JP3005018B2 - Container automatic guided vehicle with automatic lid opening and closing device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic container guided vehicle equipped with a device for automatically opening and closing a lid of a container to be transported, and a material supply position and a material processing position. It is effectively used in the field of transporting the space between the containers by a moving container with a lid, particularly in the industrial fields such as food, pharmaceuticals, chemicals, and synthetic resins.

[Conventional technology]

The automatic guided vehicle itself is conventionally known, and when a material is moved from a supply position to a processing position using a moving container with a lid, the moving container with a lid is placed on the automatic guided vehicle and transported, and the lid is manually opened. They were opened and closed or opened and closed by lid openers installed at each processing position. As manual opening and closing, for example, 7A
As shown in FIGS. 7 to 7C, a pair of support pieces 40, 40 are provided around a part of the opening O of the top plate F of the container, and a pin L is attached to the lid L that protrudes the ears 30, 30 to both sides. Holes h, h for insertion are drilled in advance, and the lid can be opened and closed by inserting the pins p, p of the tool shown in FIG.
After fitting into h, h, the handle was turned by hand.

[Problems to be solved by the invention]

Even if a moving container is automatically transported by a conventional automatic guided vehicle,
Only when the container can be moved can be labor-saving, and when the lid of the container is manually opened and closed at the end of the transportation, the effect of the labor-saving is small and automation of the entire process cannot be achieved. In addition, if a lid opening / closing device is installed at each processing position where the lid of the moving container needs to be opened / closed, equipment cost and space are increased, and maintenance and management of all automation processes are complicated, resulting in high costs. Was invited.

[Means and Actions for Solving the Problems]

For example, as shown in FIG. 1, a pillar 4 is erected and fixed on a vehicle body 1 having wheels w capable of traveling in all directions.
A drive arm having a fixed arm 5 protruded and fixed in the horizontal direction and a rotating frame 6 provided with vertical sliding means protruded and disposed in a rotatable manner in the horizontal direction, with one end pivotally supported at the tip of the fixed arm 5 7, the rotation of the rotating frame 6 is controlled by the expansion and contraction means 7, and a gripping device provided with clamping pieces 17 and 17 'that move linearly in opposition is rotatably arranged at the tip of the rotating frame 6. An automatic lid opening / closing device is placed on the transport vehicle, and the lid opening / closing device places information on operations to be performed from now on, for example, clamping of the lid, rotation of the lid, etc., and the container at a position where the operation is to be performed. In response to the positional information that the moving container is in the open position, the lid of the moving container is opened and closed or the position of the lid is moved unattended.

Therefore, the moving container is transported to the predetermined position by the automatic guided vehicle, and the transport vehicle itself performs the opening and closing operation of the unmanned lid at the predetermined position, so that a lid opening tool or a lid opening machine at each lid opened / closed position is unnecessary. As a result, space utilization was rationalized, labor saving and automation were achieved throughout the entire process.

The automatic lid opening / closing device also employs the link function of the fixed arm 5, the rotating frame 6, and the driving arm 7, and has three types of linear movement of the holding piece itself, turning of the gripping device, and turning of the gripping device. Since it is composed of simple operation means, it is possible to smoothly perform the necessary and sufficient action under simple control to automatically open and close the lid of the container while appropriately coping with changes in the size and installation position of the lid.

In addition, since the automatic guided vehicle is capable of running in all directions with a compact and high-performance automatic lid opening and closing device, the moving container with the lid moves between multiple material supply positions and multiple material processing positions. And the lid opening and closing work can be performed smoothly.

〔Example〕

Configuration: As shown in FIG. 1, an automatic guided vehicle equipped with an automatic lid opening / closing device equipped with a mecanum wheel (trade name) W as a means capable of traveling in all directions, and a side fork 3 and a mast 2 arranged in the center. Applied to

FIG. 2A is a perspective view of only the automatic lid opening / closing device, and FIG.
The figure is a side view of the automatic cover opening and closing device, and as shown in these drawings, a fixed arm 5 is projected and fixed in a horizontal direction with respect to a column 4 vertically erected and fixed to the automatic guided vehicle 1; ,
A sleeve 6 ′ integrated with the support member 60 is fitted to the column 4 so as to be rotatable, and the rotating frame 6 is provided so as to protrude horizontally from the support member 60. Up and down sliding along the rail 61 of the rotating frame 6 is performed by the action of the hydraulic cylinder 63 fixed to 62.

Moreover, the drive arm 7 as well as rotatably supported by the joint J ₇ to the tip of the fixed arm 5, the lower surface of the drive arm 7, as stretching means, the servomotor M ₇ is fixed, the motor M ₇ configured Yo shaft S ₇ infested by the switching of the rotating direction, and the distal end of the shaft S ₇ infested, supporting a proximal end of the rod 8 as well as pivotally supporting the front end in the joint J ₈ of the connecting rod 8 members 60 Fixed to.

