JP3206858B2 - Unmanned transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to relates to automated guided vehicle having a different body widths to automatic guided <br/> equipment that may be utilized with the same induction period.

[0002]

2. Description of the Related Art In recent years, in order to improve the efficiency and manpower saving in a logistics system, unmanned transporting vehicles using an unmanned transport vehicle that automatically travels and steers along a guide band laid on the ground in advance. Various devices have been proposed.

As shown in FIG. 4, an automatic guided vehicle a used in this automatic guided vehicle is provided with a driving roller b for moving a loaded load W in the vehicle width direction on the upper surface of the vehicle. The conveyor W has a conveyor c, and stops at the position of the ground conveyor d, and sends and receives the load W to and from the ground conveyor d in the width direction of the vehicle body.

[0004]

However, with the recent technological innovation, the miniaturization of the apparatus has rapidly progressed, and this is not an exception even in an automatic guided vehicle, and the external dimensions of the automatic guided vehicle are reduced while having the same load capacity. At present, turning performance is improved as small.

[0005] On the other hand, when there are a plurality of types of loads W to be transported, a load having a small weight is transported by a small automatic guided vehicle, and a load having a large weight is transported by a large automated guided vehicle. It is efficient in terms of energy consumption of the entire apparatus to use the automatic guided vehicle properly.

However, the automatic guided vehicle "a" and the automatic guided vehicle "g" having a body width larger than that of the automatic guided vehicle "a".
When using (indicated by a dashed-dotted line) in the same system, two guide bands e1 and e2 are required in order to be able to transmit and receive a load to and from the ground conveyor d.

[0007] The laying of the two guide bands e1 and e2 at each position of the ground conveyor d complicates the floor work on the ground and prolongs the work of laying the equipment. When approaching the ground conveyor d in car a,
A branch road indicator f and the like for instructing a transfer from the guide zone e1 to the guide band e2 are provided on the ground, while the automatic guided vehicle a needs a control device for detecting this and controlling the transfer of the guide band. However, there is a problem that the system becomes complicated and the cost of the apparatus increases.

[0008] The present invention has been made in view of the above problems, provides automatic guided equipment which can solve the above problems as a base to sliding the conveyor AGV in the vehicle body width direction beyond the vehicle body width It is intended to be.

[0009]

According to the first aspect of the present invention,
A guide band laid on the ground, which can be run along the guide band in the longitudinal direction of the vehicle body by detecting the guide band with a guide band detector provided on the vehicle body, and placed on the upper surface of the vehicle body. An unmanned transport device comprising a plurality of unmanned transport vehicles provided with a conveyor for moving the loaded load in the width direction of the vehicle body, and a ground conveyor on which the unmanned transport vehicle stops and delivers the load. The car has a large-width carrier with the largest body width, and a small-width carrier with a smaller body width than the large-width carrier and capable of sliding the conveyor itself out of the body width. In addition to the above, the guide band is laid so that when the large-width carrier stops at the position of the ground conveyor, the conveyor on the upper surface of the vehicle body and the ground conveyor can be connected to transfer a load. It is an unmanned transport device

[0010] Therefore, in the first aspect of the present invention,
The guide belt is located at the position of the ground conveyor,
When stopped by the conveyor on the top of the car body and the ground conveyor
The gap between them is laid small, as a result
Small-width conveyance guided by a guiding zone and stopped at the above-mentioned conveyor
The gap between the car and the ground conveyor is
Absorbed by slides that exceed the width of the conveyor of the conveyor
Receiving unloading.

[0011]

According to the first aspect of the present invention, the large-width carrier is
By traveling along the guidance zone and stopping at the position of the ground conveyor, it is possible to transfer cargo between the two.

[0012] In the case of a small-width carrier, the conveyor is protruded from the body width.
The ground without breaking the guidance zone
To allow the load of exchange with the conveyor, and the conveyor of the vehicle body upper surface of the AGV, by which can be slid over the body width, to absorb a gap between the vehicle body and the ground conveyor.

[0013]

An embodiment of the present invention will be described below with reference to the drawings. As shown in FIG.
And an unmanned guided vehicle 5 that can travel along the guide zone 2;
The unmanned transport vehicle 5 is stopped and a ground conveyor 6 for transferring the load is provided. In this embodiment, the load sent from the receiving conveyor 9 is stored in a storage rack equipped with a loading and unloading machine such as a stacker crane (not shown). The example of distribution and storage in M1 to M6 is illustrated.

In the present embodiment, the guide zone 2 is composed of a guide line through which an alternating current buried in the floor surface flows, and the guide line is arranged in an annular shape close to the ground conveyors 6 so that the automatic guided vehicle 5 is provided. To each of the conveyors 6. Guidance zone 2
In place of the induction wire through which the alternating current flows, a magnetic tape or a reflective tape attached to a road surface at appropriate intervals can be used. In this example, the stop position is set at the position where the automatic guided vehicle stops. An indicator ST is provided.

In this example, as shown in FIGS. 1 and 3, the automatic guided vehicle 5 is a large-width guided vehicle 7 having the largest vehicle width dimension W1.
And a small-width carrier 8 having a vehicle body width dimension W2 smaller than that of the large-width carrier 7. Also, as shown in FIGS. 1 and 2, the automatic guided vehicle 5 includes a guide band detector 3 including a pair of pickup coils 3A and 3B capable of detecting the guide band 2 before and after the front of the vehicle. The vehicle can travel along the guidance band 2 in the longitudinal direction of the vehicle body based on the detection signal of (3).

The automatic guided vehicle 5 includes a conveyor 4 on the upper surface of the vehicle body for moving the load placed in the width direction of the vehicle, and stops the conveyor 4 so as to be substantially linear with the ground conveyor 6. Thus, it is possible to exchange a load with the ground conveyor 6.

