JPH04127004U - Traction 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 collection. suitable for
Provides an easily adjustable traction mechanism with automatic connection and automatic disconnection functions. [Structure] The traction rod 6 is supported so as to be able to swing in a horizontal plane with respect to the towing vehicle, and is biased with a rotational force in the direction of arrow q by a spring means 35 in the following manner.
The outer end of the spiral spring 35e is attached to the traction rod 6 via the vertical cylinder 35e, and the inner end thereof is attached to the vertical shaft 35b. The vertical shaft 35b is only allowed to rotate in the direction of the arrow q' by the ratchet gear 35f and the ratchet pawl 35g, and is prevented from rotating in the opposite direction of the arrow q'.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

The present invention relates to a traction mechanism used for a towing vehicle that travels along a guide track. It is.

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 views are shown in FIGS. 17(A) and 17(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. 17 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, when the towed vehicle is separated at the destination station. Both brakes are activated, and the empty towed vehicle is recovered by the towing vehicle. It is an object of the present invention to provide a traction mechanism for a conveying device that can automatically perform the operation. .

[0009]

[Means to solve the problem]

In order to achieve the above object, the traction mechanism for an automatic conveyance device according to the present invention has the following features: A circular main line and a branch that branches from the main line to a station and returns to the main line. A guide track consisting of a line, a tow vehicle that circulates on the guide track, and a tow vehicle Therefore, in a towing vehicle used in an automatic transport device that is equipped with a towed vehicle and a towed vehicle, hand, a traction rod rotatably supported relative to the tow vehicle by a vertical axis; A spring that biases the rotational force in the direction of rotating the above-mentioned traction rod to the side of the towing vehicle body. and Fixed to the free end of the traction rod and opening laterally with respect to the longitudinal direction of the traction rod. a connecting hook, a base plate fixed to the tow vehicle and supporting the tow rod via the vertical shaft; a forked engagement member that slidably sandwiches the traction rod; an engagement hole provided in the base plate and fitted into the forked engagement member; The forked engagement member is rotatably supported on the traction rod, and has the forked engagement member at one end thereof. an attached release lever; A pin is fixed to the other end of the release lever and is located below the connection hook. It is equipped with a dal, and, The spring means includes a vertical shaft rotatably supported relative to the towing vehicle; a vertical cylinder rotatably supported concentrically with the vertical axis and having a traction rod fixed thereto; a spiral spring interposed between the vertical shaft and the vertical cylinder; a case that covers the vertical tube and is fixed to the towing vehicle; a ratchet gear fixed to the vertical shaft; a ratchet pawl attached to the case and engaged with the ratchet gear; It is characterized by having the following.

0010

[Effect]

According to the traction mechanism having the above configuration, a. While driving with the towing rod turned to the side of the towing vehicle, To automatically connect the connecting hook according to the present invention to the connecting pin of the towing vehicle. is possible, b. When driving in conjunction with a towed vehicle with the traction rod facing rearward, the forked Sandwiching the traction rod between the fitting members and fitting the forked engagement member into the engagement hole. Then, the rotation of the tow rod is fixed, preventing the towed vehicle from meandering, and c. When the pedal of the release lever is depressed, the forked engagement member escapes from the engagement hole. The rotation lock of the traction rod is released, d. When the rotational lock of the traction rod is released, the traction rod is biased by the spring means. It rotates to the side of the vehicle and becomes ready for automatic connection operation. At this time, the above spring Since the locking means consist of a spiral spring with a ratchet, The spring biasing force can be adjusted easily and precisely, and the adjustment state can be changed easily. It doesn't change.

[0011] e. When the automatic connection is performed and the vehicle is towed, the tow rod responds to the traveling resistance of the towed vehicle. The tow vehicle body is rotated backwards against the biasing force of the spring. f. When the above-mentioned traction rod rotates toward the rear of the vehicle, the fork-like engagement that pinches the traction rod The member is fitted into the engagement hole and restored to the state described in item b above, preventing the towed vehicle from meandering. It will be done.

0012

【Example】

Figure 3 shows the layout of automatic transport 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.

[0013] The annular 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.

[0014] 4 to 6 are explanatory diagrams each showing the basic operation of the towing operation. FIG. 4 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).

[0015] Figure 5 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.

[0016] Figure 6 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. 5 will occur. Ru.

[0017] In the state in which connection preparations have been made as shown in FIG. 6(A), the towing vehicle 4 is ), 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.

[0018] An overview of the configuration for performing the above-mentioned connection operation will be explained below with reference to Fig. 7. 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. 6(A) described above.

