JP5348398B2 - Automatic transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic carrying device for carrying out a part to a chute from a pallet on an automated guided vehicle, without using a driving device. <P>SOLUTION: Since this automatic carrying device 1a has a support member 6 arranged between the pallet 4 and the automated guided vehicle 3 and rockably supporting the pallet 4 on the automated guided vehicle 2, a closing holding means for holding an opening-closing door 10 arranged in the pallet 4 in a closing state, a rocking lock means for regulating rocking on the automated guided vehicle 2 of the pallet 4 and a releasing means for releasing the rocking lock means and the closing holding means when the automated guided vehicle 2 contacts with the chute 5 for carrying out the part 13 in the pallet 4, the part 13 can be carried out to the chute 5 from the pallet 4 on the automated guided vehicle 2, without requiring manual work by a worker, and without using the driving device. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to an automatic transfer device provided with an automatic guided vehicle, and in particular, carries out a part from a pallet on the automatic guided vehicle to a shooter (component storage box), and includes a pallet changer and an automatic guided vehicle. The present invention relates to an automatic transfer device that carries pallets into and out of each other.

  Conventionally, when carrying out parts in a pallet mounted on an automated guided vehicle to a shooter, and when carrying a pallet between a guided vehicle and a pallet changer, manual operation of an operator, a motor, etc. It was done using the drive device.

  In Patent Document 1, an entry path into which an automatic guided vehicle on which a pallet is placed enters is formed, and a loading-side receiving base that receives the pallet with the pallet center aligned with a predetermined loading position of the receiving base; An exit path is formed through which the vehicle exits and the pallet center is aligned with the predetermined unloading position center of the cradle, and the pallet is transferred to the unloading side cradle. A loading / unloading base provided between the loading position and the loading / unloading position of the workpiece set at an equal distance between the loading and unloading positions; a loading / unloading position from the loading position; Disclosed is a pallet transfer device for an automated guided vehicle that has a pallet moving lift that simultaneously moves a pallet from a position to an unloading position by a delivery distance and moves the pallet with each pallet center aligned with each position of the receiving platform. Have .

JP 61-257748 A

  However, in the conventional automatic transfer device including the pallet transfer device for the automatic guided vehicle described in Patent Document 1 described above, since the drive device is used, it becomes complicated and causes an increase in cost, and further increases in weight and is used. I can't.

  The present invention has been made in view of such points, and without using a driving device, the parts are unloaded from the pallet on the automatic guided vehicle to the shooter, and the pallet is moved between the pallet changer and the automatic guided vehicle. An object of the present invention is to provide an automatic transfer device that can carry in and out of each other.

In order to solve the above-described problems, an automatic conveyance device of the present invention is an automatic conveyance device including an automatic guided vehicle on which a pallet is mounted, and is provided between the pallet and the automatic guided vehicle. A support member that supports a substantially central portion in the longitudinal direction and swingably supports the pallet on the automatic guided vehicle; and a closing and holding unit that holds an open / close door provided at one end in the longitudinal direction of the pallet in a closed state. Swing control means for restricting swinging of the pallet on the automatic guided vehicle, and when the automatic transport vehicle comes into contact with a shooter from which parts in the pallet are unloaded, the swing lock means and the And release means for releasing the closed holding means.
As a result, it is possible to carry out the components in the pallet to the shooter without the need for manual work by the operator and without using the drive device .
Various aspects of the automatic conveyance device of the present invention and their actions will be described in detail in the following aspect of the invention.

(Aspect of the Invention)
In the following, some aspects of the invention that can be claimed in the present application (hereinafter sometimes referred to as “claimable invention”) will be exemplified and described. In addition, each aspect is divided into a term like a claim, it attaches | subjects a number to each term, and is described in the format which quotes another term as needed. This is for the purpose of facilitating the understanding of the claimable invention, and is not intended to limit the combinations of the constituent elements constituting the claimable invention to those described in the following sections. In other words, the claimable invention should be construed in consideration of the description, embodiments, etc. accompanying each section, and as long as the interpretation is followed, there may be embodiments in which other constituent elements are added to the aspects of each section. In addition, an aspect in which the constituent elements are deleted from the aspect of each item can be an aspect of the claimable invention. In the following items, each of items (1) to ( 5 ) corresponds to each of claims 1 to 5 .

(1) An automatic transfer device including an automatic guided vehicle on which a pallet is mounted, the automatic transfer device being provided between the pallet and the automatic guided vehicle, supporting a substantially central portion in a longitudinal direction of the pallet, A support member that is swingably supported on the automatic guided vehicle, a closing holding unit that holds an open / close door provided at one end in the longitudinal direction of the pallet, and a swing of the pallet on the automatic guided vehicle. And a rocking lock means for regulating the rocking lock means and a releasing means for releasing the rocking lock means and the closing holding means when the automatic guided vehicle contacts a shooter from which the parts in the pallet are carried out. An automatic transfer device characterized by that.
In the automatic transfer device of item (1), when the automatic guided vehicle contacts the shooter, the rocking lock means and the closing holding means are released by the release means, and as a result, the pallet opens and closes on the automatic guided vehicle with the support member as a fulcrum. The door side is inclined so that it faces downward, and at the same time, the opening / closing door is opened by sliding the parts in the pallet, and the parts in the pallet are carried out to the shooter.

