JPH0333399Y2 - - Google Patents

Description

[Detailed description of the invention] [Technical field of the invention] This invention is used in unmanned transportation systems in various factories, etc., and is installed at a station along the route of the automatic guided vehicle to communicate with the automatic guided vehicle. This invention relates to a transfer device that transfers pallets loaded with loads such as assembly parts.

[Technical background of the invention and its problems]

In recent years, unmanned transportation systems have been widely adopted in various parts assembly factories and the like in order to reduce the number of personnel through automation. In this system, an automatic guided vehicle is driven along a route (driving path) determined by computer control to transport cargo loaded on pallets, and stops at a ground-side station installed along the transport path. Therefore, the pallet loaded with luggage is automatically transferred between the automatic guided vehicle and the station.

In such an unmanned conveyance system, both the unmanned guided vehicle and the station are provided with a transfer device so that pallet delivery can be carried out as smoothly as possible. This transfer device has a structure in which a large number of conveyance rollers are arranged in parallel, guides on both sides, stoppers, etc. are provided, and the pallet is moved on the conveyance rollers by the rotational drive of the conveyance rollers or by the push/pull action of another telescoping arm. The transfer is carried out while the movement in the width direction is appropriately restricted by the guides on both sides.

The transfer device, especially the station side transfer device, will be briefly explained with reference to FIGS. A transfer device 4 is provided above. This transfer device 4 is installed in large numbers on both sides frames 5 of channel materials etc. mounted on the pedestal 3 with parallel intervals left and right, and on the upper end of the inner surface of each rising plate portion of these both sides frames 5. It is composed of a pivotally supported conveyance roller 6 and a large number of guide rollers 7 that are pivotally supported on each upper surface of the same both-side frames 5 as guides on both sides, and furthermore, an end portion on the side opposite to the automatic guided vehicle on the both-sides frames 5. A fixed stopper 8 is attached to the fixed stopper 8, and a movable stopper 9 is provided at the opposite openings of the guides on both sides (ends on the side closer to the automatic guided vehicle). This movable stopper 9 is in the shape of a vertically long bar, and is vertically supported by slidingly fitting into a guide support tube 10 attached to the pedestal 3.
Further, it is adapted to move up and down by driving a cylinder 11 attached to the lower side thereof.
Note that 12 is a limit switch for detecting the position of the movable stopper 9.

Then, as shown by the imaginary line in FIG. 4, the automatic guided vehicle 2 carries the pallet A and stops at a position corresponding to the above-mentioned ground side station 1, and the transfer device ( (not shown) and the transfer device 4 on the ground station 1, the pallet A is moved from the automatic guided vehicle 2 onto the conveyance roller 6 of the ground station 1, and is moved by the guide rollers on both sides. 7, the transfer is carried out while the movement in the width direction is appropriately restricted.
At this time, the movable stopper 9 at the frontage portion is lowered to allow the passage of the pallet A, and the above-mentioned transfer operation is performed while the lowering is confirmed by the position detection limit switch 12. Pallet A was then transferred onto ground station 1.
The tip end side hits the fixed stopper 8. Here, to prevent the pallet A from falling from the frontage side,
The movable stopper 9 is raised to the position shown in the figure by the drive of the lower cylinder 12, and restricts the movement of the pallet A.

Also, from above the ground station 1, the automatic guided vehicle 2
If pallet A is to be transferred to the top, the above procedure is reversed.

By the way, recently, in order to make effective use of the factory layout, the distance between the automatic guided vehicle and the ground-side station has been reduced, and the space of the ground-side station has also been narrowed, and the upper part has been protruding to cover the automatic guided vehicle side. It has become necessary to configure the However, in such a case, it is difficult to apply the transfer device 4 having the conventional configuration. In other words, in a configuration in which the bar-shaped movable stopper 9 is vertically moved up and down by the drive of the cylinder 12 from below, the mounting position thereof extends to the lower end of the pedestal 3, which poses a problem that it becomes a hindrance.

[Purpose of invention]

This idea was created in view of the above circumstances, and in order to solve the conventional problems, the movable stopper and its drive mechanism are very compact and require less installation space, and the space is narrow and close to the automatic guided vehicle. To provide a very effective station-side transfer device in an unmanned transportation system that does not interfere with configuring a ground-side station in a protruding state.

