JP6855995B2 - Automated guided vehicle and unmanned transport system - Google Patents

Description

The present disclosure relates to an automatic guided vehicle and an automatic guided vehicle that automatically transports a trolley on which a workpiece is loaded without any operation by an operator.

Conventionally, in industrial product manufacturing factories and the like, trolleys capable of loading workpieces have been used for transporting workpieces to assembly lines. Then, in order to transport such a trolley, an automatic guided vehicle that runs on the floor of a factory is becoming widespread. As an automatic guided vehicle of this type, for example, there is known a technique of sneaking under the trolley and completely lifting and transporting the trolley by a lift device of the automatic guided vehicle (see Patent Document 1). In this automatic guided vehicle, the wheels of the lifted trolley are lifted from the floor surface, and the entire weight of the trolley and the work is supported by the automatic guided vehicle. Further, as another automatic guided vehicle, there is known a technique of sneaking under the trolley and connecting the automatic guided vehicle and the trolley with a pin member to convey the vehicle (see Patent Document 2). In this automatic guided vehicle, a pin member projects upward from the automatic guided vehicle that has slipped under the trolley, engages with the lower surface of the trolley, and connects in the transport direction.

Japanese Unexamined Patent Publication No. 10-291798 Japanese Unexamined Patent Publication No. 10-105238

However, in the automatic guided vehicle described in Patent Document 1 described above, since the dolly is completely lifted, there is a problem that the unmanned vehicle is enlarged as compared with the case where the dolly is towed without being lifted. Further, in the automatic guided vehicle described in Patent Document 2 described above, since the automatic guided vehicle and the trolley are connected by a pin member and transported, when the trolley loaded with a heavy work is transported, it is as follows. Problems may occur. That is, the heavier the weight of the bogie and the loaded work, the greater the inertial force of the bogie, and there is a risk that the automatic guided vehicle connected to such a bogie will spin idle without being stretched during acceleration / deceleration, and the running will not be stable. is there. In particular, it may be pulled by the rotation of the caster on the bogie side when switching between forward and backward traveling, which may adversely affect the accuracy of the stop position of the bogie. On the other hand, it is conceivable to overcome the inertial force of the bogie by increasing the weight of the automatic guided vehicle and increasing the traction, but this will lead to an increase in the size of the automatic guided vehicle.

Therefore, it is necessary to provide an automatic guided vehicle and an automatic guided vehicle that can improve the accuracy of the stop position after transportation without increasing the size of the automatic guided vehicle even if the trolley and the loaded work are heavy objects. The purpose.

The unmanned transport vehicle according to the present disclosure has a pedestal on which a work can be loaded and a driven wheel in contact with a traveling surface, and a trolley that can move the traveling surface by the driven wheel when an external force is applied is moved in the vertical direction from the pedestal. An unmanned transport vehicle that supports and transports the trolley on the lower side, the vehicle body, a plurality of wheels in contact with the traveling surface, a drive source for driving at least a part of the plurality of wheels, and the above. A connecting portion that connects the vehicle body and the trolley, and when the vehicle body and the trolley are connected by the connecting portion provided on the vehicle body, the trolley and the loaded work are brought into contact with the trolley. The urging portion is provided with an urging portion that supports a part of the total weight of the vehicle and urges the vehicle body and the trolley in a direction that separates the vehicle body and the trolley in the vertical direction, and the urging portion is the connecting portion. When the vehicle body and the trolley are connected to each other, an elastic body interposed between the gantry and the vehicle body in the vertical vertical direction, an elevating portion attached to the upper end portion of the elastic body, and an elevating portion attached to the upper end portion of the elastic body. The elevating part is raised so that the elevating part comes into contact with the trolley in a state where the elastic body has an urging force for urging the vehicle body and the trolley in a direction that separates the vehicle body and the trolley in the vertical direction. The elevating mechanism is provided with an elevating mechanism capable of elevating the elevating portion, and the connecting portion can be elevated in the vertical direction by the elevating mechanism, and is inserted into a connecting hole formed in the trolley by ascending. has a pin member connected, the elevating unit, Ru plate member der extending in the horizontal direction around the pin member.
Further, the unmanned transport vehicle according to the present disclosure has a pedestal on which a work can be loaded and a driven wheel in contact with the traveling surface, and a trolley that can move the traveling surface by the driven wheel by applying an external force is mounted on the pedestal. An unmanned transport vehicle that supports and transports the trolley on the lower side in the vertical direction, and comprises a vehicle body, a plurality of wheels in contact with a traveling surface, and a drive source for driving at least a part of the plurality of wheels. When the vehicle body and the trolley are connected to each other by the connecting portion provided on the vehicle body and the vehicle body and the trolley are connected by the connecting portion, the vehicle body and the trolley are brought into contact with the trolley and loaded. The work is provided with an urging portion that supports a part of the total weight of the work and urges the vehicle body and the trolley in a direction that separates the vehicle body and the trolley in the vertical direction. When the vehicle body and the trolley are connected by a connecting portion, an elastic body interposed between the gantry and the vehicle body in the vertical vertical direction and an elevating portion attached to the upper end portion of the elastic body. Then, the elevating part hits the trolley in a state where the elastic body has an urging force for urging the vehicle body and the trolley in a direction that separates the vehicle body and the trolley in the vertical direction. It has an elevating mechanism that can elevate the elevating part so as to be in contact with the elevating part, and the connecting part can be elevated in the vertical direction by the elevating mechanism and is inserted into a connecting hole formed in the trolley by ascending. It has a pin member that is connected to the pin member, and the elevating mechanism has a lowering mechanism that can come into contact with the pin member and lower the pin member.