(2) The automatic transfer device according to (1), wherein the release means operates when a part of the automatic guided vehicle comes into contact with a wall portion that forms a part carry-in port of the shooter. .
In the automatic conveyance device of item (2), the release means can be operated without using a driving device.

(3) The support member supports a pallet mounting table on which the pallet is mounted in a swingable manner, and the swing lock means includes a concave body or a convex body provided on the pallet mounting table, and the pallet. Item (1) or (2), comprising: a convex body or a concave body provided in a main body portion of the automatic guided vehicle that fits into a concave body or a convex body on the mounting table side. The automatic conveyance apparatus as described in a term.
(4) The release means includes an arm member, a connecting member that connects the arm member and the concave body or the convex body on the pallet mounting table side, and an inclined portion provided on a wall portion of the component carry-in port of the shooter The pallet mounting table side concave body or convex body that is connected to the arm member via the connecting member by the arm member contacting the inclined portion and rising along the inclined portion. However, the swing lock means is released away from the convex body or concave body on the automatic guided vehicle side, and the automatic transport device according to item (3).
(5) The arm member is connected to a plate-like member constituting the closed holding means via a connecting pin inserted through a vertically long hole of a support provided on the pallet mounting table, and the arm member is inclined to the shooter. When the connecting pin reaches the upper end of the vertically long hole, the arm member rotates about the connecting pin as a fulcrum, so that the plate member rotates to hold the closed position. The automatic transfer apparatus according to claim (4), wherein the means is released.
In the automatic transfer device according to items (3), (4) and (5), when the arm member on the automatic guided vehicle side comes into contact with the inclined portion provided on the shooter and rises along the inclined portion, the arm member The concave body or convex body on the side of the pallet placing table connected to the main body portion of the automatic guided vehicle is separated from the convex body or concave body on the side of the main body of the automatic guided vehicle, and the rocking lock means is released. Comes into contact with the inclined part of the shooter, and when the connecting pin reaches the position of the upper end of the vertically long hole, the arm member rotates about the connecting pin, so that the plate-like member rotates and closes. The holding means is released.

(6) An automatic transfer device that carries pallets into and out of each other between a pallet mounting table and a pallet changer provided in the automatic guided vehicle, and is provided between the pallet mounting table and the automatic guided vehicle, A support member that supports the pallet mounting table in the longitudinal center and supports the pallet swingably on the automatic guided vehicle, and is provided in the pallet changer, and is inclined at a maximum inclination angle with respect to the automatic guided vehicle. A pallet placing part located on substantially the same plane as the pallet placing table, and a pallet placing part of the pallet changer when the automatic guided vehicle comes into contact with the pallet changer, and a pallet placing table of the automatic guided vehicle And a sliding allowance means for allowing the pallet to slide between the automatic conveying apparatus.
In the automatic transfer device of item (6), as a first action, an empty pallet is directed on the pallet mounting table of the automatic guided vehicle, and a front portion in the traveling direction is directed downward on the pallet mounting table of the automatic guided vehicle. When the automatic guided vehicle comes into contact with the pallet changer when the automatic guided vehicle comes into contact with the pallet changer, the sliding allowance means causes the pallet to be placed on the pallet mounting base of the automatic guided vehicle. Since the sliding regulation is released, the pallet is slid out from the pallet mounting table of the automatic guided vehicle to the pallet mounting part of the pallet changer by the weight of the pallet.
Next, as a second action, the pallet containing the parts is placed on the pallet placement part inclined so that the end portion of the pallet exchanger on the automatic guided vehicle side faces downward, and the pallet placement part slides. On the other hand, the pallet mounting table of the automatic guided vehicle is supported by the support member in an inclined state so that the front portion in the traveling direction faces upward. When the automatic guided vehicle comes into contact with the pallet changer, the sliding allowance means cancels the pallet slide restriction at the pallet placement portion of the pallet changer. From the pallet mounting part, it is slid into the pallet mounting table of the automatic guided vehicle.
In this way, the sliding allowance means is configured to allow the pallet to slide between the pallet mounting portion of the pallet changer and the pallet mounting table of the automatic guided vehicle when the automatic guided vehicle contacts the pallet changer. It has a function of canceling the pallet sliding regulation at the pallet placing table or the pallet sliding regulation at the pallet placing part of the pallet changer.

(7) The automatic conveying apparatus according to (6), wherein the pallet placing part moves upward when the sliding allowance means is operated.
The automatic transfer device of item (7) is particularly effective when the pallet is carried from the pallet mounting part of the pallet changer to the pallet mounting table of the automatic guided vehicle. That is, since the pallet placing part moves upward when the sliding permission means is operated, when the pallet slides from the pallet placing part of the pallet changer to the pallet placing base of the automatic guided vehicle, the pallet placing part is moved to the pallet placing base of the automatic guided vehicle. It can be smoothly slid into the pallet mounting table of the automatic guided vehicle without interference.

