JP2020032838A - Unmanned carrier - Google Patents

Abstract

To provide an unmanned carrier capable of preventing an external appearance of a vehicle body from being deteriorated due to an outrigger device.SOLUTION: An unmanned carrier 1 includes: a vehicle body 10 which has side frames 11 at four corners; and outrigger devices 20 provided at the four corners. The outrigger device 20 has an outrigger 21 which has one end rotatably fixed to the vehicle body 10 and the other end having a grounding section, a cylinder 22 which has a base end fixed to the vehicle body 10 and a tip connected to the outrigger 21 and rotates the outrigger 21 by changing a stroke length, and an outrigger cover which rotates together with the outrigger 21. The outrigger 21 is switched to a first state in which the grounding section comes into contact with a ground plane and a second state in which the whole is stored in a storage space inside the vehicle body 10 by an extending and contracting operation of the cylinder 22. In the outrigger cover, a cover surface becomes flush with the surfaces of the side frames 11 in the second state.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic guided vehicle provided with an outrigger device.

  As an automatic guided vehicle provided with an outrigger device, for example, those described in Patent Literature 1 and those described in Patent Literature 2 are known. In these automatic guided vehicles, when the outrigger device is not used, the outrigger device is exposed on the side surface of the vehicle body and projects from the vehicle body. For this reason, there is a problem that the appearance of the vehicle body is impaired.

JP-A-10-6253 JP-A-6-37034

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an automatic guided vehicle that can prevent an outrigger device from damaging the appearance of a vehicle body.

In order to solve the above problems, the automatic guided vehicle according to the present invention
A vehicle body having side frames at the four corners,
Outrigger devices provided at the four corners,
An automatic guided vehicle equipped with
The outrigger device,
An outrigger having one end rotatably fixed to a lower portion of the vehicle body and having a ground contact portion at the other end;
A cylinder having a base fixed to the vehicle body and a tip connected to the outrigger, and rotating the outrigger by changing a stroke length,
An outrigger cover that is provided on the side of the ground portion of the outrigger and that rotates together with the outrigger,
The outrigger is switched between a first state in which the ground contact portion is in contact with the ground surface and a second state in which the whole is accommodated in an accommodation space inside the vehicle body by the expansion and contraction operation of the cylinder,
The outrigger cover is characterized in that, in the second state, a cover surface is flush with a surface of the side frame.

  In this configuration, the entire outrigger when not in use is accommodated in the accommodation space inside the vehicle body, and the cover surface of the outrigger cover is flush with the surface of the side frame of the vehicle body. Therefore, according to this configuration, it is possible to prevent the appearance of the vehicle body from being impaired by the outrigger device.

  In the present invention, the phrase “the surface of the cover and the surface of the side frame are“ equal ”means that there is no step between the surface of the cover and the surface of the side frame, or the difference between the surface of the cover and the surface of the side frame. The step between them is small (to the extent that the appearance of the vehicle body is not impaired).

In the automatic guided vehicle,
The vehicle body includes an upper cover that can be opened and closed,
The upper cover,
In the first state, while being in the open state,
The outrigger may be configured to be closed in the second state, cover the ground portion of the outrigger, and have a surface flush with the cover surface of the outrigger cover.

In the automatic guided vehicle,
The outrigger device includes an elastic member that urges the outrigger cover in a direction to approach the outrigger,
The side frame includes a first regulating unit that regulates the outrigger cover from entering the accommodation space,
The elastic member may be configured to be in a state of being extended more in the second state than in the first state.

In the automatic guided vehicle,
The outrigger device,
An elastic member for urging the outrigger cover in a direction to approach the outrigger,
Second regulating means provided on the outrigger cover, for regulating the outrigger cover from entering the accommodation space;
With
The second restricting means contacts the surface of the side frame in the second state,
The elastic member may be configured to be in a state of being extended more in the second state than in the first state.

In the automatic guided vehicle,
The outrigger includes a pair of protrusions protruding in the width direction,
The outrigger cover includes a pair of guide portions,
The guide portion includes a concave portion that slides the convex portion along a direction in which the elastic member expands and contracts, with the convex portion being inserted,
The protrusion may be configured to be located at one end of the recess in the first state and to be located at the other end of the recess in the second state.

