JPH05112242A - Coupling device - Google Patents

Abstract

PURPOSE:To improve coupling precision and coupling strength by a method wherein a solenoid is mounted on one side and a magnetic body on the other side relatively movably in a direction extending vertically to the advancing direction of a conveyance vehicle and vertically separably and after matching of positions with each other, through energization of a solenoid, attraction coupling is carried out, in a coupling device for an unmanned conveyance vehicle and a moving frame. CONSTITUTION:Each coupling current receiving tool 21 having a tool 20 to be attracted comprising a magnetic piece M is arranged through an arm 22, to the machine frame 13 of each of moving frames 4A and 4B, mounted on the input port I and the output port 0 of a flow rack 3, and the attracting tool 25 of a coupling feeding tool 23 is mounted on a conveyance vehicle 2. The conveyance vehicle 2 is stopped at the moving frames 4A or 4B located in reference positions, and through energization of the solenoid of the attraction tool 25, a tool 20 to be attracted is attracted thereto. In this case, when the position of the attraction tool 25 and the tool 20 to be attracted are displaced from each other, a surface 63 to be attracted collides with the protrusion part 57A of a clutch 57 and moves along a slope 59 simultaneously with lowering. The surface to be attracted is guided to a position where a central magnetic pole 53 and the surface 63 to be attracted are accurately matched with each other and coupling is effected in a correct position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coupling device capable of accurately coupling, for example, an unmanned vehicle and a moving frame provided on a transfer device.

[0002]

2. Description of the Related Art As shown in FIGS. 5 to 7 according to the specification and drawings of Japanese Patent Application No. 2-98835, the present applicant enters and leaves an unmanned carrier vehicle 2 and a flow rack 3. A cargo handling device C is proposed.

In the cargo handling apparatus C, the flow rack 3 is installed in a warehouse or the like, and the transport vehicle 2 is equipped with a drive source such as a battery and a control device.
A receiver 6 is provided for receiving information of a management machine that manages the system via a communication device (both not shown).

In the flow rack 3, a carry-in port I and a carry-out port O formed by front and rear surfaces thereof are respectively traversed to carry a cargo W on a shelf 7 having a predetermined height.
There are provided a moving frame 4A which is a loading machine to be loaded on the rack 7 and a moving frame 4B which is a loading machine which takes out the luggage W from the shelf 7, and the transport vehicle 2 passes through the moving frames 4A and 4B.
Put baggage W in and out.

At this time, the moving frames 4A and 4B are coupled to the transport vehicle 2 by the coupling device 1, so that the transport frames 2A and 4B are supplied with power and information for raising and lowering the luggage from the transport vehicle 2, Hand over the luggage W. The moving frames 4A, 4
B is moved to a predetermined position along the flow rack 3 by the movement of the carrier 2 by being coupled, and the load support 9
The rack 7 with a predetermined height is delivered by.

For this reason, the cargo handling device C according to the above proposal
The conventional unmanned loading and unloading device, compared to the case where each of the unmanned transfer vehicle for transferring the load and the stacker crane for transferring the load is provided with an electric motor, a power source, a control device, etc. for movement, Since the moving frame is moved and controlled by an automated guided vehicle, the system configuration can be simplified and versatility is enhanced.

However, in the proposed cargo handling apparatus C, the moving frames 4A and 4B are moved by the carrier 2.
Moreover, since electric power and information are transmitted and received between the transport vehicle 2 and the moving frames 4A and 4B, the coupling strength is large, and there is no relative movement or deviation during movement, and The alignment also needs to be highly accurate.

[0008]

For the purpose of connection, it is conceivable to use, for example, a locking piece such as a pin that can be retracted and retracted. In the above proposal, however, there is a positional shift after the connection due to the pin fitting, backlash, etc. In order to prevent this, a coupling device is used which is composed of a suction tool having a solenoid and a suction tool made of a magnetic piece such as a soft iron piece that is directly attracted to the solenoid.

However, when there is a positional shift in the initial stop of the transport vehicle on the moving frame, the vehicle is coupled in that state, and a coupling device capable of automatically correcting the alignment and increasing the coupling strength is desired.

An object of the present invention is to provide a coupling device capable of automatically correcting the alignment, improving the alignment accuracy and increasing the coupling strength.