[0019] FIG. 7(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 6 (A) above is the state in which the "Connect" signal is displayed. It is in a state of

[0020] FIG. 7(C) shows the initial state of the connection operation. Towing vehicle 4 moves in the direction of arrow e. When moving, the connecting hook 8 of the traction rod 6 that protrudes laterally connects with the connecting pin 9 as shown by the arrow h. approaches. 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 are rotated counterclockwise (counterclockwise) to perform traction. The vehicle shifts to a running state (the state shown in FIG. 6(D)).

[0021] 8 to 10 show the necessary equipment for the towed vehicle 5 to carry out the above-mentioned operation. It is an explanatory diagram schematically depicting a Noh performance. Since it is a schematic diagram, the mechanism of the example is realistically reduced. It's not a small diagram. The specific configuration will be described later with reference to FIGS. 11 to 14. FIG. 8A is a schematic plan view, and FIG. 8B is a side view. The towed vehicle 5 is It is not equipped with power for traveling, and swings in a horizontal plane using the towed rod pivot shaft 11. The towed rod 7, which is pivoted so as to be able to A fixed-axis 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.

[0022] 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.

[0023] The above-mentioned FIG. 8 shows a function in which the towed rod 7 swings left and right as shown by arc arrows i-j. This is a schematic diagram showing the towed rod 7 as shown in FIG. It also has the following functions. 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 9 explains what kind of functions the towed mechanism according to the present invention requires. This is a schematic diagram shown for the purpose of illustration, and is not a realistically scaled diagram of the mechanism of this example. do not have. In addition, the shape, arrangement, and dimensional ratio of the component parts are not the same as in the device of this example. stomach. The specific configuration will be described in detail later with reference to FIGS. 11 to 14.

[0024] 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.

[0025] The towed rod 7 is moved to the left by the towed rod pivot shaft 11 as shown in FIG. 10(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 pulled out, the towed rod 7 swings in order to travel in a curve (the arc shown in Fig. 8 (A) arrows i-j), and when driving in a straight line, in order 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.

[0026] Figure 11 is a side view showing one embodiment of the towed mechanism according to the present invention, and Figure 12 is its operation. It is an explanatory diagram. A bottom view of the components depicted in FIG. 11 above is shown in FIG. 13(A). . Figure 13(B) shows the towed rod 7 and FIG. 2 is a bottom view with the tension spring 20 removed. The traveling direction of this towed vehicle 5 is on the left side of the drawings in FIGS. 11 and 12; 13 is at the top of the drawing. 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.

[0027] 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. 13(A), there is tension between the tilting bracket 18 and the towed rod 7. Attach the spring 20. As a result, in the state shown in this figure (A), the towed rod 7 is A clockwise rotational force (in the direction of arc arrow i) is applied to the bracket 13. The ball spring (hidden in this figure) inside the cylindrical case 14 rotation is elastically locked. When a manual operation force is applied to the above-mentioned towed rod 7 and it is turned in the direction of the arc arrow j, as shown in Fig. 14. In this way, the towed rod 7' protrudes to the side of the towed vehicle 5's body. This corresponds to the 7' position indicated by the chain line in FIG. 8(A). In this state (FIG. 14), the towed rod 7' is pulled by the tension spring 20. It is energized with rotational force in the left direction (counterclockwise direction) as shown in the figure, and maintains the shown posture stably. death 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 towed rod 7' receives a rotational force in the direction of the arcuate arrow i. At this time, tension spring 2 0 does not show a large drag force, resulting in the towed posture shown in FIG. 13(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 to 0 and rotates with considerable inertia. This rotation hits the bracket 13. However, just before that, the ball 15 shown in Figure 10(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.

[0028] Automatic disconnection operation and automatic disconnection of the towed mechanism of the embodiment shown in FIGS. 11 and 12. The dynamic braking operation will be described next with reference to FIG. 15.

[0029] This Figure 15 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.

[0030] 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. , near the guide track where you want the towed vehicle 5 to be separated from the towed vehicle and stopped. It is now possible to place it in However, the towed vehicle is main line 1 (see Figure 3). Stopping above the stop cam 34 will prevent other towing vehicles and towed vehicles from traveling. It is desirable to install it near branch line 3.

[0031] 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. 15(B). move. Along with this, the connecting pin 9 descends and comes out of the connecting hook 8. This FIG. 15(B) is drawn schematically. Realistic side corresponding to the condition of this drawing The plan view is shown in FIG.

[0032] 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. 4 is as described above. This is done automatically.

