripheral side far from the first connecting hole 41, the ratio of the end spread of the pair of inner side surfaces 45S is set large so that the opening width of the guide space 45G can be ensured.

  On the other hand, in the inner peripheral side restricting portion 450 close to the first connecting hole 41, the ratio of the end spread of the pair of inner side surfaces 45S is set small and close to parallel. The gap between the pair of inner side surfaces 45 </ b> S is narrowest at a location adjacent to the first connection hole 41. The minimum width W2 is set to be narrow enough to allow insertion of the wedge-shaped portion 318 having a width W1 formed at the tip of the first connecting pin 31A. Note that it is not an essential requirement that the pair of inner side surfaces 45S of the restricting portion 450 face each other in parallel. The effect of the present invention can be realized if the ratio of the spreading of the restricting portion 450 is smaller than the outer peripheral side.

  According to the combination of both side planes of the wedge-shaped portion 318 of the first connecting pin 31A and the pair of inner side surfaces 45S facing each other in parallel with the restricting portion 450 (guide portion 45), the first from the outer peripheral side The entering direction of the connecting pin 31A can be brought close to the radial direction of the connecting plate 4 with high accuracy. If the entering direction of the first connecting pin 31A substantially coincides with the radial direction, the first connecting pin 31A can be guided to the first connecting hole 41 with high reliability.

The operation of the automatic guided vehicle 1 configured as described above will be described with reference to the flowchart of FIG. 13 and the like along the control executed by the control unit 50 included in the towing vehicle 2.
In connecting the tow truck 2 to the transport carriage 10, it is necessary to place the transport carriage 10 in advance in a predetermined standby place on a path on which a magnetic tape (not shown) is laid. This standby place is a place where the magnetic tape laid on the floor is passed or drawn, and this standby place is such that the magnetic tape is positioned almost directly below the connecting plate 4 when the transport carriage 10 is arranged. Is set.

  When connecting the tow truck 2 to the transport carriage 10, the control unit 50 moves the tow truck 2 along the magnetic tape to approach the transport carriage 10 (S101). Until the entry position marker (guide marker) (not shown) laid on the floor in front of the connection place with respect to the transport carriage 10 is detected (S102: NO), the control unit 50 is usually placed along the magnetic tape as shown in FIG. The tow vehicle 2 is caused to move (S102: NO → S101), and after detecting the entry position marker, the mode is switched to the connection mode and decelerated (S102: YES → S103).

  When the tow vehicle 2 moves forward a predetermined distance after detecting the entry position marker (S104: YES), the control unit 50 releases the restriction by the protrusion restricting mechanism 35 and causes the first connecting pin 31A to protrude ( S105, first step). The predetermined distance is a guide space 45G on the inner peripheral side of the second connecting hole 42 on the surface of the connecting plate 4 on the transport carriage 10 side and in the gap between the pair of inner side surfaces 45S. The distance required for the first connecting pin 31A to reach the position corresponding to is set.

  The first connecting pin 31A biased in the protruding direction protrudes to a position where it is pressed against the surface of the connecting plate 4 (first contact state), and is in a state of being regulated by the pair of inner side surfaces 45S. If the towing vehicle 2 moves forward as it is under the control of the control unit 50 (S106), the first connection pin 31A can be guided to the position of the first connection hole 41 by the pair of inner surfaces 45S that are stagnant (the first connection hole 41). Step 2).

  Since the first connecting pin 31A is biased in the protruding direction by the string spring 356, the first connecting pin 31A can further protrude when it reaches the position of the first connecting hole 41, and is accommodated in the first connecting hole 41 to be connected to the connecting position ( (See FIG. 4). The control unit 50 can determine that the first connecting pin 31A has reached the first connecting hole 41 as shown in FIG. 15 based on the moving distance after detecting the entry position marker (S107). : YES), it is determined whether or not the arrival of the first connecting pin 31A to the connecting position has been detected (S108).

