JP2019162953A - Connection mechanism and unmanned carrier with connection mechanism - Google Patents

Abstract

To provide a connection mechanism and an unmanned carrier with the connection mechanism which mechanism surely connects an unmanned carrier and a transported body even if the transported body moves or changes its direction during a stop.SOLUTION: Each of a projection part 10 is constituted to recede in the first direction which is a proceeding direction of a coupling rod B when the rod approaches a holding position between the projection parts 10 and in the second direction which is a receding direction of the coupling rod B when the rod withdraws from the holding position and a canceling mechanism 15 is constituted to restrict receding of the projection part 10 in the second direction when not actuating and to cancel the restriction when actuating.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an automatic guided vehicle that pulls a transported body such as a cart or a cargo box, and a connection mechanism that connects the automatic guided vehicle to the transported body.

  In a distribution center or a distribution center, an automated guided vehicle is used to move under a cargo bar and pull it to move a cargo bar with a caster.

As a connection mechanism for connecting the automatic guided vehicle and the cargo handling box, for example, the one described in Patent Document 1 below is known. In the device disclosed in Patent Document 1, a plurality of connecting pins are protruded upward from the vehicle body, and are inserted into the same number of holes provided in the bottom plate of the cargo box to be connected.

However, in this connection mechanism, there is a problem in that the connection pins do not fit into the plurality of holes provided in the bottom plate of the cargo unless the stop position of the automatic guided vehicle with respect to the cargo is accurate.

Therefore, in the following Patent Document 1, the retroreflective material installed in the traveling area of the automatic guided vehicle is measured by the two-dimensional laser rangefinder of the automatic guided vehicle, and the obtained measurement data and the retroreflective material recorded in advance are recorded. The current position of the retroreflective material and the automatic guided vehicle is specified by comparing and calculating the positional information of the automatic guided vehicle, and the automatic guided vehicle is guided and controlled.

JP 2013-2322078 A

  However, even if the guided control of the automatic guided vehicle is performed with high accuracy, the load with a caster released from the automatic guided vehicle may move slightly when the cargo is loaded and unloaded. If it does so, even if the automatic guided vehicle dives under the cargo again, there is a problem that the connecting pin of the automatic guided vehicle does not fit into the hole of the cargo that has been stopped. Moreover, even if it is configured to move while searching for an appropriate position using a sensor or the like, it takes time for alignment and it is difficult to quickly connect.

  SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and one object of the present invention is to provide an automatic guided vehicle even when a transported body moves or changes its direction during a stop. It is to provide a connection mechanism that can reliably connect a transported body and an automatic guided vehicle equipped with the connection mechanism.

  In order to achieve the above object, the connection mechanism according to the first aspect of the present invention is disposed above the vehicle body of a transport vehicle that sinks into the lower portion of the transported body and transports the transported body, and the transported body and the transport vehicle. A pair of protrusions that hold a connecting rod parallel to the ground disposed below the transported body from a direction perpendicular to the connecting rod, and a release mechanism that releases the holding by the protruding portion And each of the protrusions retreats in a first direction in which the connecting rod enters a clamping position between the protrusions, and in a second direction in which the connecting rod is detached from the clamping position. The release mechanism restricts the retraction of the protrusion in the second direction when not activated, and releases the restriction when activated.

  In the connection mechanism according to the first aspect of the present invention, as described above, each of the protrusions is connected in the first direction, which is the direction in which the connection rod enters the clamping position between the projections, and from the clamping position. The release mechanism is configured to restrict the retracting of the protrusion in the second direction when inactive and to release the restriction when in operation. Thereby, when the connecting rod enters between the projecting portions (clamping position) (the connecting rod relatively moves in the first direction), the both protruding portions are pushed down in the first direction. In addition, when the release mechanism is not in operation, both projections are released without being pushed down in the second direction when the connection rod is separated from between both projections (the connection rod moves relative to the second direction). During operation of the mechanism, when the connecting rod is disengaged from between the two protrusions (the connecting rod moves relative to the second direction), it is pushed down in the second direction. As a result, the automatic guided vehicle can accept the connecting rod from any of the protrusions, connect the connecting rod and the connecting mechanism, and restrain the connecting rod in the holding position when the release mechanism is inoperative. (Regulation), and when the release mechanism is operated, it can be detached in the direction of any protrusion. As a result, if the connecting rod is clamped and connected, and the vehicle travels in a connected state, the transported body can be transported (at least in the direction crossing the connecting rod), and if the travel is performed by operating the release mechanism The connecting rod is detached, and the connection with the transported body can be disconnected.

