JP3237354U - Automated guided vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an open type automatic guided vehicle in which a module can be conveniently replaced. The present invention relates to an automatic guided vehicle 1000 for towing a rack. The automatic guided vehicle includes an open frame 1 and a functional component set 2. The functional component set is installed in the open frame and includes a traction module and a drive module. The traction module is connected to the rack via an elevating mechanism. The drive module drives the running of the automatic guided vehicle. When the traction module and the rack are connected, the drive module drives the automatic guided vehicle so as to tow and move the rack. [Selection diagram] Fig. 1

Description

The present invention relates to an automatic guided vehicle, and particularly to an open type automatic guided vehicle in which modules can be conveniently replaced.

Automated guided vehicles move racks into workshops and warehouses and transfer luggage. The automatic guided vehicle needs to be equipped with a traction mechanism corresponding to the rack standard. In general, automatic guided vehicles include tow type and load type depending on the type of rack to be supported. A towed automatic guided vehicle is a vehicle for transporting a rack having movable front wheels and rear wheels. A loaded automatic guided vehicle is a vehicle for transporting a rack having a fixed front leg and a movable rear wheel.

However, known automatic guided vehicles usually employ an integrated closed frame, which is subject to many restrictions in design and manufacture. A closed frame is difficult to maintain and lacks flexibility such as module replacement, and in some cases it is unavoidable to replace all parts.

An object of the present invention is to provide an automatic guided vehicle that adopts an open frame and facilitates parts replacement by a modular design. This saves time and money for repairs and maintenance. The structure in the width direction of the vehicle body consists of a plurality of frames. The frame supports the open frame in the longitudinal direction from the width direction, and can exert a protective effect on the mounted module. Since the automatic guided vehicle of the present invention is provided with holes in advance on the frame of the vehicle body, it is possible to replace or add another mechanism or module as needed. Therefore, the automatic guided vehicle of the present invention can be replaced with a traction type or a loading type traction mechanism as needed, and can be applied to the transportation of the two types of racks. Further, since the automatic guided vehicle of the present invention can be connected to a shared mobile terminal having a user interface externally, it is not necessary to install a fixed terminal device for each of a plurality of automatic guided vehicles. The manufacturing cost of automatic guided vehicles can be reduced.

To achieve the above object, the present invention provides an automatic guided vehicle that tow a rack and is equipped with an open frame and a set of functional parts. The functional component set is installed in the open frame and includes a traction module and a drive module. The traction module is connected to the rack so as to be able to move up and down. The drive module drives the running of the automatic guided vehicle. When the traction module and the rack are connected, the drive module drives the automatic guided vehicle so as to tow and move the rack.

The open frame has two support parts. The support parts are installed at intervals. The functional component set is connected to the support component.

The functional component set further comprises a plurality of frames detachably connected between the support components in the width direction.

The traction module comprises at least one connecting rod that is connected to the rack.

The functional component set further includes an in-vehicle control module and a drive control module. The vehicle-mounted control module is electrically connected to the drive control module. The drive control module is electrically connected to the drive module. The drive control module controls the drive module based on a command of the vehicle-mounted control module.

The functional component set further includes the traction module, the drive module, the vehicle-mounted control module, and a battery module that is electrically connected to the drive control module.

The vehicle-mounted control module includes a connection port that is selectively externally connected to a mobile terminal having a user interface.

The in-vehicle control module includes a programmable controller (Programmable Logic Controller, PLC).

The drive module comprises a drive motor, a directional switching mechanism, and at least one drive wheel. The drive motor drives the direction switching mechanism and the drive wheels based on the drive of the drive control module.

The vehicle-mounted control module includes a power switch and a plurality of buttons. The power switch switches ON / OFF of the power supply from the battery module. The button switches the driving pattern of the automatic guided vehicle.

The traction module, the drive module, the vehicle-mounted control module, the drive control module, and the battery module are installed in the frame.

The support parts extend longitudinally and are substantially parallel, defining a spacing distance. Each said frame has an effective width substantially equal to the said spacing distance.

The functional component set is further installed at the bottom of the frame and includes at least one auxiliary wheel that is flush with the drive wheels.

The functional component set further comprises a bumper connected to the support component.

The functional component set further comprises a radar installed in the frame.

The connecting rod is expandable and contractible and is connected to the rack.