As shown in FIG. 2, the narrow-width conveyor 8 can slide the conveyor 4 including a pair of frames 4A and a conveyor roller 4B which can be driven between the frames, over a vehicle body width by moving means 10. To be equipped.

The moving means 10 joins the frames 4A, 4A of the conveyor 4 and a concave frame 16 which is recessed downward.
In this example, the rotating shaft is rotatably driven by a motor 11 with a brake and a drive gear 12 of the motor 11 with a brake, and is supported at both ends and includes a rolling gear 13 at an end. 14 and rack teeth 15 meshed with the rolling gear 13 and fixed along the vehicle width direction.
It is composed of

At both ends of the concave frame 16 in the vehicle body length direction, a thrust rod 19 as a guide member is fixed via an angle member 17, and the slide rod 19 is guided to the vehicle body side, and A slidable guide piece 20 is provided to prevent rattling of the conveyor 4 in the horizontal direction, thereby achieving stability. Note that a guide roller or a linear bearing may be used instead of the slide shoe 19.

Further, in this embodiment, the conveyor 4 is provided with a potentiometer 21 capable of detecting the amount of rotation in synchronism with the rotation of the rotary shaft 14, and the amount of slide of the conveyor 4 can be detected based on this signal. Frames 4A, 4A
A pair of load detectors 22A and 22B that can detect the presence or absence of a load on the conveyor roller B by facing each other from the notch.
Are provided, and the sending and receiving of the load can be reliably detected.

At the outer end of the conveyor roller 4B of the conveyor 4 in the width direction of the vehicle body, there is provided a load stopper roller 25 rotatably supported by an arm body 24 swingable by a cylinder 23. The unloading roller 25 can be positioned above the upper surface of the conveyor roller 4B to prevent the load from falling while the automatic guided vehicle 5 is transporting the load W, and can prevent the load from being transferred to the ground conveyor or the like. When giving and receiving, the arm body 24
Can be made to be the same height as the conveyor roller 4B and the conveyor length can be increased.

The small-sized transport vehicle 8 thus configured drives the motor 11 with a brake to rotate, and the rotary shaft 14
By rolling the rolling gears 13 at both ends while meshing with the rack teeth 13, the conveyor 4 can slide in the vehicle width direction beyond the vehicle width. At this time, it is desirable that the telescopic outrigger 26 built in the four corners of the vehicle body be grounded to ensure the stability of the vehicle body.

In this embodiment, as shown in FIG. 3, when the large-sized carrier 7 stops at the position of the ground conveyor 6, the guide zone 2 is connected to the conveyor 4 (indicated by a dashed line) on the upper surface of the vehicle body. In order to connect the ground conveyor 6 with the ground conveyor 6 so that a load can be exchanged, the ground conveyor 6 is laid at a distance h from the ground conveyor 6 so that the gap S1 between them is small, about 50 mm to 100 mm.

On the other hand, since the guide band 2 is laid in accordance with the large-sized conveyor 7 as described above, when the small-sized conveyor 8 is stopped at the position of the above-mentioned ground conveyor 6, the small-sized conveyor 8 is connected to the ground conveyor 6. The small-width transport vehicle 8 can absorb the large gap S2 with the ground conveyor 6 by sliding the conveyor 4 itself in the vehicle width direction beyond the vehicle width by the moving means 10. In addition, the load can be transferred as a gap S1 similar to that of the large-sized conveyance vehicle 7.

Although the present invention has been described in detail above, the present invention is not limited to the above-described embodiment, and the conveyor 4 may be moved by means of a hydraulic cylinder, a swinging link mechanism, or the like. Various modifications may be made, such as using an unmanned forklift as a width carrier, or using a small width carrier with a plurality of widths.

[0026]

Unmanned conveying device of the present invention as the ordination according to the present invention is different from the AGV with the vehicle body width, to allow the load of the exchange between the ground conveyor using the same induction period, the induction zone Laying work and control of automatic guided vehicles can both be simplified.

[Brief description of the drawings]

FIG. 1 is a plan view showing an embodiment of an unmanned transport device.

FIG. 2 is a perspective view showing one embodiment of a small-width carrier.

FIG. 3 is a plan view for explaining the operation of the automatic guided vehicle and the automatic guided vehicle.

FIG. 4 is a plan view for explaining a conventional technique.

[Explanation of symbols]

 2 Guidance band 3 Guidance band detector 4 Conveyor 5 Automated carrier 6 Ground conveyor 7 Large carrier 8 Small carrier

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-60-151722 (JP, A) JP-A-62-107311 (JP, A) JP-A-2-40723 (JP, U) JP-A-6-107723 1335 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) G05D 1/02

Claims (1)

(57) [Claims] 1. A guide band laid on the ground, which can be run along the guide band by detecting the guide band with a guide band detector provided on the vehicle body, and An unmanned transport device comprising a plurality of unmanned transport vehicles provided with a conveyor on the upper surface for moving the loaded load in the width direction of the vehicle body, and a ground conveyor for stopping and transferring the unmanned transport vehicles. The automatic guided vehicle has a large-sized vehicle having the largest vehicle width, a small-sized vehicle having a smaller vehicle width than the large-sized vehicle, and having a small size that allows the conveyor to protrude from the vehicle width and slide. with use of the width transport vehicle, the induction zone, to allow the greatly transport vehicles, load the transfer and lined with a conveyor and ground conveyor body top when stopped at the ground conveyor, said conveyor And the ground
A small space is laid between the conveyor and the conveyor, and guided by the guide band and stopped at the ground conveyor.
The gap created between the width conveyor and the ground conveyor is
Slides that exceed the width of the car
An unmanned transport device characterized by absorbing and collecting cargo .