[Summary of the idea]

In order to achieve the above object, the station-side transfer device in the unmanned conveyance system of this invention has a tapered lever-shaped movable stopper with a smooth slope at the opening of the guide on both sides that guides the pallet along the delivery direction. is horizontally rotatably supported, and when the pallet is delivered, the movable stopper is rotated to a retracted position where the pallet is guided and passed along with the one-side guide,
In addition, the movable stopper and its drive mechanism are equipped with a drive mechanism using a rotary cylinder or a small motor that rotates the pallet to an advanced position that prevents the pallet from passing at the end of pallet delivery.
Compared to the conventional configuration in which a vertical movable stopper is driven by a cylinder, it is extremely compact and requires significantly less installation space, and it does not protrude to the side, making it possible to install multiple stations next to each other. Become. Further, the installation space in the vertical direction can be significantly reduced, and there is no problem in arranging the ground side station close to the automatic guided vehicle.

Moreover, the movable stopper has a tapered lever shape with a smooth slope, and when a pallet is delivered, it is rotated to a retracted position where the pallet is guided and passed along with the guide on one side, and when the pallet delivery is completed, it is rotated to a retracted position where the pallet is guided to pass. Since the automatic guided vehicle is rotated to an advanced position that prevents the automatic guided vehicle from moving, guidance during pallet delivery and movement regulation at the end of delivery can be easily and smoothly performed, and even if the automatic guided vehicle is somewhat inaccurate in stopping, it can be tolerated.

[Example of idea]

An embodiment of this invention will be described below with reference to FIGS. 1 and 3. In the figure, reference numeral 101 denotes a ground-side station installed close to the travel path of the automatic guided vehicle 102, and as shown in FIG.
A transfer device 104 is provided on a pedestal 103 that protrudes toward the 02 side.
A frame 105 on both sides is provided on the pedestal 103 in substantially the same manner as in the conventional case, and a large number of transport rollers 106 and a large number of guide rollers 10 as guides on both sides are rotatably supported on each of the frames 105 on both sides.
7, a fixed stopper 108 is further attached to the opposite end of the frame 105 on the side opposite to the automatic guided vehicle, and a movable stopper 109 is attached to the opening of the guide on both sides opposite to this (end on the side closer to the automatic guided vehicle). It is set up.

Here, the movable stopper 109 has a tapered shape with a smooth slope as shown in FIG. It is pivoted so that it can rotate horizontally. A rotary cylinder 111 serves as a driving mechanism for this lever-type movable stopper 109 on the one side frame 105.
This rotating shaft 111a is attached to the lower surface of the upper plate of
Directly attach the lever type movable stopper 1 to the upper protrusion of the
The proximal end of No. 09 is attached. By driving this rotary cylinder 111, the lever-type movable stopper 109 is moved to a retracted position that allows the pallet A to pass (opened to a state where it retracts parallel to the row of guide rollers 107 on one side and also serves as a guide for the pallet A). The guide rollers 107 can be rotated between an extended position (a position in which the guide rollers 107 are perpendicular to each other and closed inward) to prevent the passage of the pallet. In the figure, reference numeral 112 denotes a pair of position detection limit switches for checking the rotational position of the lever-type movable stopper 109, each of which is connected to the rotational axis 111a of the rotary cylinder 111.
It is designed to turn on and off by rotating the lower end piece. Further, 113 is an optical sensor for cargo confirmation.

Therefore, the station side transfer device 1 having the above configuration
04, the movable stopper 109 is in the form of a rotatably pivoted lever, and is driven by the rotary cylinder 111, so the frame 1 on the top of the mount 103 of the ground side station 101
It can be compactly installed only on the 05 part. Therefore, even if the ground-side station 101 is brought closer to the automatic guided vehicle 102 and its upper part is projected so as to cover the automatic guided vehicle 102, there is no possibility that the movable stopper 109 or its drive mechanism will get in the way. disappears.

Next, the operation of the above configuration will be described. First, the automatic guided vehicle 102 carries the pallet A loaded therein, and when it stops at a position facing the ground side station 101, the automatic guided vehicle 102 loads the pallet A.
The pallet A is transferred to the automatic guided vehicle 102 by the operation of conveyance rollers and the like between the upper transfer device (not shown) and the transfer device 104 on the ground side station 101.
It is moved from the side to the station 101 side and transferred.