A gripping device 9 is provided at the tip of the rotating frame 6.
FIG. 3 is a bottom view of the gripping device 9, and FIG. 4 is a schematic side view of the gripping device 9 taken out of the frame 6.

As shown in the figure, the gripping device 9 is rotatably supported on the frame 6 by a sleeve 10, fixes the substrate 11 and the side plate 12 integrally with the sleeve 10, and has two guide rails 1 between the side plates 12, 12.
3,13 fixed side by side.

Then, a pair of opposing holding pieces 17, 17 '
Mounting plates 15, 15 'with the U-shaped concave surfaces 18, 18' facing each other.
, And two sliding pieces 14, 14 'are fixed to both ends of each mounting plate 15, 15', and each sliding piece 14, 14 'is fitted to the guide rail 13 respectively. Racks 16 and 16 ′ projecting from each other are fixed to the respective mounting plates 15 and 15 ′, and each rack 16 and 16 ′ is fixed.
And挾着the pinion 19 at 16 'and fixed to the pinion 19 on the motor shaft S ₉ of clamping pieces reciprocating servomotor M _9. Reference numerals 20, 20 'denote support rolls for engaging the racks 16, 16' with the pinion 19, respectively.

In addition, the gear G ₉ fixed to the sleeve 10 to the gear G ₆ meshes of the turning servo motor M ₆ fixed on the frame 6.

Operation: As shown in FIGS. 6A and 6B, the container body has an opening O for charging the raw material and a lid supporting piece 40 at two symmetrical locations around the opening. On the other hand, using a moving container equipped with a lid having the same ears 30 on both sides of the lid L but having two symmetrical grippers 31 protruding in a V-shape on both outer sides on the upper surface of the lid. The automatic guided vehicle of the present invention was used for transporting a raw material from a material input position to a powder processing position in a powder processing step.

First, an automatic guided vehicle (AGV) loaded with an empty container travels to the material supply position, and when a position sensor detects that the AGV has reached the material supply position, the work control means (computer) supplies the empty container. to put should do material, issues an instruction to open the lid of the container, the pulse command cover opening and closing device for the servomotor M ₇ from the state of FIG. 5 (a), the shaft S ₇ rotates and M ₇ The movement of the arrow A ₇ causes the frame 6 to rotate in the direction of the arrow R ₆ around the column 4, and the frame 6 is moved to the state shown in FIG.
The gripping device 9 on the lower surface of the above is just above the closed lid. Next, the hydraulic cylinder 63 is actuated by the command, the frame 6 is lowered along the rail 61 on the support member 60, and the milit switch (not shown) of the gripping device 9 is operated to stop the lowering of the frame 6. rotates the servo motor M ₉ by a lid clamping instruction following the stop signal, pull pulling inward both racks 16, 16 'by the rotation of the pinion 19 (arrow
A ₉ ), the mounting plates 15 and 15 ′ on both sides are pulled inward via sliding of the sliding pieces 14 and 14 ′ on the guide rails, and
The V-shaped trough-shaped holding surfaces 18, 18 'of 7, 17' firmly hold the V-shaped mountain shape of the outer surface of the grip 31 of the lid L. Then, by rotating the servo motor M ₆ by the next lid rotation command to rotate the entire gripping device 9 by meshing the rotation of the gear G ₆ and G ₉ in the arrow R _9, support pieces of the container body ears 30 of the lid Remove from 40. Then the hydraulic cylinder 63 clamping the gripping device closed with a rise due to, i.e., after lifting frame 6, a servomotor M ₇ is pull pulling the shaft S ₇ of the motor M ₇ by a command of the lid moved in the arrow A ₇ direction, The frame 6 rotates to the position shown in FIGS. 5B to 5C and stops. Then
Lowering the frame 6 by the action of hydraulic cylinders 63, to stop the frame lowered by limit switches at the lid on the provisional table C ₂ on the container, and then the lid release command, the pinion 19 and by rotating the servo motor M ₉ Rack 16,16 '
Expanded at working both clamping pieces 17 and 17 'outwardly (arrow A _9), after rise of the frame 6 by standing the orゝnext signal the lid,
Linear motor M ₇ is activated, retracted to a rest position again Figure 5 frame 6 by arrow R ₆ rotates (a). The container with the lid open was ready for the material input machine.
V sets the container at the raw material supply position with a forklift. Then, the work control means (computer), which has detected the completion of the charging operation of the raw material by the weight sensor, issues a command for closing the lid of the container to the lid opening / closing device. Then the lid opening and closing device,
After closing the lid in the reverse of the lid opening operation described above, the frame 6, that is, the lid opening / closing device is moved to the rest position (fifth position).
(A), the AGV transports the container with the raw material to a predetermined position in accordance with the next destination instruction.

