JP3047155B2 - Automatic guided vehicle with positioning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle provided with a positioning device for positioning a stop position.

[0002]

2. Description of the Related Art When a load placed on a loading table provided at a predetermined position along a traveling path is transferred to an automatic guided vehicle, or a load placed on an automatic guided vehicle is transferred from the automatic guided vehicle to a loading table. In the case of transfer, it is necessary for the automatic guided vehicle to automatically travel, stop accurately at a predetermined position of a target loading table, position the load, and then perform the load transfer operation. For this purpose, the automatic guided vehicle is provided with a positioning device.

Conventionally, this kind of technology is disclosed in
There is an article carrier trolley disclosed in Japanese Patent No. 224842. As described in the specification and the drawings, the article transport trolley has a table lower frame (12) mounted on a trolley body (11) so as to be switchable between a floating state and a positioning state in a horizontal direction. Loading table (13)
Is mounted via a drive elevator (14) of the loading table (13), and a guide through which a guide member (15) suspended from the loading table (13) is vertically movably inserted into a table lower frame (12). A tube (16) is continuously provided, and a lower portion of the guide tube (16) is a drive elevating device (17) for driving a table lower frame (12) with respect to the floor (20) and a horizontal positioning member (18) for the loading table (13). Is attached.

[0004]

However, the above-mentioned conventional article carrier has the following disadvantages. Drive lifting / lowering device (1) for horizontal positioning member (18)
7) and a drive elevator (14) for the loading table (13) are required separately, which complicates the configuration.

The horizontal positioning member (1) for the floor (20)
8), while being fitted to the positioning member (19) on the floor (20) side, the positioning member (2) on the loading table (13) side.
Since the release of the positioning member (22) of (1) is performed simultaneously, the guide member (15) is used when the amount of eccentricity is large.
When an excessive bending force is generated in the positioning member (1)
In (8), an excessive thrust force is generated, and the switching to the floating state cannot be performed smoothly, causing rattling (vibration) and the like.

A similar situation occurs when the positioning member (21) on the loading table (13) is fitted and the positioning member (18) on the floor side is released.

A specially provided guide member (15) and a guide cylinder (16) are required. Since a transfer device (fork, conveyor, or the like) is not provided on the loading table (13), it can only be placed on the pallet receiver (23) and cannot be transferred in the lateral direction.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and eliminates the above-mentioned drawbacks of the prior art, and has an unmanned transport with a positioning device provided with a positioning device having a simple structure and capable of smooth positioning. The purpose is to provide a car.

[0009]

[MEANS FOR SOLVING THE PROBLEMS]
The invention according to claim 1 , as shown in FIGS. 1 to 4,
Equipped with a fork to move the load on the transfer vehicle body (10)
A fork transfer unit (11), which is stopped against a loading table (19) arranged along the traveling path (16);
Comprising a positioning device for positioning relative to the Nino platform (19), said Nino platform (19) to a load of the fork transfer unit off
The fork and the load is moved by the fork a load from placing or the Nino table is moved (19) by forks
An automatic guided vehicle with a positioning device to be mounted on a transfer section (11) , wherein a positioning rail (1) is provided along a traveling path (16).
7, 18) and the positioning rail (1).
A positioning hole (20) is provided at a predetermined position facing the loading table (19) of (7, 18), and a fork transfer section (11) is provided.
Provided with a positioning cylinder (12) to provided the off stop cylinder (13) to said transportable <br/> feed body (10),
Positioning cylinder (12) is stretched when the AGV is stopped so as to face the loading table (19), positioning rail engagement portion (12-1) which is provided at its front end (1
The fork transfer section (11) is positioned so that it can be positioned while correcting the displacement of the fork transfer section (11) by being fitted into the positioning holes (20) of (7, 18) .
The fork transfer section is raised and lowered by expansion and contraction
Function at the lower level and upper level of the fork.
And Bei, shift stop cylinder (13) is stretched when the AGV is traveling, the fitting portion provided on the tip (13-1)
Slip stop hole (11-4) provided in fork transfer part (11 )
By the fitting and disposed so as to be anti-displacement with respect to the transport vehicle (10) the fork transfer unit (11) while correcting the positional deviation of the fork transfer unit (11) <br/> It is characterized by the following.