(8) An engagement concave portion that engages with the pallet mounting portion of the pallet changer is formed at a front portion in the traveling direction of the pallet placement table of the automatic guided vehicle, and the automatic guided vehicle contacts the pallet changer. (6) or (7), wherein the pallet placing portion of the pallet changer engages with the engaging recess of the pallet placing table so as to have a clearance in the vertical direction. The automatic conveyance apparatus as described in.
In the automatic transfer device of item (8), the pallet mounting table of the automatic guided vehicle can be easily positioned with respect to the pallet mounting part of the pallet changer.

(9) The pallet placing section is constituted by a roller unit in which a plurality of free rotating rollers are provided in parallel along the moving direction of the pallet. The automatic transfer device described.
In the automatic transfer device of item (9), the frictional resistance of the pallet on the pallet placing part of the pallet changer can be sufficiently reduced.

  According to the automatic conveyance device of the present invention, parts are carried out from the pallet on the automatic guided vehicle to the shooter without using a driving device, and the pallet is carried in and out between the pallet changer and the automatic guided vehicle. Can be made.

FIG. 1 is a schematic view of an automatic conveyance device according to a first embodiment of the present invention. FIG. 2 is a front view of FIG. FIG. 3 is a side view of FIG. FIG. 4 is a perspective view of a shooter employed in the automatic conveyance device according to the first embodiment of the present invention. FIG. 5 is a schematic view of an automatic conveyance apparatus according to the second embodiment of the present invention. FIG. 6 is a schematic view of an automatic transfer apparatus according to the third embodiment of the present invention.

Hereinafter , the automatic transfer apparatuses 1a, 1b, and 1c according to the first to third embodiments for carrying out the present invention will be described in detail with reference to FIGS. 1 to 6, but according to the first embodiment. The automatic transfer device 1a corresponds to the invention described in the claims .
First, the automatic transfer apparatus 1a according to the first embodiment of the present invention will be described in detail with reference to FIGS.
As shown in FIG. 1, the automatic transfer device 1 a according to the first embodiment does not require an operator's manual operation, and the pallet on the pallet mounting table 3 of the automatic guided vehicle 2 without using a driving device. The part 13 is carried out from the inside 4 to the shooter 5.
That is, the automatic conveyance apparatus 1a according to the first embodiment is provided between the pallet mounting table 3 on which the pallet 4 is mounted and the automatic guided vehicle 2 as shown in FIGS. 3, a support member 6 that supports the pallet placing table 3 (pallet 4) so as to be swingable on the automatic guided vehicle 2, and an opening / closing door provided at one end of the pallet 4 in the longitudinal direction. Closed holding means 11 for holding 10 in a closed state, rocking lock means 12 for restricting rocking of the pallet mounting table 3 on the automatic guided vehicle 2, and the automatic guided vehicle 2 carrying out the parts 13 in the pallet 4 And a release means 14 for releasing the rocking lock means 12 and the closing and holding means 11 when the shooter 5 is touched.

  The pallet 4 includes a box-shaped pallet main body 15 and an opening / closing door 10 provided at one longitudinal end of the pallet main body 15. The open / close door 10 has an upper end supported by one upper end in the longitudinal direction of the pallet body 15 and is rotatable about the upper end. On the bottom surface of the pallet 4, a recess (not shown) is formed along the shape of the heavy object so that an operator can accommodate a large heavy object on the door 10 side. Note that the shape or the like of the component 13 may be displayed as a marker on the bottom of the pallet 4 to teach the operator the arrangement of the components 13 in the pallet 4.

The automatic guided vehicle 2 is self-propelled along a traveling magnetic tape (not shown) laid on a predetermined path on the floor, and the pallet mounting table 3 is integrally provided on the automatic guided vehicle 2. . Between the automatic guided vehicle 2 and the pallet mounting table 3, a support member 6 that supports the vicinity of the center in the longitudinal direction of the pallet mounting table 3 and swingably supports the pallet mounting table 3 on the automatic guided vehicle 2. Is provided. As will be described later, the automatic guided vehicle 2 is provided with a plurality of convex bodies 21 along the width direction at the rear end in the traveling direction as one configuration of the rocking lock means 12.
In addition, at the front end portion in the traveling direction of the automatic guided vehicle 2, an inclination that is inclined obliquely upward toward the rear is exhibited in the automatic conveyance apparatuses 1 b and 1 c according to second and third embodiments described later. A portion 46 is formed.

On the upper surface of the pallet mounting table 3, a recess 18 corresponding to the plan view shape of the pallet 4 is formed. When the pallet 4 is placed in the recess 18 of the pallet placing table 3, the movement of the pallet 4 is restricted on the pallet placing table 3. Further, as shown in FIGS. 2 and 3, support posts 31 are erected at the four corners of the pallet mounting table 3, and the two support posts 31 on the front side in the traveling direction have vertically elongated holes 32 at the center in the vertical direction. It is formed. Furthermore, as will be described later, the pallet mounting table 3 has a plurality of (two in FIG. 2) concave bodies 20 at intervals in the width direction at the rear end in the traveling direction as one configuration of the rocking lock means 12. Provided.
Engagement recesses 43 that exhibit their functions in the automatic transfer apparatuses 1b and 1c according to second and third embodiments described later are formed at both ends in the longitudinal direction of the pallet mounting table 3.

