JP4910556B2 - Positioning mechanism of transfer machine - Google Patents

Description

  The present invention relates to a positioning mechanism for a transfer machine.

  In recent years, in factories and warehouses, an automated guided vehicle (AGV) that unmannedly transports articles is equipped with a transfer machine that places the articles to be transported at a predetermined position. In general, it is installed in a mechanical device or in a warehouse or the like, an article is stored in a predetermined space.

  When transferring an article by the transfer machine, the positional relationship between the transfer machine and the transfer destination of the article needs to be the same as the preset positional relation so that the article can be transferred accurately. For this reason, a reflective material having a predetermined surface shape is provided at a position where the automatic guided vehicle stops, the predetermined position of the reflective material is detected by sampling the distance data input from the distance detection sensor, and the automatic guided vehicle is stopped. Yes. An example of such a positioning mechanism is disclosed in Patent Document 1 below.

JP 2000-10632 A

  However, the conventional positioning mechanism can keep the stop position of the automatic guided vehicle constant, but it is extremely difficult to accurately match the positional relationship between the transfer machine mounted on the automatic guided vehicle and the transfer destination of the article. Have difficulty.

  Accordingly, an object of the present invention is to provide a positioning mechanism for a transfer machine capable of accurately and reliably positioning an article at the time of transfer.

According to the positioning mechanism of the transfer machine according to the first invention (described in claim 1) for solving the above problem,
In the transfer machine that is mounted on the upper part of the automated guided vehicle,
Between the automatic guided vehicle and the transfer machine, a transfer machine positioning device that adjusts the position of the transfer machine on the automatic guided vehicle;
The transfer machine comprises a ground positioning device for fixing the transfer machine to the ground ,
The ground positioning device is:
An outrigger for fixing the transfer machine to the ground;
Outrigger forward / reverse hydraulic cylinder for moving the outrigger forward or backward,
A transfer machine lifting device for raising or lowering the transfer machine;
With
The forwarder is advanced in a state where the transferer is raised by the transferer lifting device, and the transferer is lowered by the transferer lifting device when the advancement of the outrigger is completed.
The transfer machine lifting device is
A lifting hydraulic cylinder that lifts and lowers the transfer machine is attached to the rear wall surface inside the automatic guided vehicle.
Install a roller part having a roller at the front end of the elevating hydraulic cylinder,
Forming a tapered portion so that the width with the automatic guided vehicle is narrowed toward the front part at the lower part of the transfer machine,
When the roller hydraulic part moves forward by extending the lifting hydraulic cylinder, the taper part is pushed upward to raise the transfer machine .

According to the positioning mechanism of the transfer machine according to the second invention (described in claim 2) for solving the above problem, in the positioning mechanism of the transfer machine according to the first invention,
The transfer machine positioning device is:
A three-dimensional drive for moving the transfer machine in the front-rear direction, the left-right direction, and the up-down direction;
The transfer machine is provided with a fulcrum that enables movement in the front-rear direction and the left-right direction, and enables rotation in the front-rear direction, the left-right direction, and the up-down direction.

  According to the positioning mechanism of the transfer machine according to the third invention (described in claim 3) for solving the above problem, in the positioning mechanism of the transfer machine according to the second invention, the transfer machine positioning The apparatus comprises two three-dimensional drive devices on the front side of the transfer machine and one fulcrum on the back side of the transfer machine, and these are arranged so as to form a triangle. And

According to the positioning mechanism of the transfer machine according to the fourth invention (claim 4 ) for solving the above-mentioned problems, the positioning of the transfer machine according to any of the first to third inventions In the mechanism,
A positioning cone for fixing the ground positioning device on the ground is installed outside the track of the automatic guided vehicle,
The positioning cone has a conical shape.

