JP2022184703A - Traction gear and unmanned carrier provided with same - Google Patents

Abstract

To reduce a height dimension of a traction gear.SOLUTION: A traction gear has a configuration where a projection piece 57 of a lift plate 56 is arranged inside an opening OP composed between guide blocks 26, 28 while using the guide blocks 26, 28 composed as separate components as members to guide and support movement of an engaging pin 24 in a direction of an axis line CL and being arranged in a state separated from each other by a prescribed distance. Thus, movement of the engaging pin 24 in the direction of the axis line CL is not restricted by contact between the projection piece 57 and the guide blocks 26, 28, As a result, a length of the engaging pin 24 in the direction of the axis line CL can be shortened and a height dimension of a traction gear 20 can be reduced in comparison to a conventional structure.SELECTED DRAWING: Figure 31

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a towing device mounted on an automatic guided vehicle for towing a carriage and an automatic guided vehicle having the same.

Japanese Patent Application Laid-Open No. 2011-102072 (Patent Document 1) describes a towing device mounted on an automatic guided vehicle for towing a carriage. The traction device includes an engaging pin having a cylindrical shape and having a spring hole opening at the lower end side in the axial direction, and a lower end of the engaging pin extending radially outward of the engaging pin. a fixed flat plate, a guide member capable of guiding axial movement of the engagement pin, a spring arranged in the spring hole so as to be able to bias the engagement pin upward in the axial direction; An eccentric cam having a cam follower in contact with a plate, a motor having a rotating shaft connected to the eccentric cam, an engagement pin, a lever portion, a guide member, and a housing capable of accommodating the motor and supporting the motor , is equipped with

The traction device can engage and disengage the engagement pin with the carriage frame only by driving the motor to reciprocate the engagement pin in the axial direction. It is possible to realize the towing of the carriage by the carrier.

JP 2011-102072 A

By the way, in recent years, from the viewpoint of expanding the availability of automatic guided vehicles, the demand for low-floor automatic guided vehicles with a low height from the floor and a flat top surface is increasing. There is a demand for compactness of various devices to be mounted. However, in the traction device described in the above publication, the vertical upward movement of the engagement pin is restricted by the contact between the plate and the guide member, so the engagement pin reaches a position where it can be engaged with the bogie frame. to move vertically upward and to move the engaging pin vertically downward to a position where it does not interfere with the bogie frame. The length in the axial direction, which is the sum of the amount of movement of the pin and the amount of movement of the pin, is required. As described above, in the traction device described in the above publication, the length of the engaging pin in the axial direction determines the dimension of the traction device in the height direction. , there is still room for improvement.

SUMMARY OF THE INVENTION The present invention has been made in view of the above, and one of the objects thereof is to provide a technique that contributes to reduction in the height dimension of a traction device. Another object of the present invention is to provide a technique that contributes to reducing the height of an automatic guided vehicle.

In order to achieve the above objects, the traction device and the automatic guided vehicle provided with the same of the present invention employ the following means.

According to a preferred embodiment of the towing device according to the present invention, the towing device is configured to be mounted on an automatic guided vehicle that is arranged below a carriage and can tow the carriage. The traction device includes an engaging pin having a longitudinal direction and an inner hole opening at one end of the longitudinal direction, and an engaging pin integrated with the engaging pin so as to extend in a direction orthogonal to the longitudinal direction of the engaging pin. a guide member; a spring arranged in the inner hole so as to be able to bias the engaging pin toward the other end in the longitudinal direction; an eccentric cam having a cam follower that contacts the lever; a motor having a rotating shaft connected to the eccentric cam. The guide member has a support portion that supports the engagement pin so as to guide the movement of the engagement pin in the longitudinal direction, and an opening that allows the lever portion to pass through and extends in the longitudinal direction. . Here, the phrase "connected to the eccentric cam" in the present invention preferably includes a mode in which the rotating shaft is directly connected to the eccentric cam and a mode in which the rotating shaft is indirectly connected to the eccentric cam. Here, as a mode in which the rotating shaft is indirectly connected to the eccentric cam, for example, a mode in which the rotating shaft is connected to the eccentric cam via a speed reduction mechanism can be considered.

According to the present invention, since the guide member has an opening through which the lever portion can be inserted and which extends in the longitudinal direction, the longitudinal movement of the engaging pin is restricted by contact between the lever portion and the guide member. never Thereby, the length of the engagement pin in the longitudinal direction can be made smaller than the total length of the length of the guide member in the longitudinal direction and the amount of movement of the engagement pin. As a result, it is possible to reduce the dimension of the traction device in the height direction. Here, the length of the engagement pin in the longitudinal direction is the required length of engagement between the engagement pin and the guide member when the engagement pin moves in the projection direction (the direction in which the engagement pin can be engaged with the carriage). is set to be at least The engagement length is determined by the magnitude of the load input from the truck to the engagement pin when the automatic guided vehicle pulls the truck, the cross-sectional area of the engagement pin with the guide member, and other factors. .

According to a further aspect of the traction device according to the invention, the engagement pin is rotatable about first, second, third and fourth axes and about said first, second, third and fourth axes. and supported first, second, third and fourth guide rollers. 1st, 2nd, 3rd and 4th axes are the first direction, which is the acting direction of the force input from the truck to the engagement pin when the truck is towed by the automatic guided vehicle, and the engagement pin. , extending parallel to each other in a direction orthogonal to both longitudinal directions of the . The first and second axes and the third and fourth axes are coaxially arranged. The first shaft and the second shaft are arranged on the same axis, and the third shaft and the fourth shaft are arranged on the same axis. The first and second axes and the third and fourth axes are the first and second axes on the virtual projection plane when viewed from one side in the axial direction of the first, second, third and fourth axes. With respect to a virtual orthogonal line that passes through the midpoint of a virtual line segment that connects the projection of the axis centers of the two axes and the projection of the axis centers of the third and fourth axes on the virtual projection plane and that is perpendicular to the virtual line segment, They are arranged symmetrically. The support portion has first and third rolling surfaces on which the first and third guide rollers can roll, and second and fourth rolling surfaces on which the second and fourth guide rollers can roll. is doing. The first, second, third and fourth rolling surfaces have normals perpendicular to both the axial directions of the first, second, third and fourth shafts and the longitudinal direction of the engagement pin. . The lever portion extends in the same direction as the direction in which the normal line extends. The opening is open in the extending direction of the normal line.

According to this aspect, since the first, second, third and fourth guide rollers roll on the first, second, third and fourth rolling surfaces, the engagement pin is stably moved in the longitudinal direction. can be moved to By arranging the traction device on the automatic guided vehicle so that the extending directions of the normal lines of the first, second, third and fourth rolling surfaces are along the forward and backward direction of the automatic guided vehicle, the unmanned The load input from the carriage to the engagement pin when the carriage pulls the carriage is applied to the first, second, third and fourth guide rollers and the first, second, third and fourth rolling surfaces. can be stably received by Since the engagement pin has the first, second, third, and fourth guide rollers, the cross-sectional area of the fitting portion can be increased. can be further reduced. Thereby, the longitudinal length of the engaging pin can be further shortened. As a result, the dimension of the traction device in the height direction can be further reduced.

According to a further aspect of the traction device according to the present invention, the engagement pin includes an engagement portion having a first size cross-sectional area when cut along a virtual plane perpendicular to the axial direction, and the first a fitting having a second size greater than the size. The engagement portion is engageable with the carriage. The fitting portion is fitted to the support portion.

According to this aspect, since the cross-sectional area of the fitting portion is large, it is possible to reduce the required fitting length between the engaging pin and the guide member. Thereby, the longitudinal length of the engaging pin can be further shortened. As a result, the dimension of the traction device in the height direction can be further reduced.

According to a further aspect of the traction device according to the present invention, the engagement pin has first, second, third and fourth shafts and first, second, third and fourth guide rollers. The first, second, third and fourth shafts are supported by fittings.

According to this aspect, since the cross-sectional area of the fitting portion can be increased, the required fitting length between the engaging pin and the guide member can be further reduced. Thereby, the longitudinal length of the engaging pin can be further shortened. As a result, the height dimension of the traction device can be further reduced.

According to a further aspect of the towing device of the present invention, it further comprises a housing capable of fixing the guide member to the automatic guided vehicle. The housing can accommodate the engagement pin, the lever portion, the guide member, and the spring, and supports the motor.

According to this aspect, the traction device can be integrated with the housing. As a result, it is possible to improve the workability when mounting the towing device on the automatic guided vehicle.

According to a preferred embodiment of the automatic guided vehicle according to the present invention, the automatic guided vehicle is arranged below the carriage and can tow the carriage. The automatic guided vehicle includes a vehicle body, a drive unit supported by the vehicle body, a traction device according to any one of the aspects of the present invention fixed to the vehicle body, and a control device for controlling the drive unit and the traction device. , is equipped with The control device controls the motor so that the engagement pin of the traction device protrudes from the vehicle body when towing the truck, and the engagement pin of the traction device protrudes from the vehicle body when towing the truck ends. Control the motor so that it does not

According to the present invention, since the traction device according to the present invention of any one of the aspects described above is provided, the same effects as the traction device of the present invention, such as reduction of the dimension in the height direction of the traction device, can be achieved. It is possible to achieve the effect that can be achieved. As a result, it is possible to reduce the dimension of the automatic guided vehicle in the height direction.

According to a further aspect of the towing device according to the invention, the engaging pin has a bifurcated shape with first and second pieces capable of clamping at least part of the truck.

According to this aspect, since at least a part of the carriage can be clamped by the engagement pins, it is possible to suppress the occurrence of relative positional deviation between the traction device and the carriage. This makes it possible to achieve stable traction.

According to a further aspect of the traction device according to the invention, the first piece has a roller with a rolling surface and a support shaft that rotatably supports the roller. The roller has elasticity at least on its rolling surface. The support shaft extends in a direction orthogonal to both the longitudinal direction and the parallel direction of the first and second pieces.

According to this aspect, at least a portion of the carriage can be smoothly engaged between the first piece and the second piece using the rotation of the roller. If the distance between the roller and the second piece is set to be smaller than the thickness of the clamping portion of the truck, taking into consideration the amount of elastic deformation of the roller, the engagement pin (engagement portion) and the truck can be separated. Engagement can be made stronger. As a result, more stable traction can be achieved.