Further, the unmanned transport system according to the present disclosure has a pedestal on which a work can be loaded and a driven wheel in contact with a traveling surface, and a carriage capable of moving the traveling surface by the driven wheel when an external force is applied, and a vehicle body. An unmanned transport vehicle having a plurality of wheels in contact with a traveling surface and a drive source for moving the vehicle body by driving at least a part of the wheels, and the vehicle body and the trolley. When the vehicle body and the trolley are connected to each other by a connecting portion that is connected to enable the trolley to be transported and the vehicle body is connected by the connecting portion, the trolley is located on the lower side in the vertical direction from the gantry. To support a part of the total weight of the trolley and the loaded work, and to urge the vehicle body and the trolley in the vertical direction to separate them from each other. The urging portion includes an elastic body interposed between the gantry and the vehicle body in the vertical vertical direction when the vehicle body and the trolley are connected by the connecting portion, and the elasticity. A state in which the elevating part attached to the upper end of the body and the elevating part are raised so that the elastic body has an urging force in a direction in which the vehicle body and the trolley are vertically separated from each other in the vertical direction. The elevating part has an elevating mechanism capable of elevating and lowering the elevating part so that the elevating part abuts on the trolley. has a pin member connected by being inserted into a coupling hole formed in the carriage, the lifting unit, Ru plate member der extending in the horizontal direction around the pin member.
Further, the unmanned transport system according to the present disclosure has a pedestal on which a work can be loaded and a driven wheel in contact with a traveling surface, and a carriage capable of moving the traveling surface by the driven wheel when an external force is applied, and a vehicle body. An unmanned transport vehicle having a plurality of wheels in contact with a traveling surface and a drive source for moving the vehicle body by driving at least a part of the wheels, and the vehicle body and the trolley. When the vehicle body and the trolley are connected to each other by a connecting portion that is connected to enable the trolley to be transported and the vehicle body is connected by the connecting portion, the trolley is located on the lower side in the vertical direction from the gantry. To support a part of the total weight of the trolley and the loaded work, and to urge the vehicle body and the trolley in the vertical direction to separate them from each other. The urging portion includes an elastic body interposed between the gantry and the vehicle body in the vertical vertical direction when the vehicle body and the trolley are connected by the connecting portion, and the elasticity. A state in which the elevating part attached to the upper end of the body and the elevating part are raised so that the elastic body has an urging force in a direction in which the vehicle body and the trolley are vertically separated from each other in the vertical direction. The elevating part has an elevating mechanism capable of elevating and lowering the elevating part so that the elevating part abuts on the trolley. It has a pin member that is inserted into and connected to a connecting hole formed in the trolley, and the elevating mechanism has a lowering mechanism that can come into contact with the pin member and lower the pin member.

According to the automatic guided vehicle and the automatic guided vehicle, the urging part of the automatic guided vehicle supports a part of the total weight of the trolley and the loaded work, and separates the vehicle body and the trolley in the vertical vertical direction. Elevate in the direction of Therefore, the automatic guided vehicle transports the trolley without completely lifting the trolley, that is, with the driven wheels of the trolley in contact with the traveling surface and receiving a part of the total weight of the trolley and the work. Then, the automatic guided vehicle is urged downward in the vertical direction (that is, pressed toward the traveling surface) via the urging portion, and the traction to the drive wheels, which are some wheels, is increased. Even if the trolley and the loaded work are heavy, it is possible to overcome the inertial force of the trolley and stabilize the running without increasing the size of the automatic guided vehicle, and the accuracy of the stop position after transportation is also high. Can be improved.

It is a schematic diagram which shows the unmanned transfer system which concerns on embodiment. It is a perspective view which shows the state which the automatic guided vehicle has entered under the trolley which concerns on embodiment. It is sectional drawing which shows the state in which the automatic guided vehicle has entered under the trolley which concerns on embodiment, and shows the state before connection. FIG. 5 is a cross-sectional view showing a state in which an automatic guided vehicle is inserted under the carriage according to the embodiment and is in a state after connection. It is a perspective view which shows the connecting part and the urging part which concerns on embodiment, (a) is the state before connection, (b) is the state after connection. It is a perspective view which shows the elevating mechanism which concerns on embodiment, (a) is a state before connection, (b) is a state after connection.

Hereinafter, embodiments of the automatic guided vehicle system will be described with reference to FIGS. 1 to 6 (b). First, as an example of an automatic guided vehicle, a schematic configuration of a system for controlling a plurality of trolleys and automatic guided vehicles in a factory will be described with reference to FIG. As shown in FIG. 1, the automatic guided vehicle 1 of the present embodiment includes a trolley 3 capable of loading a work 2, an automatic guided vehicle 4, and an operation control device 5. In the present specification, the vertical direction is the direction of the floor surface 6 when viewed from the automatic guided vehicle 4, that is, the downward direction D.