[0010]

[0011]

[0012]

According to the present invention, by adopting the above structure, the automatic guided vehicle stops at the target loading table (19), shrinks the cylinder (13) for preventing slippage, and moves the fork transfer section (11) in the horizontal direction. possible and to stretches positioning lifting cylinder (12), <br/> and the Ru fitted its lower fitting part (12-1) into the positioning holes of the positioning rail (17, 18) (20), The fork transfer section is positioned smoothly. That is,
Since the fork transfer unit (11) and the transport vehicle body (10) are separated in advance, there is no such disadvantage that the excessive force such as in the above-mentioned conventional example does not act on the positioning elevating cylinder (12). At this time, the fork transfer section (11)
Can be moved horizontally, so fork transfer
Even if the part (11) is slightly displaced from the predetermined position, when the fitting part (12-1) fits into the positioning hole (20) of the positioning rail (17, 18), the fork transfer part ( 1
The position of 1) is corrected and accurately positioned at the positioning position.

Further, at the time of the above-mentioned positioning, the fork transfer portion (11) is at the level below the fork, and when the positioning cylinder (12) is extended thereafter, the fork transfer portion (11) is moved.
Rises and the fork goes to the upper level. That is, the positioning cylinder (12) has the function of positioning the fork transfer unit (11) and the function of moving the fork transfer unit (11) up and down.
There is no disadvantage as in the conventional example, and the configuration is simplified.

During traveling, the positioning elevating cylinder (12)
When the fork transfer part (11) becomes movable, the fitting part (12-1) at its lower end is removed from the positioning hole (20) of the positioning rail (17, 18) and the positioning is released. . In this state, the stopper cylinder (13) is extended, and the fitting part (13-1) is moved to the fork transfer part (11).
By fitting the displacement stop hole (11-4) of follower
The transfer unit (11) is fixed so as not to be shifted with respect to the transport vehicle body (10). At this time, even if the load transfer part is displaced and displaced, the fitting part (13-1) is disengaged and the stopper hole (11-4) is formed.
The position is corrected when it is fitted to the device, and the position is fixed.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 are views showing the structure of an automatic guided vehicle with a positioning device. FIG. 1 is a plan view, FIG. 2 is a front view, FIG. 3 is a side view, and FIG. FIG.
The automatic guided vehicle with a positioning device includes a transfer vehicle body 10 and a fork transfer unit 11 disposed above the transfer vehicle body 10. The fork transfer unit 11 is provided with four positioning and lifting cylinders 12 for positioning and raising and lowering the four fork transfer units at the front, rear, left and right sides thereof, and the fork transfer unit 11 is provided on the transfer vehicle body 10. Four cylinders 13 for preventing slippage are provided for preventing slippage.

The vehicle body 10 includes a driving wheel 14 and a driven wheel 15
Are provided so that the vehicle can automatically travel on the travel path 16. As shown in FIG. 4, positioning rails 17 and 18 are provided on both sides of the traveling path 16, and a loading table 19 is arranged at a predetermined position along the positioning rails 17 and 18. The positioning rails 17 and 18 have a U-shaped cross section (see FIG. 5). A positioning hole 20 into which a tip of the positioning elevating cylinder 12 is fitted is provided at a predetermined position facing the loading table 19 as described later. Are formed.

A three-stage telescopic fork 11-1 is provided in the fork transfer section 11 of the carrier.
Is stretchable in the width direction of the traveling path 16 (the direction orthogonal to the positioning rails 17 and 18). Brackets 1 are provided before and after and on the left and right of the frame 11-3 of the fork transfer unit 11.
1-2, and the four brackets 11-2 are provided.
, The upper end of the positioning elevating cylinder 12 is fixed.

The lower end of the positioning elevating cylinder 12 is provided with a fitting portion 12-1 that fits into the positioning hole 20 of the positioning rails 17 and 18.
As shown in FIG. 5, 1 is a convex portion 12- having a conical lower portion.
1a, and the projections 12-1a are positioned in the positioning holes 2a.
The fork transfer portion 11 is positioned and fixed with respect to the positioning rails 17 and 18 by being fitted to the position 0.

When positioning the fork transfer portion 11, the center of the fitting portion 12-1 is slightly shifted from the center of the positioning hole 20, that is, the fork transfer portion 11 is slightly shifted from a predetermined positioning position. Even if there is
Since the convex portion 12-1a of 2-1 is formed in a conical shape (tapered shape), the fork transfer portion 11 moves in the horizontal direction to a predetermined positioning position as the positioning elevating cylinder 12 is extended. (The position is corrected) and is fixed at the predetermined positioning position. In addition, the convex part 12-
1a is not limited to a conical shape, and may be a semi-spherical shape. In short, when the fitting portion 12-1 is fitted into the positioning hole 20, the positional deviation of the fork transfer portion 11 is corrected. What is necessary is just to be able to position while doing.

