JP2021020552A - Connection mechanism, connection method, and traction operation system - Google Patents

Abstract

To provide a method by which a driver and a driven body can be mutually connected and separated without a human power inclusion and are made to travel in a connected state without any constraint of a traveling direction.SOLUTION: A connection mechanism comprises a first member 31 connected to one of a driver 1 and a driven body 2 and a second member 32 connected to the other of the driver 1 and the driven body 2 and detachable from the first member 31. The first member 31 comprises a support part 31A extending from its own connection part to the one, said above, in a horizontal direction and a projection part 31B projecting from the support part 31A in a vertical direction. The second member 32 comprises a tip part 32A arranged in a range of the projecting height of the projection part 31B from the support part 31A, an end part 32B extending from the tip part 32A toward the other, said above, and arranged in a range of the projecting height of the projection part 31B from the support part 31A and another end part 32C extending from the tip part 32A, not only toward the other, but also somewhat upward in a vertical direction and reaching a height to surpass the projecting height of the projection part 31B from the support part 31A.SELECTED DRAWING: Figure 1

Description

The present invention relates to a coupling mechanism, a coupling method, and a traction operation system.

For example, Patent Document 1 describes a device for reducing the burden on an operator in connecting and disconnecting a driving body (unmanned traveling vehicle) and a driven body (loading carriage). This device has a drive-side connecting arm provided on the drive body, a driven-side connecting arm provided on the driven body, and a traveling path for traveling an unmanned traveling vehicle, and the traveling path is a driving-side connecting arm. For connecting rotation circuit that turns the drive body so that it is connected to the driven side connecting arm, and for disconnection that turns the drive body in the opposite direction to the connecting turning circuit so as to disconnect the driven side connecting arm from the driving side connecting arm. It is equipped with a turning circuit.

Japanese Unexamined Patent Publication No. 2000-85571

As described above, in the device of Patent Document 1, the traveling path for traveling the driving body is such that the driving side connecting arm is connected to the driven side connecting arm by changing the turning direction of the driving body, and the driving side connecting arm. Has realized that the driven side connecting arm is disconnected. For this reason, unless the turning direction is constant, the connection between the driving body and the driven body cannot be maintained, so that the driving body and the driven body cannot be connected and traveled in all turning directions, and the traveling direction is restricted. Occurs.

The present disclosure solves the above-mentioned problems, can be connected and disconnected without human intervention, and can connect and run a driving body and a driven body without being restricted by a traveling direction. It is an object of the present invention to provide a connecting mechanism, a method of operating the connecting mechanism, and a traction operation system.

In order to achieve the above object, the connecting mechanism according to one aspect of the present disclosure includes a first member connected to one of the driving body and the driven body, and the first member connected to the other of the driving body and the driven body. It has a second member that can be attached to and detached from one member, and the first member has a support portion that extends in the horizontal direction from a connection portion with respect to the one member and a support portion that protrudes from the support portion in the vertical direction. The second member includes a protrusion, and the second member extends from the tip portion toward the other end portion and the tip portion arranged within the range of the protrusion height of the protrusion portion from the support portion. From the one end portion of the protrusion portion arranged within the range of the protrusion height from the support portion, and from the support portion of the protrusion portion gradually in the vertical direction while extending from the tip portion toward the other. The other end is provided so as to reach a height deviating from the protruding height.

In order to achieve the above object, the connection method according to one aspect of the present disclosure includes a first member connected to one of the driving body and the driven body, and the first member connected to the other of the driving body and the driven body. It has a second member that can be attached to and detached from one member, and the first member has a support portion that extends in the horizontal direction from a connection portion with respect to the one member and a support portion that protrudes from the support portion in the vertical direction. The second member includes a protrusion, and the second member extends from the tip portion toward the other end portion and the tip portion arranged within the range of the protrusion height of the protrusion portion from the support portion. From the one end portion of the protrusion portion arranged within the range of the protrusion height from the support portion, and from the support portion of the protrusion portion gradually in the vertical direction while extending from the tip portion toward the other. Using a connecting mechanism including an other end portion arranged at a height deviating from the protruding height, the protrusion portion is arranged between the other end portion and the one end portion through the other end portion. After that, the protrusion is moved to the tip side to connect the first member and the second member, and the protrusion and the tip are moved so as to be separated from each other, and then the protrusion is moved. The first member and the second member are separated from each other by removing the other end portion from between the other end portion and the one end portion through the other end portion.

In order to achieve the above object, the traction operation system according to one aspect of the present disclosure includes a drive body that can move on the floor surface, a driven body that can move on the floor surface, and the drive body and the driven body. A connecting mechanism having a first member connected to one side, a second member connected to the other of the driving body and the driven body and detachable from the first member, and a control unit for controlling the movement of the driving body. The first member includes a support portion extending in the horizontal direction from a connection portion with respect to the one, and a protrusion portion protruding in the vertical direction from the support portion. The member has a tip portion arranged within the range of the protrusion height of the protrusion portion from the support portion, and a protrusion height of the protrusion portion extending from the tip portion toward the other. One end portion arranged within the range and a height that deviates from the protrusion height of the protrusion portion from the support portion in the vertical direction while extending from the tip portion toward the other end. The control unit is provided with an arranged other end portion, and the control unit arranges the protrusion portion between the other end portion and the one end portion through the other end portion, and then places the protrusion on the tip end side. The movement of the driving body is controlled so as to connect the first member and the second member, and after separating the protrusion and the tip portion, the protrusion is passed through the other end portion. The movement of the driving body is controlled so as to be removed from between the other end portion and the one end portion to separate the first member and the second member.