This automatic lid opening / closing device uses linear movement (arrow
A _9), because of three kinds of simple operating means of the turning of the gripping device (arrow R _3), and gripping device rotates (arrow R _6), can be installed compactly in the AGV, and smoothly motion And control is simple.

Others: The dimensions of the holding pieces 17, 17 'of the lid opening and closing device and the holding faces 18, 18'
Is sufficient if it corresponds to the shape and dimensions of the grip 31 of the lid of the target container.

In addition, a linear motor may be used instead of the hydraulic cylinder 63 for vertical movement of the frame 6, that is, the gripping device 9.

In addition, the vertical movement of the gripping device when the gripping device places or lifts the lid is not necessarily required depending on the shape of the lid used.

〔The invention's effect〕

Equipped with an automatic lid opening / closing device in the automatic guided vehicle, the container to be transported can be opened and closed by itself, eliminating the need to separately prepare a lid opening / closing tool or lid opening / closing device for each place where the lid of the container needs to be opened / closed. In addition, space and equipment costs can be reduced, and this automatic guided vehicle achieves unmanned operation of operations including container movement and lid opening and closing.

The automatic lid opening / closing device employs a link mechanism of a fixed arm, a rotating frame, and a driving arm to perform linear movement of the holding piece itself, rotation of the gripping device, and rotation of the gripping device.
Since the container lid is made up of various types of simple operation means,
A necessary and sufficient action for automatically opening and closing can be smoothly performed under simple control while appropriately coping with a change in the size and installation position of the lid.

In addition, since the automatic guided vehicle is capable of running in all directions with a compact and high-performance automatic lid opening and closing device, complicated movement of the movable container with a lid between multiple material supply positions and multiple material lowering positions. In addition, the operation of opening and closing the lid at the set predetermined position can be smoothly performed, and the automation of all operations can be reasonably achieved.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of the present invention. FIG. 2A is a schematic perspective view of a lid opening / closing device, and FIG. 2B is a side view thereof. FIG. 3 is a bottom view of the gripper unit, and FIG. 4 is a side view of the gripper unit with a part omitted. 5 (a), 5 (b) and 5 (c) are explanatory views of the operation of the lid opening / closing device, where (a) shows the gripping device at the rest position, (b) shows the position directly above the lid, and (c) Indicates a state at a position on the temporary table. FIG. 6A is a partial plan view of a container used in the automatic guided vehicle of the present invention, and FIG. 6B is a partial sectional view of the same. FIG. 7A is a partial plan view of a container used in a conventional automatic guided vehicle, FIG. 7B is a partial sectional view of the same, and FIG. 7C is a side view of a conventional lid opening / closing tool. DESCRIPTION OF SYMBOLS 1 ... Body, 2 ... Mast, 3 ... Side fork, 4 ... Column, 5 ... Fixed arm, 6 ... Rotating frame, 6 '... Sleeve, 7 ... Drive arm, 8 ... Connection Rod, 9 ... gripping device, 10 ... sleeve, 11 ... board, 12 ... side plate, 13 ... guide rail, 14, 14 '... sliding piece, 15, 15' ... mounting plate, 16, 16 '... Rack, 17,17' ... Clamping piece, 18,18 '... Clamping face, 19 ... Pinion, 20,20' ... Support roll, 30 ... Ear, 31 ... Grip, 40 … Support piece, 60… Support member, 61… Rail, 62… Downward extension, 63… Hydraulic cylinder.

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Mikio Hirata 2-28 Asahimachi, Omuta-shi, Fukuoka Prefecture (56) References JP-A-2-239099 (JP, A) JP-A-63-262328 (JP, A) JP-A-2-83713 (JP, A) JP-A-62-292376 (JP, A) JP-A-52-49559 (JP, A) Fully open Showa 64-6293 (JP, U) 28497 (JP, U) Jiko 58-35567 (JP, Y2) (58) Fields investigated (Int. Cl. ⁷ , DB name) B60P 3/00 B66F 9/24 B67B 7/00 B25J 9/06

Claims (1)

(57) [Claims] 1. A pillar (4) is erected on a vehicle body (1) provided with wheels (w) capable of traveling in all directions.
A fixed arm (5) is horizontally projected and fixed, and a rotating frame (6) provided with vertical sliding means is horizontally projected so as to be rotatable, and one end is attached to the tip of the fixed arm (5). The rotation of the rotation frame (6) is controlled by the expansion and contraction means of the drive arm (7) which supports the
A gripping device (9) provided with a holding piece (17, 17 ') that moves in a straight line opposing to each other is rotatably arranged at the tip of the container, based on information indicating the position of the container and information on the work to be performed. An automatic guided vehicle equipped with an automatic lid opening and closing device capable of opening and closing at least one lid of a container to be transported.