JPH04114864U - Towed mechanism for automatic transport equipment - Google Patents

Abstract

(57) [Summary] [Purpose] Automatically deliver towed vehicles to a large number of stations, and automatically connect towed vehicles located at each station to the towed vehicle for recovery. suitable for
Provides a towed mechanism with automatic connection and automatic disconnection functions. [Structure] The towed lever tilting shaft 12 is rotatable relative to the towed vehicle 5 in a horizontal direction perpendicular to the traveling direction of the towed vehicle.
It is supported by bearings 17a and 17b. The towed rod 7 is
It is pivotally connected to a tilting bracket 18 fixed to the towed rod tilting shaft. 11 is the pivot axis, arc arrow ij
is the direction in which it can rotate. The towed rod 7 is biased with rotational force by a spring 20.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

This invention is applicable to a towed vehicle that is towed by a towing vehicle that runs along a guide track. This relates to a towed mechanism that can be used.

0002

[Conventional technology]

For example, in a factory facility with many assembly and processing lines, each line has parts and As a transport mechanism for delivering secondary materials, a towed vehicle is towed and transported by a towing vehicle. The technology is known. Furthermore, as a technology for automatically steering the above-mentioned tow vehicle using a guide track, for example, Panawagon RD-PW500 manufactured by Matsushita Electric Industrial Co., Ltd. is well known and commercially available. It is easy to use. Its perspective view is shown in FIGS. 16(A) and 16(B).

0003 The towing vehicle 4 of this known example has an automatic control device equipped with a phototransistor and a battery. 4 tons of aluminum tape attached to the floor, with a drive device including a battery. The machine automatically steers itself along the aluminum tape while photoelectrically detecting it. Arrow F in the figure indicates the direction of travel. If the aluminum tape 4t is branched as shown in this figure (A), Set up a marker 4m before the fork. and (B) the switch panel shown in fig. If you operate 4P and give a command, towing vehicle 4 will move when it detects the marker 4m. , go straight or turn left (right) based on a command given in advance. It is also equipped with a rear-end collision prevention sensor 4S that detects obstacles without contact. It will automatically stop when it detects a harmful object.

0004 The specifications of this publicly known towing vehicle (Pana Wagon RD-PW500) are as follows: It is. Speed (rated) approx. 27m/min Loading weight (rated) 30kg Minimum turning radius 40cm Minimum straight aisle width 80cm Battery used: 12V 35AH Continuous running time Approximately 8 hours continuous running time per charge Environmental conditions Temperature 0℃～40℃ Dimensions 320(H) x 480(W) x 825(D)mm Weight 45kg (including battery) This publicly known towing vehicle was originally designed to carry a load of 30 kg (maximum 50 kg). However, the energy economy (weight of transported items/power consumption) Considering this, it is much better to load it on the towed vehicle and tow it than to load it on your own vehicle. It is advantageous for crabs.

[0005]

[Problem that the idea aims to solve]

The towing vehicle 4 of the known example explained with reference to FIG. 16 has an automatic steering function, and It is possible to drive along a predetermined course while operating the steering wheel unattended. . However, the towed vehicle is towed by this towing vehicle and the parts are delivered to the assembly line. If you try to do this, the labor-saving effect will be sufficient unless you automate the connection and disconnection with the towed vehicle. Not. Although various research is being conducted to solve these problems, complete unmanned operation has not yet been achieved. has not been completed.

[0006] The known automatic transport equipment closest to the present invention operates as follows. i.e. many When parts to be delivered to each of the stations are loaded onto the towed vehicle, In both cases, the towed vehicle is towed by a towing vehicle and transported to each station using automatic steering. , and the towed vehicle is automatically disconnected at each station.

[0007] The towed vehicle separated at each station is manually pulled into the line space. I can hear it. When the parts installed in the towed vehicle are used up, the towed vehicle becomes empty. The towed vehicle must be recovered by connecting the towing vehicle to the towed vehicle. Recovered towed vehicle The car will be reloaded and delivered by tow truck. However, in the prior art, an empty towed vehicle is manually pushed and towed. It must be moved to the position where it will be connected to the vehicle and be in a position to receive connection. There is a problem.