According to the present disclosure, in the connecting mechanism, a protrusion is arranged between the other end and one end through the other end, and the protrusion is moved toward the tip side to move the first member and the second member. It can be connected, the protrusion and the tip can be moved apart, and the protrusion can be removed from between the other end and the one end through the other end to separate the first member and the second member. it can. Therefore, it is possible to connect and disconnect without human intervention. Further, when the drive body travels, the first member and the second member cannot be separated unless the protrusion and the tip portion are moved apart, so that the drive body and the driven body are connected without being restricted by the traveling direction. Can be run.

FIG. 1 is a side view of the towing operation system according to the embodiment of the present disclosure. FIG. 2 is a plan view of the towing operation system according to the embodiment of the present disclosure. FIG. 3 is a perspective view of the connecting mechanism according to the embodiment of the present disclosure. FIG. 4 is a flowchart of the connection operation of the towing operation system according to the embodiment of the present disclosure. FIG. 5 is a plan view showing a process of connecting operation of the towing operation system according to the embodiment of the present disclosure. FIG. 6 is a side view of FIG. FIG. 7 is a plan view showing a process of connecting operation of the towing operation system according to the embodiment of the present disclosure. FIG. 8 is a side view of FIG. 7. FIG. 9 is a plan view showing a process of connecting operation of the towing operation system according to the embodiment of the present disclosure. FIG. 10 is a side view of FIG. FIG. 11 is a plan view showing a process of connecting operation of the towing operation system according to the embodiment of the present disclosure. FIG. 12 is a side view of FIG. FIG. 13 is a plan view showing a process of connecting operation of the towing operation system according to the embodiment of the present disclosure. FIG. 14 is a side view of FIG. FIG. 15 is a flowchart of the disconnection operation of the tow operation system according to the embodiment of the present disclosure. FIG. 16 is a plan view showing a process of disconnection operation of the tow operation system according to the embodiment of the present disclosure. FIG. 17 is a side view of FIG. FIG. 18 is a plan view showing a process of disconnection operation of the tow operation system according to the embodiment of the present disclosure. FIG. 19 is a side view of FIG. FIG. 20 is a plan view showing a process of disconnection operation of the tow operation system according to the embodiment of the present disclosure. FIG. 21 is a side view of FIG. 20. FIG. 22 is a plan view showing a process of disconnection operation of the tow operation system according to the embodiment of the present disclosure. FIG. 23 is a side view of FIG. 22. FIG. 24 is a plan view showing a process of disconnection operation of the tow operation system according to the embodiment of the present disclosure. FIG. 25 is a side view of FIG. 24. FIG. 26 is a plan view of another example of the connecting mechanism according to the embodiment of the present disclosure. FIG. 27 is a plan view of another example of the connecting mechanism according to the embodiment of the present disclosure. FIG. 28 is a side view of another example of the coupling mechanism according to the embodiment of the present disclosure.

Hereinafter, embodiments according to the present disclosure will be described in detail with reference to the drawings. The present invention is not limited to this embodiment. In addition, the components in the following embodiments include those that can be easily replaced by those skilled in the art, or those that are substantially the same.

FIG. 1 is a side view of the towing operation system according to the present embodiment. FIG. 2 is a plan view of the towing operation system according to the present embodiment. FIG. 3 is a perspective view of the connecting mechanism according to the present embodiment.

As shown in FIGS. 1 to 3, the traction operation system of the present embodiment includes a driving body 1, a driven body 2, a connecting mechanism 3, and a control unit 4.

The drive body 1 is configured as an unmanned transport vehicle (AGV: Automatic Guided Vehicle), and as shown in FIGS. 1 and 2, a magnetic member 10 such as a magnetic tape or a magnetic rod laid in a line on the floor surface F. It detects magnetism and is guided along the line of the magnetic member 10 to run unmanned. In FIG. 2, the magnetic member 10 is shown as a straight line, but includes a curved or bent line. Although not clearly shown in the figure, the drive body 1 is a drive unit 5 such as a control unit 4, a motor that is a drive source for traveling, a battery that supplies power to the drive unit 5, and magnetism from a magnetic member 10. The detection unit 6 and the like for detecting the above have an explosion-proof structure housed in a case having an internal pressure explosion-proof structure and a pressure-resistant explosion-proof structure. The drive body 1 is shown in a rectangular shape, but is not limited to the rectangular shape.

The driven body 2 is configured as a towing vehicle, is connected to the driving body 1 via a connecting mechanism 3, and travels freely as the driving body 1 travels, or travels freely by human power. The driven body 2 is shown in a rectangular shape, but is not limited to the rectangular shape.

The connecting mechanism 3 has a first member 31 and a second member 32 that can be attached to and detached from the first member 31. The first member 31 is connected to one of the driving body 1 and the driven body 2. The second member 32 is connected to the other of the driving body 1 and the driven body 2. In this embodiment, an example is shown in which the first member 31 is connected to the driving body 1 and the second member 32 is connected to the driven body 2.

The first member 31 has a support portion 31A and a protrusion 31B.