As shown in FIG. 2, the closing and holding means 11 includes a plate-like member 19 that contacts the outer surface of the opening / closing door 10 of the pallet 4 and holds the opening / closing door 10 in a closed state.
As shown in FIGS. 1 and 3, the rocking lock means 12 includes a plurality of concave bodies 20 (two places in the figure) formed at intervals in the width direction at the rear end in the traveling direction of the pallet mounting table 3, and unmanned It consists of a convex body 21 formed at a position corresponding to the concave body 20 provided on the pallet mounting table 3 at the rear end in the traveling direction of the main body of the transport vehicle 2. By fitting the concave bodies 20 on the pallet mounting table 3 side with the convex bodies 21 on the automatic guided vehicle 2 side, the swing of the pallet mounting table 3 on the automatic guided vehicle 2 is restricted. In addition, each concave body 20 on the pallet mounting table 3 side and each convex body 21 on the automatic guided vehicle 2 side may be formed of a magnetic body, and either one may be provided with a permanent magnet. Thereby, the fitting force of the concave body 20 on the pallet mounting table 3 side and the convex body 21 on the automatic guided vehicle 2 side can be increased.

As shown in FIGS. 2 and 3, the release means 14 is composed of an arm member 22 connected to a plate-like member 19 which is a structure of the closing and holding means 11, and one structure of the arm member 22 and the swing lock means 12. It is comprised from the connection member 23 which connects each concave-shaped body 20 with which the pallet mounting base 3 was equipped, and the inclination part 24 provided in the wall part of the components entrance 25 of the shooter 5 shown in FIG.
The arm member 22 includes a horizontal extending portion 26 extending outward from one side of the pallet 4 and a vertically extending portion that is connected to a base end portion of the horizontal extending portion 26 and extends in the vertical direction. It is formed in an inverted L shape consisting of the installation portion 27.
The connecting member 23 is formed in a bellows shape, and is continuously extended from the lower end of the vertically extending portion 27 of the arm member 22 in the up and down direction. The vertically extending portion 34a extends from the lower end of the vertically extending portion 34a to the pallet. One side longitudinally extending portion 28 extending along the longitudinal direction of the table 3 and a widthwise extending portion extending along the width direction of the pallet mounting table 3 continuously from the end of the one side longitudinally extending portion 28 Part 29, the other side longitudinally extending part 30 extending along the longitudinal direction of the pallet mounting table 3 continuously from the end part of the widthwise extending part 29, and the end of the other side longitudinally extending part 30 And a vertically extending portion 34b extending upward from the portion. In addition, each concave body 20 provided at the rear end in the traveling direction of the pallet mounting table 3 is connected to the extending portion 29 in the width direction of the connecting member 23.
In addition, since the connection member 23 is formed in a bellows shape, the bending and expansion / contraction action accompanying the rotation of the horizontal extending portion 26 of the arm member 22 can be sucked.

  The plate-like member 19 abuts the outer surface of the door 10 so that the opening of the door 10 is restricted on the front surface of one of the two front columns 31 provided on the pallet mounting table 3. The plate-like member 19 is connected to the vertically extending portion 27 of the arm member 22 by a connecting pin 33 inserted through the vertically long hole 32, and is rotatable about the connecting pin 33 as a fulcrum. It is supported by the column 31 so as to be movable in the vertical direction within a range of 32. Further, the upper end of the vertically extending portion 34 b of the connecting member 23 is connected to the connecting pin 33 inserted into the vertically long hole 32 provided in the other support column 31.

  As shown in FIGS. 1, 3, and 4, the shooter 5 is formed in a box shape whose upper side is opened, the surface facing the pallet 4 is opened, and the part carries the component 13 in the pallet 4. It is arranged at a predetermined position so as to function as the component carry-in port 25. Further, a corner portion of one wall portion extending in the vertical direction at the three side wall portions constituting the component carry-in port 25 is cut in an oblique direction to form an inclined portion 24. The distance in the width direction of the parts carry-in port 25 of the shooter 5 is set to be longer than the distance in the width direction of the pallet table 3, and the front part in the moving direction of the pallet table 3 enters the parts carry-in port 25 of the shooter 5. The inclined portion 24 provided in the shooter 5 and the horizontally extending portion 26 of the arm member 22 provided in the automatic guided vehicle 2 are opposed to each other.