[0008] This invention was developed in view of the above-mentioned circumstances. The operation of transporting the vehicle to the destination station, and the operation of separating the towed vehicle at the destination station. Automatically activates the vehicle to move the vehicle and retrieve the empty towed vehicle using the towing vehicle. It is an object of the present invention to provide a towed mechanism for a conveyance device that can be carried out.

[0009]

[Means to solve the problem]

In order to achieve the above purpose, the present invention: A guide track that branches off from the circular main line and returns to the main line, and a guide track that circulates through the above guide track. An automatic vehicle comprising a tow vehicle that travels in circles and a towed vehicle towed by the tow vehicle. In the towed vehicle used in the transport device, It is installed in the horizontal direction perpendicular to the traveling direction of the towed vehicle and can rotate with respect to the towed vehicle. a towed rod tilting shaft supported by a Almost perpendicular to the towed rod tilting shaft or the member fixed thereto. a towed rod pivoted by a towed rod pivot shaft; An intervening member is provided between the towed rod tilting shaft or a member fixed thereto and the towed rod. and a spring that applies rotational force to the towed rod. Features.

0010

[Effect]

According to the towed mechanism having the above configuration, a. The towed rod rotates around the towed rod pivot shaft, and the posture is directed forward in the direction of travel. It can take both postures, including one facing the side in the direction of travel. b. Moreover, since both of the above postures are held elastically by the spring, c. A plan consisting of a circular main line and a branch line that branches off from the main line and merges back into the main line. A tow vehicle that circulates on the inner track and a towed vehicle towed by the tow vehicle. When this towed mechanism is applied to a towed vehicle used in an automatic transport device, The automatic connection operation can be performed reliably and smoothly.

[0011] d. Furthermore, since the above-mentioned towed rod can be tilted up and down about the towed rod tilting axis, This function also ensures that the automatic disconnection operation is performed reliably and smoothly. I can do it.

0012 e. In particular, the towed rod swings left and right in the traveling direction about the towed rod pivot shaft. When rotating, the towed rod tilting axis is located at its installed position (perpendicular to the direction of travel, horizontal) Since the towed rod is not changed, the towed rod can be tilted from outside the towed vehicle via this towed rod tilting axis. Dynamic driving can be performed easily and reliably. For this reason, the automatic conveyance device It is suitable as a towing mechanism for a towed vehicle.

[0013]

【Example】

Figure 5 shows the layout of automatic conveyance equipment to which the towed mechanism according to the present invention is applied. FIG. A circular main line 1 having parallel parts 1a, 1b and U-turn parts 1c, 1d is connected to a factory building. is laid on the floor. Around the circular main line 1, there are multiple (eight in this example) station stations slightly spaced apart. Options 2a to 2h are arranged. Branching off from the circular main line 1 and approaching each of the stations 2a to 2h, Branch lines 3a to 3h that merge with the main ring line 1 are laid.

[0014] The ring-shaped main line 1 and the branch lines 3a to 3h are guide tracks made of aluminum tape and affixed to the floor surface. The towing vehicles 4a and 4b connect and tow the towed vehicles 5a and 5b, respectively, and travel in one direction as indicated by arrows r ₁ and r ₂ while photoelectrically detecting the guide track. In principle, the towing vehicles 4a and 4b continue to circulate along the circular main line 1, but when they receive a command from a central command center (not shown), they move to either branch line 3a or 3h. The train then returns to the loop main line 1, but it continues to travel at a nearly constant speed.

[0015] 6 to 8 are explanatory diagrams each showing the basic operation of the towing operation. FIG. 6 shows the operation of separating the towed vehicle. From the right end of the figure to the left along the circular main line 1 When the towing vehicle 4, which was towing toward the destination, received the above command, it Enter branch line 3 as shown by arrow a. Figure (B) shows the tow vehicle 4 that has entered branch line 3. As shown in , the towed vehicle 5 is pulled into the branch line 3 and the connection is made by a mechanism described later. It is automatically separated, leaving the towed vehicle 5 on the branch line 3 and moving along the circular main line as shown by arrow b. 1, and continues circulating along the circular main line 1 as shown in (C).

[0016] Figure 7 shows the passing operation of the towing vehicle. The towed vehicle 5 is stopped on the branch line 3, The towing vehicle 4 travels along the circular main line 1 as indicated by the arrow c. However, the towed vehicle 5 on the branch line 3 is "connected" by a mechanism that will be explained in detail later. If the signal is not given, the towing vehicle 4 will pass by as shown by the arrow d in Figure (B). I will do it.

