JP6902442B2 - Bogie connection mechanism - Google Patents

Description

The present invention relates to a carriage connecting mechanism.

In factories and the like, for example, a trolley is used to transport a transported object such as a part or a tool (see, for example, Patent Document 1). Various types of such trolleys are used according to the transported items.

Patent No. 5940035

However, as the number of types of trolleys increases, the handling of the trolleys differs depending on the type of trolleys (for example, size and shape). Problems such as the need for dedicated connecting mechanisms according to the type of dolly, and the need to handle (differently) according to the dedicated connecting mechanism in order to connect and disconnect the dolly. Occurs.

Therefore, an object of the present invention is mainly to solve the above-mentioned problems.

In order to solve the above problems, the present invention
The coupler body attached to the rear of the automatic guided vehicle in the straight direction,
A coupler movable portion provided so as to be reciprocally movable in the straight direction with respect to the coupler main body,
An urging means that is interposed between the coupler movable portion and the coupler main body and can urge the coupler movable portion toward the rear in the straight-ahead direction.
A holding / releasing mechanism that is installed between the coupler main body and the coupler movable portion and alternately repeats holding and releasing of the coupler movable portion by pushing in the straight direction.
A pair of left and right opening / closing arms that extend to the rear of the coupler movable portion in the straight-ahead direction and are provided so as to be openable / closable to the left and right with respect to the coupler movable portion.
A hooking portion provided at the rear end of the pair of left and right opening / closing arms and capable of hooking on a trolley located on the rear side.
It is characterized by a carriage connecting mechanism having an arm guide for guiding the opening and closing of the left and right opening / closing arms in accordance with the holding and releasing of the coupler movable portion by the holding / releasing mechanism.

According to the present invention, according to the above configuration, a highly versatile connecting mechanism that can be attached to an automatic guided vehicle and used can be obtained, and it is possible to eliminate the need to provide a connecting mechanism on the side of the carriage.

It is a perspective view which shows the state just before connecting the carriage to the automatic guided vehicle by the carriage connecting mechanism which concerns on this embodiment (the state which the opening and closing arm is inserted under the carriage). It is the same perspective view as FIG. 1 which shows the state which opened the opening / closing arm inserted under the carriage. It is a plan view (closed state) of an automatic guided vehicle equipped with a bogie connecting mechanism. It is a plan view (open state) of an automatic guided vehicle equipped with a bogie connecting mechanism. It is a side view of an automatic guided vehicle equipped with a bogie connecting mechanism. It is an enlarged view of the part of the bogie connecting mechanism of FIG. It is an enlarged view of the part of the bogie connecting mechanism of FIG. It is an enlarged view of the part of the bogie connecting mechanism of FIG. It is an enlarged view of the part of the bogie connecting mechanism of FIG. It is an enlarged view of the part of the bogie connecting mechanism of FIG. It is a partially enlarged view (closed state) around the hooking portion. It is a partially enlarged view (open state) around the hook portion. It is a top view which shows the state which pulls the trolley which faces diagonally with the opening / closing arm inserted under the trolley, and the hooking portion is hooked on the root part of a wheel. It is a perspective view which shows the state which the hooked part is hooked on the root part of a wheel. It is a side view of the person transport vehicle similar to FIG. 5 showing a state in which the coupler main body is tilted upward.

Hereinafter, the present embodiment will be described in detail with reference to the drawings.
1 to 15 are for explaining this embodiment.

<Structure> The configuration of this embodiment will be described below.

For example, in a factory or the like, a dolly is used to transport a transported object such as a part or a tool. Then, as shown in FIG. 1 (FIG. 2), the carriage 1 is connected to the automatic guided vehicle 2 (FIGS. 3 to 5) and towed. In order to tow the trolley 1 by the automatic guided vehicle 2, the trolley connecting mechanism 3 (FIGS. 6 to 10) is attached to the automatic guided vehicle 2.

Hereinafter, the carriage connecting mechanism 3 will be described.

(1) As shown in FIG. 3 (to FIG. 10), the carriage connecting mechanism 3 according to this embodiment is
The coupler body 5 attached to the rear part of the automatic guided vehicle 2 in the straight direction 4 and
A coupler movable portion 6 provided so as to be reciprocally movable in the straight direction 4 with respect to the coupler main body 5.
An urging means 7 that is interposed between the coupler movable portion 6 and the coupler main body 5 and can urge the coupler movable portion 6 toward the rear in the straight-ahead direction 4.
A holding / releasing mechanism 8 which is installed between the coupler main body 5 and the coupler movable portion 6 and alternately repeats holding and releasing the coupler movable portion 6 by pushing in the straight direction 4 is provided.
Then, a pair of left and right opening / closing arms 11 that extend to the rear of the coupler movable portion 6 in the straight direction 4 and are provided to be openable / closable to the left and right with respect to the coupler movable portion 6
A hooking portion 12 provided at the rear end of the pair of left and right opening / closing arms 11 and capable of hooking on the trolley 1 located on the rear side.
It has an arm guide 13 for guiding the opening and closing of the left and right opening / closing arms 11 in accordance with the holding and releasing of the coupler movable portion 6 by the holding / releasing mechanism 8.

