JPH03232619A - Shifter device on unmanned carrier vehicle - Google Patents

Abstract

PURPOSE:To make it possible to cope with a low height facility by constituting an article stopper with a one-way stationary stopper and a rotary stopper which can be turned to a position where the operation of a loading device is hindered, and by constituting a shifter means with support member which are retractable and a loading member. CONSTITUTION:In case of picking up an article to be shipped, a slide part 9 of a shifter member 8 is moved to the pick-up side while a pick-up part 10 is projected toward the station side so as to enter into a pallet P on a carrier vehicle W. Then, a motor M is reversed to return the pick-up part 10 to a vehicle V. Accordingly, a one-way stopper 21 pushes the pallet P onto the vehicle V. When the pallet P reaches a position above shifter rollers 4, the article W is shifted to a predetermined position on the vehicle V along a rail W and the shifter rollers 4. Next, a rotary stopper 23 is turned to an operating position by means of a motor driven cylinder 25. With this arrangement, it is possible to cope with a low height facility.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a conveyed object transfer device in an automatic guided vehicle.

[Prior art] On a production line in a factory, etc., an automatic guided vehicle that travels on a predetermined running path loads objects such as workpieces at a loading station, and unloads the objects at an unloading station. send out.

As this type of conveyance vehicle, there is a push-pull type conveyance vehicle shown in FIG. 8, for example. That is, a transfer member 33 is installed along the pair of left and right guide members 32 at the center of the machine base 31 of the transport vehicle.
is slidably provided on the ground equipment side, and the forward and reverse rotation of a motor 34 provided on the machine base 31 is transferred to the transfer member 33 via a motion direction changing mechanism 35 made of a Babel gear or the like via an opinion-rack mechanism O. When transmitted, these transfer members 33 expand and contract between the ground equipment and the machine platform 31.

As shown by the two-dot chain line in FIG. 9, the transfer member 33 extends in two steps toward the ground equipment side when picking up the cargo, and holds the transported object 36 on the upper loading section 33a on the ground equipment side. After that, it is contracted to the machine stand 31 side and the conveyed object 36 is transferred to the machine stand 3.
Move it to the 1st side. Thereafter, when the conveyed object 36 is guided by the guide rail 38 on the roller 37 and moved onto the machine base 31, a stopper 39 rotatably provided on both sides of the machine base 31 in the width direction is moved inside the mounting section 33a. electric cylinder 40 installed in
The conveyed object 36 is erected by the action of , and the vehicle starts with the conveyed object 36 being held from both sides so as not to be detachable.

Further, during loading, the stopper 39 is rotated to a supine position, and as the transfer member 33 extends, the conveyed article 36 is moved to the ground equipment side and transferred onto a conveyor provided on the ground equipment.

[Problems to be Solved by the Invention] However, in the above-mentioned transport vehicle transfer device, the transfer member 3
The electric cylinder 40 in the placing part 33a of
9 is driven to regulate the movement of the conveyed object 36 on the mounting section 33a. For this reason, the upper surface of the loading section 33a becomes high, and the transported object 36 can only be received by a low ground facility, leaving room for improvement in this respect.

This invention was made to solve the above-mentioned problems, and its purpose is to provide an automatic guided vehicle transfer device that can accommodate low ground equipment.

[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention is provided on a machine base so as to be extendable toward the ground equipment side, and when it is contracted, a conveyed object is placed thereon, and when it is extended, it is placed on the machine base side. and a transfer means forming a transfer path for the transported object between the ground equipment and the ground equipment, and a transported object that protrudes into the transport path and is placed on the transfer means when the transfer means is retracted. In the conveyed object transfer device for an automatic guided vehicle, which is equipped with a pair of stoppers for preventing the object from deviating from the top of the machine platform, one of the stoppers is attached directly to the top surface of the machine platform, and the transfer means includes: It is composed of a support member that protrudes from and retracts from the machine base, and a conveyed object mounting member that emerges and retracts from the support member, and the other stopper is configured so that when the mounting member protrudes toward the conveyed object side of the ground equipment, the conveyed object Its gist is that it is provided so that it can be rotated in a direction that does not impede the protruding operation of the placing member by coming into contact with it, and that it is provided so as to be unrotatable so that the conveyed object can be moved together with the retracting movement of the placing member after being ejected.

[Function] One stopper is provided directly on the top surface of the machine, and the other stopper comes into contact with the conveyed object when the loading member protrudes toward the conveyed object side of the ground equipment, and prevents the loading member from protruding. The height of the placing member is set low regardless of the stopper by rotating in a direction that does not interfere with the movement, and being held unrotatable so that the conveyed object moves with the retracting movement of the placing member after protruding. can.

[Embodiment] Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 7.