  ADVANTAGE OF THE INVENTION According to this invention, the automatic guided vehicle which can prevent that the external appearance of a vehicle body is spoiled by an outrigger device can be provided.

BRIEF DESCRIPTION OF THE DRAWINGS It is a top view of the automatic guided vehicle which concerns on one Embodiment of this invention, Comprising: (A) is a figure which shows the state which does not use an outrigger, and (B) the state which uses an outrigger. It is a side view of the automatic guided vehicle concerning one embodiment of the present invention. It is a side view showing the state where the outrigger concerning the present invention is used. It is a side view showing the state where the outrigger concerning the present invention is not used. FIG. 5 is a cross-sectional view taken along line AA of FIG. 4, illustrating a relationship between an outrigger cover according to one embodiment of the present invention and a side frame of a vehicle body. It is a figure which shows the relationship between the outrigger cover which concerns on the modification of this invention, and the side frame of a vehicle body.

  Hereinafter, an embodiment of an automatic guided vehicle according to the present invention will be described with reference to the accompanying drawings.

  1 and 2 show an automatic guided vehicle 1 including an outrigger device 20 according to one embodiment of the present invention. FIG. 1A is a plan view of the automatic guided vehicle 1 when the outrigger device 20 is not used, and FIG. 1B is a plan view of the automatic guided vehicle 1 when the outrigger device 20 is used. FIG. 2 is a side view of the automatic guided vehicle 1 when the outrigger device 20 is not used.

  The automatic guided vehicle 1 is used, for example, at a manufacturing and production site, and automatically transports parts and materials to high places. The automatic guided vehicle 1 includes a vehicle body 10, an outrigger device 20, a lifting device 30 (in this embodiment, a table lifter), and a control device (not shown).

  The control device is configured by, for example, a microcomputer and / or a dedicated IC, and communicates with an external computer to perform traveling control of the vehicle body 10, control of the outrigger device 20, and control of elevation of the elevating device 30.

  The vehicle body 10 has four wheels at a lower part, and performs automatic traveling under the control of the control device. A housing space for housing the outrigger device 20 is formed at four corners inside the vehicle body 10, and a housing space for housing the elevating device 30 is formed at the center of the upper part of the vehicle body 10.

  The vehicle body 10 includes a first side frame 11, a second side frame 12, a front frame 13, a rear frame 14, a first upper frame 15, and a second upper frame 16 corresponding to the "side frame" of the present invention. And an upper cover 17.

  As shown in FIG. 2, the first side frame 11 and the upper cover 17 are provided at both ends of the side surface of the vehicle body 10, and the second side frame 12 is provided at the center of the side surface of the vehicle body 10 (a part other than both ends). Have been. More specifically, the first side frame 11 is provided on a side surface of the vehicle body 10 so as not to hinder the rotation operation of the outrigger device 20 (the outrigger 21 and the outrigger cover 23) and the opening / closing operation of the upper cover 17. .

  When the outrigger device 20 is not used, the surface of the first side frame 11, the surface of the outrigger device 20 (the cover surface of the outrigger cover 23), and the surface of the upper cover 17 are flush. Further, the surface of the first side frame 11 and the surface of the second side frame 12 are also flush. Here, "become flush" means that there is no step between the surface of one component and the surface of another component, or the difference between the surface of one component and the surface of another component is The step between them is small (to the extent that the appearance of the vehicle body 10 is not impaired).

  Referring to FIGS. 1A and 1B again, front frame 13 is provided on the front surface of vehicle body 10, and rear frame 14 is provided on the rear surface of vehicle body 10. The first upper frame 15 is provided on the upper surface on the front side of the vehicle body 10, and the second upper frame 16 is provided on the upper surface on the rear side of the vehicle body 10.

  In the present embodiment, the front side first side frame 11, the front frame 13, and the first upper frame 15 are integrally formed. Similarly, the first side frame 11, the rear frame 14, and the second upper frame 16 on the rear side are integrally formed. In addition, each may be provided as a separate body.