[0017] FIG. 8 shows the connection operation. As shown in Figure (A), the towed vehicle 5 on the branch line 3 is The towed rod 7 is pushed out to the side by a mechanism to be described later to indicate the intention to "connect" (mechanism). (signals indicated by the posture of mechanical members). A towing vehicle 4 traveling along the circular main line 1 as shown by arrow c connects the towed vehicle. It is in the condition of a motorcycle that has not been used. The towing vehicle 4 is moved to the side by a mechanism to be described later with the towing rod 6. Make it stick out towards the side and prepare for connection, and run along the circular main line 1 as shown by arrow c. come. Suppose now that the towed vehicle 5 is in a state where the towed rod 7 is not protruding to the side. When passing along the circular main line 1, the passing operation shown in Fig. 7 will occur. Ru.

[0018] In the state in which connection preparations have been made as shown in FIG. 8(A), the tow vehicle 4 is in the state shown in FIG. ), the towed vehicle 5 The towed rod 7 from which the towed vehicle 4 is protruding comes into contact with the traction rod 6 from which the tow vehicle 4 is protruding. , are automatically connected by a mechanism described later. As the towing vehicle 4 continues to move in the direction of the arrow f as shown in FIG. The towing vehicle 5 is pulled out from the branch line 3 to the circular main line 1, As shown in FIG. 3(D), the robot moves in the direction of arrow g in a connected state.

[0019] An overview of the configuration for performing the above-mentioned connection operation will be explained below with reference to Fig. 9. state (A) is a schematic plan view of the towing vehicle 4, and its traveling direction is to the left of the figure. with a solid line As shown, a traction rod 6' protrudes rearward, and a semicircular arc-shaped connecting hook 8' is attached to the tip of the traction rod 6'. is installed. The traction rod 6' shown in solid line in this figure (A) is in the state of towing. It represents. The above-mentioned traction rod 6' is rotated to position 6 as indicated by the chain line. protruded laterally like this The state is the connection preparation posture, which is the state shown in FIG. 8(A) described above.

[0020] FIG. 9(B) is a schematic plan view of the towed vehicle 5, and its traveling direction is to the left of the figure. . As shown by the solid line, the towed rod 7' protrudes forward, and the connecting pin 9' is attached to its tip. It is fixed perpendicular to the page. The towed rod 7' shown in solid line in this figure (B) is the towed rod 7'. Indicates the running condition. The above-mentioned towed rod 7' rotates to position 7 as indicated by the chain line. protruding laterally like this The state shown in Figure 8 (A) above is the state in which the "Connect" signal is displayed. It is in a state of

[0021] This figure (C) shows the initial state of the connection operation. Towing vehicle 4 moves in the direction of arrow e Then, the connecting hook 8 of the traction rod 6 that protrudes laterally connects to the connecting pin 9 as shown by the arrow h. getting closer. This figure (D) shows a state in which the connecting hook 8 catches the connecting pin 9. Described later The locking mechanism acts to prevent the screws from coming off, and the connection is performed. After completing the connection, when the towing vehicle 4 moves in the direction of arrow f as shown in this figure (E), The traction rod 6 and the towed rod 7 each rotate counterclockwise (counterclockwise) in the figure. While doing so, the vehicle shifts to a towing state (the state shown in FIG. 8(D)).

[0022] 10 to 12 show the necessary information regarding the towed vehicle 5 to carry out the above-mentioned operation. FIG. 2 is an explanatory diagram schematically depicting functions. Since it is a schematic diagram, the mechanism of the example is illustrated realistically. This is not a scaled-down diagram. The specific configuration will be described later with reference to FIG. FIG. 10A is a schematic plan view, and FIG. 10B is a side view. Towed vehicle 5 is not equipped with power for running, and swings in the horizontal plane by the towed rod pivot shaft 11. A towed rod 7 that is pivotally supported so as to be movable, a caster-shaped front wheel 10a, A fixed shaft type rear wheel 10b is provided. The illustrated arrow F indicates the traveling direction of the towed vehicle 5. The towed rod 7 is in the running direction ( This is a structure that can take a protruding position (indicated by a solid line) toward arrow F). this posture 7 is used when traveling in a straight line while being towed. At the tip of the towed rod 7, there is a vertical A connecting pin 9 on the opposite side is fixed. This connector has a vertical pin shape. , in this embodiment, it is configured to perform the automatic connection and automatic disconnection functions described later. be.