As shown in FIGS. 1 and 2, the carriage 3 has a plurality of casters 30 in contact with the floor surface 6 which is a traveling surface, and a gantry 31 supported by the plurality of casters 30 and capable of loading the work 2. ing. The caster 30 is a driven wheel, and in the present embodiment, the carriage 3 does not have a driving wheel. As the work 2 that can be loaded on the gantry 31, for example, a heavy object such as an automatic transmission mounted on an automobile can be applied. That is, the carriage 3 has a gantry 31 on which the work 2 can be loaded and a caster 30 in contact with the floor surface 6, and the floor surface 6 can be moved by the caster 30 when an external force is applied.

As shown in FIG. 1, the automatic guided vehicle 4 can support and transport the trolley 3 in the downward direction (vertically downward side) D from the gantry 31 of the trolley 3. The unmanned carrier 4 is a drive wheel 40 and a steering wheel 41 which are a plurality of wheels in contact with a floor surface 6 which is a traveling surface, a vehicle body 42 supported by the drive wheel 40 and the steering wheel 41, and a drive which is a plurality of wheels. It has a drive source 43 for moving the vehicle body 42 by driving the drive wheels 40, which are at least a part of the wheels 40 and the steering wheels 41, and a transmission / reception unit 44. An electric motor is used as the drive source 43. The transmission / reception unit 44 wirelessly transmits / receives a signal to / from the communication unit 51 of the operation control device 5. Further, the automatic guided vehicle 4 has a connecting portion 45 for connecting the vehicle body 42 and the carriage 3, and an urging portion 46. The detailed configuration of the connecting portion 45 and the urging portion 46 will be described later.

The operation control device 5 has a control unit 50 and a communication unit 51. The control unit 50 includes, for example, a CPU, a ROM for storing a processing program, a RAM for temporarily storing data, and an input / output port. The communication unit 51 is connected to the input / output port and transmits / receives signals between the control unit 50 and the transmission / reception unit 44 of the automatic guided vehicle 4. A control signal is transmitted from the control unit 50 to the transmission / reception unit 44 regarding, for example, traveling of the automatic guided vehicle 4, connection with the carriage 3, urging the carriage 3, and the like, and from the transmission / reception unit 44 to the control unit 50, for example. , The signal emitted from the drive source 43 and the sensor of the automatic guided vehicle 4 is transmitted.

As shown in FIGS. 3 and 4, the connecting portion 45 has a pin member 45p. The pin member 45p is arranged between the left and right drive wheels 40 (see FIGS. 1 and 3), and is provided so as to be able to move up and down in the vertical directions U and D by an elevating mechanism 60 described later. On the other hand, the bottom plate 32 of the carriage 3 is provided with bushes 33 at substantially the center in the front-rear direction and the left-right direction, and the inner peripheral portion of the bush 33 constitutes a connecting hole 33a penetrating in the vertical directions U and D. ing. As shown in FIG. 4, the pin member 45p of the connecting portion 45 is inserted into the connecting hole 33a of the bush 33 and fitted to connect the automatic guided vehicle 4 and the carriage 3.

As shown in FIG. 6, the elevating mechanism 60 is configured as a part of the urging portion 46. The elevating mechanism 60 raises the elevating portion 48 attached to the upper end of the urging spring 47, and the urging spring 47 attaches the vehicle body 42 and the bogie 3 in the vertical direction U and D in the vertical direction. The elevating part 48 can be moved up and down so that the elevating part 48 comes into contact with the carriage 3 while having a urging force. The elevating mechanism 60 includes a fixed bush 61, an elevating plate 62, a connecting spring 63, a cam 64, and a servomotor 65. The fixed bush 61 is fixed to the frame 42a of the vehicle body 42 so that the inner peripheral portion penetrates the vertical U and D in the vertical direction. A pin member 45p is provided on the inner peripheral portion of the fixed bush 61 so as to be able to move up and down. An elevating plate 62 is attached to the lower end of the pin member 45p, and the pin member 45p and the elevating plate 62 can be raised and lowered integrally. The connecting spring 63 is a compression coil spring, and urges the elevating plate 62 from the lower side in the upward direction U. Therefore, an urging force in the upward direction U acts on the elevating plate 62 and the pin member 45p. As will be described later, the connecting spring 63 acts to urge the urging spring 47 in the upward direction as well as the urging spring 47 via the pin member 45p and the elevating portion 48, but the urging force is higher than that of the urging spring 47. It is supposed to be small enough. The cam 64 abuts on the upper surface of the edge portion 62a of the elevating plate 62 to regulate the elevating of the elevating plate 62. The cam 64 is rotatably provided by the servomotor 65. The servomotor 65 is fixedly attached to the vehicle body 42 (see FIG. 3).

As shown in FIGS. 3 to 5B, the urging portion 46 includes an urging spring (elastic body) 47, an elevating portion 48, and the elevating mechanism 60 described above. The urging spring 47 is fixed to the upper surface of the frame 42a of the vehicle body 42, and is composed of a compression coil spring having a downward direction D as a compression direction. The elevating portion 48 has a plate shape and is attached to the upper end portion of the urging spring 47. Therefore, the urging spring 47 is interposed between the gantry 31 and the vehicle body 42 in the vertical directions U and D in the vertical direction when the vehicle body 42 and the bogie 3 are connected by the connecting portion 45. As a result, when the vehicle body 42 and the bogie 3 are connected by the connecting portion 45, the urging portion 46 comes into contact with the bogie 3 and makes a part of the total weight of the bogie 3 and the loaded work 2. While supporting it, it urges the vehicle body 42 and the bogie 3 in the direction of separating them in the vertical directions U and D.