  FIG. 3 is a side view of a state when the outrigger device 20 is used (corresponding to the “first state” of the present invention), and FIG. 4 is a state of the outrigger device 20 when not used (“second state” of the present invention). (Corresponding to "state").

  The outrigger device 20 is provided at the four corners of the vehicle body 10 as described above, and includes the outrigger 21, the cylinder 22, and the outrigger cover 23.

  The outrigger 21 has a rotating shaft 21a at one end and a grounding portion 21b at the other end. The rotating shaft 21a is fixed to a lower part of the vehicle body 10. The grounding portion 21b is made of a resin or metal pad, and is provided at the other end on the grounding surface side. When no pad is provided, a portion directly in contact with the ground surface is the ground portion 21b.

  The outrigger 21 has a connecting portion 21c connected to the tip of the cylinder 22 on the surface opposite to the surface where the ground portion 21b is located. The outrigger 21 has a concave portion on the opposite surface so that the cross section is concave (see FIG. 5). The connecting portion 21c with the cylinder 22 is provided in the concave portion.

  The outrigger 21 rotates by the expansion and contraction operation of the cylinder 22, and the first state (the state of FIG. 3) in which the ground contact portion 21b is in contact with the ground surface, and the second state (the whole state is housed in the housing space inside the vehicle body 10). 4).

  The cylinder 22 has a base end fixed to the upper part of the vehicle body 10 and a front end connected to the connection part 21 c of the outrigger 21. The cylinder 22 is constituted by a hydraulic or electric cylinder, and changes a stroke length under the control of a control device. When the stroke length increases, the outrigger 21 is pushed toward the ground contact surface and shifts to the first state. When the stroke length decreases, the outrigger 21 is pulled toward the vehicle body 10 and shifts to the second state.

  The outrigger cover 23 is provided on a surface of the outrigger 21 where the ground portion 21b is located, and covers a portion of the surface except for the ground portion 21b. The outrigger cover 23 solves the problem that, for example, the appearance of the vehicle body 10 is impaired by seeing the outrigger 21 during traveling.

  The outrigger cover 23 is attached to the outrigger 21 by an elastic member 24. As shown in FIG. 5, which is a cross-sectional view taken along the line AA in FIG. 4, the elastic member 24 is constituted by a pair of tension springs.

  One end of the elastic member 24 is attached to a T-shaped attachment portion 21 d provided in the recess of the outrigger 21. The other end of the elastic member 24 is attached to the outrigger cover 23 via a pair of holes 21e formed in the outrigger 21. The elastic member 24 urges the outrigger cover 23 in a direction to approach the outrigger 21.

  The outrigger cover 23 has at least one set (two sets in the present embodiment) of cover protrusions 23a that protrude outward in the width direction of the outrigger 21 (the front-back direction of the vehicle body 10). In addition, when the entire both side surfaces of the outrigger cover 23 protrude outward in the width direction of the outrigger 21, the entire both side surfaces of the outrigger cover 23 become the cover protruding portions 23a.

  As shown in FIG. 5, the first side frame 11 includes a pair of frame protrusions 18 (corresponding to “first restricting means” of the present invention) that protrude inward in the width direction of the outrigger 21. The frame protrusion 18 is provided on the back surface of the first side frame 11 so as to be in contact with the back surface of the cover protrusion 23a of the outrigger cover 23 when the outrigger device 20 is not used.

  The width between the frame protrusions 18 is larger than the maximum width of the outrigger 21 and smaller than the maximum width of the outrigger cover 23. Accordingly, the frame protrusion 18 can restrict the outrigger cover 23 from entering the accommodation space of the vehicle body 10 without preventing the outrigger 21 from entering the accommodation space of the vehicle body 10. As a result, the surface of the first side frame 11 and the cover surface of the outrigger cover 23 can be made flush.

  Referring again to FIGS. 3 and 4, the outrigger 21 includes a pair of protrusions 21 f that protrude outward in the width direction at the other end side from the position of the elastic member 24. The convex portion 21f is formed, for example, of a head of a bolt attached to the outrigger 21.