The support portion 31A is formed in a plate shape, is connected to an end portion of the drive body 1 in the traveling direction, and extends horizontally along the traveling direction from the connecting portion of the end portion. The traveling direction of the driving body 1 is a direction in which the driving body 1 travels forward and backward, and is indicated by a straight line C that overlaps the straight line of the magnetic member 10 in the plan view of FIG. Although the support portion 31A is shown extending horizontally straight from the connection portion with respect to the drive body 1, it may be curved or bent with a portion deviating from the horizontal in the vertical direction, and is along the horizontal direction. The expression deferred includes these configurations. Further, the support portion 31A is not limited to a plate shape, and may be formed in a rod shape, for example.

The protrusion 31B is formed in a rod shape and is provided so as to project upward from the extending end of the support 31A along the vertical direction. In the present embodiment, the protrusion 31B is formed in a columnar shape. The protrusions 31B are provided with a distance A in the traveling direction from the connection portion of the support portion 31A to the drive body 1. The protrusion 31B is shown to extend straight in the vertical direction, but may be curved or bent with a portion deviating from the vertical direction in the traveling direction, and is expressed as protruding along the vertical direction. Includes these configurations. Further, the support portion 31A and the protrusion 31B may be connected by separate members or may be formed by bending the same member.

In the plan view shown in FIG. 2, the center of gravity G1 of the driving body 1 and the protrusion 31B of the first member 31 are arranged on a straight line. In the present embodiment, in the plan view, the center of gravity G1 of the drive body 1 and the protrusion 31B are arranged on a straight line C along the traveling direction of the drive body 1.

Further, in the first member 31, the support portion 31A and the protrusion 31B are firmly formed of carbon steel or stainless steel. The surface of the protrusion 31B is coated with a beryllium copper or resin coating layer in order to prevent sparks from being generated due to contact with the second member 32. Further, in the drive body 1 provided with the first member 31, the end face in the traveling direction to which the first member 31 is connected is firmly formed of carbon steel or stainless steel. The end face of the driving body 1 in the traveling direction is provided with a beryllium copper or resin coating layer on the surface in order to prevent sparks from being generated due to contact with the second member 32.

The second member 32 has a tip portion 32A, one end portion 32B, and the other end portion 32C.

The tip portion 32A is the end portion farthest from the driven body 2 to which the second member 32 is the other. The tip portion 32A is arranged at a position higher than the maximum height of the support portion 31A of the first member 31 and lower than the height H of the protruding end of the protrusion 31B. That is, the tip portion 32A is arranged within the range of the protrusion height of the protrusion 31B from the support portion 31A. The tip portion 32A is formed in a C-shaped or U-shaped hook shape in a plan view, and is formed so as to hang the protrusion 31B.

The one end portion 32B extends from one end of the hook shape of the tip portion 32A toward the driven body 2. The one end portion 32B is arranged at a position higher than the maximum height of the support portion 31A of the first member 31 and lower than the height H of the protruding end of the protrusion 31B. That is, the one end portion 32B is arranged within the range of the protrusion height of the protrusion 31B from the support portion 31A, similarly to the tip portion 32A.

The other end 32C extends from the hook-shaped other end of the tip 32A toward the driven body 2. The other end 32C has a locking portion 32Ca and a non-locking portion 32Cb. The locking portion 32Ca extends from the tip portion 32A toward the driven body 2 and gradually extends upward in the vertical direction at a position higher than the maximum height of the supporting portion 31A of the first member 31, and is at a position higher than the maximum height of the supporting portion 31A. It is arranged to be inclined so as to reach a position higher than the height H of the protruding end of the. That is, the locking portion 32Ca of the other end portion 32C is inclined to a height that deviates from the protrusion height of the protrusion 31B from the support portion 31A within the range of the protrusion height of the protrusion 31B from the support portion 31A. It is arranged. Further, the locking portion 32Ca extends a portion of the driven body 2 from the position a of the tip portion 32A to the position b at a height deviating from the protruding height of the protruding portion 31B from the supporting portion 31A toward the driven body 2. It has a range of interval B in the traveling direction. The traveling direction of the driven body 2 is a direction in which the driven body 2 travels forward and backward, and is indicated by a straight line C that overlaps the straight line of the magnetic member 10 in the plan view of FIG. The non-locking portion 32Cb extends from a portion of the locking portion 32Ca that deviates from the range of the protruding height of the protruding portion 31B toward the driven body 2 at a position equal to or higher than the height. That is, the non-locking portion 32Cb is arranged at a height that deviates from the protruding height of the protruding portion 31B from the supporting portion 31A. The other end 32C is connected so that the extending end of the non-locking portion 32Cb is fixedly fixed to the driven body 2.

In the second member 32, the extending end of the one end 32B and the extending end of the non-locking portion 32Cb at the other end 32C are immovably fixed and connected to the driven body 2. In the plan view shown in FIG. 2, the second member 32 is provided so as to extend so that one end portion 32B and the other end portion 32C are separated from each other as they move away from the tip end portion 32A and approach the driven body 2, and are the farthest apart. It is connected to the driven body 2 at the above position. The second member 32 has a center of gravity G2 of the driven body 2 on a straight line connecting the center S and the tip end portion 32A between the connecting portions of the one end portion 32B and the other end portion 32C in a plan view. In the present embodiment, in the plan view, the center S between the connection portions of the one end portion 32B and the other end portion 32C, the tip end portion 32A, and the center of gravity G2 of the driven body 2 are the advancement of the driven body 2. It is arranged on a straight line C along the direction.