A pin member 45p is fitted and penetrated into the elevating portion 48, and is integrated. Therefore, the pin member 45p and the elevating portion 48 move up and down in conjunction with each other. That is, as the pin member 45p is moved up and down by the raising and lowering mechanism 60, the raising and lowering portion 48 also moves up and down. By raising and lowering the elevating portion 48, the urging spring 47 is expanded and contracted with the frame 42a. Further, when the elevating portion 48 comes into contact with the carriage 3, the elevating portion 48 can engage with the engaging groove (contact portion) 32a formed on the back surface of the bottom plate 32 of the carriage 3 from below. By engaging the elevating portion 48 with the engaging groove 32a, the elevating portion 48 and the bottom plate 32 are fixed to each other in the horizontal direction.

The elevating mechanism 60 extends the urging spring 47 by raising the elevating portion 48 in the lowered state, and abuts and engages the elevating portion 48 with the engaging groove 32a of the bottom plate 32. At this time, even after the elevating portion 48 is raised, the urging spring 47 has a length shorter than its free length and is in a compressed state. Therefore, the urging spring 47 can be elastically urged in the direction in which the frame 42a and the bottom plate 32 are separated from each other in the vertical directions U and D. That is, the urging spring 47 urges the bottom plate 32 upward U when viewed from the frame 42a, and supports a part of the total weight of the carriage 3 and the loaded work 2. On the other hand, when viewed from the bottom plate 32, the urging spring 47 urges the frame 42a downward D, so that traction can be applied to the drive wheels 40 via the vehicle body 42 of the automatic guided vehicle 4. In the present embodiment, since the elevating portion 48 receives the urging force by the connecting spring 63 in addition to the urging spring 47, the urging force is generated by the urging spring 47 and the connecting spring 63. Since the urging force of the connecting spring 63 is sufficiently smaller than the urging force of 47, the urging force may be described in the present specification as being generated by the urging spring 47.

Here, the magnitude of the urging force by the urging unit 46 will be described. The urging force of the urging spring 47 is set to a size smaller than the total weight of the carriage 3 and the loaded work 2 at the maximum. That is, the urging spring 47 is set so that the carriage 3 to be conveyed and the loaded work 2 cannot be completely lifted. As a result, the urging spring 47 supports a part of the total weight of the trolley 3 and the loaded work 2, and urges the bottom plate 32 upward U. As shown in FIG. 4, when the elevating portion 48 of the urging portion 46 is urged upward by the urging spring 47 and engages with the engaging groove 32a from the downward direction D, the bottom plate is engaged from the elevating portion 48. An urging force is applied to 32. This urging force depends on the size of the distance between the frame 42a and the bottom plate 32. That is, if the distance between the frame 42a and the bottom plate 32 is large, the urging force is small, and conversely, if the distance is small, the urging force is large.

If the urging force of the urging unit 46 is too small with respect to the total weight of the bogie 3 and the loaded work 2, the traction to the automatic guided vehicle 4 becomes too small, and running stability cannot be ensured, and the stop position is reached. Accuracy is not improved. On the other hand, if the urging force of the urging unit 46 is too large with respect to the total weight of the trolley 3 and the loaded work 2, the traction to the automatic guided vehicle 4 becomes too large and the power consumption increases due to the overload. Therefore, it is desired that the urging force of the urging unit 46 is appropriately adjusted.

Therefore, in the present embodiment, the type of the work 2 to be loaded is determined for each carriage 3. That is, a plurality of types of trolleys 3 corresponding to the weight of the work 2 are provided. Then, the height from the floor surface 6 to the bottom plate 32 is set in advance according to the total weight of the carriage 3 and the work 2 loaded on the carriage 3. At this time, the heavier the total weight of the bogie 3 and the loaded work 2, the lower the height of the engaging groove 32a provided in the bogie 3 with which the urging spring 47 abuts from the floor surface 6. Set for each type of. As a result, the heavier the total weight of the bogie 3 and the loaded work 2, the lower the height of the engaging groove 32a with which the urging portion 46 abuts, so that the urging force acting from the urging spring 47 increases. The smaller the total weight of the carriage 3 and the loaded work 2, the higher the height of the engaging groove 32a with which the urging portion 46 abuts, so that the urging force acting from the urging spring 47 becomes smaller. Therefore, appropriate traction according to the total weight of the trolley 3 and the loaded work 2 can be given to the automatic guided vehicle 4, and the traction is too small to reduce the running stability and the accuracy of the stop position of the automatic guided vehicle 4. In addition, it is possible to prevent the power consumption from increasing due to the overload of the automatic guided vehicle 4 due to the excessive traction.

Next, the operation of the above-mentioned automatic guided vehicle system 1 will be described in detail. Here, an operation of moving the carriage 3 loaded with the work 2 by the automatic guided vehicle 4 and stopping the carriage 3 at a predetermined position will be described. As shown in FIG. 1, a control signal is transmitted from the operation control device 5 to the automatic guided vehicle 4 to drive the automatic guided vehicle 4 and sneak under the trolley 3 (imaginary line in the figure). At this time, in the automatic guided vehicle 4, as shown in FIGS. 5A and 6A, the cam 64 is located in the downward direction D, and the pin member 45p and the elevating portion 48 are moved via the elevating plate 62. It is pushed down against the urging spring 47 and the connecting spring 63. Then, as shown in FIG. 3, the automatic guided vehicle 4 is stopped so that the pin member 45p of the automatic guided vehicle 4 is located directly below the connecting hole 33a of the carriage 3.