In FIG. 7, the unmanned trolley V travels on a predetermined travel path, and when loading, its left side is attached to the loading station Sl, and the transported goods W are loaded from the loading station Sl. Further, when unloading, the right side thereof is attached to the unloading station S2, and the transported object W is lowered to the unloading station S2.

As shown in FIGS. 1 and 3, a mounting plate 2 is fixedly installed on a machine base l of an unmanned trolley V, and vertical portions U are erected in front and behind the mounting plate 2. Furthermore, a plurality of transfer rollers 4 are arranged in a row in the width direction of the cart V at both front and rear (left and right) ends of the mounting plate 2 via members 3 which are attached in the form of side channels. A pair of regulation rails R are provided above the transfer rollers 4 so as to cover the outer ends of each row of the transfer rollers 4.
During the transfer, the guide of the conveyed article W moving on the transfer roller 4 and the movement of the conveyed article W supported on the transfer roller 4 are regulated.

A motor M is provided in the rear vertical portion U, and the rotation direction of its output shaft is converted by a babel gear G, and the transfer roller 4
The rotation of the rotating shaft S causes the drive gear A to be transmitted to the gear actuator disposed in the center of the cart V via the chain-sprocket mechanism C. is rotated.

In addition, as shown in FIG. 2, a guide rail 6 made of a pair of horizontal cross-shaped bars facing each other with a reinforcing plate 5 extending in the width direction interposed therebetween is disposed in the center of the machine base l in the longitudinal direction. ing. A guide roller 6a projecting outward is provided on the side surface of each guide rail 6, and a rack 7 is arranged between both guide rails 6 so as to extend across the entire width of the truck V.

As shown in FIG. 3, a transfer member 8 as a transfer means that slides along the guide rail 6 is provided,
The transfer member 8 has a long plate-shaped sliding part 9 that slides directly on the guide rail 6, and a similarly long plate-like cargo receiving part 10 that slides on the sliding part 9. It consists of

The sliding portion 9 will be explained according to FIG. 2. The upper surface of a pair of fitting portions 11, each having a side U-shape in which the guide roller 6a of the guide rail 6 is rotatably housed, has a side elbow.
Three large gears 14a, small gears 14b, and large gears 14c (Fig. 4) lined up in the width direction are attached to the retaining plate 15 from both sides.
It is supported by the support part 12 via. The diameters of the large gears 14a, 14c are set larger than the drive gear A, and these large gears 14a, 14c mesh with the rack 7 below.

Each support portion 12 is provided with a guide roller 12a that projects outward. Further, the horizontal portion of the right support portion 12 projects to the right and extends upward, and a driven rack 16 extending in the width direction of the truck V is fixed to the right side surface thereof. The forward and reverse rotations of the motor M are transmitted to the driven rack 16 via the driving gear A that meshes with it from below, and the driven rack 16 moves to the loading side and unloading side, respectively. 16 in the same direction.

Furthermore, regarding the load receiving section 10, a pair of fitting sections 17 having a U-shaped side surface that rotatably accommodate both guide rollers 12a of the sliding section 9 are covered with a loading section 18. A rack 20 is fitted into a groove 19 of the mounting portion 18, which is formed so as to cover almost the entire length of the mounting portion 18. This rack 20 is located at a position corresponding to the rack 7 between the guide rails 6, and the pitch thereof is also set to be equal.
Two large gears 14a and 14c of the transfer member 8 are engaged with each other from below. A transfer member 8 moves together with the rack 16 by a drive gear A that rotates as the motor M rotates.
When the large gears 14a and 14c are rotated by
Based on the difference in diameter between the drive gear A and the large gears 14a and 14c, the amount of movement of the pickup section IO becomes larger than the amount of movement of the sliding section 9.

As shown in FIG. 2, one-way stoppers 21 each having a substantially right-angled triangular shape are disposed on both sides of the cargo-picking section 1O in the cargo-picking direction.
is attached so that it can rotate only in the right direction from its original position as shown in FIG. regulated.

When the stopper 21 is pressed to the right, it is rotated to the right until it comes into contact with the regulating piece Ll as shown in FIG. 5. When the pressing force is released in this state, it is biased to the left by a spring (not shown). Then, as shown in FIG. 6, it rotates back to the left until it comes into contact with the regulating piece L2.

Then, as shown in FIG. 5, when the cargo picking section 10 is moved to the left to pick up the cargo, the left oblique side 21a of the stopper 21 comes into contact with the knotlet P of the transported object W, and the cargo is picked up. Department IO
The pick-up section 10 is allowed to move more to the left by being pressed by the pallet P and rotating to the right as the pallet P moves to the left or to the right by the pallet P. Subsequently, as shown in FIG. 5, when the pick-up section 10 moves sufficiently to the left and the stopper 21 reaches the left side from the pallet P, the force pressing the stopper 21 is released and the stopper 21 automatically returns to the original position. When it returns to its position and the cargo picking member lO is moved to the right, that is, to the side of the truck V,
The stopper 21 does not rotate to the left and its vertical side 2
1b comes into contact with the left side of the pallet P.

