JP7266085B1 - Lifter device and automated guided vehicle equipped with the same - Google Patents

Abstract

An object of the present invention is to achieve both compactness in the lift direction of a device and improvement in resistance to radial external force. A lift pin (26) is slidably supported by guide rods (Grd1, Grd2) fixed to a lower frame (24). The outer socket 28 is arranged radially outward of the lift pin 26 while the cam rollers CR, CR of the lift pin 26 are engaged with the spiral grooves Hg1, Hg2. An outer socket 28 is rotatably supported by the upper frame 22 and the lower frame 24 . Note that the outer socket 28 is rotated by the actuator ACTR. Since the lift pins 26 and the outer sockets 28 are nested, the compactness in the lift direction can be achieved. Further, since the guide rods Grd1, Grd2 receive the radial external force acting on the lift pin 26, it is possible to suppress the radial external force from acting on the cam rollers CR, CR and the spiral grooves Hg1, Hg2. [Selection drawing] Fig. 35

Description

TECHNICAL FIELD The present invention relates to a lifter device capable of lifting an object and an automatic guided vehicle having the same.

Japanese Patent Laying-Open No. 2007-176646 (Patent Document 1) discloses a base, a screw shaft having a first male screw on the outer peripheral surface and rotatably supported by the base, and a screw engagement with the first male screw. A cylindrical first screw cylinder having a first female thread on the inner peripheral surface and a second male thread on the outer peripheral surface, and a second female thread that can be screw-engaged with the second male thread on the inner peripheral surface. a second screw cylinder having a rectangular cross section, a cylindrical body having an inner hole having a rectangular cross section that can be externally inserted into the second screw cylinder and fixed to the base, and the screw shaft being rotatable integrally with the screw shaft. a first sprocket integrated with the end near the base; a motor having a rotating shaft and disposed on the base; a second sprocket integrated with the rotating shaft so as to be rotatable together with the rotating shaft; a chain that is wound around the first and second sprockets, and is driven by the motor to expand and contract the first screw cylinder and the second screw cylinder in the axial direction, and is placed on the tip of the second screw cylinder. A lifter device capable of lifting and lowering a load or the like is described.

Since the screw shaft, the first screw cylinder and the second screw cylinder are nested in the lifter device, it is possible to realize a relatively large lift height while achieving a compact size in the lift direction of the device.

JP 2007-176646 A

However, in the lift device described in the above-mentioned publication, when a radial external force acts, the external force is received by the first and second male screws and the first and second female screws. In terms of durability, there is still room for improvement.

SUMMARY OF THE INVENTION The present invention has been made in view of the above, and one of the objects thereof is to provide a technique that contributes to both compactness in the lift direction of the apparatus and improvement in resistance to external force in the radial direction.

The lift device of the present invention and the automatic guided vehicle provided with the same employ the following means in order to achieve the above object.

According to a preferred embodiment of the lifting device according to the present invention, a lifting device capable of lifting an object is constructed. The lift device includes a frame body having a bottom plate, a first guide rod fixed to the bottom plate so as to be orthogonal to the bottom plate, a second guide rod arranged parallel to the first guide rod, and the first guide rod. and a cylindrical inner cylindrical body surrounding the second guide rod, at least one cam roller having a shaft extending in a direction orthogonal to the axial direction of the inner cylindrical body, and rotatably supported by the frame an outer cylindrical body , a plurality of guide rollers rotatably supported by the frame so as to contact the outer peripheral surface of the outer cylindrical body, and the outer cylindrical body rotatably mechanically connected to the outer cylindrical body. and a driven drive. The inner cylinder is slidable on the first and second guide rods in the axial direction of the first and second guide rods. The cam roller is rotatably supported by the inner cylindrical body via the shaft. The outer cylindrical body has a cylindrical shape surrounding the inner cylindrical body with a gap larger than the gaps between the inner cylindrical body and the first and second guide rods, and the cam roller can be engaged with at least the inner peripheral surface of the outer cylindrical body. It has a longitudinally extending helical groove. The "helical groove" in the present invention preferably includes not only grooves with bottom surfaces, but also grooves without bottom surfaces, that is, openings.

According to the present invention, since the inner cylindrical body and the outer cylindrical body are nested, the device can be made compact in the lift direction. Further, since the inner cylindrical body can be retracted from the outer cylindrical body only by rotating the outer cylindrical body by the drive section, the object can be raised and lowered with a simple structure. Furthermore, since the guide rod receives a radial external force acting on the inner cylindrical body, it is possible to satisfactorily suppress the radial external force from acting on the cam roller and the spiral groove. As a result, it is possible to improve the resistance to external force in the radial direction. As a result, it is possible to suppress deterioration in the lifting performance of the inner cylindrical body. In addition, compared with a configuration in which a single guide rod receives an external force in the radial direction, the strength can be improved. In addition, relative rotation of the inner cylindrical body with respect to the outer cylindrical body can be prevented without adopting dedicated parts or dedicated shapes. As a result, it is possible to achieve both improvement in yield strength, reduction in the number of parts, and simplification of the structure.