Here, as shown in FIG. 1 (FIG. 2), the carriage 1 may be any as long as it has an underframe portion 1a and wheels 1b. In this embodiment, it is assumed that the carriage 1 is mainly equipped with wheels 1b at or near the four corners on the lower surface side of the rectangular underframe portion 1a. Parts and tools are mounted directly on the underframe portion 1a or indirectly via a storage portion 19 such as a container or a shelf portion. The storage portion 19 may be fixed to the underframe portion 1a or may be detachable.

The bogie connecting mechanism 3 is, for example, a device used for connecting the automatic guided vehicle 2 and the bogie 1 or connecting the bogies 1 to each other. In this embodiment, the automatic guided vehicle 2 and the trolley 1 are connected. By attaching the trolley connecting mechanism 3 of this embodiment only to the automatic guided vehicle 2, various trolleys 1 can be connected and used as they are.

The automatic guided vehicle 2 is, for example, a vehicle (for example, an AGV: Automatic Guided Vehicle) that automatically travels in a factory to transport a transported object. The automatic guided vehicle 2 can freely move in a straight line, a curved line, forward and backward, and change direction. Further, the automatic guided vehicle 2 may be an automatic traveling vehicle having a vehicle function for transporting a transported object by itself.

For example, the automatic guided vehicle 2 automatically travels according to a given program, travels along a rail installed on the floor, or detects an index (marker) provided in the factory by itself. There are various things such as those that run while running.

In this embodiment, the automatic guided vehicle 2 is driven while detecting an index (marker) by itself. The index (marker) can be, for example, a tape attached to the floor surface. By using the tape attached to the floor as an index (marker) in this way, the automatic guided vehicle 2 can be self-employed simply by teaching the meaning of the index (marker) to the control unit of the automatic guided vehicle 2 in advance. It becomes possible to determine an index (marker) and travel, for example, it is possible to eliminate the need to create a troublesome program for setting a travel route. In addition, it is possible to eliminate the need to attach an uneven rail to the floor surface, and it is possible to easily set a traveling route or easily change the traveling route simply by attaching a tape to the floor surface. Therefore, the cost is low and the degree of freedom is high.

The straight-ahead direction 4 is a direction in which the automatic guided vehicle 2 travels in a straight line along a travel path. The front and rear of the straight-ahead direction 4 follow the traveling direction of the automatic guided vehicle 2 set for the traveling route.

The coupler main body 5 is a base of the carriage connecting mechanism 3, and may be any as long as the coupler movable portion 6 and the like can be installed. In this embodiment, as shown in FIG. 6 (FIG. 7), the base plate 5a having a substantially H-shape in a plan view is provided sideways with respect to the straight-ahead direction 4. The base plate 5a is made of metal and is attached to the automatic guided vehicle 2 by a metal attachment member 5b. A support portion 5c that supports and reinforces the base plate 5a from below is attached to the attachment member 5b. The support portion 5c is, for example, a rod-shaped one extending rearward.

The coupler movable portion 6 is installed on the upper portion of the coupler main body 5 so as to be reciprocally movable in the straight direction 4 via a slide guide 16 extending in the straight direction 4. The coupler movable portion 6 is mainly composed of a movable portion main body 6a slidably attached to the slide guide 16. An arm mounting portion 6b is provided at the rear end of the movable portion main body 6a. Further, a wall component having a vertically oriented wall 6c capable of contacting the carriage 1 located on the rear side is attached to the rear end of the movable part main body 6a.

A pair of left and right arm mounting portions 6b are provided on the movable portion main body 6a in order to individually mount the base end portions (front end portions in the straight direction 4) of the left and right opening / closing arms 11. The pair of left and right arm mounting portions 6b are integrally projected from both side portions of the movable portion main body 6a. The wall component having the wall 6c is mounted at a position between the left and right arm mounting portions 6b in the upper part of the movable portion main body 6a. The wall 6c is located on the rear side of the arm mounting portion 6b.

As shown in FIGS. 8 (to 10), the urging means 7 is between the rear end side of the coupler main body 5 and the front end side of the coupler movable portion 6 with reference to the straight direction 4 of the automatic guided vehicle 2. It can be a tension spring (coil spring) or the like interposed in the vehicle.

As the holding / releasing mechanism 8, for example, a commercially available component called a one-touch catch or the like can be used as it is. As shown in FIG. 9, the one-touch catch has a catch body 8a for holding and releasing and a holding body 8b held and released by the catch body 8a, and the catch body 8a is attached to the coupler body 5. At the same time, the holding body 8b can be easily used by attaching it to the coupler movable portion 6. The catch body 8a and the holding body 8b are attached so as to face each other so as to line up in a straight line with respect to the straight direction 4.