Next, the operation of the automatic transport apparatus 1a according to the first embodiment will be described.
In the pallet 4, many parts 13 are accommodated so that the large parts 13 are arranged on the door 10 side.
The automatic guided vehicle 2 travels to the shooter 5 with the pallet 4 placed in the recess 18 of the pallet placing table 3.
Next, when the automatic guided vehicle 2 is caused to travel until the front end of the pallet mounting table 3 is advanced into the component carry-in port 25 of the shooter 5, the arm member 22 (release means 14) provided in the automatic guided vehicle 2 is moved. The horizontally extending portion 26 comes into contact with an inclined portion 24 (release means 14) provided on the wall portion of the component carry-in port 25 of the shooter 5.

Then, the horizontally extending portion 26 of the arm member 22 rises along the inclined portion 24 of the shooter 5, so that the entire arm member 22 rises in the range of the vertically long hole 32 provided in the column 31, and accordingly, the plate The member 19 (closed holding means 11) and the connecting member 23 (release means 14) move upward. Thereafter, when the connecting pin 33 in the vertically long hole 32 reaches the upper end of the vertically long hole 32, the horizontally extending portion 26 of the arm member 22 rotates counterclockwise around the connecting pin 33 positioned at the upper end of the vertically long hole 32. The plate member 19 is also rotated in the same direction.
As a result, each concave body 20 (swing lock means 12) provided on the pallet mounting table 3 swings away from each convex body 21 (swing lock means 12) provided on the main body of the automatic guided vehicle 2. The lock means 12 is released, and the pallet placing table 3 (pallet 4) can swing on the support member 6 on the automatic guided vehicle 2, but the center of gravity of the pallet 4 is located on the door 10 side. Moreover, the pallet mounting table 3 is in a state of being inclined at the maximum inclination angle so that the front portion in the traveling direction faces downward.
At substantially the same time, the plate-like member 19 rotates counterclockwise, so that the closed holding state of the door 10 of the pallet 4 is released, and the door 10 is opened by the sliding of the component 13, and the component 13 Is carried out from the pallet 4 to the shooter 5.

  Finally, after the parts 13 are unloaded from the pallet 4 to the shooter 5, the automatic guided vehicle 2 travels to a receiving pallet changer 35 (see FIG. 5), which will be described later, and the empty pallet 4 receives the receiving pallet. It is carried out to the pallet mounting part 36 of the exchange 35 (the automatic transfer device 1b according to the second embodiment described below is employed). At this time, the closing holding means 11 and the rocking lock means 12 are released by the releasing means 14, and the pallet mounting table 3 is inclined at the maximum inclination angle so that the front part in the traveling direction faces downward. It has become.

As described above, according to the automatic transfer device 1 a according to the first embodiment, when the component 13 in the pallet 4 placed on the pallet placing table 3 of the automatic guided vehicle 2 is carried out to the shooter 5. If the automatic guided vehicle 2 is run until the front end of the pallet mounting table 3 in the traveling direction enters the component carry-in port 25 of the shooter 5, the horizontally extending portion 26 of the arm member 22 becomes the component carry-in port of the shooter 5. 25, the arm member 22 as a whole moves upward, and the horizontally extending portion 26 of the arm member 22 rotates counterclockwise around the connecting pin 33 as a fulcrum.
As a result, each concave body 20 provided on the pallet mounting table 3 is separated from each convex body 21 provided on the automatic guided vehicle 2 to release the rocking lock means 12, and the pallet mounting table 3 has a front portion in the traveling direction. It is in a state of being inclined at the maximum inclination angle so as to face downward. At the same time, the plate-like member 19 is rotated counterclockwise, so that the closed holding state of the opening / closing door 10 of the pallet 4 is released, and the opening / closing door 10 is opened by the sliding of the component 13 so that the component 13 is moved. It is carried out from the pallet 4 to the shooter 5.
Thereby, the components 13 in the pallet 4 can be carried out to the shooter 5 without the need for manual work by the operator and without using the drive device.

Next, the automatic transfer apparatus 1b according to the second embodiment will be described in detail with reference to FIG.
The automatic transfer device 1b according to the second embodiment is configured to receive the pallet 4 on the pallet mounting table 3 provided in the automatic guided vehicle 2 without requiring the manual operation of the operator and using the driving device. It is carried out to the pallet placing part 36 of the pallet changer 35.
The automatic transfer device 1b according to the second embodiment is provided between the pallet placing table 3 and the automatic guided vehicle 2 and supports the pallet placing table 3 in the center in the longitudinal direction so that the pallet placing table 3 is unmanned. A support member 6 that is swingably supported on the transport vehicle 2 and a pallet placing table 3 that is provided in the receiving pallet changer 35 and is tilted at a maximum tilt angle with respect to the automatic guided vehicle 2, is positioned substantially on the same plane. When the pallet placing part 36 and the automatic guided vehicle 2 come into contact with the receiving pallet changer 35, the pallet 4 between the pallet placing part 36 of the receiving pallet changing machine 35 and the pallet placing table 3 of the automatic guided vehicle 2 And a sliding allowance means 37b that allows the sliding of the slide.