  For example, when there is a deviation between the axial direction of the connecting hole 41 and the axial direction of the connecting pin 31A due to the undulation of the floor surface, the connecting pin 31A may not reach the connecting position due to oblique insertion or the like. Although the control unit 50 advances the towing vehicle 2 to a position where the first connecting pin 31A reaches the first connecting hole 41 (S107: YES), the control unit 50 at the connecting position (see FIG. 4). When the first connecting pin 31A cannot be detected (S108: NO), the vibration control for applying vibration to the transport carriage 10 is executed (S118). This vibration control is a control in which the left rotation and the right rotation of the towing vehicle 2 are repeatedly executed within a range of about 30 degrees in the left-right direction. If such vibration control is executed, movement and vibration can be given to the transport carriage 10 by the movement of the towing vehicle 2, whereby the axial directions of the connection hole 41 and the connection pin 31 </ b> A substantially coincide with each other instantaneously. Thus, the effect that the insertion can be promoted and the effect that the insertion into the coupling hole 41 can be promoted by the rotation operation of the coupling pin 31A such as a drill occurs.

  After the first connecting pin 31A is accommodated in the first connecting hole 41 (S108: YES), the control unit 50 releases the restriction by the protrusion restricting mechanism 35 on the connecting unit 3B and the second connecting pin 31B. Is protruded (S109, third step). At this time, if the positions of the second connecting pin 31B and the second connecting hole 42 coincide with each other, the second connecting pin 31B can be displaced to the connecting position as it is. When the control unit 50 detects the displacement of the second connection pin 31B to the connection position (S110: YES), the control unit 50 ends the connection control.

  On the other hand, when the displacement of the second connecting pin 31B to the connecting position cannot be detected (S110: NO), that is, the state where the second connecting pin 31B is pressed against the surface of the connecting plate 4 by releasing the restriction (second contact). In the state), the control unit 50 rotates and moves the second connecting pin 31B around the first connecting pin 31A by rotating the towing vehicle 2 by reverse rotation of the left and right drive wheels 211. (S120, fourth step).

  Here, since the first connecting pin 31 </ b> A is accommodated in the first connecting hole 41, the second connecting pin 31 </ b> B is rotationally displaced around the first connecting hole 41. On the other hand, as described above, in the connection plate 4 of the transport carriage 10, the second connection hole 42 is disposed on the circumference around the first connection hole 41. Therefore, if the towing vehicle 2 is rotated in an intermediate connection state using only the first connection pin 31A, the second connection pin 31B is reliably and easily guided to the position corresponding to the second connection hole 42. Can do.

  As described above, the second connecting pin 31B is biased toward the connecting position and is pressed against the surface of the connecting plate 4, so that the connecting pin 31B is aligned with the second connecting hole 42. Furthermore, it can protrude, and it accommodates in the 2nd connection hole 42, and the connection of the towing vehicle 2 is completed. When the control unit 50 detects that the second connection pin 31B is received in the second connection hole 42 and displaced to the connection position (S110: YES), the connection control is completed and a complete connection state is established. If it is in a completely connected state, the transport carriage 10 can be moved together with the towing vehicle 2.

  Next, the content of the connection control when towing the transport carriage 10 in the direction in which the towing vehicle 2 returns will be described with reference to the flowchart of FIG. In this flowchart, the processes from S101 to S107: YES are the same as those in FIG. 13, and in FIG. 16, the common steps are omitted.

  When the first connection pin 31A is accommodated in the first connection hole 41 by the same connection control as in FIG. 13 (S108: YES), the control unit 50 moves the left and right drive wheels 211 in this intermediate connection state. The tractor 2 is rotated in the reverse direction, and the towing vehicle 2 is rotated around the first connecting pin 31A (S201). Thereby, the direction (forward direction) of the towing vehicle 2 is brought closer to the forward side of the newly set transfer carriage 10. When the transport cart 10 is pulled in the direction in which the towing vehicle 2 is turned back, the target rotation amount necessary to reverse the towing vehicle 2 is 180 degrees.