As shown in FIG. 1, on the mounting plate 2, a stopper 23 is rotatably provided between the guide rail 6 and the front transfer roller 4 via a bracket 22 having a side channel shape. As shown in FIG. 3, the stopper 23 is controlled to be in an upright position as the electric cylinder 25 connected to the rotating shaft 24 extends, and to be in the supine position as it contracts.

Now, in the article transfer device configured as described above, when the cart V picks up the article at the pickup station Sl, the motor M is rotated in the forward direction, and the sliding part 9 of the transfer member 8 moves toward the pickup side. The cargo receiving section 10 is moved toward the station SI. After the load pick-up section 10 is fully inserted into the pallet P of the transported object W placed on the stage S1, the load pick-up section 10 is moved in the opposite direction by the reversal of the motor M. When the cart is returned to the V side,
The pallet P is pressed by the stopper 21 and moves toward the cart Vl together with the pick-up section IO.

Then, the pallet P reaches the top of the transfer roller 4 and the sliding part 9
The transported object W is attracted to the center of the cart V by the movement of
is placed at a predetermined position on the cart V by the rotation of the transfer roller 4 while being guided by the regulation rail R. After this,
The electric cylinder 25 is extended to hold the stopper 23 in an upright position, and the movement of the conveyed object W in the width direction and the front-rear direction of the cart is restricted by both stoppers 21, 23 and both regulation rails R, so that the cart V is The vehicle travels toward cargo storage station S2.

At the cargo storage station S2, the electric cylinder 25
After the stopper 23 is moved to the supine position by contracting the
protrude to the side. As the pick-up section IO moves, the pallet P is pressed by the stopper 21 and moved together with the pick-up section IO toward the station S2, and the transported goods W are collected by a conveyor or the like provided at the station S2.

In the above-mentioned object transfer device, the one-way stopper 21, which does not require a driving means such as an electric cylinder, is attached to the side of the transfer member 8, and the stopper 23 and the stopper 21 are directly mounted on the machine base l of the cart (2). By providing the driving electric cylinder 25, it is possible to avoid a configuration in which an electric cylinder is built into the transfer member 8 as in the conventional product, and the height of the transfer device can be reduced. Therefore, it has become possible to transfer the transported object W even to and from a short station.

Furthermore, by providing the one-way stopper 21 at the end of the cargo receiving section 1O, when the cargo picking section 10 is inserted into the pallet P of the transported object W, the stopper 21 rotates and 10 is allowed to extend, and when the insertion is completed, the stopper 21 stands up. Then, when the cargo picking section 10 is pulled back to the cart side, the pallet P is held down from the cargo picking side by the strike sock 21, so that the cargo picking operation can be performed reliably.

[Effects of the Invention] As detailed above, the present invention exhibits the excellent effect of being able to accommodate even low ground equipment.

[Brief explanation of drawings]

Fig. 1 is a side view showing the automated guided vehicle, Fig. 2 is an enlarged side view showing the transfer member, Fig. 3 is a plan view of the automated guided vehicle, and Fig. 4 is a partially cutaway front view of the automated guided vehicle. , Figures 5 and 6
The figures are a partially cut-away front view showing the operation of the one-way stopper immediately before and during load pickup, respectively. Figure 7 is a schematic plan view showing each station and the automatic guided vehicle stopped at these stations. Figure 8 is a conventional FIG. 9 is a side view showing the automatic guided vehicle of FIG. 8, and FIG. 9 is a front view of FIG. A machine stand 1, a transfer member 8 as a transfer means, a loading section 10 as a conveyed object placement member, a support section 12 as a support member,
One-way stopper 21 and rotary stopper 23 as stoppers, loading station S1 and loading station S2 as ground equipment, and transported object W0

Claims (1)

[Claims] 1. Provided on the machine base so as to be extendable toward the ground equipment side, the conveyed object is placed on it when it is contracted, and the conveyed object transfer path is provided between the machine base side and the ground equipment when it is extended. and a pair of transfer means that protrude into the transfer path of the conveyed object and prevent the conveyed object placed on the transfer means from deviating from the machine platform when the transfer means is contracted. A conveyed object transfer device for an automatic guided vehicle equipped with a stopper, wherein one stopper is attached directly to the top surface of the machine base, and the transfer means is a support member that protrudes from and retracts from the machine base;
It consists of a conveyed object mounting member that emerges and retracts from the support member,
Furthermore, when the loading member protrudes toward the conveyed object side of the ground device, the other stopper is rotated in a direction that does not come into contact with the conveyed object and impede the protruding operation of the loading member, and after the loading member is projected, the conveyed object A conveyed object transfer device for an automatic guided vehicle, which is provided in an unrotatable manner so as to be moved together with the retracting operation of a loading member.