[0023] The above-mentioned towed rod 7 is arranged in the direction of circular arc arrows i-j with the towed rod pivot shaft 11 as the center. It is constructed so that it can be swung and rotated to protrude laterally beyond the line m-n of the side edge of the vehicle body. It has been done. More specifically, the connecting pin 9 is located at the side of the vehicle body as shown in the 9' position. The structure is such that the towed rod 7 can be rotated to the 7' position so that it can be positioned at 7'. This way The fact that the towed rod can be made to protrude laterally is a feature of the towing rod of the towing vehicle, which will be described later. This is a configuration for automatic connection using a connected connector.

[0024] The above-mentioned FIG. 10 shows a machine in which the towed rod 7 swings left and right as shown by the arc arrows i-j. Although this is a schematic diagram showing the function, this towed rod 7 can also be moved up and down as shown in FIG. It also has a swinging function. That is, the towed rod 7 moves in the direction of the circular arc arrow uv with the towed rod tilting axis 12 as the center. It has a structure that can be tilted up and down. This Figure 11 explains what kind of functions the towed mechanism according to the present invention requires. This is a schematic diagram shown for clarity and is a realistically scaled view of the mechanism of this example. There isn't. In addition, the shape, arrangement, and dimensional ratio of the component parts are the same as in the device of this example. do not have. The specific configuration will be explained later with reference to Figures 1 (A), (B) and Figure 2. Details are given below.

[0025] The structure in which the towed rod, to which a vertical connecting pin is fixed, tilts up and down, will be explained later. As described above, this is a necessary configuration for automatically disconnecting the traction tool.

[0026] The towed rod 7 is moved to the left by the towed rod pivot shaft 11 as shown in FIG. 12(A). It is pivoted so that it can swing to the right, but it also has a plunger that locks the rotation with elastic force. Carrying means B' are provided. An enlarged detailed sectional view of the same is shown in FIG. A bracket 13 is fixed to a truck portion of the towed vehicle 5. This bracket The stop 13 itself comes into contact with the towed rod 7 and functions as a stopper, but in addition, A cylindrical case 14 is installed on this bracket 13. A ball 15 and a spring 16 are housed within this cylindrical case 14. The ball 15 is pushed by the spring 16 and fits into the spherical recess 7a of the towed rod 7. ing. This towed vehicle 5 also has straight parallel parts 1a and 1b of the annular main line 1 shown in FIG. Both the arcuate U-turn portions 1c and 1d and the branch lines 3a to 3h must be run. The vehicle passes through a U-turn, is pulled into a branch line, or is pulled from a branch line. When the rod is pulled out, the towed rod 7 swings in order to travel in a curve (see the circle in Fig. 10(A)). arc arrows i-j), and when driving in a straight line, to prevent meandering. This creates a need for the oscillating motion to be prevented. Plunger means B' consisting of a ball spring shown in FIG. This structure allows for movement and prevents meandering.

[0027] Figure 1 shows the towed mechanism of this embodiment configured to perform each of the above-mentioned functions. Components related to the towed rod 7 in the towed vehicle 5 are shown, as seen from the bottom side of the towed vehicle 5. It is a bottom view depicting the vehicle, and arrow F is the running direction. Figure (A) depicts the assembled state, where 7 is the aforementioned towed rod, and 9 is the aforementioned connecting pin. 10a is the aforementioned front wheel, and 11 is the aforementioned towed rod pivot shaft. 13 is the aforementioned bracket, and 14 is the aforementioned cylindrical case. Figure (B) shows the state in which the towed rod 7 is removed from the state shown in Figure (A) above. Reference numeral 12 is the aforementioned towed rod tilting shaft, which is rotated by a pair of bearings 17a and 17b. It is rotatably supported in a horizontal position perpendicular to the traveling direction with respect to the bogie portion of the towed vehicle 5. It is.