  When the target rotation amount is 180 degrees, when the actual rotation amount reaches about 170 degrees (S202: YES), the control unit 50 releases the protrusion restriction of the second connecting pin 31B (S203). If it does so, the 2nd connection pin 31B can be made to protrude in the position of the circumferential direction which hits before the 2nd target connection hole 42, and the front-end | tip can be pressed on the surface of the connection plate 4 (2nd contact state). .

  The control unit 50 further rotates the towing vehicle 2 in such a pressed state (S204). If the second connecting pin 31 </ b> B substantially coincides with the position of the second connecting hole 42 by the rotation of the towing vehicle 2, the second connecting pin 31 </ b> B can further protrude and can be accommodated in the second connecting hole 42. The control unit 50 can detect that the second connection pin 31B accommodated in the second connection hole 42 has been raised to the connection position (see FIG. 4) based on the detection signal of the limit switch 379 (S205: YES). ). In this way, after the connection of the tow vehicle 2 is completed and the state is shifted to a completely connected state, if the tow vehicle 2 is moved forward, the transport carriage 10 can be pulled in the direction in which the tow vehicle 2 is turned back.

  The automatic conveyance vehicle 1 of the present example configured as described above is an automatic conveyance that combines the traction vehicle 2 that has only two drive wheels 211 and can be easily designed in a small size, and the conveyance carriage 10 having a relatively simple configuration. It is a car. As the transport carriage, a general transport carriage can be used for general purposes as long as it has a minimum ground clearance at which the towing vehicle 2 can sink and has a floor surface to which the connecting plate 4 can be attached. Thus, the automatic conveyance vehicle 1 of this example is low in the cost required for remodeling the conveyance carriage 10 and is easily introduced into a relatively small-scale conveyance system.

  In this automatic conveyance vehicle 1, the connection control which switches the advancing direction of the towing vehicle 2 is also possible. For example, connection control (FIG. 16) for towing the conveyance carriage 10 in the direction in which the tow truck 2 enters the advance side with respect to the conveyance carriage 10 and moving the carriage truck 10 in the direction orthogonal to the left and right. Connection control for pulling 10 is possible. If the connection control of the towing vehicle 2 is possible, for example, the standby position of the transport carriage 10 can be set at a dead end location on the route, or can be set at a right-angled corner location on the route. Design flexibility when laying out a place can be improved.

  In the transport carriage 10 constituting the automatic transport vehicle 1, second connection holes 42 are provided corresponding to the four side surfaces, respectively. In the automatic transport vehicle 1, the forward side of the transport carriage 10 can be changed depending on which of the second connection holes 42 contains the second connection pin 31 </ b> B. In this automatic transport vehicle 1, after temporarily stopping the tow vehicle 2 that is pulling the transport carriage 10, only the second connection pin 31B is pulled out, and then the tow vehicle 2 is rotated to create a new second connection hole. The control accommodated in 42 is possible. If the forward movement of the towing vehicle 2 is resumed after such control is executed, the forward side of the conveying cart 10 being towed can be changed. Thereby, it is possible to perform traveling control such as turning right and left at right angles during towing, turning over and turning back.

  In the automatic transport vehicle 1 of this example, the first connection hole 41 is a round hole, while the second connection hole 42 is a long hole that is long in the radial direction of the connection plate 4. If the second connection hole 42 is formed as a long hole, the second connection pin 31B that rotates and displaces around the first connection hole 41 when the towing vehicle 2 is rotated under the intermediate connection state. However, the position of the second connecting hole 42 can be reached with high certainty.

  If the second connecting hole 42 is formed as a wide elongated hole, the distance between the first and second connecting holes 41 and 42 and the distance between the first and second connecting pins 31A and 31B. The degree of coincidence required between and is relaxed. For this reason, it is possible to set the position accuracy at the time of processing of the connection plate 4 or at the time of assembly of the connection units 3A and B with respect to the vehicle body 20 and the manufacturing cost associated with the processing and assembly can be suppressed.