According to a further aspect of the traction device according to the invention, the engagement pin is rotatable about fifth, sixth, seventh and eighth axes and about said fifth, sixth, seventh and eighth axes. and supported fifth, sixth, seventh and eighth guide rollers. The fifth, sixth, seventh and eighth axes extend perpendicular to both the longitudinal direction and the parallel direction of the first and second pieces. The fifth and sixth shafts are arranged on the same axis. The seventh shaft and the eighth shaft are arranged on the same axis. The 5th and 6th axes and the 7th and 8th axes refer to the 5th axis on the virtual projection plane when viewed from one side in the axial direction of the 5th, 6th, 7th and 8th axes. and the projection of the center of the axis of the 6th axis and the projection of the center of the axis of the 7th and 8th axes on the virtual projection plane. are arranged so as to be symmetrical with respect to The support portion has fifth and seventh rolling surfaces on which the fifth and seventh guide rollers can roll, and sixth and eighth rolling surfaces on which the sixth and eighth guide rollers can roll. is doing. The fifth, sixth, seventh and eighth rolling surfaces have normals perpendicular to both the axial and longitudinal directions of the fifth, sixth, seventh and eighth shafts. The lever portion extends in the same direction as the direction in which the normal line extends. The opening is open in the extending direction of the normal line.

According to this aspect, since the fifth, sixth, seventh and eighth guide rollers roll on the fifth, sixth, seventh and eighth rolling surfaces, the engagement pin is stably moved in the longitudinal direction. can be moved to By arranging the traction device on the automatic guided vehicle so that the extension direction of the normal to the fifth, sixth, seventh and eighth rolling surfaces is along the forward and backward direction of the automatic guided vehicle, the unmanned The load input from the carriage to the engagement pin when the carriage pulls the carriage is applied to the fifth, sixth, seventh and eighth guide rollers and the fifth, sixth, seventh and eighth rolling surfaces. can be stably received by Since the engagement pin has the fifth, sixth, seventh and eighth guide rollers, the cross-sectional area of the fitting portion can be increased. can be further reduced. Thereby, the longitudinal length of the engaging pin can be further shortened. As a result, the height dimension of the traction device can be further reduced.

According to a further aspect of the towing device of the present invention, it further comprises a housing capable of fixing the guide member to the automatic guided vehicle. The housing can accommodate the engagement pin, the lever portion, the guide member, and the spring, and supports the motor.

According to this aspect, the traction device can be integrated with the housing. As a result, it is possible to improve the workability when mounting the towing device on the automatic guided vehicle.

According to a preferred embodiment of the automatic guided vehicle according to the present invention, the automatic guided vehicle is arranged below the carriage and can tow the carriage. The automatic guided vehicle includes a vehicle body, a drive unit supported by the vehicle body, a traction device according to any one of the aspects of the present invention fixed to the vehicle body, and a sensor capable of detecting a predetermined portion of the vehicle. , a control device for controlling the drive unit and the traction device. Then, when starting towing the truck, the control device controls the motor so that the engagement pin protrudes from the vehicle body to a position where the roller contacts the frame of the truck above the horizontal plane including the axis of the support shaft. and, when the sensor detects the frame of the truck, the motor is controlled so that the engaging pin protrudes from the vehicle body to a position where the frame of the truck is sandwiched between the first piece and the second piece.

According to the present invention, since the traction device according to the present invention of any one of the aspects described above is provided, the same effects as the traction device of the present invention, such as reduction of the dimension in the height direction of the traction device, can be achieved. It is possible to achieve the effect that can be achieved. As a result, it is possible to reduce the dimension of the automatic guided vehicle in the height direction. Further, when starting towing the truck, the roller is brought into contact with the frame of the truck above the horizontal plane including the axis of the support shaft, and the frame of the truck is pushed down against the spring force to push down the engagement pin. When positioned between the first piece and the second piece, the sensor senses the frame of the bogie and moves the engagement pin in a direction protruding from the carbody. The frame of the trolley can be securely clamped by the This makes it possible to achieve stable traction.

According to the present invention, it is possible to reduce the height dimension of the traction device. Also, the height dimension of the automatic guided vehicle can be reduced.

It is a side view showing an outline of composition of automatic guided vehicle 1 carrying traction device 20 concerning an embodiment of the invention. 1 is a plan view showing a schematic configuration of an automatic guided vehicle 1 equipped with a traction device 20 according to an embodiment of the present invention; FIG. 1 is a perspective view showing the appearance of a traction device 20 according to an embodiment of the invention; FIG. 1 is an exploded perspective view of a traction device 20 according to an embodiment of the invention; FIG. 2 is a perspective view showing an appearance of a housing 22; FIG. 4 is a side view of the main part 40 as seen from the side; FIG. 4 is a plan view of the main part 40 as viewed from above; FIG. 4 is a front view of the main part 40 as viewed from the front; FIG. 4 is a rear view of the main part 40 as seen from the rear. FIG. 4 is a perspective view showing an appearance of a bottom portion 46; FIG. It is the side view which looked at the bottom part 46 from the side. FIG. 4 is an explanatory view of a state in which a guide rod GR supporting a coil spring SPR is arranged on a bottom portion 46 as viewed from the side; FIG. 4 is an explanatory view showing a state in which a guide rod GR supporting a coil spring SPR is arranged on a bottom portion 46 as viewed from the front; 3 is a perspective view showing the appearance of an engaging pin 24; FIG. 4 is a plan view of the engaging pin 24 as seen from above; FIG. It is the bottom view which looked at the engaging pin 24 from the bottom side. It is the side view which looked at the engagement pin 24 from the side. It is the front view which looked at the engagement pin 24 from the front. FIG. 19 is a sectional view showing the AA section of FIG. 18; It is the back view which looked at the engagement pin 24 from the back. 4 is a perspective view showing the appearance of guide blocks 26, 28. FIG. 4 is a plan view of the guide blocks 26, 28 viewed from above; FIG. 3 is a front view of the eccentric cam 30 as viewed from the front; FIG. 3 is a plan view of the eccentric cam 30 as viewed from above; FIG. 4 is a side view of the eccentric cam 30 as seen from the side; FIG. It is the back view which looked at the eccentric cam 30 from the back. 3 is a perspective view showing the appearance of an actuator 36; FIG. FIG. 4 is an explanatory diagram showing how guide blocks 26 and 28 and an eccentric cam 30 are arranged in a main portion 40; FIG. 4 is an explanatory view showing a state in which guide blocks 26 and 28 are fixed to a main portion 40 in a partial cross section; 4 is an explanatory view showing how the guide blocks 26, 28, the eccentric cam 30 and the actuator 36 are fixed to the main portion 40; FIG. 4 is an explanatory diagram showing how guide blocks 26 and 28, an eccentric cam 30, an actuator 36 and a bottom portion 46 are fixed to a main portion 40; FIG. 4 is a perspective view showing a state in which upward movement of an engaging pin 24 is restricted by a cam follower 34; FIG. FIG. 10 is an explanatory diagram showing a state in which upward movement of the engaging pin 24 is restricted by the cam follower 34; FIG. 10 is an explanatory diagram showing a state in which upward movement of the engaging pin 24 is restricted by the cam follower 34; FIG. 11 is an explanatory diagram showing how the engaging pin 24 begins to move upward due to the revolving motion of the cam follower 34; FIG. 11 is an explanatory diagram showing how the engaging pin 24 begins to move upward due to the revolving motion of the cam follower 34; FIG. 11 is an explanatory diagram showing a state in which the engaging pin 24 has protruded completely; FIG. 11 is an explanatory diagram showing a state in which the engaging pin 24 has protruded completely; FIG. 4 is an explanatory diagram showing the traction device 20 in a non-traction state; FIG. 4 is an explanatory diagram showing the traction device 20 in a traction state; FIG. 11 is an explanatory diagram showing main parts of a traction device 120 of a modified example; It is an explanatory view showing the main part of traction device 220 of a modification. FIG. 11 is an explanatory diagram showing main parts of a traction device 320 of a modified example; FIG. 11 is a perspective view showing the appearance of a traction device 420 of a modified example; FIG. 11 is an exploded perspective view of a traction device 420 of a modified example; 4 is a perspective view showing an appearance of an engaging pin 424; FIG. It is the side view which looked at the engagement pin 424 from the side. 4 is a plan view of the engaging pin 424 as seen from above; FIG. It is the bottom view which looked at the engaging pin 424 from the bottom side. It is the front view which looked at the engagement pin 424 from the front. It is the back view which looked at the engagement pin 424 from the back. FIG. 11 is an explanatory view showing a state in which upward movement of the engaging pin 424 is restricted by the cam follower 34; FIG. 11 is an explanatory view showing a state in which upward movement of the engaging pin 424 is restricted by the cam follower 34; FIG. 11 is an explanatory diagram showing how the engaging pin 424 begins to move upward due to the revolving motion of the cam follower 34; FIG. 11 is an explanatory diagram showing how the engaging pin 424 begins to move upward due to the revolving motion of the cam follower 34; FIG. 11 is an explanatory diagram showing a state in which the engagement pin 24 is pushed down by the rear frame 90a; FIG. 11 is an explanatory diagram showing a state in which the engagement pin 24 is pushed down by the rear frame 90a; FIG. 10 is an explanatory diagram showing a state in which a rear frame 90a is arranged between a first portion 450 and a second portion 451; FIG. 11 is an explanatory diagram showing a state in which the rear frame 90a is arranged between the first portion 450 and the second portion 451 and the projection of the engaging pin 24 is restored; FIG. 12 is an explanatory diagram showing a state in which the engaging pin 424 has been completely projected; FIG. 12 is an explanatory diagram showing a state in which the engaging pin 424 has been completely projected; FIG. 4 is an explanatory diagram showing a traction device 420 in a non-traction state; FIG. 4 is an explanatory diagram showing a traction device 420 in a traction preparation state; FIG. 10 is an explanatory diagram showing the traction device 420 from the traction preparation state to the traction state; FIG. 10 is an explanatory diagram showing the traction device 420 from the traction preparation state to the traction state; FIG. 4 is an explanatory diagram showing the traction device 420 in a traction state; FIG. 4 is an explanatory diagram showing how a force Fv acts on a first portion 450;

BEST MODE FOR CARRYING OUT THE INVENTION Next, the best mode for carrying out the present invention will be described using examples.

The automatic guided vehicle 1 according to the present embodiment, as shown in FIG. a front hook device 12, a towing device 20 according to the present embodiment also arranged on the vehicle body, and a pair of control devices 10 for controlling the entire automatic guided vehicle 1. As shown in FIG. 1, the automatic guided vehicle 1 according to the present embodiment is configured as a low-floor type that pulls the carriage 90 in a state of getting under the carriage 90 . For convenience of explanation, the vertical direction in FIGS. 1 and 2 is hereinafter referred to as the traveling direction. In particular, the lower side of FIGS. 1 and 2 is called the forward running direction, and the upper side of FIGS. 1 and 2 is called the backward running direction.