Further, in the second member 32, the tip portion 32A, the one end portion 32B and the other end portion 32C are firmly formed of carbon steel or stainless steel. The surfaces of the tip 32A, one end 32B, and the other end 32C are coated with a beryllium copper or resin coating layer in order to prevent sparks from being generated due to contact with the first member 31. The coating layer may be applied to one of the first member 31 and the second member 32.

In the connecting mechanism 3, the protrusion 31B of the first member 31 moves as the drive body 1 travels, and the protrusion 31B passes through the other end 32C so as to dive under the unlocked portion 32Cb of the other end 32C of the second member 32. The portion 31B is arranged between the one end portion 32B and the other end portion 32C. Further, in the connecting mechanism 3, the protrusion 31B of the first member 31 moves as the drive body 1 travels, and moves toward the tip 32A so as to approach the tip 32A, so that the protrusion 31B becomes one end 32B. It is between the other end 32C and the locking portion 32Ca and hangs on the tip 32A. As a result, as shown in FIG. 3, the connecting mechanism 3 connects the first member 31 and the second member 32.

Further, in the connecting mechanism 3, the protrusion 31B of the first member 31 moves as the drive body 1 travels, and the protrusion 31B and the tip 32A are separated from each other so as to be separated from the tip 32A. After that, in the connecting mechanism 3, the protrusion 31B of the first member 31 moves as the drive body 1 travels, and the other end 32C so as to dive under the unlocked portion 32Cb of the other end 32C of the second member 32. The protrusion 31B is arranged at a position where it is separated from between the one end 32B and the other end 32C. As a result, in the connecting mechanism 3, the first member 31 and the second member 32 are separated from each other.

When connecting or disconnecting the first member 31 and the second member 32 of the connecting mechanism 3, the protrusion 31B that moves due to the traveling of the drive body 1 is the non-locking portion of the other end 32C of the second member 32. In order to dive under 32Cb, the extending length of the support portion 31A of the first member 31 is set so that the interval A of the first member 31 is larger than the interval B of the second member 32. There is. Further, the horizontal extending length C of the second member 32 is larger than the above-mentioned interval A of the first member 31.

The control unit 4 is, for example, a computer, and is realized by an arithmetic processing unit including a microprocessor such as a CPU (Central Processing Unit), which is not specified in the figure. The control unit 4 inputs a detection signal from the detection unit 6 that detects magnetism from the magnetic member 10. Further, the control unit 4 determines the position of the drive body 1 from the detection signal input from the detection unit 6, and controls the drive unit 5 so as to move the drive body 1 to a predetermined position.

Hereinafter, the connection operation in the tow operation system described above will be described. FIG. 4 is a flowchart of the connection operation of the towing operation system according to the present embodiment. 5 to 14 are views showing a process of connecting operation of the towing operation system according to the present embodiment.

In the traction operation system of the present embodiment, as shown in FIG. 5, a path 11 for traveling the drive body 1 by the line of the magnetic member 10 is provided on the floor surface F. The path 11 is a connecting path 11A that guides the movement of the driving body 1 and a connecting path 11B that guides the movement of the driving body 1 so as to bypass the main path 11A and connect the first member 31 and the second member 32. Has. In the connecting path 11B, both ends 11Ba branch off from the main path 11A to form a detour. In FIGS. 5, 7, 9, 11, and 13, the connecting path 11B branches linearly from the main path 11A to form a detour in a triangular chevron shape, but the shape is not limited to this.

As shown in FIGS. 4 to 6, the control unit 4 causes the drive body 1 to travel along the main path 11A (step S1). Then, as shown in FIGS. 4, 7 and 8, when the drive body 1 reaches the connection position by the input of the detection signal of the detection unit 6 (step S2: Yes), the control unit 4 causes the drive body 1 to move. Stop (step S3). If the drive body 1 does not reach the connection position (step S2: No), the control unit 4 causes the drive body 1 to travel along the main path 11A. Here, the connection position is such that the protrusion 31B of the first member 31 moves due to the traveling of the drive body 1 and goes under the unlocked portion 32Cb of the other end 32C of the second member 32. It is a position where the protrusion 31B is arranged between the one end 32B and the other end 32C. In the driven body 2, the second member 32 is arranged in advance on the main path 11A as shown in FIG. 5 so that the driven body 2 becomes like this when the driving body 1 travels. The arrangement of the driven body 2 can be defined by, for example, a mark marked on the floor surface F. Further, in the present embodiment, the connection position is the position of the end 11Ba at which the connection path 11B branches from the main path 11A.

As shown in FIGS. 4, 9 and 10, after step S3, the control unit 4 rotates the drive body 1 (step S4). The rotation direction is the direction in which the protrusion 31B moves toward one end 32B of the second member 32. Regarding the rotation angle, when the drive body 1 is moved backward along the connecting path 11B with respect to the traveling direction of FIGS. 5 to 8, the protrusion 31B becomes the locking portion 32Ca of the other end 32C of the second member 32. The angle is set so that it abuts. In the present embodiment, the angle at which the connecting path 11B branches from the main path 11A is set so as to match this rotation angle.