The tow module further comprises a lift for lifting the rack.

It is a perspective view of the automatic guided vehicle which concerns on embodiment of this invention. It is a schematic diagram which shows the connection state of the automatic guided vehicle and the rack which concerns on embodiment of this invention. It is an exploded view of the automatic guided vehicle which concerns on embodiment of this invention. It is another exploded view of the automatic guided vehicle which concerns on embodiment of this invention. It is a side view of the automatic guided vehicle which concerns on embodiment of this invention. It is a partial perspective view of the automatic guided vehicle which concerns on embodiment of this invention. It is another partial perspective view of the automatic guided vehicle which concerns on embodiment of this invention. It is a schematic diagram which shows the connection state of the automatic guided vehicle which concerns on embodiment of this invention, and the mobile terminal which has a user interface. It is a schematic diagram which shows the state which the elevating table of a tow module is in the lowest position in the automatic guided vehicle which concerns on other embodiment of this invention. It is a schematic diagram which shows the state which the elevating table of a traction module is raised in the automatic guided vehicle which concerns on other embodiment of this invention.

As shown in FIGS. 1 and 2, the automatic guided vehicle 1000 according to the embodiment of the present invention is a vehicle that pulls the rack 2000. The automatic guided vehicle 1000 includes an open frame 1 and a functional component set 2.

As shown in FIGS. 3 to 5, the open frame 1 includes two support parts 11 as a support structure in the longitudinal direction of the automatic guided vehicle 1000. The support parts 11 are substantially parallel to each other and extend in the longitudinal direction. The support parts 11 are arranged at intervals to define an interval distance D. The functional component set 2 is connected between the support components 11.

The functional component set 2 is installed in the open frame 1 as a support structure in the width direction of the automatic guided vehicle 1000. Specifically, the functional component set 2 includes a plurality of frames 21, a traction module 22, a drive module 23, an in-vehicle control module 24, a drive control module 25, a battery module 26, training wheels 27, and a bumper 28. , Equipped with radar 29. The plurality of frames 21 are detachably connected between the support parts 11 in the width direction. Each module of the automatic guided vehicle 1000 is installed in the frame 21.

The frame 21 is, for example, a plate-shaped or box-shaped frame. The traction module 22 and the drive module 23 may be installed in the plate-shaped frame 21, respectively, and the vehicle-mounted control module 24, the drive control module 25, and the battery module 26 may be installed in the box-shaped frame 21. Specifically, each frame 21 has an effective width W substantially equal to the spacing distance D. Therefore, each frame 21 is sequentially connected between the support parts 11. Compared to the known body of an automated guided vehicle, one feature of the present invention is that each frame 21 for installing the module is connected between the support members 11 as a support in the width direction of the automatic guided vehicle 1000. be. The number of frames 21 may be adjusted according to the usage situation. There is no fixed arrangement in the arrangement of the modules installed in each frame 21, and the order in which the frame 21 in which each module is installed is connected to the support member 11 may be arbitrarily changed. Therefore, the support in the width direction of the automatic guided vehicle 1000 depends on the arrangement of the frames 21, but since the effective width W of each frame 21 is the same, stable and sufficient support in the width direction can be provided.

Next, each module will be described. As shown in FIGS. 2 and 5, the traction module 22 is connected to the rack 2000 via an elevating mechanism. The traction module 22 includes at least one telescopic connecting rod 221 that is connected to the rack 2000. In this embodiment, the traction module 22 will be described as an example of a traction type module. When the automatic guided vehicle 1000 is moved under the rack 2000 and the connecting rod 221 is extended and connected to the rack 2000, the rack 2000 can be moved together with the automatic guided vehicle 1000.

As shown in FIG. 6, the drive module 23 drives the automatic guided vehicle 1000. The drive module 23 includes a drive motor 231, a direction switching mechanism 232, and at least one drive wheel 233. The drive module 231 drives the direction switching mechanism 232 and the drive wheels 233. The direction switching mechanism 232 can change the traveling direction of the automatic guided vehicle 1000 by switching the direction of the drive wheel 233 with respect to the frame 21. The drive wheel 233 is driven by the drive motor 231 and rolls to move the automatic guided vehicle 1000.