As shown in FIGS. 1 and 2, the vehicle body 2 has an elongated shape that is longer than the length in the running direction in the left-right direction (the left-right direction in the running direction). The drive units 4, 4 have motors 4a, 4a and drive wheels 4b, 4b connected to the motors 4a, 4a via power transmission members such as chains (not shown). The drive units 4, 4 are arranged substantially in the center of the vehicle body 2 in the running direction. The steered wheels 6 are arranged at the front end of the vehicle body 2 (the front end in the running direction). The steering wheels 6 are rotatably supported by the vehicle body 2 via bearings (not shown). The steering wheel 6 has teeth (not shown) along the entire circumference of the outer peripheral surface. A gear connected to the rotating shaft of the motor meshes with the teeth. As a result, the steered wheels 6 are steered by driving the motor. The casters 8 are arranged at the rear end of the vehicle body 2 (the rear end in the running direction). In addition, the caster 8 is arranged at a leftward position in the forward traveling direction.

As shown in FIGS. 1 and 2, the front hook device 12 is arranged at the front end of the vehicle body 2 (front end in the running direction) behind the steered wheels 6 (closer to the backward running direction). there is Further, the front hook device 12 is arranged at a rightward position in the forward traveling direction. The front hook device 12 is a hook (not shown) rotatable about a rotating shaft (not shown) extending in a direction orthogonal to the running direction (horizontal direction toward the running direction, left and right direction in FIGS. 1 and 2). A lever and a motor (not shown) having a rotating shaft connected to the hook lever are provided. The hook lever rotates around the rotating shaft by being driven by a motor. As a result, the hook lever changes its state between a "pulled state" in which it protrudes from the upper surface 2a of the vehicle body 2 and a "non-pulled state" in which it does not protrude from the upper surface 2a of the vehicle body 2.例文帳に追加The front hook device 12 has a lifting portion (not shown) capable of lifting the carriage 90 by rotating with the rotation of the hook lever. The weight of the truck 90 is transmitted to the automatic guided vehicle 1 by the lifting unit lifting the truck 90 . That is, when the hook lever is pulled, the lifting portion transmits the weight of the carriage 90 to the automatic guided vehicle 1 . As a result, the automatic guided vehicle 1 secures the ground pressure necessary for traveling.

As shown in FIG. 2, the traction device 20 is arranged at the rear end of the vehicle body 2 (the rear end in the traveling direction) and in front of the casters 8 (closer to the forward traveling direction). In addition, the traction device 20 is arranged at a leftward position in the forward traveling direction. In other words, it can be said that the traction device 20 and the front hook device 12 are arranged diagonally on the vehicle body 2 . The traction device 20, as shown in FIGS. and an actuator 36 .

The housing 22 has a main portion 40 and a bottom portion 46, as shown in FIG. 5 and 6, the main portion 40 mainly includes a top wall 41, side walls 42 and 43 orthogonally connected to the top wall 41, and orthogonally connected to the side walls 42 and 43. and fixed pieces 44 and 45, and have a substantially inverted U shape when viewed from the side.

The upper wall 41 has a through hole 41a, as shown in FIGS. The through hole 41 a is arranged at a position closer to the side wall 43 with respect to the center of the upper wall 41 . The side wall 42 has a through hole 42a, as shown in FIGS. The through hole 42 a is arranged at a position closer to the fixing piece 44 with respect to the center of the side wall 42 . The side wall 43 has a plurality of bolt insertion holes 43a, 43a, 43a, . . . , 43b, 43b, as shown in FIG. The bolt insertion holes 43a, 43a, 43a, . They are arranged in a row along the horizontal direction. The left end and right end of the side wall 43 refer to the main portion 40 viewed from one normal side of the side wall 43 with the upper wall 41 facing upward and the fixed pieces 44 and 45 facing downward. The left and right ends of the side wall 43 correspond to this, and the vertical direction corresponds to the direction from the upper wall 41 side to the fixing pieces 44 and 45 side. The upper wall 41 and the side walls 42, 43 are connected to each other by a pair of reinforcing plates FP, FP (only one is shown in the figure). The pair of reinforcing plates FP, FP extends from the bottom surface of the upper wall 41 to a position closer to the upper wall 41 than the center of the side walls 42, 43 in the height direction (the vertical direction in FIGS. 5 and 6). The pair of reinforcing plates FP, FP prevents the side walls 42, 43 from collapsing toward each other. As shown in FIGS. 5 and 6, the fixing pieces 44 and 45 are connected to the ends of the side walls 42 and 43 opposite to the ends connected to the upper wall 41, and are separated from each other. extends to The fixed pieces 44, 45 have bolt holes 44a, 45a.

As shown in FIGS. 10 and 11, the bottom portion 46 is composed of a bottom plate 47 and vertical walls 48 and 49 vertically provided on the bottom plate 47, and has a substantially U-shape when viewed from the side. . The bottom plate 47 has bolt insertion holes 47a. The bolt insertion hole 47 a is arranged at a position closer to the vertical wall 49 with respect to the center of the bottom plate 47 . A guide rod GR capable of guiding and supporting the coil spring SPR is fastened to the bottom plate 47, as shown in FIGS. The guide rod GR is fixed to the bottom plate 47 by a bolt inserted from the bolt insertion hole 47a. The guide rod GR has a length shorter than an inner hole 50a of the body portion 50 of the engagement pin 24, which will be described later. Also, the coil spring SPR has a length longer than that of the inner hole 50a. As a result, when the guide rod GR supporting the coil spring SPR is arranged in the inner hole 50a, the body portion 50 is pushed to a position where the bottom surface 54b of the base portion 54 of the body portion 50 contacts the bottom plate 47. , the coil spring SPR is compressed, and the spring force (compression release force) of the coil spring SPR acts on the body portion 50 .

The vertical wall 48 has an arc notch 48a. The arc notch 48a has a radius slightly larger than the radius of a rotating disk 32 of the eccentric cam 30, which will be described later. The bottom portion 46 is fixed to the main portion 40 by fastening the vertical walls 48 to the side walls 42 of the main portion 40 and by fastening the vertical walls 49 to the side walls 43 of the main portion 40 . The bottom portion 46 is fixed to the main portion 40 so that the bottom surface 47b of the bottom plate 47 and the bottom surfaces 44b and 45b of the fixing pieces 44 and 45 of the main portion 40 are substantially flush with each other.

As shown in FIGS. 14 and 15, the engagement pin 24 includes a body portion 50, a lift plate 56 fixed to the body portion 50, and four sets of guide rollers 58a rotatably supported by the body portion 50. , 59a, 58b, 59b, 58c, 59c, 58d and 59d.

As shown in FIGS. 14, 15, 17 and 18, the body portion 50 has a substantially cylindrical engaging portion 52 and a rectangular parallelepiped base portion 54 integrated with the engaging portion 52. is doing. The body portion 50 has an inner hole 50a, as shown in FIGS. 16 and 19 . The inner hole 50 a has a length extending from the bottom surface 54 b of the base 54 to the upper end of the engaging portion 52 . In addition, the inner hole 50a is arranged in the center of the bottom surface 54b. The base portion 54 is an example of an implementation configuration corresponding to the "fitting portion" in the present invention.

The engaging portion 52 is arranged substantially in the center of the upper surface 54a of the base portion 54, as shown in FIGS. The base portion 54 has a rectangular projection on the virtual projection plane when viewed from one side in the direction along the axis CL (see FIG. 14) of the engaging portion 52 (see FIG. 15). Specifically, the projection of the base portion 54 on the virtual projection plane includes a short side having a length approximately equal to the diameter of the projection (circular shape) of the engaging portion 52 on the virtual projection plane, and the engaging portion It has a rectangular shape with a long side having a length longer than the diameter of the projection (circular shape) of 52. That is, the base portion 54 is a rectangular parallelepiped having a top surface 54a, a bottom surface 54b, a pair of side surfaces 54c and 54d including short sides, and a pair of side surfaces 54e and 54f including long sides. The base portion 54 has a cross-sectional area larger than the cross-sectional area of the engaging portion 52 when cut along an imaginary plane perpendicular to the axis CL of the engaging portion 52 . Note that the distance from the top surface 54a to the bottom surface 54b depends on the magnitude of the load input to the engagement pin 24 from the carriage 90 when the carriage 90 is towed by the automatic guided vehicle 1, and the distance cut by a virtual plane perpendicular to the axis CL. It is set based on the cross-sectional area (the area of the upper surface 54a and the bottom surface 54b) of the engaging portion 52 when the contact is made. The direction along the axis CL and the direction of the axis CL are examples of implementation configurations corresponding to the "longitudinal direction" in the present invention.

14, 15, 17 and 18, the lift plate 56 is fixed to the side surface 54e of the base 54 by fastening members such as bolts. The lift plate 56 has a projecting piece 57 projecting in a direction perpendicular to the axis CL, more specifically, the side surface 54e. The protruding piece 57 extends along the extending direction of the long side over substantially the same length as the long side of the base portion 54 . The projecting direction of the projecting piece 57 is the axial direction of guide rollers 58a, 59a, 58b, 59b, 58c, 59c, 58d, and 59d (to be described later) SFT1a, SFT2a, SFT1b, SFT2b, SFT1c, SFT2c, SFT1d, and SFT2d. It is the orthogonal direction. The lift plate 56 is an example of implementation structure corresponding to the "lever portion" in the present invention.

The guide rollers 58a, 59a, 58b, 59b, 58c, 59c, 58d, and 59d have basically the same configuration, and as shown in FIGS. are rotatably supported on shafts SFT1a, SFT2a, SFT1b, SFT2b, SFT1c, SFT2c, SFT1d, and SFT2d fixed to side surfaces 54c and 54d of the. That is, the guide rollers 58a, 58b, 58c and 58d are rotatably supported by the side surface 54c via the shafts SFT1a, SFT1b, SFT1c and SFT1d, and the guide rollers 59a, 59b, 59c and 59d are supported by the shafts SFT2a and SFT2b. , SFT2c and SFT2d are rotatably supported on the side surface 54d. Guide rollers 58a and 58c, guide rollers 59a and 59c, guide rollers 58b and 58d, and guide rollers 59b and 59d are referred to as "first guide rollers", "second guide rollers" and "third guide rollers" in the present invention, respectively. ” and “fourth guide roller”.