As shown in FIGS. 4, 11 and 12, after step S4, the control unit 4 causes the drive body 1 to travel along the connection path 11B (step S5). As described above, when the driving body 1 is driven along the connecting path 11B, the protrusion 31B comes into contact with the locking portion 32Ca of the other end 32C of the second member 32. Therefore, as shown in FIGS. 13 and 14, as the drive body 1 travels, the protrusion 31B reaches the tip 32A along the locking portion 32Ca of the other end 32C and hangs on the tip 32A. The first member 31 is connected to the second member 32. Then, by moving the driving body 1 backward as it is, the driven body 2 is towed as the driving body 1 moves.

After that, the control unit 4 moves the driving body 1 along the connecting path 11B, and moves from the connecting path 11B to the main path 11A to travel.

FIG. 15 is a flowchart of the disconnection operation of the tow operation system according to the present embodiment. 16 to 25 are plan views showing a process of disconnection operation of the tow operation system according to the present embodiment.

In the traction operation system of the present embodiment, as shown in FIG. 16, a path 11 for traveling the drive body 1 by the line of the magnetic member 10 is provided on the floor surface F. The path 11 is a main path 11A that guides the movement of the drive body 1 and a separation path 11C that guides the movement of the drive body 1 so as to bypass the main path 11A and separate the first member 31 and the second member 32. Has. In the separation path 11C, both ends 11Ca branch off from the main path 11A to form a detour. In FIGS. 16, 18, 20, 22, and 24, the separation path 11C branches linearly from the main path 11A to form a detour in a triangular chevron shape, but is not limited to this shape.

As shown in FIGS. 15 to 17, the control unit 4 causes the drive body 1 to travel along the main path 11A (step S11). Then, as shown in FIGS. 15 to 19, when the drive body 1 reaches the detached position by the input of the detection signal of the detection unit 6 (step S12: Yes), the control unit 4 further mainizes the drive body 1. The vehicle is driven along the route 11A (step S13). If the drive body 1 does not reach the disengagement position (step S12: No), the control unit 4 causes the drive body 1 to travel along the main path 11A. After that, the control unit 4 stops the drive body 1 when the drive body 1 travels a designated distance L from the detached position (step S14: Yes) (step S15). If the drive body 1 does not travel a designated distance L from the detached position (step S14: No), the control unit 4 causes the drive body 1 to travel along the main path 11A.

As shown in FIGS. 15, 20, and 21, after step S15, the control unit 4 moves the drive body 1 backward (step S16). Then, when the driven drive body 1 that has been moved backward reaches the detached position (step S17: Yes), the control unit 4 stops the drive body 1 (step S18). By moving the drive body 1 backward from the position (step S15) where the drive body 1 has traveled a designated distance L from the separation position to the separation position, the protrusion 31B of the first member 31 is separated from the tip portion 32A of the second member 32. Here, the separation position is such that the protrusion 31B of the first member 31 moves due to the later rotation of the drive body 1 and goes under the unlocked portion 32Cb of the other end 32C of the second member 32. It is a position where the protrusion 31B is separated from between the one end 32B and the other end 32C through the end 32C. In the present embodiment, the separation position is the position of the end 11Ca where the separation path 11C branches from the main path 11A. Further, at the designated distance L, the protrusion 31B of the first member 31 moves due to the rotation of the drive body 1 described later, and the other end of the second member 32 so as to dive under the unlocked portion 32Cb of the other end 32C. The distance is such that the protrusion 31B is separated from the tip 32A of the second member 32 so that the protrusion 31B is separated from between the one end 32B and the other end 32C through the portion 32C.

As shown in FIGS. 15, 22 and 23, after step S18, the control unit 4 rotates the drive body 1 (step S19). The rotation direction is a direction in which the protrusion 31B moves under the unlocked portion 32Cb of the other end 32C of the second member 32 so as to be disengaged from between the one end 32B and the other end 32C. The rotation angle is an angle such that when the drive body 1 is advanced from the rotation position along the separation path 11C, the protrusion 31B does not abut on the locking portion 32Ca of the other end 32C of the second member 32. And. In the present embodiment, the angle at which the separation path 11C branches from the main path 11A is set so as to match this rotation angle.

As shown in FIGS. 15, 24 and 25, after step S19, the control unit 4 causes the drive body 1 to travel along the separation path 11C (step S20). As described above, when the drive body 1 is driven along the separation path 11C, the protrusion 31B does not come into contact with the locking portion 32Ca of the other end 32C of the second member 32. Therefore, as the drive body 1 travels, the protrusion 31B separates from the second member 32, and the second member 32 is separated from the first member 31.

After that, the control unit 4 moves the drive body 1 along the separation path 11C, and moves from the separation path 11C to the main path 11A to travel.

As described above, the connecting mechanism 3 of the present embodiment connects to the first member 31 connected to one of the driving body 1 and the driven body 2 and to the first member 31 connected to the other of the driving body 1 and the driven body 2. The first member 31 has a detachable second member 32, and the first member 31 has a support portion 31A extending in the horizontal direction from a connection portion with respect to one of the driving body 1 and the driven body 2, and a vertical member 31A from the support portion 31A. The second member 32 includes a protrusion 31B protruding along the direction, and the second member 32 has a tip portion 32A arranged within the range of the protrusion height from the support portion 31A of the protrusion portion 31B and a driving body from the tip portion 32A. One end 32B extending toward the other side of 1 and the driven body 2 and arranged within the range of the protruding height from the support 31A of the protruding portion 31B, and the driving body 1 and the driven body 2 from the tip 32A. The other end 32C is provided so as to extend toward the other side and gradually extend in the vertical direction to a height that deviates from the height of the protrusion 31B protruding from the support 31A.