According to a further aspect of the lift device according to the present invention, the inner cylindrical body has a first bush through which the first guide rod is inserted and a second bush through which the second guide rod is inserted. . The inner cylindrical body is slidable on the first and second guide rods via the first and second bushes in the axial direction of the first and second guide rods.

According to this aspect, the inner cylindrical body can be moved up and down more smoothly.

According to a preferred embodiment of the automatic guided vehicle according to the present invention, an automatic guided vehicle is configured that can tow a truck having at least two front wheels and at least two rear wheels while being placed under the truck. The automatic guided vehicle includes a vehicle body, a drive unit arranged in the vehicle body, and a lift device according to any one of the above aspects of the present invention arranged in the vehicle body so that at least the front wheels can be lifted from the floor surface. It has The drive unit has at least one drive wheel and a motor mechanically connected to the drive wheel for driving the drive wheel.

According to the present invention, since the lift device according to the present invention of any one of the aspects described above is provided, the same effects as the lift device of the present invention, such as the compactness in the lift direction of the device and the external force in the radial direction, can be obtained. It is possible to achieve the effect of being able to achieve both the improvement of the resistance to the object and the effect of being able to move the object up and down with a simple configuration. As a result, it is possible to reduce the size of the automatic guided vehicle in the height direction and improve the quality.

According to the present invention, it is possible to achieve both compactness in the lift direction of the device and improvement in resistance to external force in the radial direction.

BRIEF DESCRIPTION OF THE DRAWINGS It is a perspective view which shows the outline of a structure of the automatic guided vehicle 1 which mounts the lift apparatus 20 which concerns on embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a top view which shows the outline of a structure of the automatic guided vehicle 1 which mounts the lift apparatus 20 which concerns on embodiment of this invention. FIG. 4 is an explanatory diagram showing a state in which the automatic guided vehicle 1 equipped with the lift device 20 according to the embodiment of the present invention has reached a position where the carriage 90 can be towed; It is an exploded perspective view of lift device 20 concerning an embodiment of the invention. It is a perspective view showing the appearance of lift device 20 concerning an embodiment of the invention. 3 is a perspective view showing an appearance of an upper frame 22; FIG. FIG. 7 is a view in the direction of an arrow V1 in FIG. 6; FIG. 7 is a view in the direction of an arrow V2 in FIG. 6; FIG. 7 is a view in the direction of an arrow V3 in FIG. 6; FIG. 10 is a sectional view showing a YY section of FIG. 9; FIG. 7 is a view in the direction of an arrow V5 in FIG. 6; 3 is a perspective view showing the appearance of a lower frame 24; FIG. 3 is a plan view of a lower frame 24; FIG. FIG. 13 is a cross-sectional view showing the WW cross section of FIG. 12; FIG. 4 is an explanatory diagram showing a state in which an outer socket 28 is rotatably supported by an upper frame 22 and a lower frame 24; FIG. 4 is an explanatory view showing a state in which guide rods Grd1 and Grd2 are fixed to a lower frame 24; 3 is a perspective view showing the appearance of lift pins 26. FIG. 4 is an exploded perspective view of lift pins 26. FIG. FIG. 4 is a front view, a bottom view (bottom view), and a right side view of the cylindrical body 50. FIG. FIG. 20 is a sectional view showing the XX section of FIG. 19; 4 is a cross-sectional perspective view showing a state in which bushes Bsh1 and Bsh2 are assembled to a cylindrical body 50; FIG. 3 is an exploded perspective view of an outer socket 28; FIG. 3 is a perspective view showing the appearance of an outer socket 28; FIG. 4 is a perspective view showing the appearance of a main body 60; FIG. 4 is a front view, a left side view, and a right side view of the main body 60. FIG. FIG. 24 is a cross-sectional view of the main body 60 taken along a cross section corresponding to the ZZ cross section of FIG. 23; 4 is a perspective view of a cover 62; FIG. FIG. 4 is a perspective view showing a state in which an outer socket 28 is attached to a lower frame 24; 3 is a plan view showing a state in which an outer socket 28 is attached to a lower frame 24; FIG. It is an explanatory view showing the arrangement position of lift position detection sensors Sen1 and Sen2. FIG. 5 is an explanatory view showing how the outer socket 28 is assembled to the lower frame 24; FIG. 4 is an explanatory diagram showing a state in which an outer socket 28 is attached to a lower frame 24; FIG. 4 is an explanatory view showing a state in which the upper frame 22 is fastened to the lower frame 24 to which the outer socket 28 is assembled; FIG. 4 is an explanatory diagram showing a state before the lift device 20 is lifted up; FIG. 11 is an explanatory diagram showing a state in which the lift device 20 is lifted up; FIG. 4 is an explanatory diagram showing a state in which a lift device 20 mounted on an automatic guided vehicle 1 lifts up a carriage 90;

BEST MODE FOR CARRYING OUT THE INVENTION Next, the best mode for carrying out the present invention will be described using examples.

