JPH05162642A - Expansion type transfer table in unmanned carrier - Google Patents

Abstract

PURPOSE:To adjust the protruding quantity and direction of a conveyed article, protruding on the unmanned carrier side, into the protruding quantity and direction demanded by a station, and deliver the conveyed article with high accuracy at each station. CONSTITUTION:A protruding/receding expansion type transfer table 9 is provided on an elevation base 7 provided elevatingly in an unmanned carrier. A turntable 25 having a stopper device is rotatably provided at the tip of this transfer table 9. The transfer table 9 is formed in such a way that one-stage and two- stage slide guides 17 can protrude/recede through racks and pinions in relation to a fixed guide 13 provided on the unamnned carrier side and that the pinions are disposed in one row with two pinions placed on both ends through idlers and also in the alternate disposition of synthetic resin made one and metal made one so as to suppress the generation of dust. Driving gears to be meshed with the racks 18, 19, 20 are then disposed on the right end left sides, and the transfer table 9 can be protruded on either lateral side of the unmanned carrier by these two sets of driving gears and pinions.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned conveyance system capable of accurately delivering a conveyed article by expanding and contracting a conveyed article on an unmanned guided vehicle stopped at a predetermined position with respect to a station. The present invention relates to a telescopic transfer table for a vehicle.

[0002]

2. Description of the Related Art In a warehouse or factory, as a system for transporting articles from a predetermined place (storage station) to another place (unloading station),
An unmanned transportation system that sets a traveling path in the factory in advance, moves an unmanned guided vehicle equipped with a power source along this traveling path, loads it at a storage station, and conveys it to a predetermined unloading station Has been adopted. This unmanned transportation system is useful for labor saving, and is also effective for use in a work place where the work environment is bad, and especially in a clean room.

[0003]

An automatic guided vehicle is equipped with a battery and a motor as a drive source, and the guided vehicle is stopped at a predetermined position by a command from the ground side or an operation command identification device installed, In addition, the goods are delivered to and from the station. However, there is not enough room between the traveling vehicle and each station, and it is necessary to transfer the transported object between the vehicle and the station with a high accuracy. Even if the conventional unmanned guided vehicle can be stopped at a fixed position, the distance between the guided vehicle and the station is not always constant, and traveling stoppage or station installation error occurs. Errors in the distance between the stopped transporting vehicle and the station are corrected on the station side. However, if a correction means on the station side cannot be provided, the stopping posture of the transporting vehicle and delivery of the transported object should be improved. It cannot be done with precision.

According to the present invention, a transfer table is provided on the side of an automatic guided vehicle, which is provided with means for correcting the amount of protrusion of a conveyed product and the direction for adjusting the direction to the direction and the amount of protrusion required by the station. The purpose is to perform delivery at each station with high accuracy.

[0005]

SUMMARY OF THE INVENTION The present invention has been made to achieve the above-mentioned object, and a retractable transfer table which can be retracted and retracted is mounted on an elevating table which is vertically movable in an automatic guided vehicle. A turntable provided with a stopper device is rotatably provided at the tip of the transfer table,
This transfer table can be retracted into and out of the fixed guide installed on the side of the automated guided vehicle through the rack and pinion, and the two pinions are arranged in a line with both ends through the idler. In addition, synthetic resin and metal are alternately arranged to suppress dust generation, and drive gears that mesh with the rack are arranged on the left and right.
The point is that the transfer table can be projected to either the left or right side of the automated guided vehicle by the pair of drive gears and the pinion, and the downflow at the same speed as in the clean room in which the automated guided vehicle runs is formed in the automated guided vehicle. To do.