The state in which the positioning elevating cylinder 12 is extended and its fitting portion 12-1 is fitted in the positioning hole 20 of the positioning rails 17 and 18 (see the left half in FIG. 2) is located below the fork 11-1. The state where the fork transfer unit 11 is lifted by further extending from this state (see the right half of FIG. 2) is the upper level of the fork 11-1. That is, the lifting cylinder 12 is a cylinder that expands and contracts in two strokes.

The stopper cylinder 13 provided on the transfer vehicle body 10 also has a fitting portion 13-1 at its upper end, and the fitting portion 13-1 has a conical upper portion as shown in FIG. Of the fork transfer portion 11 provided in the frame 11-3 of the fork transfer portion 11.
By being fitted to 1-4, the fork transfer portion 11 is fixed to the transfer vehicle body 10 so as not to shift in the horizontal direction. That is, displacement is prevented.

At the time of the above-mentioned fixed positioning, the fitting portion 12-1 of the lifting cylinder 12 is moved to the positioning rails 17 and 18.
The fork transfer portion 11 can be moved in the horizontal direction by removing the fork transfer portion 11 from the positioning hole 20, and the conical (tapered) convex portion is formed by raising the fitting portion 13-1 of the slip prevention cylinder 13. 13-1a is a fork transfer unit 11
Is moved so that the center of the fitting portion 13-1 and the center of the slip stopper hole 11-4 coincide with each other, and the fork transfer portion 11 is fixed to the transfer vehicle body 10 so as not to shift. The protrusion 13
-1a is not limited to a conical shape, and may be a semi-spherical shape.
When fitting into the fork, any material that can be fixed to the fork transfer portion 11 while correcting the misalignment can be used.

In the automatic guided vehicle with the positioning device having the above-described structure, when traveling, the positioning elevating cylinder 12 is contracted as described above, and the lower end fitting portion 12-1 is connected to the positioning rails 17 and 18. Remove from the positioning hole 20,
The fork transfer unit 11 can be moved horizontally on the transfer vehicle body 10. That is, the positioning of the fork transfer unit 11 is released. Subsequently, the stopper cylinder 13 is extended, and the conical convex part 13-1a of the fitting part 13-1 at the upper end thereof is fitted into the stopper hole 11-4 of the frame 11-3 of the fork transfer part 11. Then, the fork transfer unit 11 is fixed so as not to be displaced in the horizontal direction with respect to the transport vehicle body 10.

In this state, the automatic guided vehicle travels on the traveling path 16 (between the positioning rails 17 and 18) and stops at a predetermined position when it reaches the target loading table 19. In this state, the stopper cylinder 13 is contracted to lower the protrusion 13-1a, and the stopper 13 is removed from the stopper hole 11-4 so that the fork transfer unit 11 can be moved in the horizontal direction. Next, the positioning elevating cylinder 12 is extended, and the conical convex portion 12-1a of the lower end fitting portion 12-1 is fitted into the positioning hole 20 of the positioning rails 17, 18. Thereby, the fork transfer unit 1
1 is positioned on the positioning rails 17 and 18, that is, on the target loading table 19.

The position where the fork transfer section 11 is positioned is the lower left level of the fork in the left half of FIG. A load 2 such as a bobbin wound with an electric wire is placed on a target loading table 19.
2 is placed on the pallet 21, and when the load 22 is transferred together with the pallet 21 to the fork transfer section 11 of the automatic guided vehicle, the fork 11-1 is extended and enters the pallet 21 at a predetermined position. When the positioning elevating cylinder 12 is extended in this state, the fork 11-1 is at the level above the fork in the right half of FIG. In this state, the fork 11-1
Is retracted, the load 22 moves to the fork transfer section 11 together with the pallet 21.

Next, when the elevating cylinder 12 is contracted, the fork transfer section 11 is lowered to a level below the fork. Subsequently, the stopper cylinder 13 is extended and its fitting portion 13
-1 is fitted into the slip prevention hole 11-4 of the fork transfer portion 11. This state is the state at the time of traveling in the right half of FIG.
In this state, the automatic guided vehicle is caused to travel, and the target loading table 19 is moved.
Is reached, the stopper cylinder 13 is contracted, the fork transfer unit 11 is made movable in the horizontal direction, and then the positioning elevating cylinder 12 is extended, and the fitting unit 12-
1 is fitted into the positioning holes 20 of the positioning rails 17 and 18, and the fork transfer section 11 is positioned.