As shown in FIGS. 5 (b) and 6 (b), the servomotor 65 is driven to move the cam 64 in the upward direction U. As a result, the elevating plate 62 is pushed up by the urging force of the urging spring 47 and the connecting spring 63, and the pin member 45p and the elevating portion 48 are pushed up accordingly. Then, as shown in FIGS. 4 and 5B, when the upper end portion of the pin member 45p is fitted into the connecting hole 33a of the bush 33 and the elevating portion 48 engages with the engaging groove 32a, the vehicle body 42 and the bogie 3 And are connected.

Further, the cam 64 is moved upward U until it separates from the elevating plate 62. As a result, the urging force of the urging spring 47 is urged to the carriage 3 and the work 2 without being regulated by the elevating mechanism 60. The urging force of the urging spring 47 supports a part of the total weight of the trolley 3 and the loaded work 2, and also presses the automatic guided vehicle 4 downward D to give the automatic guided vehicle 4 appropriate traction. be able to. Then, the automatic guided vehicle 4 transports the trolley 3 and stops it according to the instruction from the operation control device 5. At this time, since the automatic guided vehicle 4 is given appropriate traction, slippage and wobbling during acceleration / deceleration of the automatic guided vehicle 4 can be suppressed and the traveling can be stabilized, and the carriage 3 can be positioned at the stop position. Can be made highly accurate.

After the bogie 3 is stopped at the target position, the servomotor 65 is driven to move the cam 64 downward D, push down the pin member 45p and the elevating part 48, and release the connection between the vehicle body 42 and the bogie 3. To do. Then, the automatic guided vehicle 4 moves, escapes from the lower side of the carriage 3, and stands by for the next operation.

As described above, according to the unmanned transport system 1 of the present embodiment, the urging portion 46 of the automatic guided vehicle 4 supports a part of the total weight of the bogie 3 and the loaded work 2, and the vehicle body. The 42 and the trolley 3 are urged in a direction that separates them in the vertical vertical directions U and D. Therefore, the automatic guided vehicle 4 transports the trolley 3 in a state where it receives a part of the total weight of the trolley 3 and the work 2 without completely lifting the trolley 3. As a result, the automatic guided vehicle is urged downward D and pressed toward the floor surface 6, and the traction to the drive wheels 40 can be increased. Therefore, the trolley 3 and the loaded work 2 are heavy objects. Even so, the accuracy of the stop position after transportation can be improved without increasing the size of the automatic guided vehicle 4.

Further, in the automatic guided vehicle system 1 of the present embodiment, the height from the floor surface 6 to the bottom plate 32 is set in advance according to the total weight of the carriage 3 and the work 2 loaded on the carriage 3. At this time, the heavier the total weight of the bogie 3 and the loaded work 2, the lower the height of the engaging groove 32a provided in the bogie 3 with which the urging spring 47 abuts from the floor surface 6. It is set for each type of. Therefore, the heavier the total weight of the trolley 3 and the loaded work 2, the greater the urging force acting from the urging spring 47. Therefore, an appropriate traction according to the total weight of the trolley 3 and the loaded work 2 is transported unmanned. Can be given to car 4. As a result, the traction is not too small to reduce the running stability and the accuracy of the stop position of the automatic guided vehicle 4, and the traction is too large to increase the power consumption due to the overload of the automatic guided vehicle 4. Can be prevented.

Further, in the automatic guided vehicle system 1 of the present embodiment, after the vehicle body 42 and the bogie 3 are connected, the cam 64 is moved upward U until it is separated from the elevating plate 62, so that the urging force of the urging spring 47 is increased. It is not regulated by the elevating mechanism 60. Therefore, by setting the distance between the frame 42a of the vehicle body 42 and the bottom plate 32 of the bogie 3 to a predetermined value in advance, a predetermined urging force is given from the urging portion 46, so that the urging force is adjusted with a simple configuration. be able to.

In the unmanned transport system 1 of the present embodiment, the case where the automatic guided vehicle 4 and the carriage 3 are both one has been described, but the present invention is not limited to this. For example, even when a plurality of automatic guided vehicles 4 and trolleys 3 are arranged in a factory or the like, the automatic guided vehicle system 1 can be applied. In this case, the operation control device 5 grasps the positions and states of the automatic guided vehicles 4 and the trolleys 3, and moves the automatic guided vehicles 4 and the trolleys 3 and the work 2 in order to place the work 2 in a desired position. To be transported.

Further, in the automatic guided vehicle 1 of the present embodiment, the automatic guided vehicle 4 is provided with an urging portion 46 for urging the vehicle body 42 and the carriage 3 in the direction of separating them in the vertical directions U and D. I explained, but it is not limited to this. For example, the urging portion 46 may be provided on the bogie 3, or may be independently interposed between the vehicle body 42 and the bogie 3. In either case, the urging unit 46 urges the vehicle body 42 and the bogie 3 in a direction that separates them in the vertical vertical directions U and D.