The left and right opening / closing arms 11 are opened from a closed state (FIGS. 8 and 3) which is substantially horizontal and parallel to the straight direction 4 to a laterally open state (FIGS. 9 and 4) at an angle of 180 ° or less in a substantially horizontal plane. ), It is rotatably attached to the coupler movable portion 6. For attaching the opening / closing arm 11 to the coupler movable portion 6 (arm mounting portion 6b), for example, a spring hinge 18 having a spring for urging the opening / closing arm 11 in the opening direction can be used. .. In this embodiment, two spring hinges 18 are used in combination up and down in order to optimally adjust the spring force (FIG. 6). The left and right opening / closing arms 11 are preferably arranged on both sides of the width center line of the automatic guided vehicle 2. At this time, the left and right opening / closing arms 11 are placed at substantially the same distance from the width center line of the automatic guided vehicle 2. In addition, they are arranged so as to be narrower than the width dimension of the carriage 1.

The hooking portion 12 is as shown in FIG. 11 (FIG. 12), and may be any shape as long as the trolley 1 can be hooked. The hook portion 12 can be attached to an end portion (rear side end portion) of the opening / closing arm 11 on the carriage 1 side. In this embodiment, the hooking portion 12 is attached to the outer surface of the opening / closing arm 11. The details of the hooking portion 12 will be described later.

As shown in FIG. 8 (FIG. 9), the arm guide 13 is for guiding the opening operation of the opening / closing arm 11 and the closing operation of the opening / closing arm 11.

(2) As shown in FIG. 13 (FIG. 14), the opening / closing arm 11 may be inserted into the lower side of the carriage 1 located on the rear side.
Then, the hooking portion 12 may be hookable from the rear side in the straight direction 4 to the root portion 1c of the wheel 1b of the carriage 1 located on the rear side.

Here, the opening / closing arm 11 and the hooking portion 12 may be inserted into any position of the carriage 1 to hook any portion, but here, the opening / closing arm 11 and the hooking portion 12 are inserted under the carriage 1 to be inserted into the carriage 1. It is configured to hook the root portion 1c of the wheel 1b.

First, the carriage 1 may be substantially located on the rear side of the automatic guided vehicle 2 traveling on the traveling route. For example, in the case of operating the trolley 1 to stand by at a position outside the traveling route and pulling it into the traveling route, the automatic guided vehicle 2 travels on the traveling route, passes the position of the trolley 1, and is attached to the floor surface. An index (marker) indicating the connection of the trolleys 1 is detected and the vehicle is stopped. Even in such a case, the trolleys 1 located outside the traveling path correspond to the trolleys 1 located on the rear side. In this case, the automatic guided vehicle 2 and the carriage 1 located on the rear side are in a state of being positioned in the front-rear direction with the positions and directions of the width center lines being deviated from each other.

The lower side of the carriage 1 is a space below the underframe portion 1a of the carriage 1. The opening / closing arm 11 is set to a length that allows it to be inserted under the carriage 1, and is installed at a height that allows it to be inserted under the carriage 1.

The wheels 1b of the carriage 1 may be universal wheels, fixed wheels, or the like. The wheels 1b on which the hooking portion 12 is hooked are mainly assumed to be the left and right front wheels of the carriage 1.

The root portion 1c of the wheel 1b is a mounting portion (fixed portion) of the wheel 1b with respect to the underframe portion 1a of the trolley 1, and the movement of the trolley 1 (or rotation of the wheel 1b (for example, axial rotation or horizontal turning)). Etc.)) is the part that does not interfere.

(3) The opening / closing arm 11 may be formed of an elastic member 31.

Here, the opening / closing arm 11 can be made of metal, resin, or the like. At this time, it is preferable to use, for example, spring steel or a spring material as the elastic member 31 for the opening / closing arm 11. The elastic member 31 may be at least capable of elastically deforming and returning in the lateral direction (horizontal direction). In this embodiment, the elastic metal strip is installed so that its surface faces substantially in the vertical direction.

(4) As shown in FIG. 11 (FIG. 12), even if the hook portion 12 has an insertion taper portion 41 capable of guiding the insertion of the opening / closing arm 11 to the lower side of the carriage 1 located on the rear side. good.

Here, the insertion tapered portion 41 is provided at an end portion (rear side end portion of the hooking portion 12) on the carriage 1 side of the hooking portion 12. The insertion taper portion 41 is an inclined surface or the like toward the side (inside) of the width center line of the automatic guided vehicle 2 as it advances to the rear side.

(5) The hook portion 12 may have a claw portion 45 that can be opened and closed.