  Further, the connecting rod and the connecting mechanism (both protruding portions) can be simply moved (submitted) so that the direction in which the protruding portions forming a pair intersect the direction (axial direction) of the connecting rod of the transported body. Because it is connected, the positioning pin is required to have higher positioning accuracy than a connection mechanism that extends the connecting pin extending upward from the upper surface of the vehicle body and connects it with a hole provided in the lower part of the transported body. In addition, the time required for connection can be reduced. Even if the position and orientation of the transported body slightly change (changes) from the (original) stop position, if the connecting rod pushes down on one projection and then hits the other projection, Since the body is returned relatively to the normal direction with respect to the automatic guided vehicle (the direction in which the protrusions are arranged and the direction of the connecting rod (the axial direction) are substantially orthogonal), the automatic guided vehicle is On the other hand, the connecting rod of the transported body is securely connected to the connecting mechanism even if it does not sink into the lower part of the transported body in a posture facing straight (ie, traveling in a direction orthogonal to the connecting rod). Is done.

  Here, the to-be-conveyed body is, for example, a luggage or a carriage having a caster on which a load is loaded, a shelf having a caster, etc., and a space (between the paired leg portions) is provided in the lower part. An automated guided vehicle can enter the lower part. A connecting rod that is horizontal to the ground is attached in this space. Therefore, for example, when an automated guided vehicle having a coupling mechanism is made to enter the space so that the coupling mechanism hits the coupling rod from the direction intersecting the horizontal direction (in the horizontal direction), the coupling rod entering the clamping position hits. When the connecting rod is pushed down and the connecting rod passes over it, the protruding portion rises again and clamps (restrains) the connecting rod with the other protruding portion. Then, the clamped connecting rod is held between both protrusions unless the protrusion can be retracted in the second direction by the release mechanism.

  In the connection mechanism according to the first aspect, preferably, the protrusions are supported by the connecting rods entering between the protrusions so that each of the protrusions is tilted, and the protrusions are returned. The first mechanism that clamps the connecting rod that has entered, and the two projecting portions that are pushed by the sandwiched connecting rod in a direction away from each other so that each of the projecting portions rotates, and the projecting rod is supported by both projecting portions. And a release mechanism that is configured to restrict the rotation of each of the protrusions by the second mechanism when inactive and to release the restriction during operation. Yes. If comprised in this way, it will be possible for a connecting rod to enter between both projection parts by inclining both projection parts with a 1st mechanism, and both projection parts will be at the time of a non-operation of a release mechanism with a 2nd mechanism. The rotation of the connecting rod is restricted so as not to be detached from the position where the connecting rod is clamped, and when the release mechanism is operated, the restriction of the rotation of both protrusions is released and the connecting rod is released from the position where the connecting rod is clamped Can make it possible.

  In the connection mechanism according to the first aspect, each of the protrusions preferably includes an inclined surface and a vertical surface, and the inclined surface is provided on a side where the connecting rod enters between the two protrusions, and the vertical surface Is provided on the side where the connecting rod is sandwiched. If comprised in this way, since a connecting rod can be smoothly guide | induced between both protrusion parts and a connecting rod can approach between both protrusion parts, a connecting rod can be pushed on a vertical surface, Therefore The movement can be reliably transmitted to the transported body and transported. In addition, the longer the vertical plane is provided along the connecting rod, the wider the contact can be made and the connecting rod can be pushed (transmitting force), so the conveyance becomes more stable (the direction of movement of the transported body and the movement of the transport vehicle). Direction mismatch).

  An automatic guided vehicle according to a second aspect of the present invention is an automatic guided vehicle that transports the transported body by sinking into a lower portion of the transported body having a connecting rod disposed in the lower portion. A mechanism and a vehicle body, and the coupling mechanism is mounted above the vehicle body so as to be at the same height as the coupling rod, and conveys the object to be conveyed by pushing the coupling rod in a direction intersecting the axis of the coupling rod Is configured to do.

  In the automatic guided vehicle according to the second aspect of the present invention, any one of the connection mechanisms described above is attached above the vehicle body so as to have the same height as the connection rod, and the connection rod is installed in a direction intersecting the axis of the connection rod. It is configured to push and transport the transported body. Thereby, it is possible to easily connect the connecting rod to the connecting mechanism (between the pair of protrusions) only by the automatic guided vehicle entering the lower part of the transported body. Moreover, a to-be-conveyed body can be conveyed (pulled) with an automatic guided vehicle by pushing the connecting rod provided in the connected to-be-conveyed body with the projection part of a connection mechanism.