[0033] 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. On the free end side of the traction rod 6', a semi-circular connecting hook 8' connects its opening to the traction rod. It is fixed laterally in the longitudinal direction. 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.

[0034] 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 brakes and decelerates, the towed vehicle tries to continue traveling due to inertia, and the The connecting pin 9 collides with the driver in the direction of arrow F'. However, the structure of the above-mentioned retaining claw 31 There is no risk that the connection will separate due to use.

[0035] In this embodiment, the mechanism described below with reference to FIG. When the rod 6 is in the towing position where it protrudes toward the rear of the vehicle, the rotation of the towing rod ( The arc arrow p-q direction) is automatically locked and connected as shown in Fig. 15(B). When the knot is separated, 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. 2 is a base plate, which is integrally connected to the arc-shaped horizontal guide plate 43. It is installed horizontally on the chassis of the towing vehicle mentioned above. Reference numeral 6 in the figure is the aforementioned traction rod, and the axis z is perpendicular to the base plate 37. It is supported so that it can rotate around the center. 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.

[0036] 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 an engagement hole 38 bored in the base plate 37. This allows the traction rod to 6 is locked from rotation in a rearward protruding position. In this way, the posture of the traction rod 6 is fixed. This function is necessary to prevent the towed vehicle from meandering during towing.

[0037] 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 tension rod 7 is located above the pedal 44 (see FIG. 1). 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 (FIG. 2) is depressed.

[0038] 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'. As mentioned above, the biasing force of the spring means 35 that rotates the traction rod 6 is precisely adjusted. Requires. The reason is as follows.

[0039] In Figure 7 (A), rotate the traction rod from the 6' position to the 6 position to get to the connection preparation position. This is done by the biasing force of the spring means 35. Therefore, this The biasing force of the spring means 35 overcomes the frictional force accompanying the rotation of the traction rod 6 and ensures You need the strength to rotate it. However, if the rotational force applied by the spring means 35 is excessive, the result shown in FIG. 7(D) The rotation of the traction rod 6 is smooth in order to transition from the state to the traction traveling state as shown in Fig. 7(E). is not carried out. In this case, turn the traction rod 6 from the side to the rear (counterclockwise in the figure). The force for moving is the running resistance of the towed vehicle 5, so it is not a very large force. This rotation (counterclockwise rotation) is insufficient, the traction rod 6 will move in the direction of arrow P in Fig. 2. The fork-like engagement member 36 does not engage with the engagement hole 38 and is not rotated to the end. The rotation of the draw rod 6 is not fixed. If the traction rod 6 is not fixed in a backward position, it may cause the towed vehicle to bend while driving. This causes the problem that lines are generated.

[0040] Therefore, the spring means 35 of this embodiment allows precise adjustment of the rotation biasing force. It is configured as shown in Figure 1 so that it can be adjusted and the adjusted state remains stable and unchanged. be. This figure is drawn schematically to facilitate understanding of the structure. 37 is a base plate fixed to the towing vehicle. Vertical bearing 3 is placed on this base plate 37. 5a is fixed, and a vertical shaft 35b is rotatably supported. Z indicates its center line Ru. The vertical cylinder 35c is rotatably supported concentrically with the center line Z by the vertical bearing 35a. At the same time, the base of the traction rod 6 is fixed to this vertical cylinder 35c. 34d is a case It is A spiral spring 35e is interposed between the vertical cylinder 35c and the vertical shaft 35b. That is, its outer end is attached to the vertical tube 35c, and the outer end is attached to the vertical shaft 35b. Attach. The upper end of the vertical shaft 35b is passed through the top surface of the case 35d, and a latch is attached to the protrusion. A ratchet that fixes the ratchet gear 35f and engages with the ratchet gear 35f. A cut claw 35g is provided on the top surface of the case 35d.

In order to adjust the rotational force in the direction of the circular arrow q applied to the traction rod 6 by the spiral spring means 35 configured as shown in _FIG . Using the wrench, tighten gradually in the direction of the arc arrow q'. Then, the spiral spring 35e is gradually wound, and the rotational force of the traction rod 6 in the direction of arrow q is gradually increased. While checking the operating condition of this traction rod 6 on the actual machine, gradually increase the turning force. Even if you let go of the hollow set wrench during this work, the adjustment state will not go back because the ratchet pawl 35g locks the rotation of the ratchet gear 35f. When the operation of the traction rod 6 has improved, the adjustment operation is completed by stopping the so-called screw winding of the spiral spring 35e using the hollow set wrench. There is no need to apply a separate lock, and the adjusted state is maintained.