As shown in FIGS. 1 to 3, an automatic guided vehicle 1 equipped with a lift device 20 according to the present embodiment includes a vehicle body 2, a steering unit 4 supported by the vehicle body 2, a drive unit 6, and a swivel wheel 8. , a lift device 20 according to the present embodiment arranged on the vehicle body 2 , a hook device 10 also arranged on the vehicle body 2 , and a control device 70 for controlling the entire automatic guided vehicle 1 . The automatic guided vehicle 1 equipped with the lift device 20 according to the present embodiment crawls under the trolley 90 (see FIG. 3), and the pair of front wheels 92, 92 of the trolley 90, the pair of intermediate wheels 94, 94 and It is configured as a low-floor type in which the truck 90 is towed with at least a pair of front wheels 92, 92 out of a pair of rear wheels 96, 96 lifted from the floor surface F (see FIG. 36). The automatic guided vehicle 1 is connected to the carriage 90 while its position relative to the carriage 90 is fixed. For convenience of explanation, the vertical direction in FIGS. 2 and 3 is hereinafter defined as the running direction. In particular, the lower side of FIGS. 2 and 3 is defined as forward running direction, and the upper side of FIGS. 2 and 3 is defined as reverse running direction.

The steering unit 4, as shown in FIGS. 1 and 2, has a pair of steered wheels 4a and 4b and a motor M1 for steering the steered wheels 4a and 4b. By driving the motor M1, the steering wheels 4a and 4b rotate about the steering shaft 4c.

The drive unit 6, as shown in FIGS. 1 and 2, has a pair of drive wheels 6a and 6b and a motor M2 connected to the pair of drive wheels 6a and 6b via a differential device 6c. . The power from the motor M2 is divided and transmitted to the pair of drive wheels 6a and 6b while the differential device 6c absorbs the rotational speed difference between the pair of drive wheels 6a and 6b.

As shown in FIG. 4, the lift device 20 according to the present embodiment includes an upper frame 22, a lower frame 24 fastened to the upper frame 22, guide rods Grd1 and Grd2 fixed to the lower frame 24, The lift pins 26 are slidably supported by the guide rods Grd1 and Grd2 via bushes Bsh1 and Bsh2, and the lift pins 26 are rotated by the upper frame 22 and the lower frame 24 via thrust bearings SB1 and SB2. 4 guide rollers GR, GR, GR, GR rotatably supported by the lower frame 24 to guide the rotation of the outer socket 28; and the upper frame via the bracket BRKT. 22, and an actuator ACTR connected to an outer socket 28 via a chain CH. As shown in FIG. 1 , the lift device 20 is arranged on the front side in the forward traveling direction of the automatic guided vehicle 1 , specifically, at a position slightly behind the steering unit 4 . The upper frame 22 and the lower frame 24 are an example of implementation structure corresponding to the "frame body" in the present invention. Further, the guide rods Grd1 and Grd2 correspond to the "first guide rod" and the "second guide rod" in the present invention, and the bushes Bsh1 and Bsh2 correspond to the "first bush" and the "second bush" in the present invention. 4 is an example of a corresponding implementation; Further, the actuator ACTR is an example of implementation structure corresponding to the "driving section" in the present invention.

As shown in FIG. 6, the upper frame 22 includes a side wall 30, a side wall 32 arranged parallel to the side wall 30, an upper wall 34 connecting the side walls 30 and 32, and a wall extending from the side wall 30 toward the side wall 32. and an extending wall 36 extending therefrom. The upper frame 22 has a substantially inverted U shape when viewed from the front (the shape viewed from the direction of arrow V4 in FIG. 6).

The side wall 30 has a substantially rectangular shape, as shown in FIG. The side wall 30 also has a substantially rectangular opening 30a and substantially square openings 30b, 30b. The opening 30a is arranged near one side (the right side in FIG. 7) in the longitudinal direction (horizontal direction in FIG. 7) of the side wall 30, and extends in the direction perpendicular to the longitudinal direction of the side wall 30 (vertical direction in FIG. 7). have. The openings 30b, 30b are arranged at positions near one side (upper side in FIG. 7) in the longitudinal direction (the vertical direction in FIG. 7) of the opening 30a so as to sandwich the opening 30a.

The side wall 32 has a substantially square shape, as shown in FIG. The side wall 32 also has a substantially rectangular opening 32a and substantially square openings 32b, 32b. The opening 32a has the same shape as the opening 30a, that is, has a substantially rectangular shape whose longitudinal direction is perpendicular to the longitudinal direction of the side wall 30 (vertical direction in FIG. 7). Further, the opening 32a is arranged substantially in the center of the side wall 32, that is, at a position facing the opening 30a so as to be aligned with the opening 30a. The openings 32b, 32b are arranged at positions near one side (upper side in FIG. 8) in the longitudinal direction (vertical direction in FIG. 8) of the opening 32a so as to sandwich the opening 32a. The openings 32b, 32b are arranged so as to be aligned with the openings 30b, 30b at positions facing the openings 30b, 30b.