Axes SFT1a, SFT2a, SFT1b, SFT2b, SFT1c, SFT2c, SFT1d, and SFT2d are arranged parallel to each other as shown in FIGS. and the axis SFT2b, the axis SFT1c and the axis SFT2c, and the axis SFT1d and the axis SFT2d are arranged on the same axis. Further, as shown in FIG. 17, when viewed from one side in the axial direction of the axes SFT1a, SFT2a, SFT1b, SFT2b, SFT1c, SFT2c, SFT1d, and SFT2d, the center of the axes SFT1a, SFT2a and SFT1c on the virtual projection plane , SFT2c are arranged on a virtual straight line VL1 parallel to the axis CL of the engaging portion 52, and the axial centers of SFT1b, SFT2b and SFT1d, SFT2d on the virtual projection plane are , on an imaginary straight line VL2 parallel to the axis CL. The centers of the axes SFT1a and SFT2a and the centers of the axes SFT1b and SFT2b are arranged symmetrically with respect to the axis CL. arranged symmetrically. Further, the center of the axes SFT1a and SFT2a and the center of the axes SFT1b and SFT2b on the virtual projection plane are arranged on a virtual straight line HL1 orthogonal to the virtual straight line VL1, The axis center of SFT2c and the axis centers of SFT1d and SFT2d are arranged on virtual straight line HL2 orthogonal to virtual straight line VL2. Axes SFT1a, SFT1c, SFT2a, SFT2c, SFT1b, SFT1d, and SFT2b, SFT2d respectively correspond to the "first axis", "second axis", "third axis" and "fourth axis" in the present invention. It is an example of an implementation configuration. Further, the axial centers of the axes SFT1a and SFT2a and the axial centers of the axes SFT1b and SFT2b are arranged symmetrically with respect to the axis CL, and the axial centers of SFT1c and SFT2c and the axial centers of SFT1d and SFT2d are arranged with respect to the axis CL Aspects in which they are arranged line-symmetrically are defined as "the first and second axes and the third and fourth axes are aligned in the axial directions of the first, second, third and fourth axes" in the present invention. A virtual line segment connecting the center of the first and second axes on the virtual projection plane and the center of the third and fourth axes on the virtual projection plane when viewed from one side of It is an example of an implementation configuration corresponding to a mode in which they are arranged so as to be symmetrical with respect to a virtual orthogonal line that passes through the point and is orthogonal to the virtual line segment. In addition, the axis line CL is an example of the implementation structure corresponding to the "virtual orthogonal line" in the present invention.

That is, the guide rollers 58a, 59a and guide rollers 58c, 59c, and the guide rollers 58b, 59b and guide rollers 58d, 59d are arranged in a vertical line along the virtual straight lines VL1 and VL2, respectively. 58a, 59a and guide rollers 58b, 59b, and guide rollers 58c, 59c and guide rollers 58d, 59d are arranged in a horizontal row along virtual straight lines HL1 and HL2, respectively. Here, the distance between the imaginary straight line HL1 and the imaginary straight line HL2 substantially corresponds to the fitting length between the engagement pin 24 and the guide blocks 26, 28. Furthermore, based on the magnitude of the load input from the carriage 90 to the engagement pin 24, the cross-sectional area of the engagement portion 52 (the area of the top surface 54a and the bottom surface 54b) when cut along an imaginary plane perpendicular to the axis CL, etc. set.

The guide rollers 58a and 59a are arranged near the corner formed by the upper surface 54a and the side surface 54e of the base 54, and the guide rollers 58b and 59b are arranged near the corner formed by the upper surface 54a and the side surface 54f of the base 54. The guide rollers 58c and 59c are arranged near the corners formed by the bottom surface 54b and the side surface 54e of the base 54, and the guide rollers 58d and 59d are arranged near the bottom surface 54b and the side surface 54f of the base 54. It is arranged near the formed corner.

As shown in FIG. 21, the guide blocks 26 and 28 have a structure in which a pair of side walls of a rectangular cylinder are partially removed, and as shown in FIG. there is The guide blocks 26, 28 have rolling surfaces 26a, 26b and rolling surfaces 28a, 28b, respectively. Guide rollers 58a and 58c can roll on the rolling surface 26a, guide rollers 58b and 58d can roll on the rolling surface 26b, and guide rollers 59a and 59c can roll on the rolling surface 28a. The guide rollers 59b and 59d can roll on the rolling surface 28b. The guide blocks 26 and 28 have a plurality of female screw holes 27 and 27 for screwing bolts for fixing the guide blocks 26 and 28 to the side wall 43 of the housing 22 , specifically the main portion 40 . 27, 27, . . . , 29, 29, 29, . The female screw holes 27, 27, 27, . . . , 29, 29, 29, . , 43a, 43a, . The height dimension of the guide blocks 26 and 28 (the dimension in the extending direction of the rolling contact surfaces 26a, 26b, 28a and 28b, the vertical dimension in FIG. 21) is It is set to approximately the same value as the length. The guide blocks 26, 28 are an example of implementation structure corresponding to the "guide member" in the present invention. The rolling contact surface 26a, the rolling contact surface 26b, the rolling contact surface 28a, and the rolling contact surface 28b are respectively referred to as the "first rolling contact surface", the "third rolling contact surface", and the "second rolling contact surface" in the present invention. It is an example of implementation configurations corresponding to the "surface" and the "fourth rolling surface".

The eccentric cam 30 has a rotating disk 32 and a cam follower 34 rotatably supported by the rotating disk 32, as shown in FIGS. The rotating disc 32 has an insertion hole 32a, through holes 32b and 32c, and a notch recess 32d. The insertion hole 32a is arranged at the center of the rotary disk 32, and an output shaft OS, which will be described later, of the actuator 36 is inserted therethrough. The through holes 32b and 32c penetrate from the outer peripheral surface of the rotary disk 32 to the insertion hole 32a. The through holes 32b and 32c are orthogonal to each other at the insertion hole 32a. The through holes 32b and 32c are holes through which bolts are inserted to fix the rotary disc 32 to the output shaft OS. The cutout recess 32d is arranged at a position that is 180 degrees out of phase with the position where the through hole 32c is arranged on the outer peripheral surface of the rotating disc 32 . Limit switches LS1 and LS2 (see FIG. 4) capable of detecting the rotational position of the rotating disc 32 can be engaged with the notch recess 32d.

The actuator 36 has, as shown in FIG. 27, a motor 38 and a reduction gear box 37 connected to a rotation shaft (not shown) of the motor 38 . The reduction gear box 37 has a plurality of gears (not shown) that mesh with each other, and outputs power from the output shaft OS.

Next, a method for assembling the traction device 20 thus configured will be described. First, as shown in FIG. 28, the guide blocks 26 and 28 are fixed inside the housing 22 with bolts (not shown). At this time, the guide block 26 and the guide block 28 are arranged at a predetermined distance from each other. In other words, it can be said that a pair of openings are configured between guide block 26 and guide block 28 . Of the pair of openings, the opening arranged on the side where the guide blocks 26 and 28 are fastened to the housing 22 (opening on the side wall 43 side) is closed by the side wall 43, but is arranged on the side wall 42 side. The opening OP is not closed (see Figures 28 and 29). The opening OP is an example of implementation structure corresponding to the "opening" in the present invention.

Subsequently, as shown in FIG. 30, the eccentric cam 30 is arranged inside the housing 22, the output shaft OS of the actuator 36 is connected to the eccentric cam 30 from the outside of the housing 22, and the actuator 36 is connected to the housing 22. are fixed with bolts (not shown). At this time, the eccentric cam 30 is set to the rotational position where the cam follower 34 is at the lowest end (the position closest to the bottom 46) (Figs. 32 to 34). At this timing, the limit switches LS1 and LS2 are also fixed inside the housing 22 by bolts (not shown). At this time, the limit switch LS1 is engaged with the notch recess 32d of the eccentric cam 30 (see FIG. 3).

Guide rollers 58a, 58c and guide rollers 58b, 58d can roll on rolling surfaces 26a and 26b, respectively, and guide rollers 59a, 59c and guide rollers 59b, 59d can roll on rolling surfaces 26a, 59b, 59d, respectively. The engaging pin 24 is inserted from the lower side of the guide blocks 26, 28 (the lower side of FIGS. 28 and 29) so that it can roll on 28a and rolling surface 28b. At this time, the engaging portion 52 of the engaging pin 24 is arranged at a position aligned with the through hole 41a of the housing 22, as shown in FIG. Further, the lift plate 56 of the engaging pin 24, particularly the projecting piece 57, is arranged in the opening OP, and the cam follower 34 of the eccentric cam 30 contacts the upper surface 57a of the projecting piece 57 (see FIG. 32).

Finally, the bottom portion 46 to which the guide rod GR with the coil spring SPR is inserted is attached from the lower side of the engagement pin 24 (lower side in FIG. 31) incorporated in the housing 22, and the housing 22 be fixed with bolts. At this time, the engagement pin 24 is moved upward (upward in FIG. 31) by the cam follower 34 of the eccentric cam 30 via the projecting piece 57 of the lift plate 56, that is, toward the upper wall 41 of the housing 22. is regulated. As a result, the coil spring SPR is compressed inside the inner hole 50a. That is, the traction device 20 is in a “non-traction state” in which the engagement portion 52 of the engagement pin 24 does not protrude from the upper wall 41 of the housing 22 when assembly is completed. At this time, as shown in FIG. 34, the cam follower 34 is positioned at the lowest position, i.e., at the position closest to the bottom 46, and the limit switch LS1 is engaged with the notch recess 32d of the rotary disk 32. state.

The traction device 20 assembled in this manner is mounted so that the normals of the rolling surfaces 26a, 28a, 26b, 28b of the guide blocks 26, 28 are parallel to the direction of travel, that is, the rolling surfaces 26a, 28a, 26b, 28b. are fixed to the vehicle body 2 by bolts so that the normals of the axes CL and the directions of the axes SFT1a, SFT2a, SFT1b, SFT2b, SFT1c, SFT2c, SFT1d, and SFT2d are perpendicular to each other. At this time, the side wall 42 is arranged on the front side in the running direction, and the side wall 43 is arranged on the rear side in the running direction. As a result, the opening OP faces the forward traveling direction. Here, since the towing device 20 is integrated by the housing 22, workability when mounting the towing device 20 on the automatic guided vehicle 1 can be improved. In addition, since the traction device 20 is integrated with the housing 22, workability when mounting the traction device 20 on the automatic guided vehicle 1 can be improved. When the traction device 20 is fixed to the vehicle body 2, the upper wall 41 of the housing 22 of the traction device 20 is exposed to the outside through the opening 2b of the upper surface 2a of the vehicle body 2 (see FIG. 2). . Further, the upper wall 41 and the upper surface 2a are substantially flush with each other.