Further, in the automatic guided vehicle system 1 of the present embodiment, after the vehicle body 42 and the bogie 3 are connected, the urging force of the urging spring 47 is raised and lowered by moving the cam 64 upward U until the cam 64 is separated from the elevating plate 62. The case where the carriage 3 and the work 2 are urged without being regulated by the mechanism 60 has been described, but the present invention is not limited to this. For example, the urging force may be adjusted by adjusting the spring length of the urging spring 47 by adjusting the height of the elevating portion 48 by the elevating mechanism 60.

Further, in the unmanned transport system 1 of the present embodiment, the case where the traveling surface of both the automatic guided vehicle 4 and the carriage 3 is the floor surface 6 has been described, but the present invention is not limited to this. For example, the trolley 3 may be guided by a rail so that the automatic guided vehicle 4 can move freely on the floor surface 6.

Further, in the automatic guided vehicle system 1 of the present embodiment, the case where the urging unit 46 has the urging spring 47 has been described, but the present invention is not limited to this. For example, the urging spring 47 may not be provided, and the urging spring 47 may be urged toward the carriage 3.

Further, in the automatic guided vehicle system 1 of the present embodiment, the case where the elevating portion 48 of the urging portion 46 can come into contact with the engaging groove 32a of the carriage 3 has been described, but the present invention is not limited to this. That is, the elevating portion 48 may come into contact with at least one of the carriage 3 and the loaded work 2. For example, when a part of the urging portion 46 comes into direct contact with the work 2, a part of the weight of the work 2 is removed. It may be supported by the automatic guided vehicle 4.

The present embodiment includes at least the following configurations. The unmanned transport vehicle (4) of the present embodiment has a gantry (31) on which the work (2) can be loaded and a driven wheel (30) in contact with the traveling surface (6), and the driven wheel is applied by applying an external force. An unmanned transport vehicle (4) that supports and transports the carriage (3) that can move the traveling surface (6) by (30) on the lower side (D) in the vertical direction from the mount (31). ), And drives a plurality of wheels (40, 41) in contact with the vehicle body (42), a traveling surface (6), and at least a part of the wheels (40, 41). The drive source (43) to be driven, the connecting portion (45) connecting the vehicle body (42) and the bogie (3), and the vehicle body (42) provided on the vehicle body (42) by the connecting portion (45). ) And the trolley (3), abut on the trolley (3) to support a part of the total weight of the trolley (3) and the loaded work (2). At the same time, the vehicle body (42) and the bogie (3) are provided with an urging portion (46) for urging the vehicle body (42) and the bogie (3) in the direction of separating them in the vertical direction (U, D). According to this configuration, the urging portion (46) of the automatic guided vehicle (4) supports a part of the total weight of the bogie (3) and the loaded work (2), and also supports the vehicle body (42). The trolley (3) is urged in a direction that separates it in the vertical direction (U, D). Therefore, the automatic guided vehicle (4) does not completely lift the bogie (3), that is, the driven wheel (30) of the bogie (3) is in contact with the traveling surface (6) and the bogie (3) and the work (3) and the work (3). The trolley (3) is transported while receiving a part of the total weight of 2). Then, the automatic guided vehicle (4) is urged to the lower side (D) in the vertical direction via the urging portion (46) (that is, pressed toward the traveling surface (6)), and a part of the automatic guided vehicle (4) is pressed toward the traveling surface (6). Since the traction to the drive wheel (40), which is the wheel of the vehicle, can be increased, even if the trolley (3) and the loaded work (2) are heavy objects, the automatic guided vehicle (4) does not need to be enlarged. , The running can be stabilized by overcoming the inertial force of the carriage (3), and the accuracy of the stop position after transportation can be improved.

Further, in the automatic guided vehicle (4) of the present embodiment, when the urging portion (46) is connected to the vehicle body (42) and the bogie (3) by the connecting portion (45). It has an elastic body (47) interposed between the bogie (31) and the vehicle body (42) in the vertical direction (U, D). According to this configuration, the bogie (3) and the vehicle body (42) can be elastically urged by the elastic body (47). 2) It becomes possible to urge an appropriate urging force according to the weight of (2). As a result, the urging unit (46) can apply traction of an appropriate size to the automatic guided vehicle (4).

Further, in the automatic guided vehicle (4) of the present embodiment, the elevating portion (48) attached to the upper end portion of the elastic body (47) is raised, and the elastic body (47) becomes the vehicle body (42). The elevating part (48) comes into contact with the trolley (3) while having an urging force for urging the trolley (3) and the trolley (3) in a direction away from each other in the vertical direction (U, D). Is provided with an elevating mechanism (60) capable of elevating the elevating portion (48). According to this configuration, a simple mechanism makes it possible to apply traction of an appropriate size to the automatic guided vehicle (4).

Further, in the automatic guided vehicle (4) of the present embodiment, the connecting portion (45) can be moved up and down in the vertical direction (U, D) by the elevating mechanism (60), and the trolley (45) can be raised and lowered. It has a pin member (45p) that is inserted into and connected to the connecting hole (33a) formed in 3), and the pin member (45p) and the elevating portion (48) are interlocked with each other. According to this configuration, the connection operation between the automatic guided vehicle (4) and the carriage (3) and the direction in which the automatic guided vehicle (4) and the carriage (3) are separated in the vertical direction (U, D). Bounce and can be realized in conjunction with each other. Therefore, the mechanism can be simplified and the reliability of the operation can be improved as compared with the case where these operations are performed separately.

