JP5012197B2 - Evacuation device for automated guided vehicles - Google Patents

Description

  The present invention relates to a retractor for an automatic guided vehicle, and in particular, when an automatic guided vehicle traveling on a traveling path stops due to an abnormality occurring under a plurality of carriages arranged in a line in a predetermined section of the traveling path. The present invention relates to an apparatus for retracting an automatic guided vehicle out of a traveling path.

2. Description of the Related Art In recent years, a transport system that transports luggage or the like using a plurality of automatic guided vehicles that travel on a travel path while detecting a guide wire such as a magnetic tape disposed on the travel path is known. In such a conveyance system, when an automatic guided vehicle stops due to an abnormality such as a failure during traveling, the automatic guided vehicle that has stopped abnormally does not immediately interfere with the traveling of other automatic guided vehicles. It is desirable to evacuate outside the travel path.
However, the automatic guided vehicle often has a motor with a brake as its driving unit, and when the automatic guided vehicle stops abnormally, the motor becomes unable to rotate due to the action of the brake, and the automatic guided vehicle is pushed by hand. Therefore, it is difficult to evacuate the road.

  Therefore, for example, in the automatic guided vehicle disclosed in Patent Document 1, a plurality of emergency legs are respectively attached to the vehicle body so as to be able to be lifted and lowered. The idle wheel attached to the tip of the vehicle is grounded to lift the vehicle body, and the idle vehicle wheel can be used to push and move the vehicle body manually.

Japanese Utility Model Publication No. 5-65616

  By the way, apart from the automatic guided vehicle as disclosed in Patent Document 1, there is an automatic guided vehicle that can be moved under the cart to convey the cart. In such a transport system using an automatic guided vehicle, a plurality of carts are arranged in a line in a predetermined section of a traveling path on which the automatic guided vehicle travels, and each cart is used as a work table for assembling equipment and the like. In some cases, an assembly line in a factory or the like is configured by conveying a carriage with an automatic guided vehicle.

  For example, as shown in FIGS. 18A and 18B, the automatic guided vehicle 1 travels on the travel path 2 in the direction of the arrow while detecting the guide wire 3 disposed on the travel path 2. The carriage C is conveyed by raising the connecting pin 5 from the upper part of the vehicle body 4 and connecting it to the carriage C. In addition, a plurality of carriages C are arranged in a line in the predetermined section S of the traveling path 2, and the automatic guided vehicle 1 conveys a new carriage C to the tail of the plurality of carriages C along the traveling direction, Therefore, the connecting pin 5 is lowered and the carriage C is separated. Thereafter, the automatic guided vehicle 1 travels on the traveling path 2 and passes under the plurality of carriages C and stops when it reaches the leading carriage C. Here, the connecting pin 5 is raised to the carriage C. In this state, the vehicle travels again and transports the carriage C to a desired location. The plurality of carriages C in the predetermined section S are configured to be moved in the traveling direction of the automatic guided vehicle 1 by a transport device (not shown).

However, in the assembly line as described above, when the automatic guided vehicle 1 passes under the plurality of carriages C and stops due to an abnormality such as a failure, the emergency use as disclosed in Patent Document 1 Even if the automatic guided vehicle 1 is made movable by using the legs, in order to retract the automatic guided vehicle 1 out of the traveling path 2, the cart C on the automatic guided vehicle 1 and the carts C before and after that It is necessary to move the plurality of carriages C, which may require a lot of labor and time.
The present invention has been made to solve such problems, and it is an object of the present invention to provide a retractor for an automatic guided vehicle that can retract the automatic guided vehicle out of the traveling path easily and in a short time. And

  The automatic guided vehicle evacuation device according to the present invention is configured such that when the automatic guided vehicle traveling on the traveling path stops due to an abnormality occurring under a plurality of carriages arranged in a line in a predetermined section of the traveling path, In a device for retracting a vehicle out of a travel path, guide means arranged to extend under a plurality of carriages arranged in a predetermined section of the travel path, and movable along the guide means A connecting member for connecting to the automatic guided vehicle, a long pulling member having the connecting member fixed to one end thereof, and a release mechanism for releasing the drive unit of the automatic guided vehicle that has stopped abnormally. When the automatic guided vehicle is abnormally stopped under the plurality of carriages, the connecting member is moved along the guide means from one end in the arrangement direction of the plurality of carriages to the automatic guided carriage. To the release mechanism The drive unit of the automatic guided vehicle is released, and the connecting member is pulled through the pulling member in that state, so that the automatic guided vehicle is moved along the guide means and pulled out from one end in the arrangement direction of the plurality of carriages. It is.