The control device 10 is configured as a microprocessor centered on a CPU, and in addition to the CPU, includes a ROM for storing processing programs, a RAM for temporarily storing data, and input/output ports and communication ports (not shown). Prepare. The control device 10 receives a detection signal from a travel sensor (not shown) that detects an induction belt (not shown) laid on the floor, a command signal from a marker sensor (not shown) that detects a marker (not shown), a limit On/off signals and the like from switches LS1 and LS2 are input via input ports. Further, from the control device 10, drive control signals to the drive units 4, 4 (motors 4a, 4a), steering control signals to the steered wheels 6 (motor not shown), front hook device 12 (motor not shown) and An actuation signal or the like to the traction device 20 (motor 38) is output via the output port.

Next, the operation of the automatic guided vehicle 1 equipped with the towing device 20 configured as described above, in particular, the operation when the towing device 20 is engaged with the rear frame 90a of the carriage 90 will be described. When the automatic guided vehicle 1 starts traveling, the CPU of the control device 10 reads the detection signal from the traveling sensor and the command signal from the marker sensor, and drives the drive unit 4 so that the automatic guided vehicle 1 travels along the guide belt. , 4 and the steered wheels 6 are executed. and. When the automatic guided vehicle 1 reaches a position where the carriage 90 can be towed, the marker sensor detects the marker storing the driving instruction command of the front hook device 12 and the tow device 20 and outputs a command signal. When a command signal is input from the marker sensor, the CPU of the control device 10 drives and controls the motor (not shown) of the front hook device 12 and the motor 38 of the pulling device 20 .

As a result, the front hook device 12 changes from the "non-pulling state" to the "pulling state" when the hook lever (not shown) is rotated to protrude from the upper surface 2a of the vehicle body 2, and the front frame of the truck 90 is moved forward in the forward running direction. 90b (see FIG. 1). At this time, the truck 90 is lifted by a lifting section (not shown), so that the weight of the truck 90 is transmitted to the automatic guided vehicle 1 . As a result, the automatic guided vehicle 1 can secure the ground pressure necessary for traveling.

On the other hand, in the traction device 20, the eccentric cam 30 is rotated as the motor 38 is driven. As shown in FIGS. 34, 36 and 38, the eccentric cam 30 (rotating disk 32) extends from the distal end side of the output shaft OS in the axial direction (the back side of the paper surface of FIGS. 34, 36 and 38) toward the front. direction) rotates clockwise. As a result, the cam follower 34 revolves around the output shaft OS in the same direction as the rotating direction of the eccentric cam 30 (rotating disc 32). In other words, as shown in FIGS. 33, 35 and 37, the cam follower 34 moves upward (upward in FIGS. 33, 35 and 37), that is, toward the upper wall 41 of the housing 22. Then you can say As a result, the engaging pin 24 changes from the "non-pulled state" shown in FIG. 39 to the "pulled state" in which the engaging portion 52 protrudes from the upper wall 41, that is, the upper surface 2a of the vehicle body 2 (FIG. 40). It engages with the rear side frame 90a of the carriage 90 from the rear side in the running direction. At this time, as shown in FIG. 38, the cam follower 34 is arranged at the uppermost position, i.e., the position closest to the upper wall 41, and the limit switch LS2 is engaged with the notch recess 32d of the rotating disc 32. state. As a result, the ON/OFF signal from the limit switch LS2 is input to the CPU of the control device 10. FIG. As a result, the CPU of the control device 10 determines that the engagement pin 24 has protruded to a position where it can be engaged with the rear frame 90a, and stops driving the motor 38 .

Thus, the carriage 90 is towed by the automatic guided vehicle 1 by the front hook device 12 and the traction device 20 in such a manner that the front frame 90b and the rear frame 90a are sandwiched from the front and rear in the running direction. At this time, as shown in FIG. 37, a load F acts on the engaging pin 24 in the backward traveling direction via the rear frame 90a. However, the engagement pin 24 has a sufficient cross-sectional area that the base portion 54 can withstand the load F, and the load F through four sets of guide rollers 58a, 59a, 58b, 59b, 58c, 59c, 58d, 59d. Since it is supported by the guide blocks 26 and 28 with a fitting length sufficient to withstand F, it is not damaged. Moreover, since the height dimension of the traction device 20 is substantially the same as the dimension of the engaging pin 24 in the direction of the axis CL, the height dimension can be made more compact than the conventional structure. Thereby, the floor of the automatic guided vehicle 1 can be further lowered. In addition, since the front hook device 12 and the traction device 20 are arranged on a diagonal line in the vehicle body 2, it is possible to satisfactorily suppress the trolley 90 from swinging in the lateral direction in the running direction. As a result, the truck 90 can be towed stably.

When stopping the towing of the carriage 90, the CPU of the control device 10 performs the control opposite to the control described above. The eccentric cam 30 (rotating disk 32) is rotated counterclockwise (toward the distal end of the output shaft OS in the axial direction (Fig. 34, 36 and 38 (from the back side to the front side of the page)) to rotate the traction device 20 to the "non-traction state".

According to the traction device 20 according to the present embodiment described above, the member that guides and supports the movement of the engagement pin 24 in the direction of the axis CL is configured as a separate part and arranged at a predetermined distance from each other. Since the guide blocks 26 and 28 are used and the protruding piece 57 of the lift plate 56 is arranged in the opening OP formed between the guide blocks 26 and 28, the engagement pin 24 is prevented from moving in the direction of the axis line CL. Movement is not restricted by the contact between the projecting piece 57 and the guide blocks 26 and 28. - 特許庁As a result, the length of the engaging pin 24 in the direction of the axis CL can be made smaller than the sum of the height dimension of the guide blocks 26 and 28 and the amount of movement of the engaging pin 24 . As a result, it is possible to reduce the dimension of the traction device 20 in the height direction compared to the conventional structure. The base portion 54 of the engagement pin 24 has a sufficient cross-sectional area to withstand the load F input to the engagement pin 24 through the rear frame 90a when towing, and is capable of withstanding the load F. Since a sufficient fitting length is ensured, it is possible to further reduce the dimension of the engaging pin 24 in the direction of the axis CL. In addition, since the engaging pin 24 is guided and supported by the guide blocks 26, 28 by the four sets of guide rollers 58a, 59a, 58b, 59b, 58c, 59c, 58d, 59d, the engaging pin 24 moves in the direction of the axis CL. It is possible to improve the stability of the movement of the.

In this embodiment, the guide blocks 26 and 28 having a structure in which a pair of side walls of a square tube are partially removed are used, but the present invention is not limited to this. For example, guide blocks 126 and 128 having a structure in which a portion of a cylindrical side wall is removed may be used as shown in a modified traction device 120 illustrated in FIG. The guide blocks 126, 128 have guide surfaces 126a, 128a capable of guiding and supporting the base portion 154 of the engaging pin 124, as shown in FIG. The guide surfaces 126a and 128a are circular arc surfaces having substantially the same radius of curvature as the outer peripheral surface of the base 154 having a cylindrical shape. The base 154 has a lift plate 156 . The lift plate 156 has a protruding piece 157 that protrudes radially outward from the base portion 154 (in a direction perpendicular to the direction of the axis CL). The protruding piece 157 is arranged in an opening OP formed between the guide blocks 126 and 128. As shown in FIG. The towing device 120 configured in this manner is configured such that the guide block 126 is arranged on the front side in the forward traveling direction, and the guide block 128 is arranged on the rear side of the guide block 126 in the forward traveling direction. Fixed to car 1. That is, the traction device 120 is fixed to the automatic guided vehicle 1 so that the opening OP faces the left side in the forward traveling direction. As a result, the guide blocks 126 and 128 can satisfactorily receive the load F input from the rear frame 90a of the truck 90 during towing. According to this configuration, the same effect as the traction device 20 according to the present embodiment, for example, the effect that the dimension in the height direction of the traction device 20 can be reduced compared to the conventional structure can be achieved. The guide blocks 126, 128 correspond to the "guide member" in the present invention, and the guide surfaces 126a, 128a are an example of implementation configuration corresponding to the "supporting part" in the present invention. Also, the base portion 54 corresponds to the "fitting portion" in the present invention, and the lift plate 156 is an example of an implementation structure corresponding to the "lever portion" in the present invention.

Although the guide blocks 26, 28 and the guide blocks 126, 128 configured as separate parts are used in the present embodiment and the modified example described above, the present invention is not limited to this. For example, as shown in a modified traction device 220 illustrated in FIG. 42 and a modified traction device 320 illustrated in FIG. 43, integral guide blocks 226 and 326 may be used.

As shown in FIG. 42, the guide block 226 has a notch 227 formed by cutting out a part of the side wall of the rectangular tube. The notch 227 constitutes the opening OP. The guide block 226 has a rolling surface 226a on which the guide rollers 58a, 59a, 58c and 59c can roll, and a rolling surface 226b on which the guide rollers 58b, 59b, 58d and 59d can roll. ing. The guide block 226 corresponds to the "guide member" in the present invention, and the rolling surface 226a corresponds to the "support portion", the "first rolling surface", and the "second rolling surface" in the present invention. The moving surface 226b is an example of implementation structure corresponding to the "supporting portion", the "third rolling surface", and the "fourth rolling surface" in the present invention. Also, the notch 227 is an example of an implementation configuration corresponding to the "opening" in the present invention.

As shown in FIG. 43, the guide block 326 has a notch 327 formed by cutting out a portion of the side wall of the cylinder. The notch 327 constitutes an opening OP. The guide block 326 also has a guide surface 326a that guides and supports the base 154 of the engagement pin 124. As shown in FIG. The guide block 326 corresponds to the "guide member" in the present invention, the guide surface 326a corresponds to the "support portion" in the present invention, and the notch 327 corresponds to the "opening" in the present invention. An example.

According to the traction devices 220 and 320 of the modified examples described above, the same effect as the traction device 20 according to the present embodiment, for example, reduction in the dimension in the height direction of the traction device 20 compared to the conventional structure can be achieved. In addition to the effect of improving the rigidity of the guide blocks 226 and 326, an effect of improving the rigidity can also be achieved.

In the traction devices 20, 120, 220, and 320 of the present embodiment and the modified examples described above, the engagement pins 24 and 124 are configured to have the substantially cylindrical engagement portion 52, but the configuration is not limited to this. For example, as shown in a modified traction device 420 illustrated in FIGS. 44 to 46, the engagement pin 424 may be configured to have a bifurcated shape. The traction device 420 of the modified example has a housing 422 instead of the housing 22 of the traction device 20 of the present embodiment, a engagement pin 424 instead of the engagement pin 24 of the traction device 20 of the present embodiment, And, it has the same configuration as the traction device 20 except that a sensor Sen is added. Therefore, among the configurations of traction device 420 of the modified example, the same components as those of traction device 20 of the present embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIGS. 44 and 45, the traction device 420 of the modification includes a housing 422, an engagement pin 424 housed in the housing 422, guide blocks 26 and 28, an eccentric cam 30, and an eccentric cam. and an actuator 36 connected to 30 .