As shown in FIG. 6, the upper wall 34 has a substantially square shape in plan view. The upper wall 34 has a U-shaped notch 34a, as shown in FIGS. The notch 34a is open on the side opposite to the side where the extension wall 36 is arranged. In addition, as shown in FIGS. 10 and 11, the upper wall 34 has a concave portion 34b on its back surface (the surface facing downward in FIG. 10). As shown in FIG. 11, the concave portion 34b has a generally inverted C shape in plan view. The recess 34b has an outer diameter that is the same as or slightly larger than the outer diameter of the thrust bearing SB1.

The extension wall 36 is integral with the side wall 30, as shown in FIG. Extension wall 36 is perpendicular to side wall 30 . The extension wall 36 is also connected to the upper wall 34 via a support piece 38 . Support piece 38 is perpendicular to top wall 34 and extension wall 36 . Furthermore, as shown in FIGS. 6 and 10, the extension wall 36 has a substantially elliptical opening 36a at substantially the center.

As shown in FIG. 12 , the lower frame 24 has a substantially ladle shape including a container-shaped main portion 40 and an extending wall 42 integrated with the main portion 40 . The main portion 40 has a substantially cubic shape, and has a circular concave portion 40a in the center (see FIGS. 12 and 13). Further, the main portion 40 has support portions 40b, 40b, 40b, 40b that support the guide rollers GR, GR, GR, GR. The support portions 40b, 40b, 40b, 40b are arranged on the upper surface of the main portion 40, and are arranged at intervals of approximately 90 degrees around the outer periphery of the recess portion 40a. The recess 40 a has a bottom wall 41 . The bottom wall 41 has a generally circular shape in plan view. In addition, as shown in FIGS. 13 and 14, the bottom wall 41 has a convex portion 41a in the center which is substantially circular in plan view. The convex portion 41a has an outer diameter that is substantially the same as or slightly smaller than the inner diameter of the thrust bearing SB2. The recessed portion 40 a has an outer diameter larger than that of the outer socket 28 . The bottom wall 41 is an example of implementation structure corresponding to the "bottom plate" in the present invention.

As shown in FIGS. 12 and 13, the extension wall 42 is integrated with the upper end of the main portion 40 and extends away from the recess 40a. The extension wall 42 has substantially the same shape and size as the extension wall 36 . The extension wall 42 also has a substantially elliptical opening 42a in the center. The opening 42 a has the same shape and size as the opening 36 a of the extension wall 36 . The extension wall 42 is aligned with the extension wall 36 when the upper frame 22 is fastened to the lower frame 24, as shown in FIG. At this time, the opening 42a and the opening 36a are aligned.

As shown in FIG. 16, the guide rods Grd1 and Grd2 are fixed to the main portion 40 of the lower frame 24, more specifically, to the convex portion 41a of the bottom wall 41 so as to be orthogonal to the convex portion 41a. be. The guide rods Grd1 and Grd2 are arranged parallel to each other.

As shown in FIGS. 17 and 18, the lift pin 26 includes a cylindrical body 50, two cam rollers CR, CR rotatably supported by the cylindrical body, bushes Bsh1, Bsh2 enclosed in the cylindrical body 50, have. The lift pin 26 is an example of implementation structure corresponding to the "inner cylindrical body" in the present invention.

As shown in FIGS. 17 to 21, the cylindrical body 50 has, at one end in the axial direction (the vertical direction in FIG. 20), an enlarged diameter portion 50a having a larger outer diameter than the other portion. The cylindrical body 50 also has two dead end holes 52 and 54, as shown in FIGS. The cul-de-sac holes 52, 54 are stepped holes having large diameter holes 52a, 54a and small diameter holes 52b, 54b. The large-diameter holes 52a and 54a are arranged on the side of the cylindrical body 50 in the axial direction where the enlarged-diameter portion 50a is arranged. The large-diameter holes 52a, 54a have inner diameters that are the same as or slightly larger than outer diameters of cylindrical portions 56a, 57a of the bushes Bsh1, Bsh2, which will be described later. 18 and 19, the enlarged diameter portion 50a has a concave portion 51. As shown in FIGS. The recessed portion 51 is open in the axial direction of the cylindrical body 50 and has a substantially eight-shaped shape when viewed from one side in the axial direction. The small-diameter holes 52b and 54b are arranged in the axial direction of the cylindrical body 50 on the side opposite to the side where the enlarged diameter portion 50a is arranged, that is, on the tip end portion (upper side in FIG. 20) side of the cylindrical body 50. As shown in FIG. Also, the small-diameter holes 52b, 54b have inner diameters larger than the outer diameters of the guide rods Grd1, Grd2.