According to the first invention, in the transfer machine mounted on the upper part of the automatic guided vehicle for transferring the article, the transfer machine on the automatic guided vehicle is provided between the automatic transfer vehicle and the transfer machine. The transfer machine positioning device for adjusting the position, and the transfer machine can fix the transfer machine to the ground by including a transfer machine positioning machine for fixing the transfer machine to the ground. Since the transfer machine can be accurately and reliably positioned in a fixed state, the transfer machine can be accurately positioned with respect to a transfer destination mechanical device, an article storage space, and the like.
The ground positioning device includes an outrigger for fixing the transfer machine to the ground, an outrigger forward / reverse hydraulic cylinder for moving the outrigger forward or backward, and a transfer machine lifting / lowering device for raising or lowering the transfer machine. The outrigger is moved forward by the machine lifting device and the outrigger is moved forward by the transferer lifting device when the forward movement of the outrigger is completed. Interference can be avoided, and the outrigger can be securely fixed to the ground when the forward movement is completed. Further, since the outrigger is stretched when the outrigger is advanced, it is possible to prevent the transfer machine from overturning when the article is transferred, and to push the article further away.
In addition, the transfer machine lifting device is provided with a lifting hydraulic cylinder that lifts and lowers the transfer machine on the rear wall surface inside the automatic guided vehicle, and a roller part having a roller is installed at the front end of the lifting hydraulic cylinder. A taper part is formed so that the width with the automatic guided vehicle becomes narrower toward the front part at the bottom, and when the roller part moves forward by extending the lifting hydraulic cylinder, the taper part is pushed upward to raise the transfer machine Thus, the outrigger can be advanced while having a simple structure.

  According to the second invention, in addition to the effects of the first invention, the transfer machine positioning device includes a three-dimensional drive device that moves the transfer machine in the front-rear direction, the left-right direction, and the up-down direction, and the transfer machine. Positioning the transfer machine on the automatic guided vehicle by providing a fulcrum that can move in the front-rear direction and the left-right direction, and that can rotate in the front-rear direction, the left-right direction, and the vertical direction. Can be done accurately.

  According to the third invention, in addition to the effects of the second invention, the transfer machine positioning device includes two three-dimensional drive devices on the front side of the transfer machine and one on the back side of the transfer machine. By providing the fulcrum and arranging them so as to form a triangle, it is possible to accurately position the transfer machine on the automatic guided vehicle.

According to the fourth invention, in addition to the effects of any one of the first to third inventions, the positioning cone for fixing the ground positioning device to the ground is installed outside the track of the automatic guided vehicle, and the shape of the positioning cone Since the positioning cone does not obstruct the traveling of the automatic guided vehicle, and the positioning cone is not concave but convex, it prevents foreign matter such as lint and dust from accumulating. Therefore, the ground positioning device can be securely fixed.

Reference examples and examples of the positioning mechanism of the transfer machine according to the present invention will be described with reference to FIGS. FIG. 1 is a side view of the back side of the transfer machine according to the first reference example, FIG. 2 is a perspective plan view of the transfer machine according to the first reference example, and FIG. 3 is a transfer figure according to the first reference example. 4 is a left side view of the transfer machine according to the first reference example when the outrigger advances, and FIG. 5 is a left side view when the transfer machine according to the first reference example is transferred. side view, FIG. 6 is a side view of the left lifting device during transfer machine lowered according to a first embodiment, FIG. 7 is a side view of the left outrigger during transfer machine lowered according to the first embodiment, 8 transfer device perspective plan view of a according to the first embodiment, FIG. 9 is a side view of the left lifting device during transfer machine rises according to the first embodiment, FIG. 10 is a first embodiment FIG. 11 is a left side view of the left side when the outrigger moves forward when the transfer machine descends according to the first embodiment.

  Here, the rear side surface of the transfer machine means the rear side surface when the transfer direction of the transfer machine is the front side, and the left side surface of the transfer machine is the transfer side. It means that the side surface is located on the left side with respect to the front side surface of the mounting machine. In each figure, the longitudinal direction of the transfer machine is the left-right direction (X direction), the transfer direction of the transfer machine article is the front-rear direction (Y direction), and the height direction of the transfer machine is the vertical direction ( Z direction).