The housing 422 has a main portion 440 and a bottom portion 46, as shown in FIG. The main portion 440 mainly consists of a top wall 441, side walls 442 and 443 orthogonally connected to the top wall 441, and fixed pieces 444 and 445 orthogonally connected to the sidewalls 442 and 443. It is configured. The housing 422 has a generally inverted U shape when viewed from the side.

The upper wall 441 has a through hole 441a as shown in FIG. The through hole 441 a is arranged slightly closer to the side wall 443 than the center of the upper wall 441 . Side wall 442 has a notch 442a as shown in FIG. The notch 442 a extends upward (toward the upper wall 441 side) from the fixed piece 444 to substantially the center of the side wall 442 . Moreover, as shown in FIGS. 44 and 45, a sensor Sen is attached to the side wall 442 via a bracket Brkt. The sensor Sen is arranged so that the sensing surface faces the tip of the engagement pin 424 (toward the rollers 455, 455 and the first projecting portion 456, which will be described later). Thereby, the sensor Sen can detect whether or not the rear frame 90 a of the carriage 90 is arranged at a position where it can be engaged with the engagement pin 424 . The bracket Brkt has an arcuate cutout Nch, and can hold the sensor Sen through the cutout Nch. In other words, the sensor Sen can change its posture within the range of the notch Nch, thereby making it possible to change and adjust the sensing angle. A detection signal from the sensor Sen is input to the control device 10 via the input port.

The engagement pin 424 has a bifurcated shape having a first portion 450 and a second portion 451 integrated with the first portion 450, as shown in FIGS. The first portion 450 includes a base 454, rollers 455, 455 rotatably supported by the base 454, four sets of guide rollers 58a, 59a, 58b, 59b, 58c, rotatably supported by the base 454, 59c, 58d and 59d. The first portion 450 corresponds to the "first piece" in the present invention, and the second portion 451 is an example of implementation configuration corresponding to the "second piece" in the present invention.

As shown in FIGS. 48 and 49, the base 454 has a rectangular shape when projected onto a virtual projection plane when viewed from one side in the longitudinal direction (vertical direction in FIG. 47). As shown in FIG. 46, the base 454 has a substantially rectangular parallelepiped shape having a top surface 454a, a bottom surface 454b, a pair of side surfaces 454c and 454d, and a pair of side surfaces 454e and 454f. The distance from the top surface 454a to the bottom surface 454b of the base 454 is set based on the magnitude of the load input to the engagement pin 424 from the carriage 90 when the carriage 90 is towed by the automatic guided vehicle 1. The side surface 454e has a step Stp as shown in FIG. In other words, the side surface 454e includes an engagement surface 454e1 arranged to extend substantially along the tangential line of the rollers 455, 455, and a projection continuously arranged on the engagement surface 454e1 via the step Stp. The surface 454e2 can be said to have a surface 454e2. Both the engaging surface 454e1 and the projecting surface 454e2 are flat surfaces.

47 and 49, the base 454 has an inner hole 454h. The inner hole 454h extends from the bottom surface 454b of the base 454 toward the rollers 455,455. The inner hole 454h is arranged in the center of the bottom surface 454b (see FIG. 49). Further, the base 454 has three support walls 454k, 454m, 454n as shown in FIGS. The three support walls 454k, 454m, and 454n extend from the top surface 454a of the base 454 toward the side opposite to the bottom surface 454b. Rollers 455, 455 are positioned between support walls 454k, 454m and between support walls 454m, 454n, respectively. The rollers 455, 455 are rotatably supported by support walls 454k, 454m, 454n via support shafts 455a. The axial direction of the support shaft 455a is parallel to the axial direction of the guide rollers 58a, 59a, 58b, 59b, 58c, 59c, 58d and 59d, SFT1a, SFT2a, SFT1b, SFT2b, SFT1c, SFT2c, SFT1d and SFT2d. At least the rolling surfaces 455b, 455b of the rollers 455, 455 are made of an elastic material such as rubber.

The guide rollers 58a, 58b, 58c and 58d are rotatably supported on the side surface 454c via the shafts SFT1a, SFT1b, SFT1c and SFT1d as shown in FIGS. , 59d are rotatably supported on the side surface 454d via shafts SFT2a, SFT2b, SFT2c and SFT2d. 48 to 51, the axes SFT1a, SFT2a, SFT1b, SFT2b, SFT1c, SFT2c, SFT1d, and SFT2d are arranged parallel to each other, and the axes SFT1a and SFT2a, the axes SFT1b and SFT2b, and the axes SFT1c and the axis SFT2c, and the axis SFT1d and the axis SFT2d are arranged on the same axis. Further, as shown in FIG. 47, when viewed from one side in the axial direction of the axes SFT1a, SFT2a, SFT1b, SFT2b, SFT1c, SFT2c, SFT1d, and SFT2d, the center of the axes SFT1a, SFT2a and SFT1c on the virtual projection plane , SFT2c are arranged on a virtual straight line VL3 parallel to the axis CL2 of the inner hole 454h, and the axial centers of SFT1b, SFT2b and SFT1d, SFT2d on the virtual projection plane are: It is arranged on an imaginary straight line VL4 parallel to the axis CL2. The centers of the axes SFT1a and SFT2a and the centers of the axes SFT1b and SFT2b are arranged symmetrically with respect to the axis CL2, and the centers of the axes SFT1c and SFT2c and the centers of the axes SFT1d and SFT2d are arranged with respect to the axis CL2. arranged symmetrically. Further, the center of the axes SFT1a and SFT2a and the center of the axes SFT1b and SFT2b on the virtual projection plane are arranged on a virtual straight line HL3 perpendicular to the virtual straight line VL3, The axis center of SFT2c and the axis centers of SFT1d and SFT2d are arranged on virtual straight line HL4 orthogonal to virtual straight line VL4. Guide rollers 58a and 58c, guide rollers 59a and 59c, guide rollers 58b and 58d, and guide rollers 59b and 59d are referred to as "fifth guide roller", "sixth guide roller" and "seventh guide roller" in the present invention, respectively. , and the "eighth guide roller", and the axes SFT1a, SFT1c, SFT2a, SFT2c, SFT1b, SFT1d, and SFT2b, SFT2d correspond to the "fifth axis", "sixth axis", It is an example of implementation configuration corresponding to the "seventh axis" and the "eighth axis".

That is, the guide rollers 58a, 59a and the guide rollers 58c, 59c, and the guide rollers 58b, 59b and the guide rollers 58d, 59d are arranged in a vertical line along the virtual straight lines VL3 and VL4, respectively, as shown in FIG. Guide rollers 58a, 59a and guide rollers 58b, 59b, and guide rollers 58c, 59c and guide rollers 58d, 59d are arranged in a horizontal row along virtual straight lines HL3 and HL4, respectively. Here, the distance between the imaginary straight line HL3 and the imaginary straight line HL4 substantially corresponds to the fitting length between the engagement pin 424 and the guide blocks 26, 28. Secondly, it is set based on the magnitude of the load input from the carriage 90 to the engagement pin 424 . Axes SFT1a, SFT1c, SFT2a, SFT2c, SFT1b, SFT1d, and SFT2b, SFT2d respectively correspond to the "first axis", "second axis", "third axis" and "fourth axis" in the present invention. It is an example of an implementation configuration. The center of the axes SFT1a and SFT2a and the center of the axes SFT1b and SFT2b are arranged symmetrically with respect to the axis CL2. Aspects in which they are arranged line-symmetrically are defined as "the first and second axes and the third and fourth axes are aligned in the axial directions of the first, second, third and fourth axes" in the present invention. A virtual line segment connecting the center of the first and second axes on the virtual projection plane and the center of the third and fourth axes on the virtual projection plane when viewed from one side of It is an example of an implementation configuration corresponding to a mode in which they are arranged so as to be symmetrical with respect to a virtual orthogonal line that passes through the point and is orthogonal to the virtual line segment. Furthermore, the axis CL2 is an example of an implementation configuration corresponding to the "virtual orthogonal line" in the present invention.

As shown in FIGS. 46 and 47, the second portion 451 includes a first projecting portion 456, a second projecting portion 457, and a connecting portion 459 connecting the first projecting portion 456 and the second projecting portion 457. It has a substantially C-shaped side view. A rear surface 459a of the connecting portion 459, specifically, a surface of the connecting portion 459 located on the side opposite to the direction in which the first projecting portion 456 and the second projecting portion 457 project, is flat. The second portion 451 is fixed to the projecting surface 454e2 of the side surface 454e of the base portion 454 of the first portion 450 with a fastening member such as a bolt. Thereby, a gap Gap is formed between the first portion 450 and the second portion 451, more specifically, between the engaging surface 454e1 and the rear surface 459a. The gap Gap has a value slightly smaller than the plate thickness t of the rear frame 90 a of the truck 90 . In other words, the height of the step Stp (the distance from the engaging surface 454e1 to the projecting surface 454e2) is set to be slightly smaller than the plate thickness t of the rear frame 90a of the carriage 90. can. As shown in FIG. 47, the second portion 451 has a height dimension slightly larger than the height dimension of the first portion 450 (the vertical dimension in FIG. 47). 48 and 49, the second portion 451 has the width dimension of the first portion 450 (the vertical dimension in FIGS. 48 and 49, the axes SFT1a, SFT2a, SFT1b, SFT2b, SFT1c, SFT2c, It has a width dimension approximately the same as the dimension along the axial direction of SFT1d and SFT2d. The second projecting portion 457 has a width dimension slightly larger than the width dimension of the first portion 450 (the vertical dimension in FIGS. 48 and 49). The second protruding portion 457 is an example of implementation structure corresponding to the "lever portion" in the present invention.

Next, a method for assembling the traction device 420 of the modified example configured in this way will be described. The method of assembling the traction device 420 is basically the same as the method of assembling the traction device 20 (see FIGS. 28 to 32). Specifically, first, the guide blocks 26 and 28 are arranged inside the housing 422 at a predetermined distance from each other, and fixed to the housing 422 with bolts (not shown). Subsequently, the eccentric cam 30 is arranged inside the housing 422, the output shaft OS of the actuator 36 is connected to the eccentric cam 30, and the actuator 36 is fixed to the housing 422 with bolts (not shown). At this timing, the limit switches LS1 and LS2 are also fixed inside the housing 422 by bolts (not shown). At this time, the rotational position of the eccentric cam 30 is set so that the limit switch LS1 is engaged with the notch recess 32d of the eccentric cam 30 (see FIG. 53).