  The guide means is a rail extending along the traveling path, and a rail raising mechanism for raising the height of the rail is connected to the rail, and the automatic guided vehicle is a member for engaging the raised rail. In the state where the coupling means is formed and the rail is raised by the rail raising mechanism and engaged with the engaging means of the automatic guided vehicle, the connecting member is moved along the rail to be connected to the automatic guided vehicle, and the Thus, the automatic guided vehicle can be moved along the rail by pulling the connecting member.

  The guide means is a groove formed in the travel path. The automatic guided vehicle has an engaging pin that can protrude downward and engage with the groove. The connecting member moves along the groove. The automatic guided vehicle is connected to the automatic guided vehicle, and the automatic guided vehicle is moved along the groove by pulling the connecting member through the pulling member in a state where the engaging pin protrudes downward and is engaged with the groove. It is also possible to configure it.

Preferably, the connecting member is connected to the automatic guided vehicle, the release mechanism to release the brake acting on the motor for driving the drive wheel or drive wheels of the automatic guided vehicle, the driver is unattended transport vehicle Can be configured to be released.

  According to the present invention, when an automated guided vehicle has an abnormality under a plurality of carriages, the automated guided vehicle can be easily and quickly retreated from the traveling path without moving the plurality of carriages. it can.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
Embodiment 1 FIG.
1 (a) and 1 (b) show the retractor for an automatic guided vehicle according to Embodiment 1 of the present invention. This retractor is used when the automatic guided vehicle 11 stops due to an abnormality such as a failure. The automatic guided vehicle 11 is for retreating out of the traveling path 2. The travel path 2 is partitioned on the floor of a factory or the like so as to define the travel route of the automatic guided vehicle 11, and a guide wire 3 made of magnetic tape or the like is disposed along the travel path 2. . The automatic guided vehicle 11 travels on the travel path 2 in the direction of the arrow while detecting the guide line 3.

  A plurality of carriages C are arranged in a line in a predetermined section S set in the travel path 2, and rails 12 are provided so as to extend below the plurality of carriages C in the predetermined section S. The rail 12 is disposed parallel to the guide line 3 of the travel path 2 and at a position that does not interfere with the travel of the automatic guided vehicle 11, and is provided so as to be movable up and down relative to the travel path 2. The rail 12 is in a lowered state at a normal time when the automatic guided vehicle 11 is not abnormal, and is located in the vicinity of the road surface of the traveling path 2. Further, an engagement member 14 for engaging the rail 12 that is lifted above the traveling path 2 is fixed to the side portion of the vehicle body 13 of the automatic guided vehicle 11.

  Each carriage C has wheels 15 and is movable. The automatic guided vehicle 11 is formed at a height that allows the automatic guided vehicle 11 to move below the carriage C. The automatic guided vehicle 11 is lifted and lowered by an unillustrated driving device at the upper portion of the vehicle body 13 of the automatic guided vehicle 11. A connecting pin 16 is provided for connecting to the connector.

  As shown in FIGS. 2A and 2B, the rail 12 can be moved up and down with respect to the traveling path 2 via a plurality of support members 17, that is, the rail 12 can be raised and lowered in the vertical direction while keeping the rail 12 horizontal. It is arranged so that it can be lowered. A locking member 18 is fixed to one end of the rail 12 in the length direction, and a locking recess 19 is formed on the road surface of the traveling path 2 at a position corresponding to the locking member 18 of the rail 12. Yes. As shown in FIG. 2 (a), the protruding portion 21 protruding from the intermediate portion of the lever 20 is locked to the locking member 18 of the rail 12, and the lower end of the lever 20 is locked to the travel path 2. By tilting the lever 20 in the direction of the arrow while being engaged with the recess 19, the rail 12 is predetermined with respect to the traveling path 2 via the plurality of support members 17 as shown in FIG. It is configured to be lifted upward by an interval of.