[0006]

[Operation] An unmanned guided vehicle is provided with a transfer table that can be selectively retracted to the left or right of the unmanned guided vehicle,
A turntable is rotatably provided on the front end of the transfer table so as to be aligned with the transfer direction of the transported object. Then, a fixed guide provided on the automated guided vehicle is provided with a first-stage and a second-stage slide guide via two pinions and a rack so that at least one of the drive gears arranged in parallel on the left and right is engaged with the rack of the first-stage slide guide. Eggplant Therefore, the transfer table protrudes in either the left or right direction, and the protrusion amount can be adjusted by controlling the drive gear. Further, by forming a downflow at the same speed as the clean room in the automatic guided vehicle, it is possible to suppress dust generation even when the transfer table is expanded or contracted and driven.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A telescopic transfer table in an automatic guided vehicle of the present invention will be described below with reference to the illustrated embodiment. In the figure, AGV is an unmanned guided vehicle that travels along a traveling route R preset in a factory or warehouse. Although not shown in the unmanned guided vehicle AGV, it is driven by a power source, a traveling motor, and this traveling motor. Driven wheels and steered wheels are provided, the installed control circuit drives the vehicle along the traveling path R, and the telescopic arm provided with the turnable table provided on the transport vehicle is extended and retracted to the predetermined station S. Adjusting the direction and the amount of protrusion when stopping at a position and delivering a conveyed object with high accuracy,
Moreover, the required cleanliness should be maintained.

The automatic guided vehicle AGV is configured to stop parallel to the station or at a predetermined angle. However, the automatic guided vehicle AGV may be stopped by the automatic guided vehicle AGV due to an error in stopping the automatic guided vehicle AGV, an error in installing the station, or the like. There may be an error of one to several degrees in the posture when the vehicle is stopped. The error is corrected by turning the loading platform having the delivery mechanism to adjust the error.

The loading platform 1 is disposed substantially horizontally at a predetermined position of the automatic guided vehicle AGV, is rotatably supported by the support shaft 2, and has guides 3 and 3 whose lower surface is movable in both X-axis and Y-axis directions. A swivel device 4 for correcting the direction in which the luggage carrier 1 is swung to a required angle is provided at the side end facing the guide 3.

Linear guides 5 and 5 are set up on one end side of the loading platform 1, for example, upper side ends where the guides 3 and 3 are provided, and sliders 6 and 6 are provided on the linear guides 5 and 5 so as to be movable up and down. Elevating table 7 is projected horizontally,
The elevating device 8 elevates and lowers the elevating table 7 along the linear guide 5.

The lifting table 7 is provided with a telescopic transfer table 9, and a turntable 25 for mounting a conveyed object on the tip arm. This transfer table 9
As shown in detail in FIGS. 1, 3 and 4, the two fixed guides 13 and 13 having a U-shaped cross section which are attached to the lifting table 7 via the brackets 12 and 12 are parallel to each other.
13 is slidably supported by guide rollers 14 and 14 on the first stage slide guides 15, 15 and slidably fitted on the first stage slide guide 15 by guide rollers 16 and 16. Freely supported 2-stage slide guide 1
7 are telescopically constructed, and the guide rollers 14 and 16 are provided on both sides of the first-stage slide guide 15 and are arranged along the fixed guide 13, and are fixed to the lifting table side. Rack 18 and two-stage slide guide 1
7. A rack 20 fixed along the lower surface of 7 meshes with a pinion group 22 provided on the first-stage slide guide 15, that is, one of the pinion groups is attached to the rack 18, and the other pinion 22 is attached.
, And the rack 19 fixed along the lower surface of the first-stage slide guide 15 is engaged with the drive gears 21 and 21 provided on the lifting table side to drive the drive gear 21.
The two-stage slide guide 17 is projected and retracted at a speed twice as fast as the rotation speed.

As shown in FIGS. 3 and 4, the first-stage slide guide 15 is provided with pinions 22 and 22 at both ends thereof, and idlers 22a, 22a ... Between the left and right pinions 22 and 22, respectively.
Are arranged in a straight line, and adjacent pinions and idlers are meshed with each other, but in order to suppress dust generation, one of the meshed pinions and idler is made of resin, the other is made of metal, and the metal idler Alternatively, the pinions are arranged so as not to mesh with each other, and the pinion and the rack are also made of synthetic resin in order to suppress dust generation, or both of them are made of synthetic resin, and the left and right pinion 22, One of the 22 is the rack 18
First, the other is engaged with the rack 20.