Therefore, the first member 31 and the second member 32 are moved by arranging the protrusion 31B between the other end 32C and the one end 32B through the other end 32C and moving the protrusion 31B toward the tip 32A. It can be connected, and the protrusion 31B and the tip 32A are moved so as to be separated from each other, and the protrusion 31B is removed from between the other end 32C and the one end 32B through the other end 32C to remove the first member 31 and the first member 31. The two members 32 can be separated from each other. Therefore, it is possible to connect and disconnect without human intervention. Further, since the first member 31 and the second member 32 cannot be separated unless the protrusion 31B and the tip portion 32A are moved so as to be separated from each other in the traveling of the driving body 1, the driving body 1 is not restricted in the traveling direction. And the driven body 2 can be connected and run.

Further, in the connecting mechanism 3 of the present embodiment, it is preferable that at least the protrusion 31B is provided with a beryllium copper or resin coating layer.

Therefore, by providing a coating layer of beryllium copper or resin on at least the protrusion 31B, it is possible to prevent the generation of sparks due to the contact between the protrusion 31B and the second member 32, and it is possible to take anti-explosion measures.

Further, in the connecting mechanism 3 of the present embodiment, the second member 32 has one end 32B and the other end 32C connected to the driven body 2, and each connection of the one end 32B and the other end 32C in a plan view. It is preferable that the center of gravity of the driven body 2 exists on the straight line C connecting the center between the spaces and the tip portion 32A.

Therefore, when the first member 31 and the second member 32 are connected and the driven body 2 is towed by the driving body 1, the connecting portions of the one end portion 32B and the other end portion 32C in the second member 32 in plan view. Since the center of gravity of the driven body 2 exists on the straight line C connecting the center of the space and the tip portion 32A, the driven body 2 can be stably towed.

Further, in the connection method of the present embodiment, the first member 31 connected to one of the driving body 1 and the driven body 2 and the first member 31 connected to the other of the driving body 1 and the driven body 2 can be attached to and detached from the first member 31. The first member 31 has two members 32, and the first member 31 has a support portion 31A extending in the horizontal direction from a connection portion with respect to one of the driving body 1 and the driven body 2, and a support portion 31A extending in the vertical direction from the support portion 31A. The second member 32 includes a protruding portion 31B, and the second member 32 includes a tip portion 32A arranged within a range of protrusion height from the support portion 31A of the protruding portion 31B, and a driving body 1 and a driven body from the tip portion 32A. One end 32B extending toward the other of 2 and arranged within the range of the protrusion height of the protrusion 31B from the support 31A, and the tip 32A toward the other of the driving body 1 and the driven body 2. Using the connecting mechanism 3, the other end is provided with the other end 32C, which is arranged so as to extend and gradually deviate from the height of the protrusion 31B from the support 31A in the vertical direction. After the protrusion 31B is arranged between the other end 32C and the one end 32B through 32C, the protrusion 31B is moved to the tip 32A side to connect the first member 31 and the second member 32, and the protrusion is formed. After moving the portion 31B and the tip portion 32A so as to be separated from each other, the protruding portion 31B is removed from between the other end portion 32C and the one end portion 32B through the other end portion 32C, and the first member 31 and the second member 32 are separated. Separate.

Therefore, the first member 31 and the second member 32 are moved by arranging the protrusion 31B between the other end 32C and the one end 32B through the other end 32C and moving the protrusion 31B toward the tip 32A. It can be connected, and the protrusion 31B and the tip 32A are moved so as to be separated from each other, and the protrusion 31B is removed from between the other end 32C and the one end 32B through the other end 32C to remove the first member 31 and the first member 31. The two members 32 can be separated from each other. Therefore, it is possible to connect and disconnect without human intervention. Further, since the first member 31 and the second member 32 cannot be separated unless the protrusion 31B and the tip portion 32A are moved so as to be separated from each other in the traveling of the driving body 1, the driving body 1 is not restricted in the traveling direction. And the driven body 2 can be connected and run.

Further, in the traction operation system of the present embodiment, the first member connected to one of the driving body 1 that can move the floor surface F, the driven body 2 that can move the floor surface F, and the driving body 1 and the driven body 2. It has 31 and a connecting mechanism 3 having a second member 32 connected to the other of the driving body 1 and the driven body 2 and detachable from the first member 31, and a control unit 4 for controlling the movement of the driving body 1. The first member 31 includes a support portion 31A extending in the horizontal direction from a connection portion with respect to one of the driving body 1 and the driven body 2, and a protruding portion 31B protruding from the support portion 31A in the vertical direction. The second member 32 has a tip portion 32A arranged within the range of the protrusion height of the protrusion portion 31B from the support portion 31A, and extends from the tip portion 32A toward the other of the driving body 1 and the driven body 2. One end 32B which is present and is arranged within the range of the protrusion height from the support 31A of the protrusion 31B, and gradually extends in the vertical direction while extending from the tip 32A toward the other of the driving body 1 and the driven body 2. The other end 32C is provided so as to reach a height deviating from the height of the protrusion 31B protruding from the support 31A, and the control unit 4 passes the protrusion 31B to the other end through the other end 32C. After arranging it between the portion 32C and the one end portion 32B, the movement of the drive body 1 is controlled so that the protrusion 31B is brought closer to the tip portion 32A side to connect the first member 31 and the second member 32. After separating the protruding portion 31B and the tip portion 32A, the protruding portion 31B is removed from between the other end portion 32C and the one end portion 32B through the other end portion 32C so as to separate the first member 31 and the second member 32. Controls the movement of the drive body 1.