  The automatic guided vehicle according to the second aspect preferably further includes an expansion / contraction portion that extends in a direction along the ground and matches a relative position between the transported body and the vehicle body portion. If comprised in this way, the automatic guided vehicle which approached the space of the leg part used as the pair of a to-be-conveyed body will be expanded-contracted with respect to the leg part (or member attached to the leg part) which becomes a pair of a to-be-conveyed body. By extending the part, the relative positions of the transported body and the automatic guided vehicle can be matched. In addition, when the connection is performed, the stretchable part extends in the direction along the ground, and the stretched stretchable part pushes the transported body, so that the position and orientation of the transported body slightly fluctuate from the (original) stop position. Even in the case of (fluctuating), the relative position shift can be corrected. Therefore, even when the object to be transported moves slightly from the original stop position or initial position when loading / unloading the luggage or when connecting to the automatic guided vehicle, it can be transported by the automatic guided vehicle without any problem. In addition, even if the transported body is of various sizes, the telescopic section matches the relative position of the unmanned transport vehicle and the transported body, so that the transported body from a large size to a small size (ie, unmanned It can be transported by the same automatic guided vehicle (even if the width of the transported body is different from the width of the body of the transport vehicle).

  In addition, when the automated guided vehicle turns or is transported on a non-horizontal surface, the transported body is displaced in the axial direction of the connecting rod (the connecting rod is in relation to both projections). Therefore, the relative position of the transported body with respect to the automatic guided vehicle is not fixed when passing through a passage (between objects) having the same width as the transported body, causing a position shift. It can suppress that a to-be-conveyed body collides with a channel | path (thing). In addition, the direction along the ground is a direction in which an angle that is horizontal with respect to the ground or an angle with the ground is within 45 degrees.

  In the human guided vehicle according to the second aspect, preferably, the expansion and contraction portion is configured to extend in a direction that coincides with an axial direction of the connecting rod sandwiched between the protrusions. If comprised in this way, while being able to push a connecting rod to the direction orthogonal to the axis | shaft of a connecting rod with a connection mechanism (a pair of projection part), a to-be-conveyed body can be conveyed reliably, and an automatic guided vehicle is carried out by an expansion-contraction part. When the car is turning or transporting on non-horizontal ground, the transported body is displaced in the direction of the connecting rod (axial direction) (the connecting rod slides relative to both projections) ) Can be suppressed. In addition, the relative position of the transported body with respect to the automatic guided vehicle is not fixed when passing through a passage having the same width as the transported body (between the objects), and the transported body that has been misaligned has the path (thing). It is possible to suppress the collision.

  According to the present invention, as described above, it is possible to reliably connect the automatic guided vehicle and the transported body even if the transported body moves or changes its direction during the stop.

The side view of one Embodiment of the automatic guided vehicle which concerns on this invention. FIG. 2 is an external perspective view of a state in which the automatic guided vehicle in FIG. 1 has entered a lower portion of a transported body. The schematic perspective view of the state which the expansion-contraction part of the automatic guided vehicle of FIG. 1 extended. The perspective view of the principal part of the connection mechanism mounted in the automatic guided vehicle of FIG. Operation | movement explanatory drawing of the connection mechanism of FIG. 4 before a connection rod approachs between both projection parts. Operation | movement explanatory drawing in the state from which a connecting rod goes out between both projection parts.

[Embodiment]
Hereinafter, an automatic guided vehicle according to an embodiment of the present invention and a connecting mechanism mounted thereon will be described with reference to the drawings. In addition, embodiment shown here does not limit the technical scope of this invention.

(Configuration of the embodiment)
FIG. 1 shows a side view of an automatic guided vehicle A according to an embodiment, and FIG. The state which connected the connection mechanism 1 to the stick | rod B is shown. In these drawings, an automatic guided vehicle A transports a load loaded on a transported body M to a predetermined location along a predetermined line in a factory or a distribution center. For this reason, the automatic guided vehicle A enters the lower part of the object to be transported M by a guiding system (not shown), connects the connecting mechanism 1 to the horizontal connecting rod B provided at the lower part thereof, and then uses the guiding system. The transported body M is transported to a predetermined location.