The cam rollers CR, CR, as shown in FIG. 18, have shaft portions 55a, 55a and rollers 55b, 55b rotatably supported by the shaft portions 55a, 55a. The shaft portions 55a, 55a of the cam rollers CR, CR are supported by the enlarged diameter portion 50a. The cam rollers CR, CR are arranged with an interval of 180 degrees on the outer periphery of the enlarged diameter portion 50a. As shown in FIG. 19, the cam rollers CR, CR have an imaginary straight line VL1 connecting projections of the axial lines of the shaft portions 55a, 55a on the imaginary projection plane when viewed from one side of the cylindrical body 50 in the axial direction. It is arranged on the cylindrical body 50 so as to be orthogonal to the imaginary straight line VL2 connecting the projection centers of the dead end holes 52 and 54 on the imaginary projection plane.

As shown in FIGS. 18 and 21, the bushes Bsh1 and Bsh2 have cylindrical portions 56a and 57a and collar portions 56b and 57b integrated with the cylindrical portions 56a and 57a. Also, the bushes Bsh1 and Bsh2 have inner holes 56c and 57c penetrating from the cylindrical portions 56a and 57a to the collar portions 56b and 57b. The inner holes 56c, 57c have inner diameters slightly larger than the outer diameters of the guide rods Grd1, Grd2. As shown in FIG. 21, the bushes Bsh1 and Bsh2 are mounted on the cylindrical body 50 with the cylindrical portions 56a and 57a fitted in the large diameter holes 52a and 54a and the collar portions 56b and 57b fitted in the concave portion 51. is integrally concluded with.

As shown in FIGS. 22 and 23, the outer socket 28 has a substantially cylindrical body 60, a stopper ring SR fitted inside the body 60, and a cover 62 fitted onto the body 60. ing. The outer socket 28 is an example of implementation structure corresponding to the "outer cylindrical body" in the present invention.

As shown in FIGS. 22, 24 and 26, the main body 60 has an inner hole 60a, a sprocket S1, two spiral grooves Hg1 and Hg2, recesses 64 (see FIGS. 22 and 26) and 65 (see FIGS. 24 and FIG. 26). The inner hole 60a penetrates the main body 60 in the axial direction of the main body 60 . As shown in FIG. 26, the inner hole 60a includes an insertion hole 61a having an inner diameter larger than the outer diameter of the cylindrical body 50 of the lift pin 26 and a fitting hole having an inner diameter substantially equal to or slightly smaller than the outer diameter of the stopper ring SR. 61b and . The insertion hole 61a and the fitting hole 61b are connected via a stepped portion 61c. The sprocket S1 is arranged at one axial end of the main body 60 (upper in FIGS. 22 to 26). The sprocket S1 is integrated with the main body 60. As shown in FIG. The spiral grooves Hg1 and Hg2 penetrate from the inner hole 60a of the main body 60 to the outer peripheral surface, as shown in FIGS. Moreover, the spiral grooves Hg1 and Hg2 extend in the axial direction of the main body 60 . Furthermore, the spiral grooves Hg1, Hg2 have groove widths that are substantially the same as or slightly larger than the outer diameters of the rollers 55b, 55b of the cam rollers CR, CR. The spiral groove Hg1 and the spiral groove Hg2 are arranged so that their phases differ by 180 degrees. The spiral grooves Hg1, Hg2 constitute the rolling surfaces of the rollers 55b, 55b of the cam rollers CR, CR. 22, 23 and 26, at one axial end of body 60 (the upper end in FIGS. 22, 23 and 26), more specifically the axis of body 60. At one end of the direction, it is arranged on the end face facing the direction of the axis. The concave portion 64 has an annular shape when viewed from one side in the axial direction of the main body 60 . The recess 64 has an inner diameter approximately equal to or slightly larger than the outer diameter of the thrust bearing SB1. 24 and 26, the concave portion 65 is formed at the other end of the main body 60 in the axial direction (the lower end in FIGS. 24 and 26), more specifically, at the other end of the main body 60 in the axial direction. At the end, it is arranged on the end face facing the axial direction. The concave portion 65 has an annular shape when viewed from one side in the axial direction of the main body 60 . The recess 65 has an inner diameter approximately equal to or slightly larger than the outer diameter of the thrust bearing SB2.

The stopper ring SR has a ring shape, as shown in FIG. The stopper ring SR has an inner diameter slightly larger than the outer diameter of the cylindrical body 50 and smaller than the outer diameter of the enlarged diameter portion 52, as shown in FIG. The cover 62 has an annular portion 62a having a ring shape and tongue pieces 62b, 62b integrated with the annular portion 62a. The annular portion 62a has an inner diameter that is substantially the same as or slightly smaller than the outer diameter of the main body 60. As shown in FIG. The tongue pieces 62b, 62b extend in the axial direction from the axial end surface of the annular portion 62a. The tongue pieces 62b, 62b are arranged at intervals of 180 degrees in the circumferential direction of the annular portion 62a.