[0028] A tilting bracket 18 is fixed to the towed rod tilting shaft 12, and this tilting The aforementioned towed rod 7 is pivoted to the bracket 18 by a towed rod pivot shaft 11. Ru. In this way, the towed rod 7 can be tilted up and down about the towed rod tilting axis 12, and It is possible to oscillate left and right around the towed rod pivot shaft 11. 19 is tilted up and down It is a balance weight to balance the movement. As shown in FIG. 1(A), there is tension between the tilting bracket 18 and the towed rod 7. Then, the spring 20 is engaged. As a result, in the state shown in this figure (A), the towed rod 7 is The bracket 13 is biased with a clockwise rotational force (in the direction of the arc arrow i). and the ball spring (hidden in this figure) inside the cylindrical case 14. Rotation is more elastically locked. When applying manual operating force to the above-mentioned towed rod 7 and turning it in the direction of the circular arc arrow j, the result is shown in Fig. 2. In this way, the towed rod 7' protrudes to the side of the towed vehicle 5's body. child This corresponds to the 7' position indicated by the chain line in FIG. 10(A). In this state (Fig. 2), the towed rod 7' is rotated by the tension spring 20. It is energized with rotational force in the left direction (counterclockwise direction) and maintains the shown posture stably. deer However, when the connecting pin 9' is connected to the towing rod of the towing vehicle and the vehicle is towed in the direction of arrow F, the The traction rod 7' receives a rotational force in the direction of the arcuate arrow i. At this time, the tension spring 20 does not exhibit a large drag force and assumes the towed attitude shown in FIG. 1(A). During the above operation, the center line of the tension spring 20 is aligned with the towed rod pivot shaft 11. After passing through the position, the tension spring 20 pulls the towed rod 7' in the direction of the arcuate arrow i. It acts to rotate. Therefore, the towed rod 7' is pulled by the tension spring 2. It is biased at zero and rotates with considerable inertia. This rotation hits the bracket 13. However, just before that, the ball 15 shown in Figure 12(B) is caught. It comes into contact with the draw rod and fits into the spherical recess 7a. At this time, the towed rod is a tension spring. Since it is biased by the ring and obtains inertial force, it is automatically operated without the help of workers. The ball 15 fits into the recess 7a.

[0029] FIG. 3 shows a different embodiment from the above. The same drawing reference numbers as in the above embodiments refer to the same figures as in the above embodiments. It is the same or similar component. The towed rod 24 in this example is pivotally connected to the tilting bracket 18 by the towed rod pivot shaft 11. At the same time, a cam 25 is fixed to one end thereof. A cam roller 26 is pressed against the cam 25 by a cam spring 27. It is. As a result, the towed rod 24 can be moved to the towed position shown in FIG. It is held in any of the connection preparation postures shown in Figure (B) and receives rotational force. It can rotate between the state shown in (A) and the state shown in (B) in the figure. Configure as in this example The same effect as the previous example can be obtained.

[0030] FIG. 4 shows a further different application example from the above. The towed rod 28 in this example is a tension spring. 20 applies a rotational force in the direction of the arcuate arrow j. Therefore, additional force is applied. If not, the connection preparation posture 28' shown by the chain line is assumed.

[0031] When the towed rod 28' is rotated by applying a force in the direction of the arcuate arrow j, the towed vehicle 5 Ratchet teeth 29 provided on the side engage with ratchet pawls 30 to lock rotation. Ru.

[0032] When the ratchet pawl 30 is released, the above-mentioned connection preparation posture 28' is assumed.

[0033] Activate the ratchet mechanism to bring it into the state shown by the solid line (towed traveling posture 28). This will prevent meandering when driving straight.

[0034] In FIGS. 1 to 4 explained above, the towed rod is fixed to one end of the tilting shaft 12. 23 is Shoe. The effect will be explained next with reference to Figure 13. do. This Figure 13 is drawn schematically to make it easier to understand the action and effect. Therefore, the shape and arrangement of its constituent parts are not necessarily realistically scaled versions of the examples. There isn't. A towed lever tilting shaft 12 is rotatably supported by the towed vehicle 5. above The towed rod 7 is fixed to the towed rod tilting shaft 12, and the shoe 23 is fixed. It is worn. In the state shown in Figure (A), the vertical connecting pin is implanted at the tip of the towed rod 7. is fitted into the connecting hook 8 of the traction rod 6.