Guide rollers 58a, 58c and guide rollers 58b, 58d can roll on rolling surfaces 26a and 26b, respectively, and guide rollers 59a, 59c and guide rollers 59b, 59d can roll on rolling surfaces 26a, 59b, 59d, respectively. The engaging pin 424 is inserted from the lower side of the guide blocks 26, 28 (lower side in FIG. 45) so that it can roll on 28a and rolling surface 28b. At this time, the first portion 450 and the second portion 451 of the engaging pin 424 are arranged at positions aligned with the through holes 441a of the housing 422 (see FIG. 52). Also, the second portion 451 of the engaging pin 424 is arranged in the opening OP, and the cam follower 34 of the eccentric cam 30 contacts the upper surface 457a of the second projecting portion 457 (see FIG. 53). The rolling surface 26a, the rolling surface 26b, the rolling surface 28a, and the rolling surface 28b are respectively the "fifth rolling surface", the "sixth rolling surface", and the "seventh rolling surface" in the present invention. , and an example of an implementation configuration corresponding to the "eighth rolling surface".

Finally, the bottom portion 46 to which the guide rod GR with the coil spring SPR is inserted is attached from the lower side of the engagement pin 424 (lower side in FIG. 52) incorporated in the housing 422, be fixed with bolts. At this time, the engaging pin 424 is prevented from moving upward (upward in FIG. 52), that is, toward the upper wall 441 of the housing 422 by the cam follower 34 of the eccentric cam 30 through the second projecting portion 457. be done. As a result, the coil spring SPR is compressed inside the inner hole 454h. That is, the pulling device 420 is in a “non-pulling state” in which most of the engagement pin 424 is retracted into the housing 422 when assembly is completed.

The traction device 420 assembled in this manner is arranged such that the normals of the rolling surfaces 26a, 28a, 26b, and 28b of the guide blocks 26 and 28 are parallel to the traveling direction of the automatic guided vehicle 1, that is, the rolling surface 26a , 28a, 26b, and 28b are fixed to the vehicle body 2 by bolts so that the normal lines of the axes CL2 and the axial directions of the axes SFT1a, SFT2a, SFT1b, SFT2b, SFT1c, SFT2c, SFT1d, and SFT2d are perpendicular to each other. be done. As a result, the opening OP faces the running direction RD (see FIG. 45).

Next, the operation of the automatic guided vehicle 1 equipped with the towing device 420 of the modification configured as described above, in particular, the operation when the towing device 420 is engaged with the rear frame 90a of the carriage 90 will be described. When the automatic guided vehicle 1 starts traveling, the CPU of the control device 10 reads the detection signal from the traveling sensor and the command signal from the marker sensor, and drives the drive unit 4 so that the automatic guided vehicle 1 travels along the guide belt. , 4 and the steered wheels 6 are executed. and. When the automatic guided vehicle 1 reaches a position where the carriage 90 can be towed (see FIG. 62), the marker sensor detects the marker in which the drive instruction command for the front hook device 12 and the tow device 420 is stored, and the command signal to output When a command signal from the marker sensor is input to the CPU of the control device 10, the CPU of the control device 10 drives and controls the motor (not shown) of the front hook device 12 to move the front hook device 12 from the "non-pulled state". The motor 38 of the traction device 420 is driven and controlled to move the traction device 420 from the "non-traction state" shown in FIGS. 52, 53 and 62 to the state shown in FIGS. Make it "ready to tow".

Specifically, a motor (not shown) of the front hook device 12 is driven and controlled to rotate a hook lever (not shown) to protrude from the upper surface 2a of the vehicle body 2 to enter a "pulled state". At this time, the carriage 90 is lifted by the lifting portion (not shown) of the front hook device 12 , and the weight of the carriage 90 is transmitted to the automatic guided vehicle 1 . As a result, the automatic guided vehicle 1 can secure the ground pressure necessary for traveling.

On the other hand, when the motor 38 is driven and controlled, the eccentric cam 30 (rotating disk 32) moves toward the distal end side of the output shaft OS in the axial direction (as shown in FIGS. 53 and 55). When viewed from the back side to the front side), it rotates clockwise by a predetermined rotation angle. As a result, the cam follower 34 revolves around the output shaft OS by a predetermined rotation angle in the same direction as the rotation direction of the eccentric cam 30 (rotating disc 32). In other words, it can be said that the cam follower 34 moves upward as shown in FIGS. 52, 53 and 62, the rollers 455, 455 of the first portion 450 of the engaging pin 424 come into contact with the rear frame 90a of the carriage 90. It is in a "pull-ready state" that protrudes to a possible position (Figs. 54, 55 and 63). Here, as shown in FIG. 54, the rotation angle (predetermined rotation angle) of the eccentric cam 30 (rotating disk 32) in the "pulling preparation state" is such that the engagement pin 424 is positioned at the rotation center (supporting position) of the rollers 455, 455. The value is set so that the rollers 455, 455 protrude (move upward) to a height where they can come into contact with the rear frame 90a of the carriage 90 at a portion vertically above the horizontal plane Hp passing through the axis Cp of the shaft 455a. ing.

When the automatic guided vehicle 1 whose towing device 420 is in the "prepared towing state" continues to travel forward, the rollers 455, 455 come into contact with the rear frame 90a of the carriage 90 from the rear side in the traveling direction. At this time, as shown in FIG. 67, a vertically downward force Fv acts on the engaging pin 424 (first portion 450) from the rear frame 90a of the truck 90. As shown in FIG. As a result, as shown in FIGS. 56, 57 and 63, the engaging pin 424 moves downward in the vertical direction (FIGS. 63). Then, when the automatic guided vehicle 1 reaches the position where the rear frame 90a of the carriage 90 is arranged between the first portion 450 and the second portion 451 (gap) (see FIGS. 58 and 65), The sensor Sen detects the rear frame 90 a of the carriage 90 and outputs the detection signal to the CPU of the control device 10 . When the detection signal is input, the CPU of the control device 10 drives and controls the motor 38 .

As a result, as shown in FIGS. 59 and 61, the eccentric cam 30 (rotating disc 32) is moved from the tip side of the output shaft OS in the axial direction (in the direction from the back side to the front side of the paper surface of FIGS. 59 and 61). When viewed, it rotates clockwise, and the cam follower 34 revolves around the output shaft OS in the same direction as the rotational direction of the eccentric cam 30 (rotating disc 32). In other words, it can be said that the cam follower 34 moves upward (upward in FIGS. 58 and 60) as shown in FIGS. 66, the rear frame 90a of the truck 90 is engaged (nipped) in the gap Gap between the first portion 450 and the second portion 451 to enter the "pulling state" (see FIG. 66). 60 and Fig. 66) Here, since the first portion 450 has the rollers 455, 455, the rear side frame 90a can be smoothly engaged with the gap Gap. Since the thickness t of the side frame 90a is slightly smaller than the thickness t of the side frame 90a, and at least the rolling surfaces 455b, 455b of the rollers 455, 455 are made of an elastic material such as rubber, the rear frame 90a is The rollers 455, 455 are engaged (nipped) in the gap Gap while elastically deforming the rolling surfaces 455b, 455b of the rollers 455, 455. As a result, the engagement pin 424 (the first portion 450 and the second portion 451) and the rear frame As a result, it is possible to effectively suppress the occurrence of relative positional deviation between the towing device 420 (automatic guided vehicle 1) and the carriage 90. A more stable traction can be realized.

As shown in FIG. 61, the cam follower 34 is arranged at the uppermost position, i.e., at the position closest to the upper wall 441, and the limit switch LS2 is engaged with the notch recess 32d of the rotary disk 32. state. As a result, the ON/OFF signal from the limit switch LS2 is input to the CPU of the control device 10. FIG. As a result, the CPU of the control device 10 determines that the engagement pin 24 has protruded to a position where it can be engaged with the rear frame 90a, and stops driving the motor 38 .

Thus, the carriage 90 is towed by the automatic guided vehicle 1 in such a manner that the rear frame 90 a is sandwiched by the towing device 420 . At this time, as shown in FIG. 60, a load F acts on the engaging pin 424 in the backward running direction via the rear frame 90a. However, the engagement pin 424 has a sufficient cross-sectional area that the base portion 454 can withstand the load F, and the load F through the four sets of guide rollers 58a, 59a, 58b, 59b, 58c, 59c, 58d, 59d. Since it is supported by the guide blocks 26 and 28 with a fitting length sufficient to withstand F, it is not damaged. Moreover, since the height dimension of the traction device 420 is substantially the same as the longitudinal dimension of the engagement pin 424, the height dimension can be made more compact than the conventional structure. Thereby, the floor of the automatic guided vehicle 1 can be further lowered.

When stopping the towing of the carriage 90, the CPU of the control device 10 performs the control opposite to the control described above. The eccentric cam 30 (rotating disc 32) is rotated counterclockwise (in the axial direction of the output shaft OS) so that the engagement between the engaging pin 424 and the rear frame 90a is released while the "non-pulling state" is established. 53, 55, 57, 59, and 61, and rotated counterclockwise when viewed from the front side (the direction from the back side to the front side of the paper surface of FIGS. 53, 55, 57, 59, and 61) to bring the traction device 420 into the "anti-smoke ready state". to "non-traction state".

According to the traction device 420 of the modified example described above, the effect similar to that of the traction device 20 according to the present embodiment described above, that is, reduction of the dimension in the height direction of the traction device 420 compared to the conventional structure can be achieved. and the effect of improving the stability of the movement of the engagement pin 424 in the vertical direction (the vertical direction in FIGS. 52, 54, 56, 58, and 60). Since the rear frame 90a of the carriage 90 is clamped by the pins 424, it is possible to effectively suppress the occurrence of relative positional deviation between the towing device 420 (automated guided vehicle 1) and the carriage 90, resulting in greater stability. Therefore, it is possible to achieve the effect of being able to realize the towing.

In the traction device 420 of the modified example, the first portion 450 has rollers 455, 455. However, if the rear frame 90a can be smoothly engaged with the gap Gap, the first portion 450 can: The rollers 455, 455 may not be provided.

In the pulling device 420 of the modified example, at least the rolling surfaces 455b, 455b of the rollers 455, 455 are made of an elastic body, but the present invention is not limited to this. For example, all of the rollers 455, 455 may be made of an elastic material. Alternatively, the rollers 455, 455 may not have elasticity. In this case, the gap Gap may be set to a size equal to or larger than the plate thickness t of the rear frame 90a.