Therefore, the first member 31 and the second member 32 are moved by arranging the protrusion 31B between the other end 32C and the one end 32B through the other end 32C and moving the protrusion 31B toward the tip 32A. It can be connected, and the protrusion 31B and the tip 32A are moved so as to be separated from each other, and the protrusion 31B is removed from between the other end 32C and the one end 32B through the other end 32C to remove the first member 31 and the first member 31. The two members 32 can be separated from each other. Therefore, it is possible to connect and disconnect without human intervention. Further, since the first member 31 and the second member 32 cannot be separated unless the protrusion 31B and the tip portion 32A are moved so as to be separated from each other in the traveling of the driving body 1, the driving body 1 is not restricted in the traveling direction. And the driven body 2 can be connected and run.

Further, in the traction operation system of the present embodiment, a path 11 composed of a magnetic member 10 is provided on the floor surface F, the drive body 1 has a detection unit 6 for detecting the magnetism of the magnetic member 10, and the control unit 4 It is preferable to control the movement of the drive body 1 along the path 11 based on the magnetic detection by the detection unit 6.

Therefore, the driving body 1 can be moved along the path 11 made of the magnetic member 10 provided on the floor surface F, whereby the connecting mechanism 3 can be connected or disconnected.

Further, in the traction operation system of the present embodiment, the route 11 connects the main route 11A that guides the movement of the drive body 1 and the first member 31 and the second member 32 by bypassing the main route 11A. It has a connecting path 11B that guides the movement of the drive body 1 and a separation path 11C that guides the movement of the drive body 1 so as to bypass the main path 11A and separate the first member 31 and the second member 32. Is preferable.

Therefore, only the driving body 1 or the driven body 2 connected to the driving body 1 and the driving body 1 is moved along the main path 11A, and the driving body 1 and the driving body 1 are connected and separated in the connecting path 11B. The drive body 1 and the drive body 1 are separated by the path 11C. The connecting path 11B and the disconnection path 11C are provided so as to bypass the main path 11A, and can be provided at an appropriate position on the main path 11A, where the driving body 1 and the driving body 1 are connected and disconnected. Is being carried out.

Hereinafter, another example of the connecting mechanism 3 will be described. FIG. 26 is a plan view of another example of the connecting mechanism according to the present embodiment. FIG. 27 is a plan view of another example of the connecting mechanism according to the present embodiment. FIG. 28 is a side view of another example of the connecting mechanism according to the present embodiment.

As shown in FIGS. 26 and 27, one of the one end 32B and the other 32C of the second member 32 may be connected to the driven body 2 and the other may be provided apart from the driven body 2.

FIG. 26 shows a form in which one end 32B is connected to the driven body 2 and the other end 32C is provided away from the driven body 2. In this case, the second member 32 has a center of gravity G2 of the driven body 2 on a straight line C connecting the connecting portion of one end portion 32B to the driven body 2 and the tip end portion 32A in a plan view. As a result, when the first member 31 and the second member 32 are connected and the driven body 2 is towed by the driving body 1, the driven body 2 can be towed stably. In the case of the form shown in FIG. 26, the other end 32C may be only the locking portion 32Ca and does not have the non-locking portion 32Cb.

FIG. 27 shows a form in which the non-locking portion 32Cb of the other end portion 32C is connected to the driven body 2 and the one end portion 32B is provided away from the driven body 2. In this case, the second member 32 has a center of gravity G2 of the driven body 2 on a straight line C connecting the connecting portion of the other end 32C to the driven body 2 and the tip end 32A in a plan view. As a result, when the first member 31 and the second member 32 are connected and the driven body 2 is towed by the driving body 1, the driven body 2 can be towed stably. In the case of the form of FIG. 26, the one end portion 32B is provided longer than the range of the locking portion 32Ca (from the position a to the position b) so that one end portion 31B is rotated when the protrusion 31B of the first member 31 is rotationally moved. The protrusion 31B can be brought into contact with the portion 32B.

As shown in FIG. 28, the first member 31 and the second member 32 may be attached to the driving body 1 and the driven body 2 by reversing the vertical direction.

Therefore, in the first member 31, the support portion 31A is connected to one end of the drive body 1 in the traveling direction, and extends horizontally along the traveling direction from the connecting portion of the end portion. The protrusion 31B is formed in a rod shape and is provided so as to project downward from the extending end of the support 31A along the vertical direction.