The guide rollers GR, GR, GR, GR are rotatably supported by the support portions 40b, 40b, 40b, 40b of the lower frame 24, as shown in FIGS. The guide rollers GR, GR, GR, GR are in contact with the outer peripheral surface of the main body 60 of the outer socket 28 . Thereby, the guide rollers GR, GR, GR, GR guide the rotation of the outer socket 28 .

The lift position detection sensor Sen1 is arranged at a position corresponding to the top dead center Tdc of the spiral grooves Hg1 and Hg2, as shown in FIG. placed in corresponding positions. The lift position detection sensors Sen1, Sen2 detect the elevation position of the lift pins 26 by detecting the cam rollers CR, CR.

As shown in FIG. 4, the actuator ACTR has a motor M3, a gear mechanism GM connected to a rotating shaft (not shown) of the motor M3, and a sprocket S2 integrated with the output shaft OS of the gear mechanism GM. are doing. Sprocket S2 is connected to sprocket S1 via chain CH. Thereby, the power of the motor M2 is transmitted to the outer socket 28 via the gear mechanism GM, the sprocket S2, the chain CH and the sprocket S1. That is, the outer socket 28 is rotated by driving the actuator ACTR. The aspect in which the actuator ACTR is connected to the outer socket 28 by the chain CH wound around the sprockets S1 and S2 is an example of an implementation configuration corresponding to the aspect of being "mechanically connected to the outer cylindrical body" in the present invention. be.

Next, assembly of the lift device 20 thus configured will be described. First, as shown in FIG. 31, the guide rods Grd1 and Grd2 are attached and fixed to the bottom wall 41 of the lower frame 24, and the thrust bearing SB2 is set to the projection 41a of the bottom wall 41. As shown in FIG. Next, the one in which the outer socket 28 is externally inserted to the lift pin 26

First, as shown in FIG. 31, the lift pin 26 and the outer socket 28 are assembled. The lift pin 26 and the outer socket 28 are assembled by fitting the stopper ring SR to the lift pin 26 to which the cam rollers CR and CR are not attached, that is, to the lift pin 26 to which only the bushes Bsh1 and Bsh2 are attached to the cylindrical body 50. The outer socket 28 in a mated state is externally inserted, and the cam rollers CR, CR are assembled to the lift pin 26 via the spiral grooves Hg1, Hg2 from the radially outer direction of the outer socket 28, and the inner peripheral surface of the recessed portion 64 of the outer socket 28. and the outer peripheral surface of the stopper ring SR. When the assembly of the lift pins 26 and the outer sockets 28 is completed, the cam rollers CR, CR are positioned at the bottom dead center Bdc of the spiral grooves Hg1, Hg2, that is, the lift pins 26 are retracted into the outer sockets 28. Let it be

When the assembly of the lift pins 26 and the outer sockets 28 is thus completed, as shown in FIG. 41a. Subsequently, as shown in FIGS. 31 and 32, the assembled lift pin 26 and outer socket 28 are externally fitted onto the guide rods Grd1 and Grd2 via the bushes Bsh1 and Bsh2. At this time, the outer peripheral surface of the thrust bearing SB2 is fitted to the inner peripheral surface of the recessed portion 65 of the outer socket 28 . Thereby, the outer socket 28 is positioned with respect to the lower frame 24 .

Next, the upper frame 22 is fastened to the lower frame 24, as shown in FIG. At this time, the outer peripheral surface of the thrust bearing SB1 is fitted to the inner peripheral surface of the recessed portion 64 of the outer socket 28 . That is, the thrust bearing SB1 has an outer peripheral surface fitted to both the inner peripheral surface of the recess 64 of the outer socket 28 and the inner peripheral surface of the recess 34b of the upper frame 22, and the inner peripheral surface of the thrust bearing SB1 to the outer peripheral surface of the stopper ring SR. mated to the surface. This positions the outer socket 28 with respect to the upper frame 22 .

Finally, as shown in FIG. 5, the actuator ACTR is attached and fixed to the upper frame 22 and the lower frame 24, and the chain CH is wound around the sprocket S1 of the outer socket 28 and the sprocket S2 of the actuator ACTR so that the lift device 20 is assembly is completed. The lift device 20 thus assembled is attached to the vehicle body 2 of the automatic guided vehicle 1, as shown in FIGS.

The hook device 10 has a hook (not shown) and an actuator (not shown) capable of driving the hook. By driving an actuator (not shown), the hook device 10 can be in a "pulled state" in which the hook (not shown) protrudes from the upper surface of the vehicle body 2 and a "non-pulled state" in which the hook does not protrude from the upper surface of the vehicle body 2. , changes state between As shown in FIG. 1, the hook device 10 is arranged on the rear side of the automatic guided vehicle 1 in the forward traveling direction, specifically, at a position slightly in front of the swivel wheel 8 .