At this time, the lever-shaped movable stopper 109 at the frontage of the transfer device 104 is connected to the rotary cylinder 111.
is rotated to the retracted position shown by the solid line in FIG.
2, the above-mentioned transfer operation is performed, and the pallet A is smoothly guided by the guide rollers 107 on both sides and the lever-type movable stopper 109 in the open state, while being guided to the ground-side station 101.
Translated above. Then, the pallet A stops when its leading end hits the fixed stopper 108, and the load confirmation sensor 113 detects whether or not the pallet A has been transferred to a predetermined position.
Furthermore, after checking whether the fork, etc. of the transfer device on the automatic guided vehicle 102 side has retreated, the lever-type movable stopper 109, which was open at the above-mentioned retreat position, is moved inward by approximately 90 degrees by the drive of the rotary cylinder 112. The pallet A is rotated to the extended position shown in the imaginary line in FIG. 3, and becomes a closed state that restricts the movement of the pallet A, thereby preventing the pallet A from falling from the frontage side.

Furthermore, when pallet A is transferred from the ground station 101 to the automatic guided vehicle 102, the process is reversed.

Note that this invention is not limited to the above embodiment, and for example, a small motor (not shown) may be used in addition to the rotary cylinder 111 as the drive mechanism for the lever-type movable stopper 109.
Other modifications may be made as long as they do not take up much installation space. Further, although guide rollers 107 are provided as guides on both sides, a plate-shaped guide frame (not shown) may be provided instead.

[Effect of the invention] Since the present invention is constructed as described above, the lever-type movable stopper is horizontally rotated by a drive mechanism using a rotary cylinder or a small motor, so the movable stopper and its drive mechanism are Compared to the conventional configuration in which a vertical movable stopper is driven by a cylinder, it is extremely compact, and the installation space can be significantly reduced, and it does not protrude to the side, allowing multiple stations to be placed adjacent to each other. Moreover, the installation space in the vertical direction can be significantly reduced, and there is no problem in arranging the ground side station close to the automatic guided vehicle. In addition, the movable stopper has a tapered lever shape with a smooth slope, and when transferring a pallet, it rotates to the retracted position where it guides and passes the pallet along with the guide on one side, and when the pallet transfer is completed, it prevents the pallet from passing. Since the pallet can be rotated to the advancing position, guidance during pallet delivery and movement regulation at the end of delivery can be easily, reliably, and smoothly made, making it a very effective automated guided vehicle that can tolerate somewhat poor stopping accuracy of the automated guided vehicle. A station side transfer device in a vehicle system is obtained.

[Brief explanation of the drawing]

Figures 1 to 3 show one embodiment of this invention, with Figure 1 being a side view, Figure 2 being a front view, and Figure 3 being a front view.
The figure is a plan view, Figure 4 is a side view showing a conventional example, and Figure 5 is a side view showing a conventional example.
The figure is a partially cutaway front view of the conventional example. 101... Ground side station, 102... Automatic guided vehicle, 103... Frame, 104... Transfer device, 105... Frame, 106... Conveyance roller, 107... Both sides guide (guide roller), 1
08... Fixed stopper, 109... Lever type movable stopper, 111... Drive mechanism (rotary cylinder), 111a... Rotating shaft, 112... Limit switch for position detection, 113... Optical sensor for load confirmation, A... ...Palette.

Claims (1)

[Scope of utility model registration request] In a transfer device that is installed on a pedestal of a station arranged along a travel path of an automatic guided vehicle and that transfers pallets to and from the automated guided vehicle, the pallet is guided along the pallet delivery direction. A tapered lever-shaped movable stopper with a smooth slope is rotatably supported horizontally at the opening of both side guides, and when the pallet is delivered, this movable stopper is used to hold the pallet in line with the one-side guide. An unmanned device characterized by having a drive mechanism using a rotary cylinder or a small motor that rotates to a retracted position where the pallet is guided through while being guided, and which is rotated to an advanced position where the pallet is prevented from passing when the pallet is finished being delivered. A station-side transfer device in a transport system.