  A plurality of support members 17 and levers 20 constitute a rail raising mechanism for raising the rails 12. Further, the locking recess 19 of the traveling path 2 is disposed at a position that does not hinder the traveling of the automatic guided vehicle 1. In addition, a housing groove 17a is formed in the lower portion of the rail 12 on the road surface of the traveling path 2, and the lower portions of the plurality of column members 17 are housed in the housing grooves 17a.

As shown in FIGS. 3A to 3C, the engaging member 14 fixed to the side portion of the vehicle body 13 of the automatic guided vehicle 11 extends parallel to the rail 12 and faces downward. A groove 22 is formed as an engaging means of the present invention. When the rail 12 is raised, a part of the rail 12 in the longitudinal direction is engaged with the groove 22 of the engaging member 14. Has been.
The engaging member 14 is formed with a long hole 23 for connecting a connecting member to be described later.

The retracting device for the automatic guided vehicle 11 has a traction jig 24 as shown in FIGS. 4 (a) and 4 (b). The pulling jig 24 includes a connecting member 25 formed so as to be movable along the rail 12 in the raised state, and a pulling member 26 made of a wire having a long shape. The connecting member 25 is fixed to one end of the pulling member 26, and the connecting member 25 can be moved along the rail 12 by operating the pulling member 26. As shown in FIGS. 5A and 5B, the insertion portion 27 of the connecting member 25 is configured to be inserted and connected to the groove 22 of the engaging member 14 of the automatic guided vehicle 11. .
Note that the pulling member 26 has sufficient rigidity to move the connecting member 25 along the rail 12 via the pulling member 26.

  Here, as shown in FIG. 6A, a pair of blade-like members 28 are arranged in the insertion portion 27 of the connecting member 25. The pair of blade-like members 28 are connected to each other so as to be openable and closable between an open state in which the blade-like members 28 open and project from both side portions of the insertion portion 27 and a closed state in which the pair of blade-like members 28 are folded and accommodated in the insertion portion 27 The pair of blade-like members 28 are biased to an open state by a spring 29. When the insertion portion 27 of the connecting member 25 is inserted into the groove 22 of the engaging member 14 of the automatic guided vehicle 11, the inserting portion 27 is automatically connected to the engaging member 14.

  That is, as illustrated in FIG. 6B, when the insertion portion 27 of the connecting member 25 is inserted into the groove 22 of the engaging member 14 of the automatic guided vehicle 11, the inner wall surface of the groove 22 of the engaging member 14. The pair of blade-like members 28 of the insertion portion 27 are folded into a closed state, and the blade-like members 28 of the insertion portion 27 are elongated holes of the engagement member 14 as shown in FIG. 23, the pair of blade-like members 28 are opened by the urging force of the spring 29 and project outside from the long holes 23 of the engagement members. It will engage with the peripheral edge of the long hole 23. In this way, the connecting member 25 can be connected to the engaging member 14 of the automatic guided vehicle 11.

  The automatic guided vehicle 11 has a release mechanism (not shown) for releasing the drive unit of the automatic guided vehicle 11 that has stopped abnormally. The release mechanism includes an engaging member 14 and a connecting member 25. When connected, the drive unit of the automatic guided vehicle 11 is automatically released. Here, releasing the drive unit of the automatic guided vehicle 11 means that the automatic guided vehicle 11 is released by, for example, releasing a brake acting on a driving wheel of the automatic guided vehicle 11 or a motor for driving the driven wheel by a release device. Is in a state where it can be moved by towing or pushing.

  Next, the operation of the retractor for the automatic guided vehicle 11 having the above-described configuration will be described. First, at a normal time, as shown in FIGS. 1A and 1B, the rail 12 is lowered to the vicinity of the road surface of the traveling path 2. The automatic guided vehicle 11 raises the connecting pin 16 to be connected to the carriage C, and conveys the carriage C by traveling in the direction of the arrow on the traveling path 2 while detecting the guide wire 3.