  This guidance system has an operation management computer (not shown) and a guidance computer C shown in FIG. The guidance computer C checks the map in the factory, the current position of the automatic guided vehicle A detected by the two-dimensional laser rangefinder 7 described later, the travel distance read from the drive wheel, etc. The automatic guided vehicle A is guided.

  In addition, the operation management computer stores the position information of the transported body M and the transport route information of the transported body M, and the transported body M loaded with the luggage based on instructions from other devices, Manage the operation of where to move from. A known system can be used as such a system.

  The automatic guided vehicle A includes a coupling mechanism 1 at an upper portion of a vehicle body, and includes a driving wheel 2 and a plurality of auxiliary wheels 3 at a lower portion. Further, a touch panel type operation display unit 4 is provided on the front surface of the vehicle body, and is covered with a cover 5 that can be freely opened and closed during operation. Moreover, the antenna 6 which communicates with the operation management computer is provided on both sides of the cover 5. In addition, a two-dimensional laser rangefinder 7 having sensitivity to the left and right and the front from the left and right is attached to the rear part of the vehicle body, and the current position of the automatic guided vehicle A can be grasped from the measurement data and the built-in map. Yes. Note that the left and right sensitivities include not only the sideways as viewed from the vehicle body but also a little behind the sideways (that is, the range of detection sensitivity is a sector having a corner larger than 180 degrees).

  The drive wheels 2 are attached to the left and right, and are driven by independent servo motors 8 so that the automatic guided vehicle A is steered. Moreover, as shown in FIG. 3, the expansion-contraction part 9 extended and contracted in a horizontal direction is attached to both sides of the vehicle body. FIG. 3 shows the stretched portion 9 in a stretched state. The extendable portion 9 extends steplessly, and the relative position between the automatic guided vehicle A and the transported body M is determined by a proximity sensor (not shown) provided at the front end portion.

  As shown in FIG. 2, the automatic guided vehicle M moves between the legs L while detecting the legs L of the carrier M with the two-dimensional laser distance meter 7. Dive in. At this time, the guidance computer C starts the operation of extending the extendable part when the leg part L is out of the detection range of the two-dimensional laser rangefinder 7. As a result, the extension stops at an interval slightly shorter than the interval between the leg portions L of the transported body M (both ends of the expansion and contraction portion 9 do not contact both of the leg portions L on both sides simultaneously). Yes. As a result, even if the left and right relative positions of the automatic guided vehicle A and the transported body M are shifted, the stretchable portion 9 hits one side of the transported body M, so that the transported body M Move relative to. In addition, since the distal end of the expansion / contraction part 9 extends to a length substantially equal to the interval between the leg parts L and stops, even if the automatic guided vehicle A switches the transport direction (for example, turns), the transported body M is unmanned. Even if a relative position shift with respect to the transport vehicle A occurs, it is corrected immediately and follows it without rattling. In addition, a board part is passed (provided) between the paired leg parts L on both sides of the submersible guided vehicle A, and the expansion / contraction part 9 pushes the board part (via) so as to align the position. Also good. In this case, even if the distance between the front and rear of the leg portion L is larger than the front and rear length of the telescopic portion 9 (automatic guided vehicle A), the relative position of the presentation transport body M can be adjusted through the plate portion. Further, the control of the length for extending the expansion / contraction part 9 may be based on the distance between the leg parts L (on both sides) of the presentation carrier M registered in advance, or from the detection result of the two-dimensional laser distance meter 7. It may be based on an estimated interval.

  Further, when the distance between the leg portions L of the transported body M is known, a position detection sensor for detecting the extended position of the expansion / contraction section 9 can be attached in place of the above-described proximity sensor to determine the expansion / contraction section 9. It is also possible to stop at a different position. In this case, the control computer C controls the extension amount of the expansion / contraction part 9 according to the transfer target M that is the transfer target. However, the timing at which the telescopic portion 9 is extended is when the automatic guided vehicle A enters the lower portion of the transported body M and the connecting mechanism 1 connects the connecting rod B.

  Here, although the expansion / contraction mechanism of the expansion / contraction part 9 is not illustrated, the right / left expansion / contraction part 9 can be expanded / contracted in a direction in which the left / right expansion / contraction part 9 approaches and separates by an appropriate mechanism that converts the rotational motion of the motor into a linear motion. For example, half of the screw shaft is attached to the right screw and the other half of the square screw is processed to the left screw, and nuts are attached to the left and right extension parts 9 respectively. The telescopic part 9 can be ejected from the vehicle body and retracted into the vehicle body by reverse rotation. Alternatively, the left and right extension / contraction parts 9 may be moved closer to and away from each other with a rack and a pinion or the like.