Here, the claw portion 45 is provided at an end portion (front end portion) on the automatic guided vehicle 2 side of the hook portion 12 or a position outside the periphery thereof. The claw portion 45 may be fixed, but it is preferable that the claw portion 45 can be opened and closed in the lateral direction. The claw portion 45 is attached so as to open outward with respect to the main body (hook portion main body) of the hook portion 12. For attaching the claw portion 45 to the main body of the hook portion 12, a spring hinge 46 or the like having a spring for urging the claw portion 45 in the closing direction can be used.

(6) The hooking portion 12 may have a guiding tapered portion 51 capable of guiding the root portion 1c of the wheel 1b of the carriage 1 located on the rear side to the inner portion of the claw portion 45.

Here, the guide taper portion 51 is provided at the end portion (front side end portion) on the automatic guided vehicle 2 side of the hook portion 12. The guide taper portion 51 is an inclined surface or the like toward the side (inside) of the width center line of the automatic guided vehicle 2 as it advances to the front side. On the other hand, the claw portion 45 is arranged in an inclined shape toward the outside as it advances toward the front side. Then, the claw portion 45 and the guide taper portion 51 are combined to form a substantially V-shaped recess.

(7) The claw portion 45 may have a return portion 55 capable of preventing the hook portion 12 from coming off from the root portion 1c of the wheel 1b of the carriage 1 located on the rear side.

Here, the return portion 55 is provided at the end portion (front side end portion) on the automatic guided vehicle 2 side of the claw portion 45 or at a position inside the periphery thereof. The return portion 55 is assumed to extend inward substantially parallel to the guide taper portion 51. Then, a frontage portion is formed between the end portion of the return portion 55 and the guide taper portion 51 (the entrance side of the recessed portion described above) so that the root portion 1c of the wheel 1b can be substantially inserted. If necessary, a tapered portion, a cornered portion, or the like for attracting the root portion 1c of the wheel 1b may be provided on the front edge portion or the like of the return portion 55.

(8) The arm guide 13 closes the left and right opening / closing arms 11 when the coupler movable portion 6 is held by the holding / releasing mechanism 8 (FIGS. 3 and 8), and the holding / releasing mechanism 8 releases the coupler movable portion 6. At times (FIGS. 4 and 9), the left and right opening / closing arms 11 may be opened.

Here, by holding the coupler movable portion 6 by the holding / releasing mechanism 8, the coupler movable portion 6 is moved to a forward position approaching the automatic guided vehicle 2. On the contrary, when the coupler movable portion 6 is released by the holding / releasing mechanism 8, the coupler movable portion 6 is moved to a retracted position away from the automatic guided vehicle 2. Then, in order to close the left and right opening / closing arms 11 at the forward position and open the left / right opening / closing arms 11 at the backward position, the arm guide 13 is placed between the forward position and the backward position in the straight-ahead direction 4. It is installed at a position outside the opening / closing arm 11 that is urged in the opening direction (by an urging means such as a spring hinge 18).

The arm guide 13 may be, for example, a columnar one extending in the vertical direction. In this embodiment, a guide surface 13a may be provided inside the arm guide 13 so that the opening and closing of the opening / closing arm 11 can be guided more smoothly. For example, the arm guide 13 may be substantially fan-shaped in a plan view, and the opening / closing guide surface 13a may have a curved surface shape close to an arc shape.

(9) A pair of left and right arm guides 13 may be provided.
Then, as shown in FIG. 8 (FIG. 9), the pair of left and right arm guides 13 may be installed by shifting the positions in the straight-ahead direction 4 (positional deviation amount 61).

Here, the reason why the left and right arm guides 13 are installed with the positions of the right and left arm guides 13 shifted in the straight-ahead direction 4 is to reduce the load required for closing the opening / closing arm 11. Since the load required for the closing operation of the opening / closing arm 11 is the heaviest at the start of the closing operation, the displacement amount 61 of the left and right arm guides 13 sets the time difference between the closing operations of the left and right arm 11s one by one. It may be a small amount that can be started by holding it.

As a result, the arm guide 13 is in contact with the portion close to the base of the opening / closing arm 11 when the coupler movable portion 6 is in the forward position (that is, the position where the load required for closing the opening / closing arm 11 is maximum). It will be possible to install it in such places.

The position deviation amount 61 is shown with reference to the position on the front end side of the arm guide 13 for convenience of drawing, but the position on the rear end side of the arm guide 13 and the position of the mounting portion with respect to the coupler body 5 It is the same even if it shows by.

(10) As shown in FIG. 15 (FIG. 5), the coupler main body 5 may be tilted up and down.

Here, the coupler main body 5 may be provided with a structure that can be tilted up and down by itself, or may be attached to the automatic guided vehicle 2 so that it can be tilted up and down. In this embodiment, the hinge portion 65 for vertical tilting is installed between the base plate 5a of the coupler main body 5 and the mounting member 5b.