Reference example 1

Hereinafter, a description will be given of a first reference example of the positioning mechanism of the transfer device of the present invention. In FIG. 1, the side view of the transfer machine which concerns on this reference example is shown. As shown in FIG. 1, a transfer machine 11 is mounted on the upper part of the automatic guided vehicle 10. In FIG. 1, the roll 40 which wound the thread | yarn around the shaft center 40a is shown as an article conveyed by the transfer machine 11, and the roll 40 is shown by the dashed-two dotted line in FIG. In this reference example, the roll 40 is shown as an article to be conveyed, but the design can be changed as appropriate so as to convey articles other than the roll 40.

  The transfer machine 11 is divided into three stages. Between the first stage 12 at the bottom and the second stage 13 at the middle, there is a second stage with respect to the first stage. The linear guide 14 is installed so that it can move in the front-rear direction (Y direction). Further, the third stage 15 can move in the front-rear direction (Y direction) relative to the second stage 13 between the middle second stage 13 part and the uppermost third stage 15 part. In this way, the linear guide 16 is installed.

  In the third stage 15 of the transfer machine 11, a roll support member 17 that supports the roll 40 by the axis 40 a of the roll 40 is installed. The roll support member 17 is provided with a vertical mechanism 18 so that the roll 40 can be moved up and down when the roll 40 is loaded or unloaded.

  Between the transfer machine 11 and the automatic guided vehicle 10, there is a three-dimensional drive device 19 on the automatic guided vehicle that is mounted on the automatic guided vehicle 10 and aligns with a transfer destination to which the roll 13 is transferred. is set up. Further, a fulcrum 24 that is a fulcrum on the back side of the transfer machine 11 on the automatic guided vehicle 10 is installed between the transfer machine 11 and the automatic guided vehicle 10.

FIG. 2 shows a perspective plan view of the transfer machine of this reference example . In FIG. 2, in order to explain the XY plane positional relationship of each component installed in the transfer machine 11 or the automatic guided vehicle 10, components having different positions in the vertical direction (Z direction) are also on the same plane. It is shown.

  As shown in FIG. 2, a drive for driving the automatic guided vehicle 10 and further steering the automatic guided vehicle 10 at the center in the left and right direction (Y direction) of both ends in the front-rear direction (X direction) of the lower part of the automatic guided vehicle 10. Steering wheels 20 are installed. The driving / steering wheels 20 allow the automatic guided vehicle 10 to move forward / backward or to move in an oblique direction. Further, by rotating the driving / steering wheels 20 in the opposite directions, The transfer machine 11 can rotate within a circle having the same length as the diagonal line on the XY plane.

  Caster wheels 21 that stabilize the automatic guided vehicle 10 so that the automatic guided vehicle 10 does not fall are installed at the lower corners of the automatic guided vehicle 10, that is, on both sides of the driving / steering wheel 20 in the front-rear direction (Y direction). The caster wheels 21 can freely rotate according to the movement of the automatic guided vehicle 10, and a total of four caster wheels 21 are installed.

  Inside the lower caster wheel 21 on the front side of the automatic guided vehicle 10, the automatic guided vehicle 10 is stopped at a fixed position with respect to the ground, and the automatic guided vehicle 10 is placed on the ground when the roll 40 is loaded or unloaded. A ground positioning device 23 composed of an outrigger or the like for fixing to the installed conical positioning cone 22 is installed. The ground positioning device 23 will be described in detail later.

Tertiary for positioning the transfer machine 11 on the automatic guided vehicle 10 at both ends in the left-right direction (X direction) on the front side of the transfer machine 10 between the automatic transfer vehicle 10 and the transfer machine 11. An original drive device 19 is installed. The three-dimensional drive device 19 moves the transfer machine 11 in the left-right direction (X direction), the motor that moves in the front-rear direction (Y direction), and the up-down direction (Z direction) with respect to the automatic guided vehicle 10. The transfer device 11 can be moved in the X direction, the Y direction, and the Z direction. In this reference example, the transfer machine 11 on the automatic guided vehicle 10 is moved in the X direction, the Y direction, and the Z direction by a motor, but may be moved by hydraulic pressure or the like.