Here, as shown in FIGS. 7A and 7B, the automatic guided vehicle 11 conveys a new carriage C toward the tail end of the plurality of carriages C in the predetermined section S, and the plurality of carriages C When it reaches the end of the vehicle, it stops and lowers the connecting pin 5 to separate the carriage C. Thereafter, the automatic guided vehicle 11 travels on the traveling path 2 as shown in FIGS. 8A and 8B and passes under the plurality of carriages C. Further, as shown in FIGS. 9 (a) and 9 (b), the vehicle stops when it reaches the top carriage C among the plurality of carriages C in the predetermined section S, and the connection pin 5 is raised to connect to the carriage C. To do. In this state connected to the carriage C, the automatic guided vehicle 11 travels on the traveling path 2 again as shown in FIGS. 10A and 10B to bring the carriage C to a desired location. Transport to. The plurality of carriages C in the predetermined section S can be moved in the traveling direction of the automatic guided vehicle 1 by a not-shown transfer device.
Each carriage C can be used as a work table for assembling equipment and the like, and the predetermined section S of the traveling path 2 can be used as an assembly line or the like.

Here, when the automatic guided vehicle 11 passes under a plurality of carriages C in a predetermined section S and stops due to an abnormality such as a failure, it is shown in FIGS. 11 (a) and 11 (b). As described above, the operator raises the rail 12 with respect to the traveling path 2 by engaging the lever 20 with the engaging member 18 positioned at one end of the rail 12 and tilting the lever 20. Thereby, a part of the rail 12 is engaged with the groove 22 of the engaging member 14 of the automatic guided vehicle 11.
The lever 20 is held in the tilted state at this time by the holding member 30, and thus the rail 12 is held in the raised state.

Next, as shown in FIGS. 12A and 12B, the worker places the connecting member 25 of the pulling jig 24 on the rail 12 in the raised state, and also performs the pulling jig. By moving the pulling member 26 of the tool 24 along the rail 12 and moving the connecting member 25 along the rail 12 via the pulling member 26, as shown in FIGS. The member 25 is fed to the automatic guided vehicle 11 that has stopped abnormally, and the insertion portion 27 of the connecting member 25 is inserted into the groove 22 of the engaging member 14 of the automatic guided vehicle 11 as shown in FIGS. 5 (a) and 5 (b). Insert into and connect.
Further, when the connecting member 25 is connected to the engaging member 14 in this way, the driving unit of the automatic guided vehicle 11 is automatically released by a release mechanism (not shown), and the automatic guided vehicle 11 can be moved freely. It becomes possible.

  Thereafter, the operator pulls the connecting member 25 through the pulling member 26 of the pulling jig 24 to move the automatic guided vehicle 11 along the rail 12 in the traveling direction thereof, Pull out from. Thus, the automatic guided vehicle 11 pulled out from under the plurality of carriages C is moved to the outside of the traveling path 2 by being pulled through the pulling jig 24 or pushed by hand.

  As described above, the automatic guided vehicle 11 can be pulled out from below the plurality of carriages C without moving the plurality of carriages C by connecting the towing jig 24 to the automated guided vehicle 11 and pulling. . Therefore, the automated guided vehicle 11 that has stopped abnormally can be easily retreated from the traveling path 2 in a short time, and this assembly line can be quickly restored.

In addition, since the rail 12 is engaged with the groove 22 of the engaging member 14 of the automatic guided vehicle 11, when the automatic guided vehicle 11 is pulled through the pulling jig 24, the automatic guided vehicle 11 follows the rail 12. Therefore, the automatic guided vehicle 11 can be easily pulled out from below the plurality of carriages C through the pulling jig 24.
Further, the rail 12 can be pulled up manually by using the lever 20, and the connecting member 25 can be moved along the rail 12 to be connected to the automatic guided vehicle 11 by the operator operating the pulling member 26. Therefore, it is not necessary to attach and move the drive source to the rail 12 and the connecting member 25, and thus a low-cost retracting device can be realized with a simple configuration.