Further, the unmanned transport system (1) of the present embodiment has a gantry (31) on which the work (2) can be loaded and a driven wheel (30) in contact with the traveling surface (6), and an external force is applied. A bogie (3) capable of moving the traveling surface (6) by the driven wheel (30), a vehicle body (42), a plurality of wheels (40, 41) in contact with the traveling surface (6), and the plurality of wheels. An unmanned transport vehicle (4) having a drive source (43) for moving the vehicle body (42) by driving at least a part of the wheels (40) of (40, 41), and the vehicle body (42). ) And the bogie (3) to be able to transport the bogie (3), and the car body (42) provided on the car body (42) by the connecting portion (45). ) And the trolley (3), the trolley (3) and the loaded trolley (3) are brought into contact with the trolley (3) on the lower side (D) in the vertical direction from the gantry (31). A part of the total weight of the work (2) is supported, and the vehicle body (42) and the bogie (3) are urged to be separated from each other in the vertical direction (U, D). A unit (46) is provided. According to this configuration, the urging portion (46) of the automatic guided vehicle (4) supports a part of the total weight of the bogie (3) and the loaded work (2), and also supports the vehicle body (42). The trolley (3) is urged in a direction that separates it in the vertical direction (U, D). Therefore, the automatic guided vehicle (4) does not completely lift the bogie (3), that is, the driven wheel (30) of the bogie (3) is in contact with the traveling surface (6) and the bogie (3) and the work (3) and the work (3). The trolley (3) is transported while receiving a part of the total weight of 2). Then, the automatic guided vehicle (4) is urged to the lower side (D) in the vertical direction via the urging portion (46) (that is, pressed toward the traveling surface (6)), and a part of the automatic guided vehicle (4) is pressed toward the traveling surface (6). Since the traction to the drive wheel (40), which is the wheel of the vehicle, can be increased, even if the trolley (3) and the loaded work (2) are heavy objects, the automatic guided vehicle (4) does not need to be enlarged. , The running can be stabilized by overcoming the inertial force of the carriage (3), and the accuracy of the stop position after transportation can be improved.

Further, in the unmanned transport system (1) of the present embodiment, when the urging portion (46) is connected to the vehicle body (42) and the bogie (3) by the connecting portion (45). A plurality of types having an elastic body (47) interposed between the bogie (31) and the vehicle body (42) in the vertical direction (U, D), and corresponding to the weight of the work (2). The trolley (3) is provided, and in the plurality of types of trolleys (3), the heavier the total weight of the trolley (3) and the loaded work (2), the more the urging portion (46) hits. The height of the contact portion (32a) provided on the trolley (3) in contact with the trolley (3) from the traveling surface (6) is set to be low for each type of the trolley (3). According to this configuration, the heavier the total weight of the bogie (3) and the loaded work (2), the lower the height of the abutting portion (32a) with which the urging portion (46) abuts. The urging force acting from 47) increases. On the other hand, the smaller the total weight of the carriage (3) and the loaded work (2), the higher the height of the abutting portion (32a) with which the urging portion (46) abuts, so that the elastic body (47) acts. The urging force to do becomes smaller. Therefore, the automatic guided vehicle (4) can be provided with appropriate traction according to the total weight of the carriage (3) and the loaded work (2). As a result, the traction is not too small to reduce the running stability and the accuracy of the stop position of the automatic guided vehicle (4), and the traction is too large to increase the power consumption due to the overload of the automatic guided vehicle (4). It is possible to prevent it from happening.

1 Automated guided vehicle 2 Work 3 Cart 4 Automated guided vehicle 6 Floor surface (running surface)
30 casters (driving wheels)
31 Stand 32a Engagement groove (contact part)
33a Connecting hole 40 Drive wheels (plural wheels)
41 Steering wheels (multiple wheels)
42 Body 43 Drive source 45 Connecting part 45p Pin member 46 Biasing part 47 Biasing spring (elastic body)
48 Lifting part 60 Lifting mechanism D Downward (vertical downward)

Claims (7)