A drive gear 21, which meshes with the rack 19,
21 is placed on the left and right with an idler 21a in between,
The idler 21a is driven by a motor M, which drives the torque limiter T by the motor M as shown in detail in FIG. 3, and fixes the idler 21a to the output shaft of the torque limiter T. The torque limiter T protects the motor M, gears, etc. when the gear 21 or the like is overloaded with a preset torque or more.
It is made to mesh with 9.

By arranging two drive gears 21 and 21 and two pinions 22 and 22, respectively, as described above, the rack 19 and the pinion 22 are fixed to the fixed guide 13 which is fixed in accordance with the rotation direction of the drive gear 21. , Rack 2
The first-stage slide guide 15 and the second-stage slide guide 17 can be projected to the right side of the automatic guided vehicle AGV as shown in FIG. The automatic guided vehicle AG that selectively protrudes rightward or leftward with respect to the traveling direction of the guided vehicle AGV and further controls the rotation of the drive gear 21 to stop the projected amount thereof.
It can be adjusted between V and station S.

A two-stage slide guide 1 having a U-shaped cross section
7 is arranged and fixed in parallel with the lower surface of the slide table 23, and a support shaft 24 is provided at the center of the slide table 23 so as to rotatably support a turntable 25 on which a conveyed product is placed.

When the telescopic transfer table 9 is in a contracted state on the side of the lift table 7 of the automatic guided vehicle AGV and the slide table 23 is at a predetermined position of the guided vehicle, the turn projecting on the slide table is provided. It is rotationally driven by a drive roller 26 that is in contact with the outer peripheral surface of the table 25. As shown in detail in FIGS. 1 and 2, the turntable driving device 30 has a support shaft 28 projecting from a bracket 27 provided on the lifting table 7 and rotatably supported by the support shaft 28. A shaft 29, to which the drive roller 26 is fixed, is rotatably supported at one end of the swing frame 31, and a motor 32 is provided at the other end.
A belt 35 is stretched around a pulley 33 fixed to the second shaft and a pulley 34 fixed to the shaft 29, and a drive roller 26 is rotated by a motor 32 at an allowed angle.

Further, a pressing means 36 for pressing the drive roller 26 whose outer peripheral surface is made of rubber or synthetic resin against the outer peripheral surface of the turntable 25 with a required pressing force is provided on the lifting table 7 side. In this pressing means 36, a pressing tool 38 is projected from the rod tip of the electric cylinder 37, and a rod 39 whose tip abuts against the swing frame 31 is passed through the pressing tool 38 via a spring 40. A stopper release rod 44 is provided so as to project. As a result, the drive roller 26 is pressed against the outer peripheral surface of the turntable by the pressing force of the electric cylinder 37, and the pressing force by the spring 40 is set to the set pressure so that the pressing force by the electric cylinder does not exceed the set pressure. Adjusted.

Further, when the turntable 25 is rotated, the set angle with respect to the station S, that is, the transfer direction of the conveyed object placed on the turntable is adjusted to a predetermined direction at the time of loading and unloading at the station. As shown in FIG. 2, the rotation of the turntable 25 is driven by the drive roller in the state where the slide table 23 is retracted, and then the stopper is engaged to hold the transfer direction. .. The stopper device 4 is provided on the slide table 23 and slidably supports a slide rod 42 on a holder 41 fixed to the slide table.
A spring 43 is fitted into the slide rod 42 so that the slide rod 42 is always projected toward the stopper releasing rod 44 side of the pressing means 36, and a stopper pin 45 is projectingly provided on the slide rod 42. When the slide rod 42 is returned by the action, the slide pin 45 is hooked on the lower surface of the turntable 46.
The turntable is prevented from rotating.
The hook 46 is arranged in the circumferential direction of the lower surface of the turntable and at a position of a transfer adjustment angle, for example, a rotation angle of 90 degrees, 180 degrees.
The protrusions are provided at positions of 270 degrees and 360 degrees.