Instead of the rail 12, guide means made of a wire or other various members can be used.
Further, when the connecting member 25 is connected to the engaging member 14 of the automatic guided vehicle 11, the drive unit of the automatic guided vehicle 11 is released by a release mechanism (not shown), but instead, the automatic guided vehicle 11 is not shown. Manual operation means may be provided, and the driving unit of the automatic guided vehicle 11 can be released when the manual operation means is operated by an operator.

Embodiment 2. FIG.
Next, a retracting device for automatic guided vehicle 31 according to Embodiment 2 of the present invention will be described with reference to FIG. In the second embodiment, a groove 32 is formed on the road surface of the traveling path 2 in place of the rail 12 in the retracting apparatus of the first embodiment shown in FIG. The groove 32 is formed so as to extend below the plurality of carriages C arranged in a line in the predetermined section S, and prevents the automatic guided vehicle 31 from traveling in parallel to the guide line 3 of the traveling path 2. Is located in no position. Further, as shown in FIGS. 15A and 15B, the automatic guided vehicle 31 is provided with an engagement pin 33 at the lower portion of the vehicle body 13 and is disposed at the side portion of the vehicle body 1. The engagement pin 33 can be moved up and down by operating the operation unit 34.

  Also, as shown in FIGS. 16A and 16B, the traction jig 35 in the retracting device of the second embodiment moves on the traveling path 2 to one end of the long traction member 26. The connecting member 36 that can be formed is fixed. A wheel 37 is rotatably attached to the lower portion of the connecting member 36, and the connecting member 36 can move smoothly on the traveling path 2 via the wheel 37. Further, a protruding portion 38 is disposed on the upper portion of the connecting member 36 so as to be able to protrude, and the protruding portion 38 is urged to protrude from the upper surface of the connecting member 36 by a spring (not shown). Further, a pair of insertion pins 39 for insertion into the groove 32 is formed on the lower surface of the connection member 36, and the pair of insertion pins 39 are arranged at intervals in the running direction of the connection member 36. ing.

  The automatic guided vehicle 31 also has a release mechanism (not shown) for releasing the drive unit of the automatic guided vehicle 31 that has stopped abnormally. The release mechanism is provided on the body 13 of the automatic guided vehicle 31. When the connecting member 36 is connected to the lower part, the driving unit of the automatic guided vehicle 31 is automatically released.

  In the retracting device having such a configuration, the engagement pin 33 is raised by the operation portion 34 of the automatic guided vehicle 31 in a normal state, and the engagement pin 33 is held at a height at which the engagement pin 33 is not inserted into the groove 32. Has been. The automatic guided vehicle 31 transports the carriage C by connecting the connecting pin 16 to the carriage C and traveling on the traveling path 2.

  Here, as shown in FIGS. 14A and 14B, when the automatic guided vehicle 31 in a state where the connecting pin 16 is separated from the carriage C passes under the plurality of carriages C in the predetermined section S. When the operator stops due to an abnormality such as a failure, the operator operates the operation unit 34 of the automatic guided vehicle 11 so that the engagement pin is engaged as shown in FIGS. 15 (a) and 15 (b). 33 is lowered and protrudes below the vehicle body 13, and is inserted into the groove 32 to be engaged.

Further, as shown in FIGS. 16A and 16B, the operator places the connecting member 36 on the traveling path 2 while inserting the pair of insertion pins 39 of the connecting member 36 into the groove 32. By operating the pulling member 26 and moving the connecting member 36 along the groove 32 in the direction of the arrow, the connecting member 36 is inserted into the lower portion of the vehicle body 13 of the automatic guided vehicle 31 as shown in FIG. . At this time, when the connecting member 36 is inserted into the lower portion of the vehicle body 13 by a predetermined length, the protruding portion 38 of the connecting member 36 is engaged with and connected to the lower portion of the vehicle body 13.
Further, when the connecting member 36 is connected to the vehicle body 13 in this way, the drive unit of the automatic guided vehicle 31 is automatically released by a release mechanism (not shown).