The coupler body 5 may be tilted by a required amount to both the upper side and the lower side with respect to the horizontal state, or may be tilted by a required amount only to the upper side with respect to the horizontal state. Alternatively, the required amount may be tilted only downward based on the horizontal state.

In this embodiment, it is possible to tilt upward from the horizontal state. It is preferable that the coupler main body 5 is provided with an urging means for returning to the horizontal state. In this embodiment, as the urging means, a spring hinge having a urging spring capable of urging the coupler body 5 downward is used for the vertical tilting hinge portion 65.

<Action> The action of this example will be described below.

First, the operation when the following carriage 1 is connected by using the carriage connecting mechanism 3 will be described.

Before the coupling, the coupler movable portion 6 is held and fixed to the coupler main body 5 by the holding / releasing mechanism 8, so that the pair of left and right opening / closing arms 11 are closed.

In this state, the automatic guided vehicle 2 is retracted, and the pair of left and right opening / closing arms 11 attached to the coupler movable portion 6 are kept closed and approached to the trolley 1 located on the rear side, and are located on the rear side. The coupler movable portion 6 (the wall 6c) is brought into contact with the carriage 1 (the front portion). As a result, the coupler movable portion 6 is pushed forward (in the straight-ahead direction 4) against the coupler main body 5 against the urging force of the urging means 7 and the operating force of the holding / releasing mechanism 8. Then, by this pushing, the holding / releasing mechanism 8 releases the coupler movable portion 6 from the coupler main body 5.

Then, due to the release operation of the holding / releasing mechanism 8, the coupler movable portion 6 is displaced to the retracted position with respect to the coupler main body 5 by the urging force of the urging means 7. In this way, when the coupler movable portion 6 moves backward with respect to the coupler main body 5, a pair of left and right pairs provided on the coupler movable portion 6 are provided by guidance by the arm guide 13 or an opening force of the opening / closing arm 11. The opening / closing arm 11 opens.

By the opening operation of the opening / closing arm 11, the hooking portion 12 provided at the rear end portion of the opening / closing arm 11 is in a state where the carriage 1 located on the rear side can be hooked. At this time, if the opening / closing arm 11 is inserted into the lower side of the carriage 1, the hooking portion 12 can hook the root portion 1c of the wheel 1b of the carriage 1 located on the rear side. Since the wheel 1b is always provided on the carriage 1, it is convenient to use it as an object to be hooked by the hooking portion 12.

By further advancing the automatic guided vehicle 2 from this state, the hooking portion 12 provided at the rear end of the opening / closing arm 11 moves forward with respect to the carriage 1 located on the rear side, and is rearward. It is hooked on the carriage 1 (the root portion 1c of the wheel 1b) located at the rear side from the rear side. At this time, the left and right opening / closing arms 11 are closed according to the distance between the wheels 1b (left and right front wheels) of the trolley 1, and the claws 45 of the hooking portion 12 are opened by a required amount, so that the hooking portion 12 is the trolley 1 (of the trolley 1). It fits (fits) the root portion 1c) of the wheel 1b. By hooking the bogie 1 (the root portion 1c of the wheel 1b) by the opening / closing arm 11 and the hooking portion 12, the bogie 1 located on the rear side is directly connected or locked. By moving the vehicle 2 forward, the dolly 1 located on the rear side can be towed.

A more specific situation when the above connection operation is performed will be described. The following trolley 1 is made to stand by in advance at a position outside the travel path of the automatic guided vehicle 2 with parts, tools, and the like mounted on the trolley 1. Then, when the automatic guided vehicle 2 travels on the traveling route and passes the standby position of the carriage 1, the automatic guided vehicle 2 detects an index (marker) indicating the connection of the carriage 1 attached to the floor surface and stops. .. In this state, the positions and directions of the width center lines of the automatic guided vehicle 2 and the carriage 1 waiting on the rear side are deviated from each other. Therefore, the automatic guided vehicle 2 recedes diagonally toward the carriage 1 waiting on the rear side so as to deviate from the traveling path. The automatic guided vehicle 2 retreats slowly, and the coupler movable portion 6 gains momentum just before it comes into contact with the trolley 1 (front portion) waiting on the rear side, so that the urging force of the urging means 7 etc. To ensure that the release operation in the holding / releasing mechanism 8 is performed.

Since this connection work is started from a state in which the center positions of the automatic guided vehicle 2 and the carriage 1 located on the rear side are displaced, the hooking portions 12 of the left and right open / close arms 11 that are opened are the carriages located on the rear side. It is not always evenly hooked on the left and right front wheels of 1. However, since the left and right opening / closing arms 11 can be opened at different angles and the left and right opening / closing arms 11 are formed by elastic members 31, the left and right opening / closing arms 11 can be individually opened according to each situation. By opening or bending, the hooking portion 12 can be reliably hooked on the left and right front wheels of the carriage 1 by absorbing an uneven state (see FIG. 13 and the like).