  A fulcrum 24 that is a fulcrum on the back side of the transfer machine 11 on the automatic guided vehicle 10 is installed at the center of the transfer machine 11 between the automatic transfer vehicle 10 and the transfer machine 11. . The fulcrum 24 includes an X-direction linear guide that can move the transfer machine 11 in the left-right direction (X direction), and a Y-direction linear guide that can move the transfer machine 11 in the front-rear direction (Y direction). The transfer machine is constituted by a spherical bearing capable of rotating with the X direction, the Y direction, and the Z direction as rotation axes, that is, a pitch bearing, a roll, and a spherical bearing capable of yaw.

That is, the fulcrum 24 restricts only the movement of the transfer machine 11 on the automatic guided vehicle 10 in the Z direction, and other movements in the X direction and the Y direction, and pitch, roll, and yaw are possible. It has become. Thus, the transfer machine of this reference example enables accurate positioning with the transfer destination by the three-dimensional drive device 19 and the fulcrum 24. In this reference example, the three-dimensional drive device 19 and the fulcrum 24 are the transfer machine positioning device described in the means for solving the problem.

FIG. 3 shows a left side view of the transfer machine of this reference example . Note that the outrigger shown in FIG. 3 is in a state of being stored in the automatic guided vehicle 10. As shown in FIG. 3, a ground positioning device 23 is installed below the transfer machine 11. An outrigger 25 is installed at the front of the ground positioning device 23. The outrigger 25 is supported by an outrigger support member 26 that supports the outrigger 25. The rear end portion of the outrigger 25 and the outrigger support member 26 are rotatably coupled by an outrigger rotation shaft 27.

  An outrigger forward / reverse hydraulic cylinder 28 is installed between the outrigger support member 26 and the lower part of the transfer machine 11 in order to advance or reverse the outrigger 25 in the front / rear direction (Y direction). The rear end of the outrigger hydraulic cylinder 28 is attached to the lower part of the first stage of the transfer machine 11. A linear guide 29 is installed between the upper part of the outrigger support member 26 and the lower part of the transfer machine 11 so that the outrigger support member 26 can move back and forth in the front-rear direction (Y direction). The support member 26 is attached to the transfer machine 11 via a linear guide 29. For this reason, when the outrigger hydraulic cylinder 28 is contracted, the outrigger support member 26 moves backward, and when the outrigger hydraulic cylinder 28 is extended, the outrigger support member 26 moves forward.

  A ground positioning hydraulic cylinder 30 for ascending or descending (moving up and down) the outrigger 25 is rotatably coupled to an upper portion of the distal end portion of the outrigger 25. The rear end portion of the ground positioning hydraulic cylinder 30 is rotatably coupled to the upper portion of the front portion of the outrigger support member 26.

  Thus, since the ground positioning hydraulic cylinder 30 is installed between the upper part of the tip of the outrigger 25 and the upper part of the front part of the outrigger support member 26, when the ground positioning hydraulic cylinder 30 is contracted, the outrigger 25 is When the ground positioning hydraulic cylinder 30 is extended, the outrigger 25 is lowered.

An outrigger fixing portion 31 that is a portion covering the positioning cone 22 is formed at a lower portion of the distal end portion of the outrigger 25. In this reference example, since the shape of the positioning cone 22 is a conical convex shape, the outrigger fixing portion 31 is concave. However, when the positioning cone 22 is concave, the shape of the outrigger fixing portion 31 is convex. It is good. In this reference example, the outrigger 25, the outrigger hydraulic cylinder 28, and the ground positioning hydraulic cylinder 30 are the ground positioning device 23 described in the means for solving the problem.

FIG. 4 shows a left side view of the transfer machine of this reference example when the outrigger advances. As shown in FIG. 4, the outrigger hydraulic cylinder 28 and the ground positioning hydraulic cylinder 30 are in an extended state. At this time, the outrigger fixing portion 31 below the distal end portion of the outrigger 25 is in a state of covering the positioning cone 22. In this way, the outrigger fixing portion 31 and the positioning cone 22 are coupled, and the transfer machine 11 is fixed to the ground.