  Thereafter, the operator pulls the connecting member 36 via the pulling member 26 of the pulling jig 35 to move the automatic guided vehicle 31 along the groove 32 in the traveling direction thereof, Pull out from. Thus, the automatic guided vehicle 31 pulled out from under the plurality of carriages C is moved to the outside of the traveling path 2 by being pulled through the pulling jig 35 or pushed by hand.

As described above, by connecting the towing jig 35 to the automatic guided vehicle 31 and pulling, the automatic guided vehicle 31 can be pulled out from below the multiple carts C without moving the multiple carts C. At the same time, since the engaging pin 33 of the automatic guided vehicle 31 is engaged with the groove 32, the automatic guided vehicle 31 is linearly moved in the traveling direction along the groove 32, via the pulling jig 35. The automatic guided vehicle 31 can be easily pulled out from under the plurality of carriages C.
Further, since the connecting member 36 can be moved along the groove 32 and connected to the automatic guided vehicle 31 by the operator operating the pulling member 26, it is necessary to attach and move the driving source to the connecting member 36. Therefore, a low-cost evacuation device can be realized with a simple configuration.
Therefore, the same effect as in the first embodiment described above can be obtained.

  In addition, in the second embodiment, it is only necessary to form the groove 32 as the guide means in the traveling path 2, so that a simpler configuration can be achieved.

The connecting member 36 of the traction jig 35 is connected to the vehicle body 13 of the automatic guided vehicle 31 after the engaging pin 33 is engaged with the groove 32. On the contrary, the connecting member 36 is connected to the automatic guided vehicle 31. After connecting to the vehicle body 13, the operation pin 34 may be operated to engage the engagement pin 33 with the groove 32.
In addition, when the connecting member 36 is connected to the lower portion of the vehicle body 13 of the automatic guided vehicle 31, the drive unit of the automatic guided vehicle 31 is released by a release mechanism (not shown). Instead, the operating unit 34 is operated. Thus, when the engagement pin 33 is lowered and engaged with the groove 32, the drive unit of the automatic guided vehicle 31 can be automatically released by a release mechanism (not shown).

  In the first and second embodiments described above, the connecting members 25 and 36 are moved from the front in the traveling direction of the automatic guided vehicles 11 and 31 toward the automatic guided vehicles 11 and 31 that have stopped abnormally via the traction member 26. Instead, the connecting members 25 and 36 are moved from the rear in the traveling direction of the automatic guided vehicles 11 and 31 toward the automatic guided vehicles 11 and 31 that have stopped abnormally via the pulling member 26 and connected. The automatic guided vehicles 11 and 31 can be moved rearward in the traveling direction by being pulled through the pulling jigs 24 and 35 and pulled out from below the plurality of carriages C.

The predetermined section S of the travel path 2 is not limited to the assembly line described above, and can be used as various work lines for performing predetermined work.
Further, the retracting device of the present invention is not limited to the automatic guided vehicles 11 and 31 that travel while detecting the guide wire 3, but can also be applied to an automatic guided vehicle that travels on a track.