Further, the positioning elevating cylinder 12 is extended, and the fork transfer section 11 is set at a level above the fork. In this state, the fork 11-1 is advanced toward the target loading table 19, and when the pallet 21 and the load 22 on the fork 11-1 reach the loading table 19, the positioning elevating cylinder 12 is contracted. The pallet 21 and the load 22 are placed on the load table 19. When the (fork lower level) is retracted in this state, the fork 11-1 returns to the fork transfer section 11, leaving the pallet 21 and the load 22.

[0028]

In the above embodiment, the positioning rail 1
Although an example has been shown in which seven and 18 are provided on both sides of the travel path, the invention is not limited to both sides, and there is no need to provide two.
In short, when the automatic guided vehicle stops at the position of the target loading table 19, by extending the positioning elevating cylinder 12,
It is only necessary that the fitting portion 12-1 at the front end be fitted in the positioning hole 20 and accurately positioned at a position where the load is transferred between the load transfer portion such as the fork transfer portion 11 and the load table 19.
The positioning rails 17 and 18 are provided with positioning holes 20.
May be short as long as they can be formed, or may be buried under the floor.

[0030]

As described above, according to the present invention, the following excellent effects can be obtained. (1) Stop the automatic guided vehicle on the target loading table, shrink the stopper cylinder, enable the fork transfer section to move in the horizontal direction, extend the positioning cylinder, and move the fork transfer section.
Since positioning the position while correcting the predetermined positioning position, be displaced in the stop position configuration AGV easy to slightly correct the fork transfer unit, and that the positioning into place smoothly Can be. Further, load of the transfer can be performed to the scan <br/> smoothly.

[0031] (2), during the running of the automatic guided vehicle, shorten the positioning cylinder, since the movable fork transfer unit in a horizontal direction, extend the cylinder for displacement stop, off
The fork transfer unit is positioned and fixed on the transfer vehicle body while correcting the position of the fork transfer unit. Therefore, even if the stop position of the automatic guided vehicle is slightly shifted, the fork transfer unit is positioned on the transfer vehicle body. Can be accurately positioned and fixed.

[Brief description of the drawings]

FIG. 1 is a plan view showing the structure of an automatic guided vehicle with a positioning device according to the present invention.

FIG. 2 is a front view showing the structure of an automatic guided vehicle with a positioning device according to the present invention.

FIG. 3 is a side view showing the structure of the automatic guided vehicle with the positioning device of the present invention.

FIG. 4 is a plan view of a traveling path on which the automatic guided vehicle with a positioning device according to the present invention travels.

FIG. 5 is a view showing a fitted and disengaged state of a fitting portion of a positioning elevating cylinder.

FIG. 6 is a view showing a fitting state and a disengaging state of a fitting portion of the slippage prevention cylinder.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Conveyed vehicle body 11 Fork transfer part 11-1 Fork 11-2 Bracket 11-3 Frame body 11-4 Slip stop hole 12 Cylinder for positioning elevating 12-1 Fitting part 13 Slip stop cylinder 14 Driving wheel 15 Follower wheel 16 Running Road 17 Positioning rail 18 Positioning rail 19 Loading table 20 Positioning hole 21 Pallet 22 Load

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B65G 47/88 B65G 47/52 101

Claims (1)

(57) [Claims] (1)A fork to move the load on the transport body
Arrange the fork transfer part provided,Arranged along the running path
Stopped against the loaded loading table, and
It is equipped with a positioning device for positioning, and loads are loaded on the loading table.Previous
By the fork of the fork transfer sectionMove and place or
TheLoad from loading tableBy the forkMovehandThe load
ToPlaced on the fork load transfer sectionUnmanned transport with positioning device
A vehicle, wherein positioning rails are arranged along the travel path.
A predetermined position of the positioning rail facing the loading table.
A positioning hole is provided at the position ofFork transfer sectionIs provided with a positioning cylinder
In both cases, a stopper cylinder is provided on the transfer vehicle body, and the positioning cylinder is mounted on the unmanned transfer vehicle by the loading.
Extends when stopped against the table and fits at the tip
The mating part is fitted into the positioning hole of the positioning rail.
By doingFork transfer sectionCorrect the misalignment of
SaidFork transfer sectionPlaced so that it can be positionedThen
In both cases, the fork transfer section is moved up and down by
Equipped with a function to locate the lower level and the upper level of the fork
And  The stopper cylinder extends when the automatic guided vehicle travels.
The fitting part provided at the tip isFork transfer sectionEstablished in
By fitting it into the misalignment holeThe fork transfer sectionof
While correcting the misalignment,Fork transfer sectionThe carrier
Arranged so that it can not slip against the bodydidIt is characterized by
Automatic guided vehicle with positioning device.