The control device 70 is configured as a microprocessor centered on a CPU, and includes a ROM for storing processing programs, a RAM for temporarily storing data, an input/output port and a communication port (not shown) in addition to the CPU. Prepare. The control device 70 receives a detection signal from a travel sensor (not shown) that detects an induction belt (not shown) laid on the floor, a command signal from a marker sensor (not shown) that detects a marker (not shown), Lift position signals and the like from lift position detection sensors Sen1 and Sen2 are input via input ports. Further, from the control device 70, a drive control signal to the steering unit 4 (motor M1) and the drive unit 6 (motor M2), a drive control signal to the actuator (motor M3) of the lift device 20, the hook device 10 (actuator ) are output via the output port.

Next, the operation of the automatic guided vehicle 1 equipped with the lift device 20 configured as described above, in particular, the operation when the carriage 90 is lifted by the lift device 20 will be described. When the automatic guided vehicle 1 starts traveling, the CPU of the control device 70 reads a detection signal from a traveling sensor (not shown) and a command signal from a marker sensor (not shown) so that the automatic guided vehicle 1 travels along the guide belt. Then, a process for driving and controlling the steering unit 4 and the drive unit 6 is executed. When the automatic guided vehicle 1 reaches a position (see FIG. 1) where the carriage 90 can be towed, the marker sensor detects a marker (not shown) placed on the floor corresponding to the position. The marker stores a temporary stop command for the automatic guided vehicle 1, a drive command for the lift device 20 and the hook device 10, a restart command for the automatic guided vehicle 1, and the like. The marker sensor outputs a command signal to the control device 70 when detecting a marker.

When the command signal from the marker sensor is input, the CPU of the control device 70 temporarily stops the automatic guided vehicle 1 and drives and controls the actuator ACTR of the lift device 20 and the actuator (not shown) of the hook device 10 .

The outer socket 28 is rotated by driving the actuator ACTR of the lift device 20, specifically the motor M3. As a result, the cam rollers CR, CR roll in the spiral grooves Hg1, Hg2 from the bottom dead center Bdc toward the top dead center Tdc in the upward direction (upward direction in FIGS. (See FIG. 35). Since the linear movement of the lift pins 26 is guided by the guide rods Grd1 and Grd2 via the bushes Bsh1 and Bsh2, the lift pins 26 can smoothly move linearly. As a result, as shown in FIG. 36, the lift pins 26 come into contact with the frame of the truck 90, and at least the front wheels 92, 92 of the truck 90 are lifted from the floor surface F. As shown in FIG. Part of the weight of the truck 90 acts on the steering wheels 4 a and 4 b of the steering unit 4 and the driving wheels 6 a and 6 b of the drive unit 6 via the lift device 20 . This improves the gripping force of the steering wheels 4a, 4b and the drive wheels 6a, 6b.

On the other hand, by driving the actuator (not shown) of the hook device 10 , the hook (not shown) is engaged with the frame of the carriage 90 . Then, when the front wheels 92, 92 of the truck 90 are lifted from the floor surface F by the lift device 20 and the hook (not shown) of the hook device 10 is engaged with the frame of the truck 90, the CPU of the control device 70 The motor M1 of the steering unit 4 and the motor M2 of the drive unit 6 are driven and controlled to restart the automatic guided vehicle 1. - 特許庁Thereby, the automatic guided vehicle 1 pulls the carriage 90 with at least the front wheels 92 , 92 lifted from the floor surface F. The CPU of the control device 70 determines that the lifting of the front wheels 92, 92 from the floor surface F by the lift device 20 is completed when the lift position signal from the lift position detection sensor Sen2 is input.

Here, the lift device 20, more specifically, the lift pin 26 is subjected to an external force (radial external force) acts. Since the radial external force acting on the lift pin 26 is received by the guide rods Grd1, Grd2 via the bushes Bsh1, Bsh2, it does not act on the cam rollers CR, CR and the spiral grooves Hg1, Hg2. As a result, the resistance of the lift device 20 to the radial external force can be improved. As a result, the lift performance of the lift device 20, specifically, the lifting performance of the lift pins 26 can be prevented from deteriorating.

In addition, since the radial external force is received by the two guide rods Grd1 and Grd2, it is possible to improve the proof strength compared to the configuration in which the radial external force is received by a single guide rod. In addition, since it is possible to prevent the rotation of the lift pins 26 without using a part dedicated to rotation prevention or adopting a shape dedicated to rotation prevention for the lift pins 26, the strength is improved, the number of parts is reduced, and the structure is simplified. and can be achieved at the same time.

In this embodiment, the outer socket 28 and the actuator ACTR are connected via the chain CH, but the connection is not limited to this. For example, the outer socket 28 and the actuator ACTR may be connected via a belt, or the outer socket 28 may have a gear instead of the sprocket S1 and the actuator ACTR may have a gear instead of the sprocket S2. The outer socket 28 and the actuator ACTR may be connected by directly meshing the gears.