The retractor of the automatic guided vehicle which concerns on Embodiment 1 of this invention is shown, (a) is a top view, (b) is a side view. The structure of the rail in Embodiment 1 is shown, (a) is a figure which shows the falling state of a rail, (b) is a figure which shows the raising state of a rail. The structure of the automatic guided vehicle in Embodiment 1 is shown, (a) is a top view, (b) is a side view, (c) is a front view. A mode that the connection member in Embodiment 1 is located in the vicinity of an engagement member is shown, (a) is a top view and (b) is a side view. A mode that the connecting member in Embodiment 1 was connected with the engaging member of an automatic guided vehicle is shown, (a) is a top view and (b) is a side view. The structure of the connection part vicinity of the connection member in Embodiment 1 is shown, (a)-(c) is an enlarged plan view which shows a mode that a connection member is inserted and connected with an engagement member. The mode that the automatic guided vehicle in Embodiment 1 conveys a trolley | bogie is shown, (a) is a top view, (b) is a side view. The mode that the automatic guided vehicle in Embodiment 1 passes under the several trolley | bogie is shown, (a) is a top view, (b) is a side view. The mode that the automatic guided vehicle in Embodiment 1 is connected with a trolley | bogie is shown, (a) is a top view, (b) is a side view. The mode that the automatic guided vehicle in Embodiment 1 conveys a trolley | bogie is shown, (a) is a top view, (b) is a side view. A mode that the rail in Embodiment 1 was raised is shown, (a) is a top view and (b) is a side view. The mode that a connection member is moved along the rail of FIG. 11 is shown, (a) is a top view, (b) is a side view. A mode that the connection member was sent to the vicinity of the automatic guided vehicle in Embodiment 1 is shown, (a) is a top view, (b) is a side view. The retractor of the automatic guided vehicle which concerns on Embodiment 2 of this invention is shown, (a) is a top view, (b) is a side view. The structure of the automatic guided vehicle in Embodiment 2 is shown, (a) is a side view, (b) is a front view. The structure of the connection member in Embodiment 2 is shown, (a) is a top view, (b) is a side view, (c) is a front view. It is a side view which shows a mode that the connection member in Embodiment 2 was connected with the automatic guided vehicle. The assembly line using the conventional automatic guided vehicle is shown, (a) is a top view, (b) is a side view.

Explanation of symbols

  2 traveling path, 3 guide lines, 11, 31 automatic guided vehicle, 12 rail, 13 vehicle body, 14 engaging member, 15, 37 wheel, 16 connecting pin, 17 strut member, 17a receiving groove, 18 locking member, 19 engagement Stop recess, 20 Lever, 21 Protrusion, 22, 32 Groove, 23 Long hole, 24, 35 Pulling jig, 25, 36 Connecting member, 26 Pulling member, 27 Inserting portion, 28 Wing-like member, 29 Spring, 30 Holding member, 33 engaging pin, 34 operation part, 35 pulling jig, 38 projecting part, 39 insertion pin, C bogie, S predetermined section.

Claims (4)

When the automatic guided vehicle traveling on the traveling path is stopped due to an abnormality under a plurality of carriages arranged in a line in the predetermined section of the traveling path, the automatic guided vehicle is retracted out of the traveling path. In the equipment of
Guide means arranged to extend under a plurality of carriages arranged in a predetermined section of the travel path;
A connecting member provided movably along the guide means and connected to the automatic guided vehicle;
A long traction member having the connecting member fixed to one end thereof;
A release mechanism for releasing the drive unit of the automatic guided vehicle that has stopped abnormally, and when the automatic guided vehicle stops abnormally under the multiple carts, the traction is performed from one end in the arrangement direction of the multiple carts. The connecting member is moved along the guide means to the automatic guided vehicle via a member to be connected to the automatic guided vehicle, and the driving mechanism of the automatic guided vehicle is released by the release mechanism, and the towing is performed in that state. A retractor for an automatic guided vehicle, wherein the automatic guided vehicle is moved along the guide means by pulling the connecting member through a member and pulled out from one end in the arrangement direction of the plurality of carriages.   The guide means is a rail extending along the travel path, and a rail raising mechanism for raising the height of the rail is coupled to the rail, and the raised rail is engaged with the automated guided vehicle. Engaging means is formed, and in a state where the rail is raised by the rail raising mechanism and engaged with the engaging means of the automatic guided vehicle, the connecting member is moved along the rail to The retractor of the automatic guided vehicle according to claim 1, wherein the automatic guided vehicle is moved along the rail by being connected to the automatic guided vehicle and pulling the connecting member via the pulling member.   The guide means is a groove formed in the travel path, the automatic guided vehicle has an engaging pin that can protrude downward and engage the groove, and the connecting member is the groove And being connected to the automatic guided vehicle, and pulling the connecting member through the pulling member in a state where the engaging pin protrudes downward and engages with the groove. The retractor of the automatic guided vehicle according to claim 1, wherein the automatic guided vehicle is moved along the groove. When the connecting member is connected to the automatic guided vehicle, the release mechanism releases a brake that acts on a driving wheel of the automatic guided vehicle or a motor for driving the driving wheel . The retractor of the automatic guided vehicle as described in any one of Claims 1-3 which releases a drive part.

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