  The left and right extendable parts 9 are connected to a linear guide so as to approach and separate in the horizontal direction. Further, in FIG. 2, the side plate that is hit when the extendable portion 9 is extended is removed from the frame of the leg portion L, but it is preferable to provide the side plate on the leg portion L of the frame structure as shown in FIG. 2.

  FIG. 4 is a main part perspective view showing an outline of the coupling mechanism 1. In this figure, the coupling mechanism 1 includes left and right protrusions 10, a first mechanism 12, a second mechanism 14, and a release mechanism 15 that are arranged to face each other. The first mechanism 14 tilts (rotates) the left and right protrusions 10 around the first rotation shaft 11 in the first direction F1, and this mechanism causes the connecting rod B that has entered the left and right protrusions 10 to move. It can be entered between. The second mechanism 14 rotates the left and right protrusions 10 around the second rotation shaft 13 in opposite directions, that is, in the second direction F2, and sandwiches the connecting rod B by this mechanism. When the left and right protrusions 10 can be raised and lowered, and the connecting rod B pushes one of the protrusions 10, the protrusion 10 is pushed down so that the connecting rod B comes out from between the left and right protrusions 10. It has become. The release mechanism 15 restrains or releases the second mechanism 14.

  Specifically, the left and right (a pair of) protrusions 10 include two arms a arranged at a predetermined distance in a direction orthogonal to the paper surface, and the right and left protrusions including the two arms a. 10 are arranged opposite to each other with a sufficient space for accommodating the connecting rod B. The left and right protrusions 10 tilt (rotate) in the first direction F1 about the first rotation shaft 11, respectively, and the first rotation shaft 11 rotates about the second rotation shaft 13 in the second direction F2. It is designed to rotate.

  Each protruding portion 10 has an inclined surface 16 on the side where the connecting rod B enters between the left and right protruding portions 10, and a vertical surface 17 on the side where the connecting rod B is sandwiched between the left and right protruding portions 10. Yes. For example, Teflon (registered trademark) or a fluororesin plate is attached to the inclined surface 16 and the vertical surface 17 in order to improve the sliding with the connecting rod B.

  Further, as shown in FIG. 5, in order to cause each protrusion 10 to undulate in the first direction F1 around the first rotation shaft 11 as shown in FIG. 5, the first rotation shaft 11 has a torsion spring as shown in FIG. 18 is fitted, and the end thereof is fixed to the rotating plate 20 to which the first rotating shaft 11 is attached, and the repulsive force of the torsion spring 18 causes each protrusion 10 to always have the first rotating shaft 11 as the center. It rotates to get up.

  On the other hand, a stopper 19 that prevents the protrusions 10 from rising up is provided so as to mesh vertically between the lower end of each protrusion 10 and the upper end of the rotating plate 20 to which the second rotary shaft 13 is attached. ing. Therefore, as shown in FIG. 5, in a state where the rotary plate 20 is locked by the release mechanism 15, the protrusion 10 undulates within a range from the position indicated by the solid line in FIG. 5 to the position indicated by the alternate long and short dash line. It is like that.

  The release mechanism 15 includes a lever 22 that rotates about the third rotation shaft 21, a rotatable roller 23 that is attached to one end of the lever 22, and a link that is rotatably attached to the other end of the lever 22. 24, a plunger 25 that moves the other end of the link 24 in the left-right direction, and a solenoid 26 that drives the plunger 25 in the left-right direction.

  Further, the rotating plate 20 that rotates about the second rotating shaft 13 is provided with an R portion 27 (see FIG. 6) that meshes with the roller 23, and the roller 23 meshes with the R portion 27 as shown in FIG. When rotating, the rotating plate 20 is restricted by the roller 23 and cannot rotate. Further, when the solenoid 26 is actuated and the roller 23 is detached downward from the R portion 27 as shown in FIG. 6, the restraint of the roller 23 is released, and the rotating plate 20 can rotate counterclockwise. . Therefore, as shown in FIG. 6, when the connecting rod B moves in the direction of the arrow, the protrusion 10 and the rotating plate 20 are integrated by the engagement of the stopper 19. Rotate counterclockwise around the center. That is, the protrusion 10 is pushed down in the direction of the arrow by the connecting rod B.