  The outrigger cover 23 includes a pair of guide portions 23b at positions corresponding to the pair of convex portions 21f. The guide portion 23b is formed with an elongated hole 23c (corresponding to a "recess" of the present invention) for sliding the protrusion 21f along the direction in which the elastic member 24 expands and contracts when the protrusion 21f is inserted. Note that, instead of the long hole 23c, a long groove that slides the protrusion 21f along the expansion and contraction direction of the elastic member 24 may be formed.

  In the first state shown in FIG. 3, the elastic member 24 urges the outrigger cover 23 in a direction approaching the outrigger 21, so that the protrusion 21f is located at one end side (the lower side in FIG. 3) of the elongated hole 23c. On the other hand, in the second state shown in FIG. 4, since the frame projecting portion 18 restricts the outrigger cover 23 from entering the housing space of the vehicle body 10, the projecting portion 21f is connected to the other end of the elongated hole 23c (see FIG. 4). 4 left).

  Comparing the first state and the second state, the elastic member 24 is more extended in the second state than in the first state, and the outrigger cover 23 is in the second state more than in the first state. At this time, the state is separated from the outrigger 21. As a result, the surface of the outrigger cover 23 and the surface of the first side frame 11 can be flushed with higher precision.

  The upper cover 17 includes a cover body 17a, a lever 17b, and a connecting portion 17c. The connecting portion 17c is rotatably fixed to the upper part of the vehicle body 10, and makes the operation of the cover body 17a and the operation of the lever 17b interlock.

  In the first state shown in FIG. 3, the cover main body 17a is in an open state, and the lever 17b is in a state of standing up and down in the accommodation space of the vehicle body 10. On the other hand, in the second state shown in FIG. 4, the cover body 17a is in the closed state, and the lever 17b is in a state of lying obliquely in the accommodation space of the vehicle body 10. The cover body 17 a in the closed state covers the grounding portion 21 b of the outrigger 21, and its surface is flush with the cover surface of the outrigger cover 23.

  When shifting from the second state to the first state, the other end of the outrigger 21 pushes the closed cover body 17a when the outrigger 21 exits the accommodation space of the vehicle body 10, so that the cover body 17a is opened. And the lever 17b stands upright.

  When shifting from the first state to the second state, when the outrigger 21 enters the accommodation space of the vehicle body 10, the other end of the outrigger 21 presses the lever 17b in a state in which the outrigger 21 stands up, so that the lever 17b is in the lying state. And the cover body 17a is closed.

  After all, since the automatic guided vehicle 1 according to the present embodiment includes the outrigger cover 23 that rotates together with the outrigger 21, it is possible to solve the problem that, for example, the appearance of the vehicle body 10 is impaired due to the outrigger 21 being visible during traveling.

  Further, in the automatic guided vehicle 1 according to the present embodiment, when the outrigger device 20 is not used, the surface of the first side frame 11, the cover surface of the outrigger cover 23, and the surface of the upper cover 17 are flush. For example, it is possible to solve the problem that a large step is generated between the outrigger device 20 and the side surface of the vehicle body 10 and the appearance of the vehicle body 10 is impaired.

  The embodiments of the automatic guided vehicle according to the present invention have been described above, but the present invention is not limited to the above embodiments.

  For example, in the automatic guided vehicle according to the present invention, instead of the cover projection 23a and the frame projection 18 shown in FIG. 5, a cover projection 23a 'shown in FIG. 6 (corresponding to "second regulating means" of the invention). May be provided. The cover protrusions 23a 'are provided at both ends in the width direction of the outrigger cover 23 so as to contact the surface of the first side frame 11 when the outrigger device 20 is not used.

  According to the configuration shown in FIG. 6, the outrigger cover 23 can be restricted from entering the accommodation space of the vehicle body 10 without preventing the outrigger 21 from entering the accommodation space of the vehicle body 10. As a result, the surface of the first side frame 11 and the cover surface of the outrigger cover 23 can be made flush.