[0035] On the other hand, a convex arc-shaped stop cam 34 is installed on the floor near the station. Ru. When viewed in the direction of this figure, the stop cam 34 has a semicircular shape, but this can be seen in three dimensions. If you look at it, it is a member with a cylindrical surface. The stop cam 34 in this example is a portable member. Therefore, the towed vehicle 5 can be separated from the towed vehicle and placed at the location where it is desired to stop. It is now possible to However, if the towed vehicle stops on Main Line 1 (see Figure 5), The stop cam 34 is located near the branch line 3 in order to prevent other towing vehicles and towed vehicles from traveling. It is desirable to install it in

[0036] When the towed vehicle approaches the location where the stop cam 34 is installed, the shoe 2 3 comes into contact with the stop cam 34 and is pushed to rotate the towed rod tilting shaft 12. Applicable The towed rod 7 fixed to the towed rod tilting shaft 12 is tilted downward as shown in FIG. 13(B). move. Along with this, the connecting pin 9 descends and comes out of the connecting hook 8. As mentioned above, the connection between the traction rod 6 and the towed rod 7 is disconnected, and the towed vehicle 5 becomes inertial. I try to continue driving. At this time, the shoe 23 comes into sliding contact with the stop cam 34 and receives a frictional force from the towed vehicle. 5 is braked and stopped. Among the basic operations in this embodiment, the disconnection operation explained with reference to FIG. 6 is as described above. This is done automatically.

[0037] Next, regarding the configuration for automatically performing the connection operation explained with reference to FIG. This will be described next with reference to FIG. A traction rod 6 is pivotally supported to the traction vehicle 4 so as to be rotatable in the direction of the arc arrow pq. Ru. A rotating force in the direction of the arcuate arrow q is applied by a mechanism to be described later. In this figure, the state 6' protruding laterally in the direction of travel (arrow F) is shown as a solid line. The state 6, which protrudes backward, is drawn with a chain line. In this figure, drawn as a solid line The traction rod 6' and the components attached to it, and the traction rod 6 and the components shown in chain lines. and the components attached to it are the same, so its configuration is the same as the solid line traction rod. 6' will now be described. A semicircular arc-shaped connecting hook 8' is fixed to the free end side of the traction rod 6'. A ratchet pawl-shaped stopper is installed at the semi-circular opening of the connecting hook 8'. A pawl 31 is rotatably attached to a pin 32 and closed by a spring 33. The rotation force is applied in the same direction (clockwise direction in the figure). In this way, when the connecting pin 9' abuts in the direction of the arrow s, it is connected to the connecting hook. 8', and is configured to prevent escape in the opposite direction of arrow s. It is.

[0038] When the towed vehicle (not shown) projects the towed rod 7', the towed vehicle 4 If you run in the direction of arrow F with the rod 6' protruding to the side, it will be connected to the towing hook 8'. The connecting pins 9' approach each other as shown by the arrow s, and push open the retaining pawl 31 to connect. It engages the hook 8'. When the towing vehicle 4 continues to travel in the direction of arrow F, the towing rod is damaged due to the traveling resistance of the towed vehicle. 6' is rotated in the direction of the arcuate arrow p, and the towing running posture is at the 6th position (indicated by the chain line). becomes. In this towing traveling posture, the towing vehicle 4 is traveling while towing the towed vehicle via the connecting pin 9. When the towing vehicle 4 decelerates, the towed vehicle tries to continue traveling due to inertia, and the connecting pin 9 is rear-ending in the direction of arrow F'. However, due to the action of the locking claw 31 mentioned above, There is no risk of disconnection.

[0039] In this embodiment, the mechanism described below with reference to FIG. When the towing rod 6 is in the towing position protruding toward the rear of the vehicle, the towing rod rotates. (arc arrow p-q direction) is automatically locked, and as shown in Fig. 13(B) When the connection is disconnected, it automatically rotates in the direction of the arc arrow q and protrudes to the side of the vehicle. (preparation posture for coupling the towed vehicle). 37 shown in FIG. 15 is a base plate, which is integrated with the arc-shaped horizontal guide plate 43. They are installed in series and are fixed horizontally on the chassis of the aforementioned towing vehicle. The reference numeral 6 in the figure is the aforementioned traction rod, which is centered on the z-axis with respect to the base plate 37. It is supported so that it can be rotated. 35 is a spiral spring means installed concentrically with the z-axis, and is The draw rod 6 is biased to rotate in the direction of the arc arrow q. The rear end of the traction rod 6 A semicircular arc-shaped connecting hook 8 is provided at the end opposite to the traveling direction F of the towing vehicle. ing.