[0042] If the spiral spring 35e wears out due to long-term use, the rotation of the traction rod 6 will feel sluggish, so in such a case, hook the holoset into the holoset wrench hole _35b1 and tighten the ratchet. All you have to do is tighten the gear 35f by one tooth. This retightening operation is very convenient because it does not require any "unlocking" or "locking" operations before or after, and this effect is mainly achieved by the ratchet mechanism.

[0043] In FIG. 2, the release lever 39 is rotated in a direction that raises the forked engagement member 36. When it moves, its front end comes into contact with the curved guide plate 42. This curved guide plate 42 It is installed in such a way that it obliquely covers the upper part of the forked engagement member 36, and the release lever 39 is When it rises and collides, it is bounced in the direction of arrow r, that is, in the same direction as arrow q. It acts like a rebound. Therefore, the circle of the traction rod 6 due to the spiral spring means 35 is The rotation in the direction of the arc arrow q is assisted, and the initial movement is performed reliably and smoothly. .

[0044] 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.

[0045] As can be easily understood from FIG. 2, the traction mechanism of this embodiment includes the base plate 37 and the arc Since it is equipped with a shaped horizontal guide plate 43, it requires a relatively large and horizontal installation surface. Ru. However, for example, the known towing vehicle 4 shown in FIG. 17 was originally designed to carry cargo. It is shaped like a trolley. Therefore, the towing mechanism according to the embodiment of FIG. 2 is mounted on the upper surface (load platform) of the towing vehicle 4. It would be convenient if it were installed and installed. In this case, if the z-axis is positioned on the longitudinal center line of the towing vehicle, the traction rod 6 This is advantageous because the applied traction reaction force is balanced on the left and right sides.

[0046] 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.

[0047]

[Effect of the idea]

As explained in the above embodiments, the traction mechanism according to the present invention is A circular main line and a branch that branches from the main line to a station and returns to the main line. A guide track consisting of a line, a tow vehicle that circulates on the guide track, and a tow vehicle Therefore, in a towing vehicle used in an automatic transport device that is equipped with a towed vehicle and a towed vehicle, hand, a traction rod rotatably supported relative to the tow vehicle by a vertical axis; A spring that biases the rotational force in the direction of rotating the above-mentioned traction rod to the side of the towing vehicle body. and Fixed to the free end of the traction rod and opening laterally with respect to the longitudinal direction of the traction rod. a connecting hook, a base plate fixed to the tow vehicle and supporting the tow rod via the vertical shaft; a forked engagement member that slidably sandwiches the traction rod; an engagement hole provided in the base plate and fitted into the forked engagement member; The forked engagement member is rotatably supported on the traction rod, and has the forked engagement member at one end thereof. an attached release lever; A pin is fixed to the other end of the release lever and is located below the connection hook. It is equipped with a dal, and, The spring means includes a vertical shaft rotatably supported relative to the towing vehicle; a vertical cylinder rotatably supported concentrically with the vertical axis and having a traction rod fixed thereto; a spiral spring interposed between the vertical shaft and the vertical cylinder; a case that covers the vertical tube and is fixed to the towing vehicle; a ratchet gear fixed to the vertical shaft; a ratchet pawl attached to the case and engaged with the ratchet gear; Since it is equipped with a forked engagement member that slidably sandwiches the traction rod; an engagement hole provided in the base plate and fitted into the forked engagement member; The forked engagement member is rotatably supported on the traction rod, and has the forked engagement member at one end thereof. an attached release lever; A pin is fixed to the other end of the release lever and is located below the connection hook. Since it is equipped with dal and a. While driving with the towing rod turned to the side of the towing vehicle, To automatically connect the connecting hook according to the present invention to the connecting pin of the towing vehicle. is possible, b. When driving in conjunction with a towed vehicle with the traction rod facing rearward, the forked Sandwiching the traction rod between the fitting members and fitting the forked engagement member into the engagement hole. Then, the rotation of the tow rod is fixed, preventing the towed vehicle from meandering, and c. When the pedal of the release lever is depressed, the forked engagement member escapes from the engagement hole. The rotation lock of the traction rod is released, d. When the rotational lock of the traction rod is released, the traction rod is biased by the spring means. The vehicle body rotates to the side and becomes ready for automatic connection operation, e. When the automatic connection is performed and the vehicle is towed, the tow rod responds to the traveling resistance of the towed vehicle. This causes the towing vehicle body to rotate rearward against the biasing force of the spring means. So Therefore, in the present invention, the biasing force of the spring means can be easily adjusted with high precision. This allows the traction rod to rotate smoothly and reliably.