  When the connecting rod B passes over the protrusion 10, the rotary plate 20 is returned to the state shown in FIG. 5 by a tension spring (not shown). When the rotating plate 20 returns, the plunger 25 of the solenoid 26 also returns to the state of FIG. 5 and restrains the rotating plate 20 again.

  In FIGS. 5 and 6, in order to facilitate understanding of the operation of the protrusion 10, the right protrusion 10 in FIG. 4 and a mechanism for rotating the protrusion 10 are omitted. The first mechanism 12 and the second mechanism 14 of the right protrusion 10 are attached to the left protrusion 10 opposite to each other. However, the lever 22 of the right protrusion 10 is attached to the same third rotating shaft 21 with the left lever 22 turned upside down, and the right link 24 is also turned upside down with the left link 24. The left and right rotary plates 20 are restrained or released by the movement of one plunger 25, respectively.

  When the release mechanism 15 operates in this way, the left and right protrusions 10 can be raised and lowered simultaneously, and the connecting part B sandwiched between the left and right protrusions 10 can come out from either side.

  Although the first rotary shaft 11 is attached to the rotary plate 20, the second rotary shaft 13 that rotates the rotary plate 20 and the third rotary shaft 21 of the lever 22 that restrains the rotation of the rotary plate 20 are: It is fixed to a frame (not shown). Further, a tension spring (not shown) that pulls the rotating plate 20 back from the state of FIG. 6 to the state of FIG. 5 has one end attached to the frame and the other end attached to the rotating plate 20.

(Effect of embodiment)
In the present embodiment, the following effects can be obtained.

  In the present embodiment, as described above, each of the protrusions 10 is arranged in the first direction in which the connecting rod B enters the clamping position between the protrusions 10 (the inner side where the protrusions 10 are close to each other). And a second direction (a direction in which the protrusions 10 are rotated away from each other), which is a direction in which the connecting rod B is detached from the clamping position (retracted and rotated respectively). The release mechanism 15 is configured to restrict the retraction of the protrusion 10 in the second direction when not activated and to release the restriction when activated. Thereby, when the connecting rod B enters between the protruding portions 10 (clamping position) (the connecting rod B relatively moves in the first direction), the both protruding portions 10 are pushed down in the first direction. In addition, when the release mechanism 15 is not in operation, the two protrusions 10 move in the second direction when the connecting rod B is separated from between the two protrusions 10 (the connecting rod B moves relative to the second direction). If the connecting rod B is disengaged from between the two protrusions 10 when the release mechanism 15 is operated (the connecting rod B moves relative to the second direction), it is pushed down in the second direction. As a result, the automatic guided vehicle A can accept the connecting rod B from any of the protrusions 10 and can connect the connecting rod B and the connecting mechanism 1 while holding the release mechanism 15 in a non-operating state. The connecting rod B is constrained (restricted) at the position, and when the release mechanism 15 is operated, it can be detached in the direction of any of the protrusions 10. As a result, if the connecting rod B is clamped and connected and travels in a connected state, the transported body M can be transported (at least in the direction crossing the connecting rod B), and the release mechanism 15 is activated. When the vehicle travels, the connecting rod B is detached, and the connection with the transported body M can be disconnected.

  Further, the connecting rod B and the connecting mechanism 1 (both sides) can be obtained simply by traveling (submitting) so that the direction in which the pair of protrusions 10 are aligned intersects the direction (axial direction) of the connecting rod B of the transported body M. Compared with the connection mechanism 1 in which the projection pin 10) is coupled to the coupling mechanism 1 so that the coupling pin extending upward from the upper surface of the vehicle body is extended and fitted into the hole provided in the lower portion of the transported body M. Alignment accuracy is not required, and the time required for connection can be reduced. Further, even when the position and orientation of the transported body M slightly change (changes) from the (original) stop position, the connecting rod B pushes against one of the protrusions 10 and then is pressed against the other protrusion 10. Since the transported body M is relatively returned to the normal direction with respect to the automatic guided vehicle A (the direction in which the protruding portions 10 are arranged and the direction (axial direction) of the connecting rod B is substantially orthogonal), Even if the automatic guided vehicle A does not sink into the lower portion of the transported body M in a posture facing the transported body M (that is, travels in a direction orthogonal to the connecting rod B), The connecting rod B of the body M is securely connected to the connecting mechanism 1.