[0011]

DISCLOSURE OF THE INVENTION The present invention is a coupling device for moving a moving frame by means of a carrier by combining a carrier and a moving frame, wherein one of the carrier and the moving frame is provided. The suction tool is attached to the other side and has a solenoid, and the suction tool is attached to the other side and uses a magnetic material. At least one of the suction tool and the suction tool is orthogonal to the traveling direction of the carrier vehicle. The solenoid is attached to the solenoid, and the solenoid is attached to the magnetic pole surface side of the solenoid, and is attached to the peripheral edge around the central magnetic pole of the solenoid. A centering plate having an inclined surface inclined toward the front side, and a center of rotation supported at a right angle to the center of the centering pole in a groove radially provided around the center magnetic pole. The protrusion part is a clutch roller that rotates only in one direction with respect to the central magnetic pole and the protrusion part has a suction surface having a shape along the slope. Is a coupling device.

[0012]

The coupling device 1 is a suction device using a solenoid,
Since it is composed of an attracted tool using a magnetic material, the connection can be disengaged by turning on and off the power supply to the solenoid, and the operability is enhanced.

Further, since the suction tool has a slope and the suction tool has a suction surface having a shape matching the slope, the bonding strength is improved. Further, on the slope, a clutch roller whose protruding portion rotates only in one direction with respect to the central magnetic pole of the solenoid is provided.
Moreover, the adjustment tool moves the suction tool and the suction tool in the moving direction,
Since it is relatively movable in the direction orthogonal to it and in the vertical direction, centering is facilitated, self-alignment can be performed, and positional deviation after coupling can be prevented, and the clutch roller can also increase disengagement resistance. Further, since the coupling force is increased, the solenoid can be downsized and the suction power can be reduced.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings, taking as an example the case where the coupling device 1 of the present invention is used in the proposed cargo handling device C.

The coupling device 1 of the present invention couples the carrier 2 with the moving frame 4A for loading and the moving frame 4B for loading and unloading provided at the loading port I and the loading port O of the flow rack 3.

The movable frames 4A and 4B can traverse horizontal guides 10 and 11 above and below the framework of the flow rack 3 whose upper end is inclined forward at the carry-in port I side. The flow rack 3 is provided with a shelf 7 using a roller conveyor which inclines the carry-in port I side upwards so that the load can be slid and the load W carried in from the moving frame 4A by the protruding and retracting of the locking claws 12 and the moving frame 4B. Will be automatically carried out sequentially.

Since the moving frames 4A and 4B basically have the same structure, the moving frame 4A will be described as the moving frame 4.

The moving frame 4 is provided with a load supporting member 9 on a vertically long machine frame 13 which travels through the guides 10 and 11, a guide (not shown) for guiding the load supporting member 9 and preventing swinging, and a load supporting device. It comprises a vertical screw shaft 14 that is screwed into the screw shaft 9, and a drive unit 17 having a motor 15 that rotates the screw shaft 14. The load support 9 is composed of a roller conveyor having two gaps G, G and capable of transferring the load W in the direction of the carry-in port I and the carry-out port O. The load W is supported by the rotation of the screw shaft 14 in the horizontal state. By being able to move up and down and tilting, the luggage W can be delivered to and from the shelf 7.

Further, the machine frame 13 is further provided with a coupling power receiving tool 21 having an attracted tool 20 of the coupling device 1 of the present invention and an arm 22.
It is provided through.

The coupled power receiving device 21 has an attracted member 20.
Is coupled to the suction tool 25 of the coupling power supply tool 23 provided on the transport vehicle 2, and the suction tool 25 constitutes the coupling device 1 according to the present invention together with the suction target tool 20.

The transport vehicle 2 has a guide line buried in the traveling route, an electromagnetic induction system capable of traveling by detecting the magnetic field generated by the guide line, and traveling by detecting a magnetic induction band intermittently attached to the floor surface. Various well-known induction methods such as a magnetic induction method or an optical induction method using a reflective tape can be adopted. Alternatively, an autonomous navigation system may be used in which the traveling distance of the vehicle and a gyro are combined. In this example, steering wheels (not shown) are arranged on all the wheels 26, and each wheel 26 can move in all directions configured to be continuously rotatable by 360 degrees.