This embodiment shows an example of a form for carrying out the present invention. Therefore, the present invention is not limited to the configuration of this embodiment. In addition, the corresponding relationship between each component of this embodiment and each component of the present invention is shown below.

1 Automated guided vehicle (automated guided vehicle)
2 vehicle body 2a upper surface 4 drive unit (drive unit)
4a motor 4b driving wheel 6 steering wheel 8 caster 10 control device (control device)
12 front hook device 20 traction device (traction device)
22 housing (housing)
24 engagement pin (engagement pin)
26 guide block (guide member)
26a rolling surface (support portion, first rolling surface, fifth rolling surface)
26b rolling surface (support portion, third rolling surface, seventh rolling surface)
27 Female screw hole 28 Guide block (guide member)
28a rolling surface (supporting portion, second rolling surface, sixth rolling surface)
28b rolling surface (support portion, fourth rolling surface, eighth rolling surface)
29 female screw hole 30 eccentric cam (eccentric cam)
32 Rotating disk 32a Insertion hole 32b Through hole 32c Through hole 32d Notch recess 34 Cam follower (cam follower)
36 actuator 37 reduction gear box 38 motor (motor)
40 Main portion 41 Upper wall 41a Through hole 42 Side wall 42a Through hole 43 Side wall 43a Bolt insertion hole 43b Bolt insertion hole 44 Fixed piece 44a Bolt hole 44b Bottom surface 45a Bolt hole 45b Bottom surface 45 Fixed piece 46 Bottom 47 Bottom plate 47a Bolt insertion hole 48 Vertical Wall 48a Circular cutout 49 Vertical wall 50 Main body 50a Inner hole (inner hole)
52 engagement portion (engagement portion)
54 base (fitting part)
54a Upper surface 54b Bottom surface 54c Side surface 54d Side surface 54e Side surface 54f Side surface 56 Lift plate (lever portion)
57 projecting piece 57a
58a guide roller (first guide roller, fifth guide roller)
58b guide roller (third guide roller, seventh guide roller)
58c guide roller (first guide roller, fifth guide roller)
58d guide roller (third guide roller, seventh guide roller)
59a guide roller (second guide roller, sixth guide roller)
59b guide roller (fourth guide roller, eighth guide roller)
59c guide roller (second guide roller, sixth guide roller)
59d guide roller (fourth guide roller, eighth guide roller)
90 dolly (dolly)
90a rear frame 90b front frame 120 traction device (traction device)
124 engagement pin (engagement pin)
126 guide block (guide member)
126a guide surface (supporting portion)
128 guide block (guide member)
128a guide surface (supporting portion)
154 base (fitting part)
156 lift plate (lever)
157 projecting piece 220 traction device (traction device)
226 guide block (guide member)
226a rolling surface (support portion, first rolling surface, second rolling surface)
226b rolling surface (support portion, third rolling surface, fourth rolling surface)
227 notch (opening)
320 traction device (traction device)
326 guide block (guide member)
326a guide surface (supporting part)
327 notch (opening)
420 traction device (traction device)
422 housing (housing)
424 engagement pin (engagement pin)
440 Main part 441 Upper wall 441a Through hole 442 Side wall 442a Notch 443 Side wall 444 Fixed piece 445 Fixed piece 450 First part (first piece)
451 second part (second piece)
454 Base 454a Upper surface 454b Bottom surface 454c Side surface 454d Side surface 454e Side surface 454e1 Engaging surface 454e2 Protruding surface 454f Side surface 454h Inner hole 454k Support wall 454m Support wall 454n Support wall 455 Roller (roller)
455a support shaft (support shaft)
455b rolling surface (rolling surface)
456 first projecting portion 457 second projecting portion (lever portion)
457a Upper surface 459 Connection part 459a Rear surface Sen Sensor (sensor)
Brkt Bracket Nch Notch Stp Step Gap Clearance t Rear frame thickness FP Reinforcing plate SPR Coil spring (spring)
GR Guide rod CL Axis line (virtual orthogonal line)
SFT1a axis (1st axis, 5th axis)
SFT1b axis (3rd axis, 7th axis)
SFT1c axis (1st axis, 5th axis)
SFT1d axis (3rd axis, 7th axis)
SFT2a axis (2nd axis, 6th axis)
SFT2b axis (4th axis, 8th axis)
SFT2c axis (2nd axis, 6th axis)
SFT2d axis (4th axis, 8th axis)
VL1 virtual straight line VL2 virtual straight line HL1 virtual straight line (virtual straight line)
HL2 virtual straight line (virtual straight line)
OS Output shaft LS1 Limit switch LS2 Limit switch OP Opening (opening)
CL2 axis line (virtual orthogonal line)
VL3 virtual straight line VL4 virtual straight line HL3 virtual straight line (virtual straight line)
HL4 virtual straight line (virtual straight line)
Cp Axis center Hp Horizontal plane

Claims (11)

A towing device mounted on an automatic guided vehicle that is arranged below a trolley and can tow the trolley,
an engaging pin having a longitudinal direction and an inner hole opening at one end side of the longitudinal direction;
a lever unit integrated with the engagement pin so as to extend in a direction orthogonal to the longitudinal direction;
a guide member having a support portion that supports the engagement pin so as to guide the movement of the engagement pin in the longitudinal direction; and an opening that allows the lever portion to pass through and extends in the longitudinal direction. ,
a spring arranged in the inner hole so as to be able to bias the engaging pin toward the other end in the longitudinal direction;
an eccentric cam having a cam follower in contact with the lever;
a motor having a rotating shaft connected to the eccentric cam;
with traction device. The engagement pin includes first, second, third and fourth shafts and first, second, third and fourth shafts rotatably supported on the first, second, third and fourth shafts. 4 guide rollers, and
the first, second, third and fourth axes extend parallel to each other in a direction orthogonal to the longitudinal direction;
The first shaft and the second shaft are arranged on the same axis,
the third shaft and the fourth shaft are arranged on the same axis,
The first and second axes and the third and fourth axes are defined on the virtual projection plane when viewed from one side in the axial direction of the first, second, third and fourth axes. passing through the midpoint of a virtual line segment connecting the projection of the axis centers of the first and second axes and the projection of the axis centers of the third and fourth axes on the virtual projection plane and perpendicular to the virtual line segment It is arranged so as to be symmetrical with respect to the virtual orthogonal line,
The support portion has first and third rolling surfaces on which the first and third guide rollers can roll, and second and fourth rolling surfaces on which the second and fourth guide rollers can roll. , and
the first, second, third and fourth rolling surfaces have normals perpendicular to both the axial direction of the first, second, third and fourth shafts and the longitudinal direction;
The lever portion extends in the same direction as the direction in which the normal line extends,
The traction device according to claim 1, wherein the opening is open in an extending direction of the normal line. The engaging pin has an engaging portion having a first size and a second size larger than the first size when cross-sectionally cut along an imaginary plane orthogonal to the longitudinal direction. and
The engaging portion is engageable with the carriage,
The traction device according to claim 1 or 2, wherein the fitting portion is fitted to the support portion. 4. A traction device as claimed in claim 3 when dependent on claim 2, wherein the first, second, third and fourth shafts are supported in the fittings. Further comprising a housing capable of fixing the guide member to the automatic guided vehicle,
The traction device according to any one of claims 1 to 4, wherein the housing can accommodate the engagement pin, the lever portion, the guide member, and the spring, and supports the motor. An automatic guided vehicle that is arranged below a carriage and can tow the carriage,
a vehicle body;
a drive unit supported by the vehicle body;
A traction device according to any one of claims 1 to 5 fixed to the vehicle body;
a controller for controlling the drive unit and the traction device;
with
The control device controls the motor so that the engagement pin of the traction device protrudes from the vehicle body when starting towing the truck, and controls the engagement pin of the traction device when ending towing the truck. An automatic guided vehicle that controls the motor so that the dowel pin does not protrude from the vehicle body. The traction device according to claim 1, wherein the engagement pin has a fork shape having first and second pieces capable of clamping at least a portion of the carriage. The first piece has a roller having a rolling surface and a support shaft that rotatably supports the roller,
At least the rolling surface of the roller has elasticity,
The traction device according to claim 7, wherein the support shaft extends in a direction orthogonal to both the longitudinal direction and the parallel direction of the first and second pieces. The engagement pins are provided with fifth, sixth, seventh and eighth shafts and fifth, sixth, seventh and eighth shafts rotatably supported on the fifth, sixth, seventh and eighth shafts. 8 guide rollers,
the fifth, sixth, seventh and eighth axes extend in directions perpendicular to both the longitudinal direction and the parallel direction of the first and second pieces;
the fifth axis and the sixth axis are arranged on the same axis,
the seventh shaft and the eighth shaft are arranged on the same axis,
The fifth and sixth axes and the seventh and eighth axes are defined on the virtual projection plane when viewed from one side in the axial direction of the fifth, sixth, seventh and eighth axes. Regarding a virtual orthogonal line that passes through the midpoint of a virtual line segment that connects the centers of the fifth and sixth axes and the centers of the seventh and eighth axes on the virtual projection plane and that is perpendicular to the virtual line segment , are arranged symmetrically,
The support portion has fifth and seventh rolling surfaces on which the fifth and seventh guide rollers can roll, and sixth and eighth rolling surfaces on which the sixth and eighth guide rollers can roll. , and
the fifth, sixth, seventh and eighth rolling surfaces have normals perpendicular to both the axial direction of the fifth, sixth, seventh and eighth shafts and the longitudinal direction;
The lever portion extends in the same direction as the direction in which the normal line extends,
The traction device according to claim 7 or 8, wherein the opening is open in the extending direction of the normal line. Further comprising a housing capable of fixing the guide member to the automatic guided vehicle,
The traction device according to any one of claims 7 to 9, wherein the housing can accommodate the engagement pin, the lever portion, the guide member, and the spring, and supports the motor. An automatic guided vehicle that is arranged below a carriage and can tow the carriage,
a vehicle body;
a drive unit supported by the vehicle body;
a traction device according to claim 8, claim 9 depending on claim 8, or claim 10 depending on claim 8, fixed to the vehicle body;
a sensor capable of detecting a predetermined portion of the carriage;
a controller for controlling the drive unit and the traction device;
with
When the truck starts to be towed, the control device is arranged such that the engagement pin protrudes from the vehicle body to a position above a horizontal plane including the axis of the support shaft and at a position where the roller contacts the frame of the truck. While controlling the motor, when the sensor detects the frame of the truck, the engagement pin protrudes from the vehicle body to a position where the frame of the truck is sandwiched between the first piece and the second piece. an automated guided vehicle.

Images