  In the present embodiment, as described above, the protrusions 10 are supported so that each of the protrusions 10 is tilted by being pushed by the connecting rod B that enters between the protrusions 10, and the protrusions 10. The first mechanism 12 that clamps the connecting rod B that has entered after returning and the projecting portions 10 supported so that each of the projecting portions 10 can be rotated by being pushed away from each other by the sandwiched connecting rod B. Then, the second mechanism 14 for detaching the connecting rod B from between the two protrusions 10 is provided, and the release mechanism 15 restricts the rotation of each of the protrusions 10 by the second mechanism 14 when not operating. At the same time, it is configured to release the restriction during operation. Accordingly, the first mechanism 12 can tilt the both protrusions 10 to allow the connecting rod B to enter between the both protrusions 10, and the second mechanism 14 can cause both the protrusions 10 to be inactive when the release mechanism 15 is not in operation. While restricting the rotation of the protrusion 10 so as not to leave the position where the connecting rod B is clamped, when the release mechanism 15 is operated, the restriction of the rotation of both protrusions 10 is canceled so that the connecting rod B It is possible to make it possible to leave the pinched position.

  In the present embodiment, as described above, each of the protrusions 10 is configured to include the inclined surface 16 and the vertical surface 17, and the inclined surface 16 is formed between the protrusions 10 and the connecting rod B. Provided on the approaching side, the vertical surface 17 is provided on the side sandwiching the connecting rod B. As a result, the connecting rod B can be smoothly guided between the projecting portions 10, and when the connecting rod B enters between the projecting portions 10, the connecting rod B can be pushed by the vertical surface 17. The movement of the car A can be reliably transmitted to the transported body M and transported. In addition, since the vertical surface 17 is long so as to follow the connecting rod B (two pairs of arms a are provided in parallel), the connecting rod B can be pushed (transmitting force) in wide contact. As a result, the conveyance becomes more stable (the mismatch between the moving direction of the transfer target M and the moving direction of the conveyance vehicle is reduced).

  Further, in the present embodiment, as described above, the connecting mechanism 1 is connected to the automatic guided vehicle A that transports the transported body M by sinking into the lower part of the transported body M disposed below. And the vehicle body portion, and the connecting mechanism 1 is mounted above the vehicle body portion so as to be at the same height as the connecting rod B, and the connecting rod B is pushed in a direction crossing the axis of the connecting rod B to be conveyed. It is configured to transport M. Thereby, it is possible to easily connect the connecting rod B to the connecting mechanism 1 (between the pair of projecting portions 10) simply by the automatic guided vehicle A entering the lower portion of the transported body M. Moreover, the to-be-conveyed body M can be conveyed (towed) with the automatic guided vehicle A by pushing the connecting rod B provided in the connected to-be-conveyed body M with the projection part 10 of the connection mechanism 1. FIG.

  Further, in the present embodiment, as described above, the expansion / contraction part 9 that extends in the direction along the ground and matches the relative position of the transported body M and the vehicle body part is provided. As a result, the automatic guided vehicle A that has entered the space of the pair of legs of the transported body M can be expanded and contracted with respect to the legs of the pair of transported bodies M (or members attached to the legs). By extending 9, the relative position of the transported body M and the automatic guided vehicle A can be matched. Further, when the connection is performed, the stretchable portion 9 extends in the direction along the ground, and the stretched stretchable portion 9 pushes the transported body M, so that the transported body M is positioned and oriented from the (original) stop position. Even when the angle fluctuates slightly, the relative position shift can be corrected. Therefore, even when the loaded object M is slightly moved from the original stop position or the initial position at the time of loading / unloading of the baggage or connection with the automatic guided vehicle A, it should be transported by the automatic guided vehicle A without any trouble. Can do. Further, even if the transported body M has various sizes, the telescopic section 9 matches the relative position between the automatic guided vehicle A and the transported body M, so that the transported body M from a large size to a small size can be obtained. (That is, even if the width of the transported body M is different from the width of the vehicle body of the automatic guided vehicle A), the same automatic guided vehicle A can be used.

  In addition, when the automatic guided vehicle A turns or is transported on a non-horizontal ground, the transported body M is displaced in the axial direction of the connecting rod B (the connecting rod B is The relative position of the transported body M with respect to the automatic guided vehicle A when passing through a passage (between objects) having the same width as the transported body M. Therefore, it is possible to prevent the transported body M that has been displaced from colliding with the passage (object). In addition, the direction along the ground is a direction in which an angle that is horizontal with respect to the ground or an angle with the ground is within 45 degrees.