As shown in FIGS. 6 and 7, obstacle detection bumpers 27 are provided around the vehicle body of the transport vehicle 2 and two obstacles are provided on each surface of the vehicle body, a total of eight obstacles. A non-contact type obstacle detection device 29 capable of detecting the distance, a distance measuring device 30 provided with two pieces on each side surface of the vehicle body for measuring the distance from the vehicle body to the reference wall surface, and an upper surface of the vehicle body. Fork 31 that can be moved up and down and has the upper surface as the conveyor surface
And the receiver 6.

Further, the above-mentioned combined power supply tool 23 is provided in the central part and the upper part on the front side of the vehicle body, and a battery B and a control device CT for controlling traveling, cargo handling and moving frame 4 are arranged. The fork 31 is the gap G provided in the load support 9.
The load W can be transferred to and from the load support 9 by being inserted into the load support 9.

In the present example, the distance measuring devices 30 are provided on the side surface of the vehicle body, two on each side, for a total of eight, and reference wall surfaces (not shown) provided in advance at several locations in the traveling route of the transport vehicle 2. )
Can measure the distance between the vehicle and the vehicle body to measure reference data when the transport vehicle 2 automatically travels, such as an optical distance measuring sensor,
An ultrasonic sensor or the like is used.

As shown in the lower part of FIG. 1, the combined power feeder 23 includes a bottom piece 40 and a standing piece 41 that rises at its rear edge.
Mounting bracket 4 having an upper piece 42 projecting forward at its upper end
3, the power supply fittings 46, 46 of the power transmission device 34 are attached to the both sides of the power transmission device 34, and the suction tool 25 of the coupling device 1 is arranged on the attachment plate 49 at the upper end of the standing piece 41, which is cut out at the center together with the upper piece 42. An oscillator OP1 of the signal transmitting / receiving device 36 is provided at a protruding portion protruding from the upper piece 42 of the bottom piece 40.

The attraction tool 25 has a central magnetic pole 53 which rises in the center and a side magnetic pole 54 which is lower than the central magnetic pole 53 in the periphery.
A solenoid S having a coil 55 wound inside a cylinder of a rectangular bowl-shaped magnetic container, a centering plate 56 made of a non-magnetic material and arranged on the magnetic pole surface side of the solenoid S, and a clutch arranged on the centering plate 56. And a roller 57.

The centering plate 56 has a rectangular shape and a base portion which is screwed to the solenoid S, has a hole portion through which the central magnetic pole 53 is inserted with a gap, and a circular shape having the same height as the central magnetic pole 53. In the present example, a cone-shaped raised portion 60 having a slope 59 that inclines downward toward the peripheral edge is formed around the central surface 58 of the.

Further, the raised portion 60 is provided with, for example, four grooves 61 radially from the center of the central magnetic pole 53 in the front-rear direction, that is, in the traveling direction of the carrier vehicle 2 and in the direction orthogonal thereto.
The clutch roller 57 whose center of rotation is perpendicular to the groove 61 is mounted in the groove 61.

The clutch roller 57 has a part of the slope 5
Over 9 and project upward. This clutch roller 5
A known structure in which a cam and a roller are arranged between an inner ring and an outer ring can be used for 7, and only in one direction, in this example, the protrusion 57A faces in the direction opposite to the central magnetic pole 53, that is, the central portion. It rotates smoothly only in the direction away from the magnetic pole. As the clutch roller 57, a combination of a rotating body and a ratchet wheel may be used.

As shown in the upper part of FIG. 1, the combined power receiving device 21 is attached to the center of a horizontally and horizontally long vertical mounting plate 33 of an adjusting device 32 provided at the tip of the arm 22 so that the device 1 to be attracted is adsorbed. Tool 20 and current collector 3 of power transmission device 34 on both sides
5 and 35 are provided, and the receiver OP2 of the transmission / reception device 36 is provided on the projecting piece protruding from the mounting plate 35.

On the other hand, the attracted tool 20 is made of a magnetic piece M such as soft iron, and has a shape on the lower surface which fits the slope 59 so as to be in close contact with the raised portion 60. Therefore, in this embodiment, the attracted tool has a concave shape. It has a face 63.

Further, the attracted surface 63 is formed with four concave portions 63A, into which the projecting portions 57A of the clutch roller 57 can be properly fitted, in a state where the attracted surface 63 is properly in contact with the inclined surface 59. There is.