Further, a filter is provided on the upper part of the automatic guided vehicle AGV, and a downflow having the same flow velocity as the downflow in the factory is formed below the upper part of the inner part of the guided vehicle, whereby dust is generated when the transfer table is moved. It is designed to prevent the pollution in the clean room by letting it flow out onto the floor surface outside the vehicle due to the downflow inside the transport vehicle.

Therefore, in the apparatus constructed as described above, after the automatic guided vehicle AGV is stopped at the predetermined station position, the motor M and the drive gear 21 are driven to set the telescopic transfer table to the station via the rack and pinion. The transfer table 9 is extended to the side and placed on the turntable at the loading station at the predetermined position, and then the transfer table 9 is contracted to return the slide table 23 to the predetermined position. Then, at the next station, the turntable is rotated so as to coincide with the transfer direction when unloading the conveyed objects.
When the pressing tool 38 is moved forward by the operation of the electric cylinder 37, the stopper is released by the stopper releasing rod 44 projecting therefrom, and the turntable becomes free. Further, as the pressing tool 38 advances, the drive roller 26 is pressed against the outer peripheral surface of the turntable at a required pressure and driven by the motor 32 via the belt. At this time, the rotation angle of the turntable gives a predetermined motor drive signal to the motor, so that the turntable rotates only a predetermined angle so that the transfer direction of the conveyed objects on the turntable with respect to the station side is matched. Next, when the motor is stopped and the pressing tool is retracted, the drive roller also retracts, the pressing contact force to the outer peripheral surface of the turntable is released, and the re-stopper device acts to prevent the turntable from rotating. When the automatic guided vehicle AGV arrives at the unloading station in this state, the telescopic transfer table is extended for unloading.

[0017]

According to the present invention, the transfer table is constituted by the fixed guide, and the slide guides of the first and second stages are configured to be extendable and retractable via the rack and pinion, and are rotated to the two-stage slide table. Since the turntable for loading is freely provided, the transfer table of the stopped automated guided vehicle can be projected to the station side and only for a predetermined length, and the turntable rotates when the transfer table moves. This is advantageous in that the structure on the transfer table side is simplified, and the transfer table can be selectively retracted to both sides of the carrier, and dust can be suppressed and the transfer can be performed with high accuracy.

[Brief description of drawings]

FIG. 1 is a vertical sectional front view of a telescopic transfer table in an automated guided vehicle of the present invention.

FIG. 2 is a plan view showing a state in which the transfer table is reduced.

FIG. 3 is a plan view showing a state in which the telescopic transfer table is extended.

FIG. 4 is a side view of the same.

[Explanation of symbols]

 S station AGV Automated guided vehicle 1 Loading platform 2 Spindle 7 Lifting platform 9 Transfer table 13 Fixed guide 14 Guide roller 16 Guide roller 17 Two-stage slide guide 18 Rack 19 Rack 20 Rack 21 Drive gear 22 Pinion 23 Slide table 25 Turntable 26 Drive roller

Claims (1)

[Claims] 1. A telescopic transfer table that can be retracted and retracted is provided on a lift table that is vertically movable in an automated guided vehicle,
A turntable equipped with a stopper device is rotatably provided at the tip of the transfer table, and one-stage and two-stage slide guides are provided on the rack and pinion of a fixed guide provided on the unmanned transport vehicle side. The two pinions are arranged in a line at both ends via an idler, and synthetic resin and metal are alternately arranged to suppress dust generation. Drive gears that mesh with each other are arranged on the left and right, and the transfer table can be projected to either the left or right side of the automatic guided vehicle by these two sets of drive gears and pinions, and in the clean room in which the guided vehicle travels. A telescopic transfer table in an automated guided vehicle, which is characterized by forming a downflow at the same speed as the above.