Further, in the second member 32, the tip end portion 32A is the end portion farthest from the driven body 2 to which the second member 32 is the other, and is a position lower than the minimum height of the support portion 31A of the first member 31. Therefore, it is arranged at a position higher than the height H of the protruding end of the protruding portion 31B. That is, the tip portion 32A is arranged within the range of the protrusion height of the protrusion 31B from the support portion 31A. The one end portion 32B extends from one end of the hook shape of the tip portion 32A toward the driven body 2. The one end portion 32B is arranged at a position lower than the minimum height of the support portion 31A of the first member 31 and higher than the height H of the protruding end of the protrusion 31B. That is, the one end portion 32B is arranged within the range of the protrusion height of the protrusion 31B from the support portion 31A. The other end 32C extends from the hook-shaped other end of the tip 32A toward the driven body 2. The other end 32C has a locking portion 32Ca and a non-locking portion 32Cb. The locking portion 32Ca extends from the tip portion 32A toward the driven body 2 and gradually downwards in the vertical direction at a position lower than the minimum height of the supporting portion 31A of the first member 31, and the protrusion portion 31B. It is arranged to be inclined so as to reach a position lower than the height H of the protruding end of the. That is, the locking portion 32Ca of the other end portion 32C is inclined to a height that deviates from the protrusion height of the protrusion 31B from the support portion 31A within the range of the protrusion height of the protrusion 31B from the support portion 31A. It is arranged. Further, the locking portion 32Ca extends a portion of the driven body 2 from the position a of the tip portion 32A to the position b at a height deviating from the protruding height of the protruding portion 31B from the supporting portion 31A toward the driven body 2. It has a range of interval B in the traveling direction. The non-locking portion 32Cb extends from a portion of the locking portion 32Ca that deviates from the range of the protruding height of the protruding portion 31B toward the driven body 2 at a position equal to or lower than the height. That is, the non-locking portion 32Cb is arranged at a height that deviates from the protruding height of the protruding portion 31B from the supporting portion 31A.

1 Driving body 2 Driven body 3 Connecting mechanism 31 First member 31A Support part 31B Protrusion part 32 Second member 32A Tip part 32B One end part 32C Other end part 32Ca Locking part 32Cb Unlocking part 4 Control part 6 Detection part 10 Magnetic Member 11 path 11A Main path 11B Connection path 11C Separation path C Straight line F Floor surface G2 Center of gravity S Center

Claims (7)

The first member connected to one of the driving body and the driven body,
A second member that is connected to the other of the driving body and the driven body and can be attached to and detached from the first member.
Have,
The first member includes a support portion extending in a horizontal direction from a connection portion with respect to the one side, and a protrusion portion protruding in a vertical direction from the support portion.
The second member extends from the tip portion arranged within the range of the protrusion height of the protrusion portion from the support portion, and from the tip portion toward the other, and from the support portion of the protrusion portion. One end portion arranged within the range of the protrusion height of the above, and a height that deviates from the protrusion height of the protrusion portion in the vertical direction while extending from the tip portion toward the other end. A connecting mechanism including the other end of the plumb bob. The connecting mechanism according to claim 1, wherein at least the protrusion is provided with a beryllium copper or resin coating layer. In the second member, one end portion and the other end portion are connected to the driven body, and the center and the tip end portion between the one end portion and the other end portion are connected in a plan view. The connecting mechanism according to claim 1 or 2, wherein the center of gravity of the driven body exists on a straight line connecting the two. The first member has a first member connected to one of the driving body and the driven body, and a second member connected to the other of the driving body and the driven body and attached to and detached from the first member. The second member includes a support portion extending in the horizontal direction from the connection portion to the one side and a protrusion portion protruding in the vertical direction from the support portion, and the second member is the support portion of the protrusion portion. A tip portion arranged within a range of protrusion height from the above, and one end portion extending from the tip portion toward the other and arranged within a range of protrusion height from the support portion of the protrusion portion. And the other end portion which is arranged so as to extend from the tip end portion toward the other side and gradually extend in the vertical direction to a height deviating from the protrusion height of the protrusion portion from the support portion. , Using a connecting mechanism,
After the protrusion is arranged between the other end and the one end through the other end, the protrusion is moved toward the tip side to connect the first member and the second member. Then, after moving the protrusion and the tip so as to separate them, the protrusion is removed from between the other end and the one end through the other end, and the first member and the second are removed. A connection method that separates the members. A drive body that can move on the floor and
A driven body that can move on the floor
A connecting mechanism having a first member connected to one of the driving body and the driven body, and a second member connected to the other of the driving body and the driven body and detachable from the first member.
A control unit that controls the movement of the drive body,
Have,
The first member includes a support portion extending in a horizontal direction from a connection portion with respect to the one side, and a protrusion portion protruding in a vertical direction from the support portion.
The second member extends from the tip portion arranged within the range of the protrusion height of the protrusion portion from the support portion, and from the tip portion toward the other, and from the support portion of the protrusion portion. One end portion arranged within the range of the protrusion height of the above, and a height that deviates from the protrusion height of the protrusion portion in the vertical direction while extending from the tip portion toward the other end. With the other end, which is arranged up to the point,
In the control unit, after the protrusion is arranged between the other end and the one end through the other end, the protrusion is brought closer to the tip side to bring the first member and the second member closer to the tip side. After controlling the movement of the driving body so as to connect the members and separating the protrusion from the tip, the protrusion is passed through the other end from between the other end and the one end. The movement of the driving body is controlled so as to be removed and separated from the first member and the second member.
Tow operation system. A path made of a magnetic member is provided on the floor surface.
The drive body has a detection unit that detects the magnetism of the magnetic member.
The traction operation system according to claim 5, wherein the control unit controls the movement of the drive body along the path based on the detection of magnetism by the detection unit. The path includes a main path for guiding the movement of the driving body, a connecting path for guiding the movement of the driving body so as to bypass the main path and connect the first member and the second member. The traction operation system according to claim 6, further comprising a decoupling route for guiding the movement of the driving body so as to detour from the main route and separate the first member and the second member.

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