After that, when the automatic guided vehicle 2 pulls the bogie 1 located on the rear side and returns while traveling diagonally from outside the traveling route to the inside of the traveling route, or when traveling in a curve along the traveling route. However, the left and right opening / closing arms 11 can be opened at different angles or individually bent according to each situation, so that the carriage 1 located on the rear side can be towed without any trouble. Further, by forming the left and right opening / closing arms 11 with elastic members 31, for example, when the left and right opening / closing arms 11 are inserted under the carriage 1, or when the left and right opening / closing arms 11 are opened, the hooking portion 12 However, even if it directly hits the carriage 1 or the like located on the rear side, the opening / closing arm 11 absorbs the impact force, so that the hooking portion 12 is prevented from being damaged.

Next, the operation when the subsequent carriage 1 is disconnected by using the carriage connection mechanism 3 will be described.

With respect to the holding / releasing mechanism 8, the coupler movable portion 6 is separated and released from the coupler main body 5, and the automatic guided vehicle 2 is slightly retracted with the left and right opening / closing arms 11 open. Then, the hooked state of the pair of left and right opening / closing arms 11 with respect to the carriage 1 (the root portion 1c of the wheel 1b) is released. When the automatic guided vehicle 2 is further retracted, the coupler movable portion 6 is brought into contact with (the front portion) of the carriage 1 located on the rear side, and the coupler movable portion 6 is urged by the coupler main body 5. It is pushed forward (in the straight direction 4) against the urging force of 7. Then, by this pushing, the holding / releasing mechanism 8 holds and fixes the coupler movable portion 6 to the coupler main body 5.

Then, with the holding operation by the holding / releasing mechanism 8, the coupler movable portion 6 is displaced to the forward position with respect to the coupler main body 5. In this way, when the coupler movable portion 6 moves forward with respect to the coupler main body 5, the pair of left and right opening / closing arms 11 provided on the coupler movable portion 6 are closed by the guidance of the arm guide 13. Due to the closing operation of the opening / closing arm 11, the hooking portion 12 provided at the rear end portion of the opening / closing arm 11 becomes unable to hook the carriage 1 located on the rear side.

After that, by advancing the automatic guided vehicle 2, the automatic guided vehicle 2 moves forward independently with the carriage connecting mechanism 3 separated from the carriage 1 located on the rear side.

The operation of disconnection is performed, for example, when the automatic guided vehicle 2 traveling on the traveling route while towing the carriage 1 detects an index (marker) indicating the disconnection of the carriage 1 attached to the floor surface. Will be. The automatic guided vehicle 2 temporarily stops when it detects an index (marker). After that, the automatic guided vehicle 2 slowly retreats, and by giving momentum just before it comes into contact with (the front part of) the carriage 1, the urging force of the urging means 7, the operating force of the holding / releasing mechanism 8, and the opening / closing arm 11 The holding operation of the holding / releasing mechanism 8 is ensured by overcoming the opening force and the like. By disconnecting, the dolly 1 is left as it is on the traveling route or the like.

<Effect> According to this embodiment, the following effects can be obtained.

(Effect 1) When the coupler movable portion 6 is pushed forward (in the straight direction 4) against the urging force of the urging means 7 against the coupler main body 5, the coupler can be moved by the holding / releasing mechanism 8. The portion 6 is held or released with respect to the coupler main body 5. The holding and releasing operations by the holding / releasing mechanism 8 are alternately alternated each time the above-mentioned pushing is performed. The push-in of the coupler movable portion 6 can be performed, for example, by retracting the automatic guided vehicle 2 and bringing it into contact with the carriage 1 located on the rear side. As a result, the connection / disconnection operation can be automatically performed to eliminate the labor required for manual work, and the operation time can be shortened to shorten the waiting time required for the connection / disconnection of the carriage 1. The load generated when the automatic guided vehicle 2 and the carriage 1 come into contact with each other is absorbed by the holding / releasing mechanism 8 or the backward movement of the carriage 1.

Then, by holding or releasing by the holding / releasing mechanism 8, the coupler movable portion 6 is displaced to either the forward position or the backward position with respect to the coupler main body 5. When the coupler movable portion 6 moves forward or backward with respect to the coupler main body 5, the pair of left and right opening / closing arms 11 provided on the coupler movable portion 6 are opened or closed by being guided by the arm guide 13 or the like. become. By opening and closing the opening / closing arm 11, the hooking portion 12 provided at the rear end of the opening / closing arm 11 can hook or release the carriage 1 located on the rear side. By hooking or releasing the hooking by the opening / closing arm 11 and the hooking portion 12, the carriage 1 located on the rear side can be connected or separated.