In the present embodiment, the spiral grooves Hg1 and Hg2 are configured to penetrate from the inner hole 60a of the main body 60 of the outer socket 28 to the outer peripheral surface, but the configuration is not limited to this. For example, the spiral grooves Hg1 and Hg2 may be grooves (bottomed grooves) having a bottom surface provided on the inner peripheral surface of the main body 60 without penetrating the outer peripheral surface of the main body 60 of the outer socket 28 .

In this embodiment, the configuration has two guide rods Grd1 and Grd2, but the present invention is not limited to this. The number of guide rods may be one, or three or more.

Although the lift device 20 is mounted on the automatic guided vehicle 1 in the present embodiment, it is not limited to this. For example, the lift device 20 may be used independently, or may be configured to be mounted on another device for lifting objects such as luggage.

This embodiment shows an example of a form for carrying out the present invention. Therefore, the present invention is not limited to the configuration of this embodiment. In addition, the corresponding relationship between each component of this embodiment and each component of the present invention is shown below.

1 Automated guided vehicle (automated guided vehicle)
2 Vehicle body 4 Steering unit 4a Steering wheel 4b Steering wheel 6 Drive unit (drive unit)
6a driving wheel (driving wheel)
6b driving wheel (driving wheel)
6c differential device 8 swivel wheel 10 hook device 20 lift device (lift device)
22 upper frame (frame body)
24 Lower frame (frame body)
26 lift pin (inner cylinder)
28 outer socket (outer cylinder)
30 Side wall 30a Opening 30b Opening 32 Side wall 32a Opening 32b Opening 34 Upper wall 34a Notch 34b Recess 36 Extension wall 36a Opening 38 Support piece 40 Main part 40a Recess 40b Support part 41 Bottom wall (bottom plate)
41a convex portion 42 extended wall 42a opening 50 cylindrical body 50a enlarged diameter portion 51 concave portion 52 cul-de-sac hole 52a large-diameter hole 52b small-diameter hole 54 cul-de-sac hole 54a large-diameter hole 54b small-diameter hole 55a shaft portion (shaft portion)
55b roller 56a cylindrical portion 56b collar portion 56c inner hole 57a cylindrical portion 57b collar portion 57c inner hole 60 main body 60a inner hole 61a insertion hole 61b fitting hole 61c stepped portion 62 cover 62a annular portion 62b tongue piece 64 concave portion 65 concave portion 70 control Device 90 Cart (cart)
92 front wheel (front wheel)
94 intermediate wheel 96 rear wheel (rear wheel)
F floor (floor)
M1 Motor M2 Motor (motor)
M3 Motor Grd1 Guide rod (guide rod, first guide rod)
Grd2 guide rod (guide rod, second guide rod)
Bsh1 bush (bush, first bush)
Bsh2 bush (bush, second bush)
SB1 Thrust bearing SB2 Thrust bearing GR Guide roller CR Cam roller (cam roller)
BRKT Bracket Sen1 Lift position detection sensor Sen2 Lift position detection sensor ACTR Actuator (drive part)
SR Stopper ring S1 Sprocket S2 Sprocket Hg1 Spiral groove (spiral groove)
Hg2 spiral groove (helical groove)
GM gear mechanism OS output shaft CH chain VL1 virtual straight line VL2 virtual straight line Tdc top dead center Bdc bottom dead center

Claims (3)

A lift device capable of lifting an object,
a frame body having a bottom plate;
a first guide rod fixed to the bottom plate perpendicular to the bottom plate and a second guide rod arranged parallel to the first guide rod ;
an inner cylinder having a cylindrical shape surrounding the first and second guide rods and slidable over the first and second guide rods in the axial direction of the first and second guide rods;
at least one cam roller having a shaft portion extending in a direction perpendicular to the axial direction of the inner cylindrical body and rotatably supported by the inner cylindrical body via the shaft portion;
It is rotatably supported by the frame, has a cylindrical shape surrounding the inner cylindrical body with a gap larger than the gap between the inner cylindrical body and the first and second guide rods , and has at least an inner peripheral surface. an outer cylindrical body having a longitudinally extending helical groove engageable by said cam roller;
a plurality of guide rollers rotatably supported by the frame so as to contact the outer peripheral surface of the outer cylindrical body;
a drive mechanically connected to the outer cylinder to rotatably rotate the outer cylinder;
A lifting device with a The inner cylindrical body has a first bush through which the first guide rod is inserted, and a second bush through which the second guide rod is inserted, and through the first and second bushes, the 2. A lift device according to claim 1, wherein said first and second guide rods are axially slidable on said first and second guide rods. An automatic guided vehicle capable of towing a truck having at least two front wheels and at least two rear wheels, the truck being positioned under the truck,
a vehicle body;
a drive unit located on the vehicle body and having at least one drive wheel and a motor mechanically connected to the drive wheel for driving the drive wheel;
3. The lift device according to claim 1 or 2, which is arranged on the vehicle body so that at least the front wheels can be lifted from the floor surface;
automated guided vehicle.

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