Further, the adjusting tool 32 of the combined power receiving tool 21.
Is a linear bearing 65 mounted on a horizontal piece of an L-shaped plate fixed to the arm 22 for lateral movement, that is, for adjusting the direction orthogonal to the moving direction of the transport vehicle 2 and fixed to the slide piece. A linear bearing 66 that is adjusted in the direction of movement,
The vertical piece of the T-shaped plate fixed to the slide piece has a linear bearing 67 for vertical movement, and the mounting plate 33 is fixed to the slide piece of the linear bearing 67. Further, the linear bearings 65 and 66 are provided with urging means (not shown) for holding the neutral position, such as intersecting springs for keeping each slide piece in an initial state which is an intermediate position serving as a reference. Further, the mounting plate 33 is on standby by the spring 69 in an initial state in which it is separated from the suction tool 25.

The transport vehicle 2 has a moving frame 4 at the reference position.
When the suction tool 25 and the to-be-adsorbed tool 20 are stopped due to the coupling, the gap between the to-be-adsorbed tool 20 and the to-be-adsorbed tool 20 is separated by the energization of the solenoid S.

Therefore, after the carriage 2 is stopped, the solenoid S of the suction tool 25 of the coupling device 1 is energized by the information stored in advance to attract the suction tool 20, and the suction tool 20 is attached to the spring 69. It goes down against.

When the suction tool 25 and the suction tool 20 are not concentric with each other, the suction surface 63 is in contact with the projection 57A of one clutch roller 57 as shown in FIG.

After the contact, when the suctioned tool 20 further descends, the suctioned surface 63 of the suctioned tool 20 is inclined 5
9 and the clutch roller 57 smoothly rotates only on the side where the projecting portion 57A faces the central magnetic pole 53, so that the attracted member 25 has a small inclined angle of the inclined surface 59. Moreover, it is possible to smoothly descend while being displaced along the slope 59 and in the direction of the slope 59.

This positional deviation is performed by the linear bearings 65 and 66 of the adjusting tool 32.

As a result, the suction tool 20 descends to the lowermost end, and the suction tool 25 and the suction tool 20 are automatically aligned and coupled.

The projecting portion 57A of the clutch roller 57 is fitted into the recess 63A in contact with the peripheral surface thereof.

As a result, as shown in FIG. 4, the attracted surface 63 can be brought into close contact with the raised portion 60 of the centering plate 56 without any gap, thereby eliminating waste of power. By being aligned and coupled in this way, the carrier 2 can move the moving frame 4.

The recess 63A may be omitted. At this time, the inclined surface 59 and the attracted surface 63 are joined together with the small gap of the protrusion 57A interposed.

Further, the power transmission device 34 can supply power from the power supply tool 46 to the current collector 35, can drive the drive unit 17 of the moving frame 4, and can move the load support tool 19 up and down. Further, the transmitter OP1 of the signal transmission / reception device 36 can correctly transmit a signal to the receiver OP2, controls the operations of the respective parts such as the tilting movement of the load support tool 9 as well as the operation thereof, and transfers the package W to and from the predetermined shelf 7. it can.

As shown in FIG. 1, the power supply tool 46 is loosely inserted into a hole provided in the upper piece 42 of the mounting bracket 43 and protrudes from the support tool 71 on the lower surface of the upper piece 42 and the standing piece 41. A pin-shaped electrode 73 insulated and supported by the support piece 72 is provided. Also, the upper flange 74 of the electrode 73 and the supporting piece 7
It is urged upward by a spring 75 between the two and projects from the upper piece 42.

Each electrode 7 of the two power supply tools 46, 46
A positive electrode and a negative electrode of the battery of the transport vehicle 2 are appropriately connected to the terminals 3 and 73, and an insulating plate 7 is provided around the electrode 73 on the upper surface of the upper piece 42.
6 is provided.

On the other hand, the current collector 35 has a flange fixed around the hole on the lower surface of the horizontal projecting piece 77 projecting from the mounting plate 33, and the lower part thereof is a small tubular part and is made of an insulating material. The support 79 used is provided with an electrode 91 provided with a flat pressing portion 90 at the lower end of the pin portion inserted into the support 79. Further, the pin portion is provided with a lock nut at the upper end and is urged downward by a spring 92 externally inserted in the small tubular portion of the support 79.

Therefore, with the coupling of the coupling device 1,
As shown in FIG. 4, the electrodes 73 and 91 can press and contact to transmit power.