Then, by unitizing the trolley connecting mechanism 3 described above, the unmanned guided vehicle 2 can easily obtain a connecting function to the trolley 1 simply by attaching the trolley connecting mechanism 3 to the automatic guided vehicle 2. Since this bogie connecting mechanism 3 has versatility, by using the bogie connecting mechanism 3, operations such as connecting and disconnecting various types of bogies 1 can be performed in a unified manner. Will be able to. Moreover, since it is not necessary to provide a connecting mechanism or the like on the side of the trolley 1, it is possible to eliminate the need to provide a dedicated connecting mechanism according to the type of the trolley 1, and the dedicated connecting mechanism can be used. It is possible to eliminate the trouble of handling according to (different from each other).

(Effect 2) The opening / closing arm 11 is inserted into the lower side of the carriage 1 located on the rear side, and the hooking portion 12 is rearward in the straight direction 4 with respect to the root portion 1c of the wheel 1b of the carriage 1 located on the rear side. You may make it hook from the side. As a result, the portion of the carriage 1 located on the rear side that is inconspicuous from the outside can be directly hooked and connected. Then, it is possible to obtain a highly versatile bogie connecting mechanism 3 that can be connected to the entire bogie 1 (having wheels 1b), and the size, shape, and the like can be adjusted by one type of bogie connecting mechanism 3. It is possible to connect many different types of trolleys 1 in the same manner. Therefore, it is possible to eliminate the problem that the bogie connecting mechanism 3 cannot be connected due to the difference. Further, the trolley 1 can be connected so that the trolley connecting mechanism 3 does not interfere with the work.

Since the hooking portion 12 is hooked on the root portion 1c of the wheel 1b, the hooking portion 12 does not hinder the movement of the wheel 1b. Further, by hooking the hooking portion 12 on the root portion 1c of the wheel 1b, it is possible to eliminate the need to particularly install a portion where the hooking portion 12 of the opening / closing arm 11 is hooked on the carriage 1 located on the rear side. it can. However, (for example, when the hooking portion 12 is hooked on a portion other than the root portion 1c of the wheel 1b as described above), the hooking portion 12 of the opening / closing arm 11 is pulled with respect to the carriage 1. A hanging portion may be provided.

(Effect 3) The opening / closing arm 11 may be formed of an elastic member 31. As a result, the pair of left and right opening / closing arms 11 can be flexed independently according to the situation. Therefore, for example, when traveling on a curve, the width center of the automatic guided vehicle 2 and the carriage 1 located on the rear side. It is possible to flexibly respond even when the position and direction of the line are temporarily displaced. Therefore, for example, it is possible to eliminate the need to attach the coupler main body 5 to the automatic guided vehicle 2 so that it can turn horizontally, and the structure of the carriage connecting mechanism 3 can be simplified accordingly. Further, by forming the opening / closing arm 11 with the elastic member 31, the opening / closing arm 11 has a function of absorbing an impact force, so that damage to the hooking portion 12 can be prevented.

(Effect 4) The hooking portion 12 may be provided with a tapered portion 41 for insertion. As a result, it is possible to guide the insertion of the hooking portion 12 and the opening / closing arm 11 to the lower side of the carriage 1. Therefore, for example, even if the position and direction of the width center line between the automatic guided vehicle 2 and the carriage 1 located on the rear side are temporarily displaced, the hooking portion 12 and the opening / closing portion 12 can be easily and surely opened and closed. The arm 11 can be inserted.

(Effect 5) The hook portion 12 may be provided with a claw portion 45 that can be opened and closed. As a result, even if the width dimension of the trolley 1 and the width dimension of the base portion 1c of the wheel 1b of the trolley 1 are different, the claw portion 45 can be opened and closed to flexibly deal with the hook portion 12 and various trolleys 1 Can be optimally and securely locked to the root portion 1c of the wheel 1b.

(Effect 6) The hooking portion 12 may be provided with a guiding tapered portion 51. As a result, the root portion 1c of the wheel 1b of the carriage 1 can be reliably guided to the inner portion of the claw portion 45 by the guiding tapered portion 51.

(Effect 7) The claw portion 45 may be provided with a return portion 55. As a result, the return portion 55 can prevent the hook portion 12 from being unintentionally disengaged from the root portion 1c of the wheel 1b of the carriage 1. Therefore, for example, even when traveling on a curve or when the position and direction of the width center line between the automatic guided vehicle 2 and the trolley 1 located on the rear side are temporarily displaced, the vehicle is located on the rear side. The dolly 1 can be stably towed.

(Effect 8) When the coupler movable portion 6 is held by the holding / releasing mechanism 8, the arm guide 13 guides and closes the left and right opening / closing arms 11 to separate the carriage 1 located on the rear side. .. On the contrary, when the coupler movable portion 6 is released by the holding / releasing mechanism 8, the arm guide 13 guides the left and right opening / closing arms 11 to open, so that the carriage 1 located on the rear side can be connected. Then, by making the arm guide 13 as described above, for example, when the opening / closing arm 11 is opened when the coupler movable portion 6 is held by the holding / releasing mechanism 8, and the opening / closing arm 11 is closed when the arm guide 13 is released. The structure of the arm guide 13 can be simplified as compared with the above.