  The pallet placing table 3 and the automatic guided vehicle 2 employed in the automatic conveyance device 1b according to the second embodiment are the same as those employed in the automatic conveyance device 1a according to the first embodiment, and are closed. The holding means 11 (not shown in FIG. 5), the rocking lock means 12 and the releasing means 14 (not shown in FIG. 5) excluding the inclined portion 24 of the shooter 5 are provided, but the closed holding means 11 and the rocking lock means. A state 12 is released by the release means 14.

  The receiving pallet changer 35 receives an empty pallet 4 from the pallet mounting table 3 of the automatic guided vehicle 2 and has a main body 40b and a pallet mounting supported on the main body 40b so as to be movable in the vertical direction. Part 36. The upper surface of the pallet mounting part 36 on the main body part 40b is substantially flush with the bottom of the concave part 18 of the pallet mounting table 3 that is inclined at the maximum inclination angle so that the front part in the traveling direction faces downward on the automatic guided vehicle 2. Become.

The pallet placement unit 36 includes a roller unit 42 in which a plurality of free rotation rollers 41 are provided in parallel along the sliding direction of the pallet 4. The roller unit 42 is supported by the main body 40b so as to be movable in the vertical direction. Note that a stopper 44 that restricts deviation of the pallet 4 from the roller unit 42 is provided at the lowermost end of the roller unit 42.
The pallet mounting table 3 has the same configuration as the pallet mounting table 3 employed in the automatic transfer device 1a according to the first embodiment, but the engaging recesses 43 provided at both ends in the longitudinal direction include the automatic guided vehicle 2. Is in contact with the receiving pallet changer 35, the uppermost end of the roller unit 42 of the receiving pallet changer 35 is engaged with a clearance in the vertical direction.

The sliding allowance means 37b cancels the sliding regulation of the pallet 4 on the pallet mounting table 3 of the automatic guided vehicle 2 when the automatic guided vehicle 2 contacts the receiving pallet changer 35.
That is, the sliding allowance means 37b is provided at the front end portion of the automatic guided vehicle 2 in the traveling direction, and is connected to the inclined portion 46 inclined obliquely upward and the roller unit 42 of the receiving pallet exchanger 35 (not shown). ), And when the inclined portion 46 comes into contact with the rotating body 47, the rotating body 47 rotates in the clockwise direction and moves upward, and is connected to the rotating body 47 and rotates in the clockwise direction around the rotating body 47. A first rotating bar 48, a second rotating bar 49, which is connected to the pallet mounting table 3 and rotates in the clockwise direction by interfering with the first rotating bar 48 by the rotation of the first rotating bar 48. 49, a linear motion conversion mechanism (not shown), and a push-up member that protrudes from the bottom of the concave portion 18 of the pallet mounting table 3 and pushes up the front end of the pallet 4 as the second rotary bar 49 rotates. 0 Metropolitan consists of. The push-up member 50 is immersed in the bottom of the concave portion 18 of the pallet mounting table 3 as long as the second rotation bar 49 does not rotate in the clockwise direction.

Next, the operation of the automatic transfer apparatus 1b according to the second embodiment will be described.
In addition, since the automatic conveyance apparatus 1b which concerns on 2nd Embodiment is used after carrying out the components 13 in the pallet 4 to the shooter 5 using the automatic conveyance apparatus 1a which concerns on 1st Embodiment, unmanned conveyance The pallet placing table 3 on the vehicle 2 is in a state of being inclined at the maximum inclination angle so that the front part in the traveling direction faces downward. However, since the pallet 4 is placed in the recess 18 of the pallet placing table 3 while the automatic guided vehicle 2 is traveling, the pallet 4 does not slide on the pallet placing table 3.

When the pallet 4 on the pallet mounting table 3 of the automatic guided vehicle 2 is carried out to the roller unit 42 (pallet mounting unit 36) of the receiving pallet changer 35, the automatic guided vehicle 2 is provided at the front end portion thereof. The inclined portion 46 is caused to travel while being in contact with the rotating body 47 of the receiving pallet changer 35, and the end of the roller unit 42 of the receiving pallet changer 35 is provided on the pallet mounting table 3 of the automatic guided vehicle 2. Engage with the mating recess 43.
Then, the rotating body 47 of the receiving pallet changer 35 moves upward and the roller unit 42 moves upward via the connecting member, and the first rotating bar 48 rotates clockwise by the rotation of the rotating body 47 in the clockwise direction. Rotate in the direction and interfere with the second rotation bar 49, and the second rotation bar 49 rotates in the clockwise direction.
As a result, along with the rotation of the second rotation bar 49, the rotation action is transmitted to the push-up member 50 via the linear conversion mechanism, and the push-up member 50 protrudes from the bottom of the recess 18 of the pallet mounting table 3. Push up the front edge of 4.