[0040] The release lever 39 is rotatably pivoted with respect to the above-mentioned traction rod 6 by means of a pivot pin 40. It is worn. As a result, the release lever 39 is vertically centered around the pivot pin 40. Can rotate in plane. 41 is a vertical member fixed to the traction rod 6 to guide the above rotation. It is a straight guide bar. A forked engagement member 36 is attached to the front end (end in the direction of arrow F) of the release lever 39. The traction rod 6 is slidably sandwiched between the fork-like engaging members 36 and The lower end fits into the engagement hole 38. This allows the traction rod 6 to protrude backwards. Rotation is locked with . The function of fixing the posture of the traction rod 6 in this way is This is necessary to prevent the towed vehicle from meandering inside.

[0041] Further, a pedal 44 is fixed to the rear end of the release lever 39. During towing, the connection hook 8 and the retaining claw 31 form the The connecting pin 9 (indicated by an imaginary line) passes vertically through the irregular annular portion. There is. Since the connecting pin 9 is fixed to the front end of the towed rod 7, this The front end of the draw rod 7 is located above the pedal 44. When the connection between the connecting hook 8 and the connecting pin 9 is disconnected, the procedure shown in FIG. As explained above, the tip of the towed rod 7 is tilted in the downward direction, and the connecting pin The ring 9 slips out from inside the connecting hook 8 downward. Therefore, when the connection disconnection operation is automatically performed in FIG. 15, the towed rod 7 is lowered and the pedal 44 is depressed.

[0042] When the pedal 44 is depressed, the release lever 39 is centered around the pivot pin 40. The forked engagement member 36 attached to the front end of the engagement member 36 is rotated as shown in FIG. and comes out of the engagement hole 38. The forked engagement member 36 slips out of the engagement hole 38 and prevents the traction rod 6 from rotating. When the function is released, the traction rod 6 is biased by the spiral spring means 35 and moves in the direction of the arc arrow. A ready position capable of rotating in the q direction and performing the automatic coupling action described with reference to FIG. It becomes 6'. During the above-mentioned operation, the release lever 39 is moved in the direction of raising the forked engagement member 36. When it rotates, its front end comes into contact with the curved guide plate 42. This curved guide plate 4 2 is installed to diagonally cover the upper part of the forked engagement member 36, and the release lever 3 When 9 rises and collides, it is moved in the direction of arrow r, that is, in the same direction as arrow q. It acts to bounce back. For this reason, the traction rod 6 by the spiral spring means 35 The rotation in the direction of the arc arrow q is assisted, and the initial operation is performed reliably and smoothly. It will be done.

[0043] When the traction rod 6 rotates in the direction of the arc arrow q as described above, it separates from the engagement hole 38. The disengaged forked engagement member 38 moves while sliding on the arcuate horizontal guide plate 43. Ru. After the aforementioned connection operation, when the traction rod 6 rotates in the direction of the arcuate arrow p, , the forked engagement member 36 moves again while sliding on the arcuate horizontal guide plate 43. Then, it fits into the engagement hole 38, and assumes the towing posture.

[0044] The above-mentioned traction rod 6 and release lever 39 are connected by a pivot pin 40, so that the upper As described above, when the traction rod 6 rotates in the direction of the arc arrow pq, the release lever 39 The forked engagement member 36 always keeps the traction rod 6 rotated in the direction of the arc arrow pq. It's gently pinched. Therefore, the forked engagement member 36 engages and disengages from the engagement hole 38. By simply doing this, the rotation of the traction rod 6 (in the direction of the arc arrow p-q) can be reliably blocked and released. It will be done.

[0045]

[Effect of the idea]

As explained in the above embodiments, the towed mechanism according to the present invention is It is installed in the horizontal direction perpendicular to the traveling direction of the towed vehicle and can rotate with respect to the towed vehicle. a towed rod tilting shaft supported by a Almost perpendicular to the towed rod tilting shaft or the member fixed thereto. a towed rod pivoted by a towed rod pivot shaft; An intervening member is provided between the towed rod tilting shaft or a member fixed thereto and the towed rod. and a spring for applying a rotational force to the towed rod. Than, a. The towed rod rotates around the towed rod pivot shaft, and the posture is directed forward in the direction of travel. It can take both postures, including one facing the side in the direction of travel. b. Furthermore, both of the above postures are held elastically by the spring.