(Effect 9) The pair of left and right arm guides 13 may be installed with the positions of the straight direction 4 shifted (front and back). As a result, when closing the left and right opening / closing arms 11, the left and right opening / closing arms 11 can be individually closed one by one with a time lag. Therefore, for example, a pair of left and right arm guides 13 can be used. The load required for closing the opening / closing arm 11 can be reduced as compared with the case where the left / right opening / closing arms 11 are closed at the same time by installing them so that the positions of the opening / closing directions 4 are the same.

Further, since the load required for the closing operation of the opening / closing arm 11 is reduced, the position for guiding the arm guide 13 to the portion close to the base of the opening / closing arm 11 (that is, the load required for the closing operation of the opening / closing arm 11) Since it can be installed at a larger position), the total length of the coupler main body 5 can be shortened.

(Effect 10) The coupler body 5 may be tilted up and down. As a result, the coupler main body 5 is tilted up and down, so that it is possible to flexibly correspond to a plurality of types of carriages 1 having different diameters of the wheels 1b. That is, various bogies 1 having different heights and diameters of the wheels 1b can be connected and towed by one bogie connecting mechanism 3. Further, since the coupler main body 5 can be tilted up and down, it is structurally simple.

1 trolley 1b wheel 1c root part 2 automatic guided vehicle 3 trolley connection mechanism 4 straight direction 5 coupler body 6 coupler movable part 7 urging means 8 holding and releasing mechanism 11 opening / closing arm 12 hooking part 13 arm guide 31 elastic member 41 for insertion Tapered part 45 Claw part 51 Guided taper part 55 Return part 61 Positional deviation amount 65 Vertical tilting hinge part

Claims (10)

The coupler body attached to the rear of the automatic guided vehicle in the straight direction,
A coupler movable portion provided so as to be reciprocally movable in the straight direction with respect to the coupler main body,
An urging means that is interposed between the coupler movable portion and the coupler main body and can urge the coupler movable portion toward the rear in the straight-ahead direction.
A holding / releasing mechanism that is installed between the coupler main body and the coupler movable portion and alternately repeats holding and releasing of the coupler movable portion by pushing in the straight direction.
A pair of left and right opening / closing arms that extend to the rear of the coupler movable portion in the straight-ahead direction and are provided so as to be openable / closable to the left and right with respect to the coupler movable portion.
A hooking portion provided at the rear end of the pair of left and right opening / closing arms and capable of hooking on a trolley located on the rear side.
A carriage connecting mechanism comprising: an arm guide for guiding the opening and closing of the left and right opening / closing arms in accordance with the holding and releasing of the coupler movable portion by the holding / releasing mechanism. In the carriage connecting mechanism according to claim 1,
The opening / closing arm can be inserted into the lower side of the carriage located on the rear side, and the opening / closing arm can be inserted into the lower side of the carriage.
A bogie connecting mechanism characterized in that the hooking portion can be hooked on a root portion of a wheel of a bogie located on the rear side from the rear side in the straight-ahead direction. In the carriage connecting mechanism according to claim 1 or 2.
The opening / closing arm is a carriage connecting mechanism characterized by being composed of an elastic member. In the carriage connecting mechanism according to any one of claims 1 to 3.
The trolley connecting mechanism is characterized in that the hooking portion has an insertion tapered portion capable of guiding the insertion of the opening / closing arm into the lower side of the trolley located on the rear side. In the carriage connecting mechanism according to any one of claims 1 to 4.
The hooking portion is a carriage connecting mechanism characterized by having a claw portion that can be opened and closed. In the carriage connecting mechanism according to claim 5,
The hooking portion is a bogie connecting mechanism characterized by having a guiding tapered portion that can guide the root portion of the wheel of the bogie located on the rear side to the inner portion of the claw portion. In the carriage connecting mechanism according to claim 5 or 6.
The bogie connecting mechanism is characterized in that the claw portion has a return portion capable of preventing the hook portion from coming off from the root portion of the wheel of the bogie located on the rear side. In the carriage connecting mechanism according to any one of claims 1 to 7.
The arm guide closes the left and right opening / closing arms when the holding / releasing mechanism holds the coupler movable portion, and opens the left / right opening / closing arms when the coupler movable portion is released by the holding / releasing mechanism. A dolly coupling mechanism characterized by being present. In the carriage connecting mechanism according to any one of claims 1 to 8.
A pair of left and right arm guides are provided.
The pair of left and right arm guides are trolley connecting mechanisms, characterized in that they are installed with their positions shifted in the straight-ahead direction. In the carriage connecting mechanism according to any one of claims 1 to 9.
The coupler main body is a bogie connecting mechanism characterized in that it can be tilted up and down.

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