As shown in FIGS. 7 and 8, the vehicle-mounted control module 24 includes a programmable controller (PLC) 241, a connection port 242, a power switch 243, a plurality of buttons 244, and an alarm 245. The programmable controller 241 is installed in the frame 21. The connection port 242, the power switch 243, the button 244, and the alarm 245 are installed on the frame 21. The programmable controller 241 mainly performs planning and scheduling in the travel route of the automatic guided vehicle 1000, determination of the travel route (direction switching and selection of branch point) of the automatic guided vehicle 1000, determination of arrival, and the traction module 22 and the rack 2000. It controls the connection and outputs a command to the drive control module 25 based on the planning and scheduling in the traveling route. In addition to detecting the remaining amount of the battery module 26, the programmable controller 241 outputs a buzzer sound to the alarm 245 during traveling, and notifies the traveling of the carrier vehicle by blinking the alarm light (not shown). Collisions can be avoided. The programmable controller 241 can further determine the presence or absence of an obstacle in front of the automatic guided vehicle based on the signal from the radar 29, and can determine the deceleration or stop of the automatic guided vehicle 1000. The connection port 242 can be selectively externally connected to the mobile terminal 3000 having a user interface so that the automatic guided vehicle 1000 can be repaired or the route can be reset. In the known automatic guided vehicle 1000, the terminal device having a user interface is installed directly on the vehicle body. On the other hand, according to the present invention, the volume of the automatic guided vehicle 1000 can be reduced by connecting a mobile terminal having a user interface externally, and the production cost of the automatic guided vehicle 1000 can be reduced (). A single terminal device 3000 having a user interface can be shared by a plurality of automatic guided vehicles). The power switch 243 switches ON / OFF of the power supply from the battery module 26. The button 244 switches the operation pattern of the automatic guided vehicle 1000. In this embodiment, the function of the button 244 includes starting, stopping, emergency stopping, and alarm release of the automatic guided vehicle. In another embodiment, the function of the button 244 may be changed as needed.

As shown in FIGS. 3 to 5, the battery module 26 is electrically connected to the traction module 22, the drive module 23, the vehicle-mounted control module 24, and the drive control module 25, and supplies the power required for operation to each module. do. Further, ON / OFF of the power supply from the battery module 26 is controlled by the power switch 243 of the vehicle-mounted control module 24.

The training wheels 27 are installed at the bottom of the frame 21 and are flush with the drive wheels 233. The training wheels 27 are set as support points during traveling so that the automatic guided vehicle 1000 can maintain the balance by the driving wheels 233 and the training wheels 27 without being driven and can move smoothly. The bumper 28 is connected to the support member 11 and installed at the end of the support member 11. It is possible to avoid a direct collision between the support member 11 and the frame 21 and another object, and it is possible to exert a protective effect by buffering. The radar 29 is installed in the frame 21 closest to the end of the support component 11 and can measure the distance to other objects. When the radar 29 detects that the distance to another object is less than the planned value, the alarm 245 of the vehicle-mounted control module 24 outputs an alarm and, in some cases, decelerates or stops the automatic guided vehicle 1000 to cause a collision. avoid.

Hereinafter, the relationship between the operations of each part in the present invention will be described. The vehicle-mounted control module 24 is electrically connected to the drive control module 25, and the drive control module 25 is electrically connected to the drive module 23. The drive control module 25 receives a command from the programmable controller 241 of the vehicle-mounted control module 24 and controls the drive module 23. The drive motor 231 drives the automatic guided vehicle 1000 to run or stop, or to switch the direction by driving the direction switching mechanism 232 and the drive wheel 233 under the control of the drive control module 25. When the towing module 22 and the rack 2000 are connected, the drive module 23 drives the automatic guided vehicle 1000 so as to tow and move the rack 2000.

In another embodiment, as shown in FIGS. 9 and 10, the traction module 22 is, for example, of a loading type and is coupled to a rack 2000 with fixed front legs and movable rear wheels. The traction module 22 includes two connecting rods 221 and a lift 222. The elevating table 222 is movable up and down (FIG. 9 shows a state in which the elevating table 222 is in the lowest position, and FIG. 10 shows a state in which the elevating table 222 is raised), and supports the connecting rod 221. The rack 2000 can be lifted by moving it up and down with respect to 11. When the rack 2000 and the traction module 22 are connected and lifted by the lift table 222, the fixed front legs of the rack 2000 are separated from the floor surface and come into contact with the floor surface only by the movable rear wheels, so that the automatic guided vehicle 1000 is towed. Can be moved by.