FIG. 5 shows a left side view when the transfer machine of the present reference example is transferred. As shown in FIG. 5, when the roll 40 is transferred, the transfer machine 11 moves the second stage 13 forward and the third stage 15 also moves forward. That is, the roll 40 is in a state of being pushed out from the first stage 12 of the transfer machine 11.

  For this reason, the center of gravity of the transfer machine 11 is shifted to the outside and becomes unstable. However, since the outrigger 25 is fixed to the positioning cone 22 in an extended state, the transfer machine 11 can be stretched by the outrigger 25. The machine 11 can be prevented from falling, and the roll 40 can be pushed away further.

As described above, according to the positioning mechanism of the transfer machine of the present reference example, in the transfer machine 11 that is mounted on the upper part of the automated guided vehicle 10 and transfers the article, the automatic guided vehicle 10 and the transfer machine 11 In between, the transfer machine positioning apparatus which adjusts the position of the transfer machine 11 on the automatic guided vehicle 10 and the transfer machine 11 are provided with the ground positioning apparatus 23 which fixes the transfer machine 11 to the ground. Thus, the transfer machine 11 can be fixed with respect to the ground, and the transfer machine 10 can be accurately and reliably positioned in this fixed state. It is possible to accurately align the mechanical device and the storage space for the article.

  In addition, the transfer machine positioning device enables the transfer machine 11 to move in the front-rear direction, the left-right direction, and the up-down direction, and the transfer machine 11 can move in the front-rear direction and the left-right direction. And the positioning of the transfer machine 11 on the automatic guided vehicle 10 can be accurately performed by including the fulcrum 24 that enables rotation in the front-rear direction, the left-right direction, and the up-down direction.

  The transfer machine positioning device includes two three-dimensional drive devices 19 on the front side of the transfer machine 11 and one fulcrum 24 on the back side of the transfer machine, and these are arranged so as to form a triangle. By doing so, the transfer machine 11 on the automatic guided vehicle 10 can be accurately positioned.

  The ground positioning device 23 includes an outrigger 25 that fixes the transfer machine 11 to the ground, an outrigger hydraulic cylinder 28 that moves the outrigger 25 forward or backward, and a ground positioning hydraulic cylinder 30 that raises or lowers the outrigger 25. By providing, the position of the transfer machine 11 can be positioned accurately and the transfer machine 11 can be reliably fixed to the ground.

  Further, since the outrigger 25 is stretched when the outrigger 25 is moved forward, the transfer machine 11 is prevented from falling when the article is transferred, and the article can be pushed out further.

  In addition, the positioning cone 22 for fixing the ground positioning device 23 to the ground is installed outside the track of the automatic guided vehicle 10, and the positioning cone 22 is formed into a conical shape so that the positioning cone 22 can be used for running the automatic guided vehicle 10. Further, since the positioning cone 22 is not concave but convex, it is possible to prevent foreign matter such as lint and dust from accumulating, so that the ground positioning device 23 can be securely fixed. it can.

Hereinafter, a first embodiment of the positioning mechanism of the transfer machine according to the present invention will be described. In the positioning device of the transfer machine according to the present embodiment, the ground positioning device including the outrigger described in the first reference example is partially installed on the automatic guided vehicle side, and further, the transfer machine and the automatic guided vehicle A lifting device for raising and lowering the transfer machine is installed in between, but the structure of the other transfer machine and the like are substantially the same as the structure described in the first reference example.

  FIG. 6 shows a left side view of the lifting device when the transfer machine is lowered according to this embodiment. As shown in FIG. 6, the automatic guided vehicle 10 and the transfer machine 11 are coupled to each other by a coupling shaft 32 at a position from the back surface. That is, the transfer machine 11 is coupled to the automatic guided vehicle 10 so that the front side can be opened and closed in the vertical direction (Z direction) around the coupling shaft 32.

  A transfer machine lifting / lowering device 33 is installed at the lower part of the rotating shaft 32 on the back side of the automatic guided vehicle 10. The transfer machine lifting / lowering device 33 is provided with a lifting / lowering hydraulic cylinder 34. A roller portion 36 having a roller 35 attached to the upper portion is attached to the front end portion of the lifting hydraulic cylinder 34. A linear guide 37 is installed below the roller portion 36, and the roller portion 36 can move back and forth in the front-rear direction (Y direction).