The signal transmitting / receiving device 36 is, in this example,
An optical transmitter is used, a light emitter is used as the transmitter OP1 and a light receiver is used as the receiver OP2, and a predetermined electric signal is converted into an optical signal (infrared ray or the like), and half-duplex or full-duplex is used without contact. Heavy communication is possible.

As described above, the coupling device 1 of the present invention can firmly couple the transport vehicle 2 and the movable frame 4 with self-centering and without positional deviation.

Further, the transport vehicle 2 and the moving frame 4 are not limited to those in the above-mentioned embodiment, but those which are manned as the transport vehicle 2,
Further, as the moving frame 4, a movable pallet-like one for placing a load can be used.

The inclined surface 59 of the suction tool is concave instead of the raised portion 60, and the projection 57 of the clutch roller 57 is formed.
A can be rotated only toward the central magnetic pole 53, and the attracted surface 63 can be made to have a convex shape.
It is also possible to attach the attracted tool 20 upside down.

Further, a permanent magnet surface is used as the attracted member 20, and when it is necessary to attract by the magnetic force of the permanent magnet (the solenoid S can also be energized in the direction of increasing the magnetic force) at the time of coupling, or when it is necessary to separate it. However, the coupling device of the present invention can be variously modified, for example, by reversely energizing, the energizing time is reduced and the power consumption is reduced.

[0053]

As described above, since the coupling device of the present invention comprises the attracting tool using the solenoid and the attracting tool using the magnetic material, the coupling is released by turning the solenoid on and off. It is possible and improves operability.

Further, since the attracting tool has an inclined surface and the attracting tool has an attracting surface having a shape matching the inclined surface, the coupling strength is improved, and the protrusion has a protrusion with respect to the central magnetic pole of the solenoid on the inclined surface. A clutch roller that rotates only in one direction is provided, and the adjusting tool allows the attracting tool and the attracted tool to move relative to each other in a moving direction, a direction orthogonal to the moving direction, and up and down. In addition to preventing the positional deviation after the coupling, the clutch roller can increase the disengagement resistance force. Further, since the coupling force increases, the solenoid can be downsized and the suction power can be reduced. Furthermore, because the rolling resistance of the clutch roller is small, even if the inclination angle of the slope and the attracted surface is small, the centering of the clutch roller can be performed smoothly by the rotation of the clutch roller. The stroke of movement can be reduced. As a result, it helps to reduce the power consumption of the solenoid at the start of suction.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a plan view illustrating a suction tool.

FIG. 3 is a sectional view showing the operation.

FIG. 4 is a cross-sectional view illustrating a combined state.

FIG. 5 is a front view illustrating a cargo handling device in which the coupling device of the present invention is adopted.

FIG. 6 is a front view illustrating a carrier vehicle.

FIG. 7 is a side view illustrating a transport vehicle.

[Explanation of symbols]

 2 Transport vehicles 4, 4A, 4B Moving frame 20 Adsorbed tool 21 Combined power receiving tool 23 Combined power supply tool 25 Adsorbed tool 32 Adjusting tool 53 Central magnetic pole 56 Centering plate 57 Clutch roller 57A Projection part 59 Slope 63 Adsorbed surface M Magnetic Single S solenoid

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Internal reference number FI Technical display location B65G 1/08 7456-3F G05D 1/02 T 7828-3H

Claims (2)

[Claims] 1. A coupling device for moving a moving frame by means of the carrier by connecting the carrier and the moving frame, the suction device being attached to one of the carrier and the moving frame and having a solenoid. And an attracted tool that is attached to the other and uses a magnetic material, and at least one of the attracted tool and the attracted tool moves relatively in the traveling direction of the transport vehicle and the direction orthogonal thereto. It is attached to an adjusting tool that can be moved up and down, and the attracting tool is attached to the solenoid and a magnetic pole surface side of the solenoid. The centering has a slope inclined toward the peripheral edge around the central magnetic pole of the solenoid. The plate, and the centering pole, and a groove radially provided around the central magnetic pole, the center of rotation of which is supported in a direction perpendicular to the groove, and a part of the slope is projected. The coupling device is characterized in that the projecting portion is composed of a clutch roller that rotates in only one direction with respect to the central magnetic pole, and the attracted member has an attracted surface having a shape along the slope. .. 2. The sloped surface forms a middle-high ridge, and
The coupling device according to claim 1, wherein the clutch roller rotates only in the direction in which the protruding portion is opposite to the central magnetic pole.