Thereby, the sliding of the pallet 4 between the roller unit 42 (pallet mounting part 36) of the receiving pallet changer 35 and the pallet mounting table 3 of the automatic guided vehicle 2 is allowed. Is slid on the pallet mounting table 3 so as to get on from the recess 18 of the pallet mounting table 3, is slid on the roller unit 42 of the receiving pallet changer 35, and is stopped by the stopper 44. At this time, since the roller unit 42 has moved slightly upward, the pallet 4 is smoothly transferred from the pallet mounting table 3 to the roller unit 42.
Finally, after the pallet 4 is carried out to the receiving pallet changer 35, when the automatic guided vehicle 2 leaves the receiving pallet changer 35, the rotating body 47, the first rotating bar 48, and the second rotating bar 49 are restored to the original. Returning to the position, the push-up member 50 is also immersed in the bottom of the concave portion 18 of the pallet mounting table 3.
Further, the pallet 4 carried out on the pallet placing part 36 of the receiving pallet changer 35 is transported to a truck or the like by a forklift.

As described above, according to the automatic transfer device 1b according to the second embodiment, when the automatic guided vehicle 2 comes into contact with the receiving pallet exchanger 35, the pallet mounting table 3 of the automatic guided vehicle 2 is caused by the sliding allowance means 37b. Therefore, the pallet 4 slides from the pallet mounting table 3 of the automatic guided vehicle 2 to the roller unit 42 (pallet mounting part 36) of the receiving pallet changer 35 due to its own weight. can do.
Thereby, the empty pallet 4 on the automatic guided vehicle 2 can be carried out to the receiving pallet exchanging machine 35 without requiring manual work by an operator and using a driving device.

Next, the automatic transfer apparatus 1c according to the third embodiment will be described in detail with reference to FIG.
The automatic transfer device 1c according to the third embodiment does not require the manual operation of the operator, and the pallet placement of the pallet 4 in which the component 13 is accommodated is carried out without using the drive device. It is carried in from the part 36 onto the pallet mounting table 3 provided in the automatic guided vehicle 2. In describing the automatic conveyance apparatus 1c according to the third embodiment, only differences from the automatic conveyance apparatus 1b according to the second embodiment will be described.

The pallet placing table 3 and the automatic guided vehicle 2 adopted in the automatic conveyance device 1c according to the third embodiment are adopted in the automatic conveyance devices 1a and 1b according to the first and second embodiments. It is equivalent, and is provided with a closing means 11 (not shown in FIG. 6), a rocking lock means 12 (not shown in FIG. 6), and a releasing means 14 (not shown in FIG. 6) excluding the inclined portion 24 of the shooter 5. However, the closed holding means 11 and the rocking lock means 12 are released by the releasing means 14.
Further, the pallet mounting table 3 and the automatic guided vehicle 2 employed in the automatic conveyance device 1c according to the third embodiment include the pallet mounting table 3 and the automatic guided vehicle 2 of the automatic conveyance device 1b according to the second embodiment. The second rotation bar 49 (not shown in FIG. 6) and the push-up member 50 (not shown in FIG. 6), which are constituent members of the sliding allowance means 37b employed in FIG. The automatic transfer device 1c according to the embodiment does not operate.

The unloading pallet changer 52 unloads the pallet 4 in which the parts 13 are stored to the pallet mounting table 3 of the automatic guided vehicle 2 and is supported on the main body 40c and movable upward and downward on the main body 40c. The roller unit 42 (pallet mounting part 36) is provided. The main body portion 40c of the unloading pallet exchanger 52 is formed higher than the main body portion 40b of the receiving pallet exchanger 35 employed in the automatic transfer device 1b according to the second embodiment, and the upper surface of the roller unit 42 on the main body portion 40b is formed. On the automatic guided vehicle 2, it is substantially flush with the bottom of the concave portion 18 of the pallet mounting table 3 that is inclined at the maximum inclination angle so that the front portion in the traveling direction faces upward.
The sliding allowance means 37c cancels the sliding regulation of the pallet 4 on the roller unit 42 (pallet mounting portion 36) of the unloading pallet changer 52 when the automatic guided vehicle 2 contacts the unloading pallet changer 52. It is.
That is, the sliding allowance means 37c is provided at the front end portion of the automatic guided vehicle 2 and is connected to the inclined portion 46 inclined obliquely rearward and the main body portion 40c of the unloading pallet exchanger 52. A rotating body 54 that rotates in the clockwise direction and moves upward, and is connected to the rotating body 54 via a transmission mechanism 55 and rotatably supported by the roller unit 42, and rotates clockwise as the rotating body 54 rotates. And a stopper 56 that rotates in the direction.

Next, the operation of the automatic transport apparatus 1c according to the third embodiment will be described.
In addition, in the automatic conveyance apparatus 1c which concerns on 3rd Embodiment, the pallet mounting base 3 on the automatic guided vehicle 2 is in the state inclined at the maximum inclination angle so that the front part in the traveling direction faces upward.
When the pallet 4 accommodated in the component 13 placed on the roller unit 42 (pallet placing part 36) of the unloading pallet changer 52 is carried into the pallet placing table 3 of the automatic guided vehicle 2, unmanned The transport vehicle 2 is caused to run while the inclined portion 46 provided at the front end thereof is in contact with the rotating body 54 provided on the roller unit 42 of the unloading pallet changer 52, and the end of the roller unit 42 of the unloading pallet changer 52 is reached. The portion is engaged with an engagement recess 43 provided on the pallet mounting table 3 of the automatic guided vehicle 2.