A trolley that has a gantry on which a work can be loaded and a driven wheel that is in contact with the traveling surface and is movable on the traveling surface by the driven wheel by applying an external force is supported by the trolley on the lower side in the vertical direction from the gantry. It is an automatic guided vehicle that transports
With the car body
With multiple wheels in contact with the running surface,
A drive source that drives at least a part of the plurality of wheels,
A connecting portion that connects the vehicle body and the bogie,
When the vehicle body and the carriage are connected to each other by the connecting portion provided on the vehicle body, the vehicle body and the carriage are brought into contact with the carriage to support a part of the total weight of the carriage and the loaded work. , An urging portion that urges the vehicle body and the bogie in a direction that separates them in the vertical direction .
The urging part
When the vehicle body and the bogie are connected by the connecting portion, an elastic body interposed between the gantry and the vehicle body in the vertical direction is
An elevating part attached to the upper end of the elastic body and
The elevating part is raised so that the elevating part comes into contact with the bogie in a state where the elastic body has an urging force for urging the vehicle body and the bogie in a direction that separates the vehicle body and the bogie in the vertical direction. It also has an elevating mechanism that can elevate the elevating part.
The connecting portion has a pin member that can be raised and lowered in the vertical direction by the raising and lowering mechanism, and is inserted into and connected to a connecting hole formed in the carriage by raising.
The lifting unit, the plate-like member der Ru AGV extending in the horizontal direction around the pin member. A trolley that has a gantry on which a work can be loaded and a driven wheel that is in contact with the traveling surface and is movable on the traveling surface by the driven wheel by applying an external force is supported by the trolley on the lower side in the vertical direction from the gantry. It is an automatic guided vehicle that transports
With the car body
With multiple wheels in contact with the running surface,
A drive source that drives at least a part of the plurality of wheels,
A connecting portion that connects the vehicle body and the bogie,
When the vehicle body and the carriage are connected to each other by the connecting portion provided on the vehicle body, the vehicle body and the carriage are brought into contact with the carriage to support a part of the total weight of the carriage and the loaded work. , An urging portion that urges the vehicle body and the bogie in a direction that separates them in the vertical direction.
The urging part
When the vehicle body and the bogie are connected by the connecting portion, an elastic body interposed between the gantry and the vehicle body in the vertical direction is
An elevating part attached to the upper end of the elastic body and
The elevating part is raised so that the elevating part comes into contact with the bogie in a state where the elastic body has an urging force for urging the vehicle body and the bogie in a direction that separates the vehicle body and the bogie in the vertical direction. It also has an elevating mechanism that can elevate the elevating part.
The connecting portion has a pin member that can be raised and lowered in the vertical direction by the raising and lowering mechanism, and is inserted into and connected to a connecting hole formed in the carriage by raising.
The lifting mechanism, the automatic guided vehicle that have a lowerable lowering mechanism the pin member abuts on the pin member. The automatic guided vehicle according to claim 2, wherein the elevating portion is a plate-shaped member extending in the horizontal direction around the pin member. A trolley that has a gantry on which a work can be loaded and a driven wheel that is in contact with the traveling surface, and that can move the traveling surface by the driven wheel when an external force is applied.
An automatic guided vehicle having a vehicle body, a plurality of wheels in contact with a traveling surface, and a drive source for moving the vehicle body by driving at least a part of the plurality of wheels.
A connecting portion that connects the vehicle body and the bogie so that the bogie can be transported,
When the vehicle body and the trolley are connected to each other by the connecting portion provided on the vehicle body, the total weight of the trolley and the loaded work is in contact with the trolley on the lower side in the vertical direction from the gantry. A part of the above is supported, and an urging portion for urging the vehicle body and the bogie in a direction that separates them in the vertical direction is provided.
The urging part
When the vehicle body and the bogie are connected by the connecting portion, an elastic body interposed between the gantry and the vehicle body in the vertical direction is
An elevating part attached to the upper end of the elastic body and
The elevating part is raised so that the elevating part comes into contact with the bogie in a state where the elastic body has an urging force for urging the vehicle body and the bogie in a direction that separates the vehicle body and the bogie in the vertical direction. It also has an elevating mechanism that can elevate the elevating part.
The connecting portion has a pin member that can be raised and lowered in the vertical direction by the raising and lowering mechanism, and is inserted into and connected to a connecting hole formed in the carriage by raising.
The elevating part is an automatic guided vehicle which is a plate-shaped member extending in the horizontal direction around the pin member. A trolley that has a gantry on which a work can be loaded and a driven wheel that is in contact with the traveling surface, and that can move the traveling surface by the driven wheel when an external force is applied.
An automatic guided vehicle having a vehicle body, a plurality of wheels in contact with a traveling surface, and a drive source for moving the vehicle body by driving at least a part of the plurality of wheels.
A connecting portion that connects the vehicle body and the bogie so that the bogie can be transported,
When the vehicle body and the trolley are connected to each other by the connecting portion provided on the vehicle body, the total weight of the trolley and the loaded work is in contact with the trolley on the lower side in the vertical direction from the gantry. A part of the above is supported, and an urging portion for urging the vehicle body and the bogie in a direction that separates them in the vertical direction is provided .
The urging part
When the vehicle body and the bogie are connected by the connecting portion, an elastic body interposed between the gantry and the vehicle body in the vertical direction is
An elevating part attached to the upper end of the elastic body and
The elevating part is raised so that the elevating part comes into contact with the bogie in a state where the elastic body has an urging force for urging the vehicle body and the bogie in a direction that separates the vehicle body and the bogie in the vertical direction. It also has an elevating mechanism that can elevate the elevating part.
The connecting portion has a pin member that can be raised and lowered in the vertical direction by the raising and lowering mechanism, and is inserted into and connected to a connecting hole formed in the carriage by raising.
The elevating mechanism, unmanned transport system that abuts on the pin member having a lowerable lowering mechanism of the pin member. The unmanned transfer system according to claim 5, wherein the elevating part is a plate-shaped member extending in the horizontal direction around the pin member. A plurality of types of the trolleys corresponding to the weight of the work are provided.
In the plurality of types of the trolleys, the heavier the total weight of the trolley and the loaded work, the lower the height of the abutting portion provided on the trolley with which the urging portion abuts from the traveling surface. The automatic guided vehicle according to any one of claims 4 to 6, which is set for each type of carriage.

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