  In this example, a plurality of guide portions 45 and second connection holes 42 are provided. However, the effects of the present invention can be realized even if the guide portions 45 or the connection holes 42 are provided at one location. In addition, the guide portion 45 is provided between the first connection hole 41 and the second connection hole 42, and the circumferential position of the second connection hole 42 with the first connection hole 41 as the center, The circumferential position of the guide portion 45 may be different. Furthermore, the number of the second connection holes 42 and the number of the guide portions 45 may be different.

  The first and second connecting pins 31 </ b> A and B in the towing vehicle 2 are preferably arranged along the front-rear direction of the vehicle body 20. In particular, the first connecting pin 31A may be disposed on the center line of the vehicle body 20 and in the middle of the left and right drive wheels 211. If the first connection pin 31A is arranged in this way, when the towing vehicle 2 is rotated under an intermediate connection state only by the connection pin 31A, the positional displacement of the first connection pin 31A is suppressed and transported. The follower of the carriage 10 can be avoided. However, the arrangement of the connecting pins 31A is not an essential configuration, and the connecting pins 31A may be displaced from the above positions. In this case, since the rotational displacement of the connecting pin 31A is generated according to the rotation of the towing vehicle 2, the effect of the present invention can be realized although the driven displacement is generated on the transport carriage 10 side.

  The first connecting pin 31A of this example interferes with the pair of inner side surfaces 45S when the restriction by the protrusion restricting mechanism 35 is released. Furthermore, in this example, after setting the state in which the connecting pin 31A is pressed against the connecting plate 4, the towing vehicle 2 is moved as it is, and the connecting pin 31A reaches the position of the connecting hole 41 to complete the connection. Instead, the first connecting pin 31A is configured to be displaceable at an intermediate position between the connecting position and the retracted position, and the connecting pin 31A at the intermediate position is configured to interfere with the pair of inner side surfaces 45S. You may do it. Alternatively, the connecting pin 31A in the retracted position may be configured to interfere with the pair of inner side surfaces 45S. Further, when the connecting pin 31A reaches the position of the connecting hole 41, the protrusion restriction may be released. Note that the release timing of the protrusion restriction is the same for the second connecting pin 31B.

  Although specific examples of the present invention have been described in detail above, these specific examples merely disclose an example of the technology included in the scope of the claims. Needless to say, the scope of the claims should not be construed as limited by the configuration, numerical values, or the like of the specific examples. The scope of the claims includes techniques in which the specific examples are variously modified, changed, or appropriately combined using known techniques and knowledge of those skilled in the art.

DESCRIPTION OF SYMBOLS 1 Automatic conveyance vehicle 10 Conveyance cart 2 Towing vehicle 20 Car body 211 Drive wheel 3A 1st connection unit 3B 2nd connection unit 31A 1st connection pin 31B 2nd connection pin 318 Tosaka shape part 35 Protrusion control mechanism (regulation means) )
356 String winding spring (biasing means)
4 Connecting plate (connecting member)
41 1st connection hole 42 2nd connection hole 45 Guide part (guide structure)
451 Guide rail 45S Inner side surface 450 Restriction part 48 Outer periphery part 49 Inner periphery part 50 Control unit

A first aspect of the present invention relates to an automatic transport vehicle that combines a self-supporting transport cart provided with a free wheel and a tow vehicle provided with two connecting pins, in order to connect the tow vehicle to the transport cart. A connecting member attached to the transport carriage,
A first coupling hole for accommodating a first coupling pin;
A second coupling hole for accommodating a second coupling pin;
A guide structure formed to include a pair of inner side surfaces that face each other in a divergent shape centered on the first connection hole and interfere with the first connection pin ;
In the circumferential direction around the first connecting hole, in the connecting member for automatic carrier said guide structure that are provided with a plurality of (claim 1).