  The portion of the lower roller portion 36 of the transfer machine 11 that is in contact with the roller 35 is such that the width between the lower surface of the transfer machine 11 and the upper surface of the linear guide 37 of the automatic guided vehicle 10 becomes narrower toward the front side. 38 is formed.

  FIG. 7 shows a left side view of the outrigger when the transfer machine is lowered according to this embodiment. As shown in FIG. 7, an outrigger forward / reverse hydraulic cylinder 39 is installed on the back side of the automatic guided vehicle 10. The tip of the outrigger hydraulic cylinder 39 is connected to the outrigger 25.

  The upper part of the outrigger 25 is attached to a linear guide 40 installed at the lower part of the transfer machine 11 and can move forward and backward in the front-rear direction (Y direction). As described above, in this embodiment, the ground positioning device 41 including the outrigger 25 and the outrigger hydraulic cylinder 39 is attached to both the transfer machine 11 and the automatic guided vehicle 10.

  FIG. 8 is a perspective plan view of the transfer machine according to the present embodiment. In FIG. 8, in order to explain the XY plane positional relationship of each component installed in the transfer machine or the automatic guided vehicle, components having different positions in the height direction are also shown on the same plane.

The three-dimensional drive device and fulcrum on the automatic guided vehicle of the transfer machine according to the present embodiment, and the arrangement of the driving / steering wheels and caster wheels of the automatic guided vehicle are substantially the same as those in the first reference example. Therefore, detailed description is omitted here.

  As shown in FIG. 8, a transfer machine lifting / lowering device 33 that lifts and lowers the transfer machine 11 is installed at an inner position in the left-right direction (X direction) of the positioning device 19 below the transfer machine 11. The ground positioning device 41 is installed at an inner position in the left-right direction (X direction) of the transfer device lifting / lowering device 33.

  FIG. 9 shows a left side view of the lifting device when the transfer machine is raised according to this embodiment. As shown in FIG. 9, when the elevating hydraulic cylinder 34 is extended, the roller portion 36 moves forward on the linear guide 37. At this time, since the roller 35 pushes up the tapered portion 38, the transfer machine 11 can be raised.

  FIG. 10 is a side view on the left side when the outrigger moves forward when the transfer machine ascends according to this embodiment. As shown in FIG. 10, when the transfer machine 11 is raised, the outrigger hydraulic cylinder 39 is extended. Thereby, the outrigger fixing portion 31 at the lower end of the outrigger 25 can be positioned above the positioning cone 22 without causing interference with the positioning cone 22.

  FIG. 11 shows a left side view when the outrigger moves forward when the transfer machine descends according to this embodiment. As shown in FIG. 11, when the lifting hydraulic cylinder 34 (see FIG. 6) is contracted to lower the transfer machine 11, the outrigger 25 is also lowered, and the outrigger fixing portion 31 covers the positioning cone 22 and is unmanned. The transport vehicle 10 and the transfer machine 11 are fixed to the ground.

  Thus, according to the positioning mechanism of the transfer machine according to the present embodiment, the ground positioning device 41 includes the outrigger 25 that fixes the transfer machine 11 on the ground, and the outrigger hydraulic cylinder that moves the outrigger 25 forward or backward. 39 and a transfer machine lifting / lowering device 33 that raises or lowers the transfer machine 11, and moves the outrigger 25 forward in a state where the transfer machine 11 is raised by the transfer machine lifting / lowering apparatus 33. By lowering the transfer machine 11 by the transfer machine lifting / lowering device 33 at the time of completion, it is possible to avoid the outrigger 25 from interfering with the structure on the ground when moving forward. Can be fixed to.

  Furthermore, since the outrigger 25 is stretched when the outrigger is advanced, it is possible to prevent the transfer machine from overturning when the article is transferred, and to push the article further away.