  The configuration shown in FIG. 6 has a step corresponding to the thickness of the end of the cover projection 23a 'between the surface of the first side frame 11 and the cover surface of the outrigger cover 23, as compared with the configuration of the above embodiment. (However, this step is small enough not to impair the appearance of the vehicle body 10). On the other hand, there is an advantage that the frame projection 18 becomes unnecessary.

  The outrigger of the present invention may be appropriately switched as long as the cylinder 22 is switched between a first state in which the ground portion 21b is in contact with the ground surface and a second state in which the whole is housed in the housing space inside the vehicle body 10 by the expansion and contraction operation of the cylinder 22. The configuration can be changed.

  The configuration of the cylinder of the present invention can be appropriately changed as long as the base end is fixed to the vehicle body 10 and the distal end is connected to the outrigger of the present invention, and the outrigger of the present invention is rotated by changing the stroke length. .

  The outrigger cover of the present invention rotates together with the outrigger of the present invention, and if the cover surface is flush with the surface of the side frame (the first side frame 11 in the above embodiment) in the second state, the outrigger cover is appropriately The configuration can be changed.

  The configuration of the vehicle body of the present invention can be appropriately changed as long as the accommodation space for accommodating the outrigger device 20 is formed at the four corners inside the vehicle body.

DESCRIPTION OF SYMBOLS 1 Unmanned guided vehicle 10 Body 11 First side frame 12 Second side frame 13 Front frame 14 Rear frame 15 First upper frame 16 Second upper frame 17 Upper cover 17a Cover body 17b Lever 17c Connection portion 18 Frame protrusion 20 Outrigger device Reference Signs List 21 Outrigger 21a Rotating shaft 21b Grounding part 21c Connecting part 21d Mounting part 21e Hole 21f Convex part 22 Cylinder 23 Outrigger cover 23a Cover projecting part 23b Guide part 23c Long hole 24 Elastic member 30 Lifting device

Claims (5)

A vehicle body having side frames at the four corners,
Outrigger devices provided at the four corners,
An automatic guided vehicle equipped with
The outrigger device,
An outrigger having one end rotatably fixed to a lower portion of the vehicle body and having a ground contact portion at the other end;
A cylinder having a base fixed to the vehicle body and a tip connected to the outrigger, and rotating the outrigger by changing a stroke length,
An outrigger cover that is provided on the side of the ground portion of the outrigger and that rotates together with the outrigger,
The outrigger is switched between a first state in which the ground contact portion is in contact with the ground surface and a second state in which the whole is accommodated in an accommodation space inside the vehicle body by the expansion and contraction operation of the cylinder,
The automatic guided vehicle, wherein in the second state, the cover surface of the outrigger cover is flush with the surface of the side frame. The vehicle body includes an upper cover that can be opened and closed,
The upper cover,
In the first state, while being in the open state,
The automatic guided vehicle according to claim 1, wherein the automatic guided vehicle is closed in the second state, covers the ground portion of the outrigger, and has a surface flush with the cover surface of the outrigger cover. The outrigger device includes an elastic member that urges the outrigger cover in a direction to approach the outrigger,
The side frame includes a first regulating unit that regulates the outrigger cover from entering the accommodation space,
3. The automatic guided vehicle according to claim 1, wherein the elastic member is in a state of being extended more in the second state than in the first state. 4. The outrigger device,
An elastic member for urging the outrigger cover in a direction to approach the outrigger,
Second regulating means provided on the outrigger cover, for regulating the outrigger cover from entering the accommodation space;
With
The second restricting means contacts the surface of the side frame in the second state,
3. The automatic guided vehicle according to claim 1, wherein the elastic member is in a state of being extended more in the second state than in the first state. 4. The outrigger includes a pair of protrusions protruding in the width direction,
The outrigger cover includes a pair of guide portions,
The guide portion includes a concave portion that slides the convex portion along a direction in which the elastic member expands and contracts, with the convex portion being inserted,
5. The automatic guided vehicle according to claim 3, wherein the protrusion is located at one end of the recess in the first state, and is located at the other end of the recess in the second state. 6.

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