The second aspect of the present invention is an automatic transport vehicle that combines a self-supporting transport carriage equipped with a free wheel and a tow truck that is submerged and connected to the lower side of the transport carriage.
The towing vehicle is arranged coaxially and has a set of two driving wheels that can be individually driven including reverse rotation, and a connecting pin that can be moved up and down to connect the transport carriage. The connection pins include a first connection pin provided in the middle of the set of two driving wheels, and a second connection pin disposed away from the first connection pin.
The floor surface of the conveyance carriage facing the floor surface is in the automatic guided vehicle coupling member of the first embodiment is attached (claim 4).

The coupling member for automatic guided vehicle definitive to the present invention, in the first center and the circumferential direction connecting hole of the guide structure is provided with a plurality.
In this case, when connecting the tow vehicle, the tow vehicle can be connected to the transport carriage from a plurality of directions in which the guide structure is provided.

In the guide structure of the connection member for the automatic guided vehicle according to the preferred embodiment of the present invention, the ratio of the end spread of the pair of inner side surfaces is different between the inner peripheral side and the outer peripheral side near the first connection hole. On the circumferential side, a restricting portion with a small ratio of the end spread is provided (claim 2 ).

The coupling member for automatic carrier of one preferred embodiment of the present invention, the first the connecting hole along the circumference around the second connection hole is provided with a plurality (claim 3) .
In this case, for example, by changing the second connection hole that accommodates the second connection pin, it is possible to control to change the forward side of the transport carriage when towing by the towing vehicle. And control can be diversified.

In the automated guided vehicle according to the second aspect, in the guide structure provided in the connecting member, the ratio of the end spread of the pair of inner side surfaces is different between the inner peripheral side and the outer peripheral side near the first connecting hole, The peripheral side is provided with a restricting portion where the pair of inner side surfaces face each other in a parallel manner with a smaller proportion of the end spread.
First connecting pin of the towing vehicle is provided, while exhibiting a substantially circular cross section, in its front end portion, comb-shaped portion substantially rectangular cross section has been removed on both sides with respect to the forward direction based on the circular cross section is provided (Claim 5 ).

Claims (6)

A connecting member attached to a transport cart for connecting the towing vehicle to the transport cart with respect to an automatic transport vehicle that combines a self-supporting transport cart having a free wheel and a towing vehicle provided with two connecting pins. Because
A first coupling hole for accommodating a first coupling pin;
A second coupling hole for accommodating a second coupling pin;
And a guide structure formed to include a pair of inner surfaces that face each other in a divergent shape with the first connection hole as a center and interfere with the first connection pin. Element.   The connection member for an automatic guided vehicle according to claim 1, wherein a plurality of the guide structures are provided in a circumferential direction centering on the first connection hole.   In Claim 1 or 2, in the guide structure, the ratio of the end spread of the pair of inner side surfaces is different between the inner peripheral side and the outer peripheral side near the first connecting hole, and the ratio of the end spread is on the inner peripheral side. A connecting member for an automated guided vehicle provided with a small restricting portion.   The connection member for an automated guided vehicle according to any one of claims 1 to 3, wherein a plurality of the second connection holes are provided along a circumference around the first connection hole. An automatic transport vehicle that combines a self-supporting transport cart equipped with a free wheel and a towing vehicle that is connected under the transport cart,
The towing vehicle is arranged coaxially and has a set of two driving wheels that can be individually driven including reverse rotation, and a connecting pin that can be moved up and down to connect the transport carriage. The connection pins include a first connection pin provided in the middle of the set of two driving wheels, and a second connection pin disposed away from the first connection pin.
The automatic conveyance vehicle by which the connection member of any one of Claims 1-4 is attached to the floor surface of the said conveyance trolley which faces a floor surface. 6. The guide structure included in the connecting member according to claim 5, wherein the pair of inner side surfaces have different end spread ratios on the inner peripheral side and the outer peripheral side close to the first connection hole, and the inner peripheral side is wider. Is provided with a regulating portion where the pair of inner side surfaces face each other in parallel,
The first connecting pin included in the towing vehicle has a substantially circular cross section, and a tip-shaped portion having a generally rectangular cross section obtained by removing both sides with respect to the advancing direction based on the circular cross section. An automated guided vehicle is provided.

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