  In addition, the transfer machine lifting / lowering device 33 is provided with a lifting / lowering hydraulic cylinder 34 that lifts and lowers the transfer machine 11 on the rear wall of the automatic guided vehicle 10, and a roller part 36 having a roller 35 at the front end of the lifting / lowering hydraulic cylinder 34. The taper portion 38 is formed so that the width with the automatic guided vehicle 10 becomes narrower toward the front of the transfer machine 11 at the lower part of the transfer machine 11, and when the roller portion moves forward by extending the lifting hydraulic cylinder 34, the taper portion 38. Is pushed upward and the transfer machine 11 is raised, so that the outrigger 25 can be moved forward with a simple structure.

It is a side view of the back side of the transfer machine concerning the 1st reference example. It is a perspective top view of the transfer machine concerning the 1st reference example. It is a left side view of the transfer machine concerning the 1st reference example. It is a left side view at the time of an outrigger advance of a transfer machine concerning the 1st reference example. It is a left side view at the time of transfer of the transfer machine concerning the 1st reference example. It is a side view of the left side of the raising / lowering apparatus at the time of the transfer machine descent | fall based on 1st Example. It is a left side view of the outrigger when the transfer machine descends according to the first embodiment. It is a perspective top view of the transfer machine concerning the 1st example. It is a side view of the left side of the raising / lowering apparatus at the time of the transfer machine raise concerning 1st Example. It is a side view of the left side at the time of an outrigger advance at the time of the transfer machine raise concerning 1st Example. It is a side view of the left side at the time of an outrigger advance at the time of transfer machine descent | fall concerning 1st Example.

DESCRIPTION OF SYMBOLS 10 Automatic guided vehicle 11 Transfer machine 19 Three-dimensional drive device 22 Positioning cone 23, 41 Ground positioning device 24 Support point 25 Outrigger 28, 39 Outrigger hydraulic cylinder 30 Ground positioning hydraulic cylinder 33 Transfer machine lifting device 34 Lifting hydraulic cylinder 35 Roller 36 Roller part 38 Taper part

Claims (4)

In the transfer machine that is mounted on the upper part of the automated guided vehicle,
Between the automatic guided vehicle and the transfer machine, a transfer machine positioning device that adjusts the position of the transfer machine on the automatic guided vehicle;
The transfer machine comprises a ground positioning device for fixing the transfer machine to the ground ,
The ground positioning device is:
An outrigger for fixing the transfer machine to the ground;
Outrigger forward / reverse hydraulic cylinder for moving the outrigger forward or backward,
A transfer machine lifting device for raising or lowering the transfer machine;
With
The forwarder is advanced in a state where the transferer is raised by the transferer lifting device, and the transferer is lowered by the transferer lifting device when the advancement of the outrigger is completed.
The transfer machine lifting device is
A lifting hydraulic cylinder that lifts and lowers the transfer machine is attached to the rear wall surface inside the automatic guided vehicle.
Install a roller part having a roller at the front end of the elevating hydraulic cylinder,
Forming a tapered portion so that the width with the automatic guided vehicle is narrowed toward the front part at the lower part of the transfer machine,
The transfer machine positioning mechanism, wherein when the roller hydraulic part is advanced by extending the elevating hydraulic cylinder, the taper part is pushed upward to raise the transfer machine. In the transfer machine positioning mechanism according to claim 1,
The transfer machine positioning device is:
A three-dimensional drive for moving the transfer machine in the front-rear direction, the left-right direction, and the up-down direction;
A transfer machine positioning mechanism comprising a fulcrum that enables the transfer machine to move in the front-rear direction and the left-right direction, and to rotate in the front-rear direction, the left-right direction, and the up-down direction. . In the transfer machine positioning mechanism according to claim 2,
The transfer machine positioning device includes two three-dimensional drive devices on the front side of the transfer machine and one fulcrum on the back side of the transfer machine, and these are arranged so as to form a triangle. A transfer machine positioning mechanism. In the transfer machine positioning mechanism according to any one of claims 1 to 3 ,
A positioning cone for fixing the ground positioning device on the ground is installed outside the track of the automatic guided vehicle,
A transfer machine positioning mechanism, wherein the positioning cone has a conical shape.

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