[0046] Due to the effects of a and b above, c. A plan consisting of a circular main line and a branch line that branches off from the main line and merges back into the main line. A tow vehicle that circulates on the inner track and a towed vehicle towed by the tow vehicle. When this towed mechanism is applied to a towed vehicle used in an automatic transport device, The automatic connection operation can be performed reliably and smoothly.

[0047] d. Furthermore, since the above-mentioned towed rod can be tilted up and down about the towed rod tilting axis, This function also ensures that the automatic disconnection operation is performed reliably and smoothly. I can do it.

[0048] e. In particular, the towed rod swings left and right in the traveling direction about the towed rod pivot shaft. When rotating, the towed rod tilting axis is located at its installed position (perpendicular to the direction of travel, horizontal) Since the towed rod is not changed, the towed rod can be tilted from outside the towed vehicle via this towed rod tilting axis. Dynamic driving can be performed easily and reliably. For this reason, the automatic conveyance device It is suitable as a towing mechanism for a towed vehicle.

[Brief explanation of drawings]

[Fig. 1] Bottom view of the vicinity of the towed rod in one embodiment of the present invention

[Figure 2] An explanatory diagram of the effects of the above embodiment

[Figure 3] Bottom view of an embodiment different from the above

[Figure 4] Bottom view of an application example that is different from the above

FIG. 5 is a plan view showing the layout of the automatic conveyance device in the embodiment.

FIG. 6 is an explanatory diagram of the separation operation as the basic operation in the embodiment.

FIG. 7 is an explanatory diagram of a passing operation as a basic operation in the embodiment.

FIG. 8 is an explanatory diagram of a connecting operation as a basic operation in the embodiment.

[Fig. 9] Process diagram of the connecting operation as the basic operation in the above embodiment.

FIG. 10 is a schematic diagram for explaining the functions in the embodiment.

FIG. 11 is a schematic diagram for explaining the functions in the embodiment.

FIG. 12 is an explanatory diagram of the structure for preventing meandering in the above embodiment.

FIG. 13 is an explanatory diagram of the automatic disconnection operation in the embodiment.

[Fig. 14] Plan view of the vicinity of the traction rod in the above embodiment.

[Fig. 15] A perspective view of the vicinity of the traction rod in the above embodiment.

[Fig. 16] A perspective view of a known automatic steering vehicle.

[Explanation of symbols]

1 Circular main line of guide track 1a, 1b parallel part 1c, 1d U-turn section 2a-2h station 3a-3h branch line 4, 4a, 4b Towing vehicle 5, 5a, 5b Towed vehicle 6,6' Traction rod 7,7' Traction rod 7a Spherical recess 8,8' Connecting hook 9,9' Connecting pin 10a front wheel 10b rear wheel 11 Towed rod pivot shaft 12 Towed rod tilting axis 13 Bracket 14 Cylindrical case 15 ball 16 Spring 17a, 17b bearing 18 Tilt bracket 19 Balance weight 20 tension spring 23 Shoe 24 Traction rod 25 cam 26 Cam roller 27 Cam spring 28,28' Traction rod 29 Ratchet teeth 30 Ratchet pawl 31 Anti-removal claw 32 pin 33 Spring 34 Stop cam 35 Spiral spring means 36 Forked engagement member 37 Base plate 38 Engagement hole 39 Release lever 40 Pivot pin 41 Vertical guide bar 42 Curved guide plate 43 Arc-shaped horizontal guide plate

──────────────────────────────────────────────── ─── Continued from front page (51) Int.Cl. ⁵ Identification code Internal reference number FI Technical display location G05D 1/02 E 7828-3H

Claims (1)

[Scope of utility model registration request] [Claim 1] An automatic transport device comprising a guide track that branches off from a circular main line and returns to the main line, a tow vehicle that circulates on the guide track, and a towed vehicle that is towed by the tow vehicle. In the towed vehicle used in A towed rod pivotally supported by a towed rod pivot shaft extending substantially perpendicularly to the shaft or a member fixed thereto, the towed rod tilting shaft or a member fixed thereto, and the towed rod 1. A towed mechanism for an automatic conveyance device, comprising: a spring that is interposed between the towed rod and applies rotational force to the towed rod.