Then, the rotating body 54 provided in the unloading pallet changer 52 rotates in the clockwise direction and moves upward, and the rotational action is transmitted to the stopper 56 via the transmission mechanism 55 so that the stopper 56 rotates clockwise. Rotate in the direction.
As a result, sliding of the pallet 4 between the roller unit 42 (pallet mounting part 36) of the unloading pallet changer 52 and the pallet mounting table 3 of the automatic guided vehicle 2 is allowed. The roller unit 42 of the pallet changer 52 slides into the recess 18 of the pallet mounting table 3 of the automatic guided vehicle 2 and is stopped. When the inclined portion 46 of the automatic guided vehicle 2 comes into contact with the rotating body 54 provided in the unloading pallet changer 52, the roller unit 42 rises and the upper surface of each roller 41 is moved by the upper surface around the recess 18 of the pallet mounting table 3. Since the pallet 4 is also located above, the pallet 4 smoothly slides from the roller unit 42 into the recess 18 of the pallet mounting table 3.

As described above, according to the automatic conveyance device 1c according to the third embodiment, when the automatic guided vehicle 2 comes into contact with the unloading pallet exchanger 52, the sliding permission means 37c causes the pallet 4 on the roller unit 42 to move. Since the sliding regulation is released, the pallet 4 is moved from the roller unit 42 (pallet mounting part 36) of the unloading pallet changer 52 to the pallet mounting table 3 of the automatic guided vehicle 2 by the total weight of the pallet 4 including the weight of the component 13. Can slide.
Thereby, the manual operation by an operator is not required, and the pallet 4 accommodated with the component 13 placed on the unloading pallet changer 52 can be carried into the automatic guided vehicle 2 without using a driving device. .

  In addition, since the common pallet mounting table 3 and the automatic guided vehicle 2 are adopted in the automatic conveyance apparatuses 1a, 1b, and 1c according to the first to third embodiments described above, the parts 13 in the pallet 4 are carried out. And the exchange of the pallet 4 is performed smoothly. However, the automatic conveyance apparatus 1a according to the first embodiment does not necessarily require the pallet mounting table 3, and the pallet 4 may be directly supported by the automatic guided vehicle 2 so as to be swingable.

  DESCRIPTION OF SYMBOLS 1a, 1b, 1c Automatic conveyance apparatus, 2 Automatic guided vehicle, 3 Pallet mounting base, 4 Pallet, 5 Shuter, 6 Support member, 10 Opening / closing door, 11 Closed holding means, 12 Swing lock means, 13 Parts, 14 Release means , 19 Plate member, 20 Concave body, 21 Convex body, 22 Arm member, 23 Connecting member, 24 Inclined part, 31 Post, 32 Long hole, 33 Connecting pin, 35 Receiving pallet changer, 36 Pallet mounting part, 37a, 37b Sliding allowance means, 42 roller unit, 43 engaging recess, 46 inclined portion, 50 push-up member, 52 carry-out pallet changer, 56 stopper

Claims (5)

An automatic transfer device equipped with an automatic guided vehicle carrying a pallet,
A support member provided between the pallet and the automatic guided vehicle, supporting a substantially central portion in the longitudinal direction of the pallet, and supporting the pallet swingably on the automatic guided vehicle;
Closed holding means for holding the open / close door provided at one end in the longitudinal direction of the pallet in a closed state;
Rocking lock means for regulating rocking of the pallet on the automatic guided vehicle;
Release means for releasing the rocking lock means and the closed holding means when the automatic guided vehicle contacts a shooter from which the components in the pallet are carried out;
An automatic transfer device comprising:   2. The automatic transfer device according to claim 1, wherein the release unit is operated by a part of the automatic guided vehicle coming into contact with a wall portion that forms a part carry-in port of the shooter. The support member supports a pallet mounting table on which the pallet is mounted in a swingable manner,
The rocking lock means is provided in a main body portion of the automatic guided vehicle that fits into a concave body or a convex body provided on the pallet mounting table and a concave body or a convex body on the pallet mounting table side. The automatic conveying apparatus according to claim 1, wherein the automatic conveying apparatus includes a convex body or a concave body.   The releasing means includes an arm member, a connecting member that connects the arm member and the concave body or the convex body on the pallet mounting table side, and an inclined portion provided on a wall portion of the component inlet of the shooter. When the arm member comes into contact with the inclined portion and rises along the inclined portion, the concave body or the convex body on the pallet mounting table side connected to the arm member via the connecting member is 4. The automatic transfer device according to claim 3, wherein the swing lock means is released away from a convex body or a concave body on the automatic guided vehicle side.   The arm member is connected to a plate-like member constituting the closed holding means via a connecting pin inserted through a vertically long hole of a support provided on the pallet mounting table, and the arm member contacts the inclined portion of the shooter When the connecting pin reaches the upper end of the vertically long hole, the arm member rotates about the connecting pin, so that the plate member rotates and the closed holding means is released. The automatic transfer apparatus according to claim 4, wherein

Images