As described above, the vehicle body of the automatic guided vehicle according to the present invention is composed of an open type longitudinal frame and a plurality of widthwise frames. The frame on which each module is mounted can provide widthwise support. Modules can be replaced individually, facilitating repairs. The time and cost required for repair and maintenance can be reduced. Since it is possible to transport different types of racks by replacing the module even with one automatic guided vehicle, the functions of the automatic guided vehicle can be adjusted or combined as needed. Further, since a shared external terminal device can be adopted, the flexibility according to the arrangement of the modules is high, and the manufacturing cost of the automatic guided vehicle can be reduced.

The above-mentioned embodiment explains the embodiment of the present invention and describes the characteristic configuration of the present invention, but the present invention is not limited to the above-mentioned embodiment. The embodiments and modifications thereof are included in the scope of claims and the equivalent scope thereof, as are included in the scope and gist of the present invention.

1000 Automated guided vehicle 2000 Rack 1 Open frame 11 Support parts 2 Functional parts set 21 Frame 22 Tow module 221 Connecting rod 222 Radar 23 Drive module 231 Drive motor 232 Direction switching mechanism 233 Drive wheel 24 In-vehicle control module 241 Programmable controller 242 connection Port 243 Power switch 244 Button 245 Alarm 25 Drive control module 26 Battery module 27 Auxiliary wheel 28 Bumper 29 Radar D Spacing distance W Effective width

Claims (17)

An automatic guided vehicle that pulls a rack
With an open frame,
A traction module arranged in the open frame and connected to the rack so as to be able to move up and down, and a functional component set including a drive module for driving the running of the automatic guided vehicle are provided.
When the traction module and the rack are connected, the drive module is an automatic guided vehicle that drives the automatic guided vehicle so as to tow and move the rack. The automatic guided vehicle according to claim 1, wherein the open frame has two supporting parts installed at intervals, and the functional parts set is connected to the supporting parts. The automatic guided vehicle according to claim 2, wherein the functional component set further includes a plurality of frames that are detachably connected between the support components in the width direction. The automatic guided vehicle according to claim 3, wherein the tow module includes at least one connecting rod connected to the rack. The functional component set further comprises an in-vehicle control module and a drive control module, the in-vehicle control module is electrically connected to the drive control module, and the drive control module is electrically connected to the drive module. The unmanned carrier according to claim 4, wherein the drive control module controls the drive module based on a command of the vehicle-mounted control module. The automatic guided vehicle according to claim 5, wherein the functional component set further includes the traction module, the drive module, the vehicle-mounted control module, and a battery module electrically connected to the drive control module. car. The automatic guided vehicle according to claim 5, wherein the vehicle-mounted control module includes a connection port that is selectively externally connected to a mobile terminal having a user interface. The automatic guided vehicle according to claim 5, wherein the vehicle-mounted control module includes a programmable controller (Programmable Logic Controller, PLC). The drive module comprises a drive motor, a direction switching mechanism, and at least one drive wheel, wherein the drive motor drives the direction switching mechanism and the drive wheels based on the drive of the drive control module. The automatic guided vehicle according to claim 5. The vehicle-mounted control module includes a power switch and a plurality of buttons, the power switch switches ON / OFF of power supply from the battery module, and the button switches the operation pattern of the automatic guided vehicle. The automatic guided vehicle according to claim 6. The automatic guided vehicle according to claim 6, wherein the traction module, the drive module, the vehicle-mounted control module, the drive control module, and the battery module are installed in the frame. Claims 4-11, wherein the support parts extend longitudinally and are substantially parallel, defining a spacing distance, and each said frame has an effective width substantially equal to the spacing distance. The automatic guided vehicle described in any one of the above. The automatic guided vehicle according to claim 12, wherein the functional component set is further installed at the bottom of the frame and includes at least one auxiliary wheel that is flush with the drive wheels. The automatic guided vehicle according to claim 12, wherein the functional component set further includes a bumper connected to the support component. The automatic guided vehicle according to claim 12, wherein the functional component set further includes a radar installed on the frame. The automatic guided vehicle according to claim 12, wherein the connecting rod is expandable and contractible and is connected to the rack. The automatic guided vehicle according to claim 12, wherein the tow module further includes an elevating platform for lifting the rack.

Images