  Moreover, in this embodiment, the expansion-contraction part 9 is comprised so that it may extend in the direction consistent with the axial direction of the connecting rod B clamped by the projection part 10 as mentioned above. As a result, the transport mechanism M can be reliably transported by pushing the connecting rod B in the direction orthogonal to the axis of the connecting rod B by the connecting mechanism 1 (the pair of projecting portions 10), and the telescopic portion 9 can be unmanned. When the transport vehicle A turns or transports on a non-horizontal ground, the transported body M is displaced in the direction of the connecting rod B (axial direction). (Relatively sliding). In addition, when passing through a passage (between objects) having the same width as the transported body M, the relative position of the transported body M with respect to the automatic guided vehicle A is not determined, and the transported body M that has undergone a position shift Colliding with the passage (thing) can be suppressed.

  As described above, the automatic guided vehicle A of the present embodiment can reliably connect the automatic guided vehicle A and the transported body M even when the transported body A moves or changes its direction while stopped. .

[Modification]
In the above embodiment, when the release mechanism is operated, the protrusion and the release mechanism enter the clamping position between the protrusions even if the connecting rod enters from either side of the left and right protrusions, and the release mechanism is not operated. In some cases, an example is shown in which the connecting rod is configured to be able to come out from the clamping position to either side (in the front-rear direction), but the present invention is not limited to this. In the present invention, for example, independent release mechanisms may be provided on the left and right protrusions, respectively. Thereby, it can be configured that the connection between the protrusion and the connection mechanism is released only when the automatic guided vehicle is moved to the designated side.

  Moreover, although the example which supports each of the 1st mechanism and the 2nd mechanism so that it may retract | save by tilting and rotating is shown in the said embodiment, this invention is not limited to this. In the present invention, for example, the first mechanism and / or the second mechanism may support the protrusion so as to be movable in and out in the vertical direction (direction of the attached vehicle body). In this case, an inclined surface that goes inward as the tip (upward) goes to the outside of the first mechanism, and the protruding portion moves in the up-and-down direction by pressing the inclined surface in the left-right direction perpendicular to the up-and-down direction in and out of the protruding portion (Such as a so-called door latch bolt). In this case, retracting in the first direction (direction in which the connecting rod enters) means relative movement of the inclined surface in the first direction in the first direction (inward direction).

A automatic guided vehicle M transported object B connecting rod 1 connecting mechanism 9 telescopic part 10 projecting part 12 first mechanism 14 second mechanism 15 release mechanism 16 inclined surface 17 vertical surface

Claims (6)

A connecting mechanism that is disposed above a vehicle body of a transport vehicle that sinks under a transported body and transports the transported body, and connects the transported body and the transport vehicle;
A pair of protrusions for clamping a connecting rod parallel to the ground disposed below the transported body from a direction perpendicular to the connecting rod;
A release mechanism for releasing clamping by the protrusion,
Each of the protrusions retreats in a first direction in which the connecting rod enters a clamping position between the protrusions, and in a second direction in which the connecting rod is detached from the clamping position. ,
The release mechanism is a coupling mechanism that restricts retraction of the protrusion in the second direction when not activated and releases the restriction when activated. The protrusions are supported by the connecting rods that enter between the protrusions so that each of the protrusions is tilted, and the protrusions are returned to sandwich the connecting rods. The first mechanism,
Second protrusions are supported by both of the protrusions so that each of the protrusions is rotated in a direction away from each other by the sandwiched connecting rods, and the connecting rods are separated from the two protrusions. A mechanism,
The connection mechanism according to claim 1, wherein the release mechanism restrains the rotation of each of the protrusions by the second mechanism when not activated, and releases the restraint when activated. Each of the protrusions includes an inclined surface and a vertical surface,
The inclined surface is provided on the side where the connecting rod enters between the protrusions,
The connection mechanism according to claim 1, wherein the vertical surface is provided on a side that sandwiches the connection rod. It is an automatic guided vehicle that is connected to a lower part of a transported body arranged at a lower part and transports the transported body,
The connection mechanism according to any one of claims 1 to 3,
A vehicle body part,
The connection mechanism is mounted above the vehicle body so as to be at the same height as the connection rod, and pushes the connection rod in a direction intersecting the axis of the connection rod to convey the transported body. car.   The automatic guided vehicle according to claim 4, further comprising an expansion / contraction section that extends in a direction along the ground and matches a relative position between the transported body and the vehicle body section. The automatic guided vehicle according to claim 5, wherein the expansion / contraction part is configured to extend in a direction that coincides with an axial direction of the connecting rod sandwiched by the protrusion.