[0048] f. When the above-mentioned traction rod rotates toward the rear of the vehicle, the fork-like engagement that pinches the traction rod The member is fitted into the engagement hole and restored to the state described in item b above, preventing the towed vehicle from meandering. This has an excellent practical effect.

[Brief explanation of drawings]

FIG. 1 is a schematic exploded perspective view showing a spring means in one embodiment of a traction mechanism according to the present invention.

[Fig. 2] A perspective view of the vicinity of the traction rod in the above embodiment.

FIG. 3 is a plan view showing the layout of the automatic conveyance device in the embodiment.

FIG. 4 is an explanatory diagram of the separation operation as the basic operation in the embodiment.

FIG. 5 is an explanatory diagram of a passing operation as a basic operation in the embodiment.

FIG. 6 is an explanatory diagram of a connecting operation as a basic operation in the above embodiment.

[Fig. 7] Process diagram of the connecting operation as the basic operation in the above embodiment.

FIG. 8 is a schematic diagram for explaining the functions in the embodiment.

FIG. 9 is a schematic diagram for explaining the functions in the embodiment.

FIG. 10 is an explanatory diagram of the structural part for preventing meandering in the above embodiment.

[Fig. 11] Side view of the vicinity of the towed rod in the above embodiment.

[Fig. 12] Similarly, operation explanation diagram

[Figure 13] Bottom view as well

[Figure 14] Similarly, action explanatory diagram

[Fig. 15] Similarly action explanatory diagram

FIG. 16 is a plan view of the traction rod in the above embodiment.

[Fig. 17] A perspective view of a known automatic steering vehicle.

[Explanation of symbols]

1... Annular main line of guide track, 1a, 1b... Parallel part, 1c,
1d...U-turn part, 2a-2h...station, 3a-
3h... Branch line, 4, 4a, 4b... Traction vehicle, 5, 5a, 5
b... Towed vehicle, 6, 6'... Traction rod, 7, 7'... Towed rod, 7a... Spherical recess, 8, 8'... Connection hook, 9,
9′...Connection pin, 10a...Front wheel, 10b...Rear wheel, 11...
Towed rod pivot shaft, 12...Towed rod tilting shaft, 13...Bracket, 14...Cylindrical case, 15...Ball, 16...Spring, 17a, 17b...Bearing, 18...Tilt bracket, 19...Balance weight, 20 …Tension spring,
23... shoe, 31... retaining claw, 32... pin, 33...
Spring, 34... Stop cam, 35... Spiral spring means, 35a... Vertical bearing, 35b... Vertical shaft, 35b ₁ ... Holoset wrench hole, 35c... Vertical cylinder, 35d... Case,
35e...Spiral spring, 35f...Ratchet gear, 3
5g...Ratchet pawl, 36...Forked engagement member, 37...Base plate, 38...Engagement hole, 39...Release lever, 40...Pivot pin, 41...Vertical guide bar, 42...Curved guide plate, 4
3...Circular horizontal guide plate

Claims (1)

[Scope of utility model registration request] Claim 1: A guide track consisting of a circular main line and a branch line that branches from the main line to a station and returns to the main line, a tow vehicle that circulates on the guide track, and a towed vehicle towed by the tow vehicle. In a towing vehicle used in an automatic transport device comprising a towing vehicle, a towing rod is rotatably supported relative to the towing vehicle by a vertical axis, and the towing lever is rotated to the side of the towing vehicle body. a connecting hook fixed to the free end of the traction rod and opening laterally with respect to the longitudinal direction of the traction rod; a base plate that supports the traction rod; a forked engagement member that slidably sandwiches the traction rod; and an engagement that is provided on the base plate and that fits into the forked engagement member. a mating hole, a release lever rotatably supported on the traction rod and having the fork-shaped engagement member attached to one end thereof, and a release lever fixed to the other end of the release lever, the connection member being fixed to the other end of the release lever; a pedal located below the hook; and the spring means is rotatably supported on a vertical axis rotatably relative to the tow vehicle and is pivotable concentrically with the vertical axis. a vertical tube supported by the traction rod and having a traction rod fixed thereto; a spiral spring interposed between the vertical shaft and the vertical tube; a case fixed to the towing vehicle covering the vertical tube; A traction mechanism for an automatic conveyance device, comprising a ratchet gear fixed to a shaft, and a ratchet pawl attached to the case and engaged with the ratchet gear.