JPH05185934A - Load-carrying device of unmanned carrier - Google Patents

Abstract

PURPOSE:To provide an unmanned carrier which is provided with excellent shock absorbing capacity and economical shock-absorbing performances. CONSTITUTION:A load-carrying platform 4 in the unloaded condition is supported mainly by a spring. Thus, the weight of the load-carrying platform which is constantly applied to a resin shock-absorbing member (shock-absorbing cylindrical body made of resin) 64 is greatly reduced or becomes zero. Then, the load-carrying platform 4 supported by the resin shock-absorbing member (shock-absorbing cylindrical body made of resin) 64 is engagingly locked by a guide rod 72 which moves in the guide cylinder part 71 connected to a frame 3 vertically in a slidable manner, and the guide rod 72 regulates the displacement in the horizontal direction of the load-carrying platform 4 due to the acceleration and deceleration of a vehicle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a carrier device for an automatic guided vehicle.

[0002]

2. Description of the Related Art In a conventional automated guided vehicle, a loading platform is fixed on a frame on which traveling wheels and driving steered wheels made of urethane rubber or the like having a shock absorbing effect are mounted. When placing a load on this platform, a hoist or a crane is often used for heavy objects, and a robot arm or the like is often used for relatively lightweight items.

[0003]

However, when the above-mentioned automatic guided vehicle is used for carrying heavy objects, the load is repeatedly dropped from the hoist or crane onto the loading platform and the loading is repeated, so that not only the loading platform but also various parts of the automated guided vehicle are loaded. A large vertical impact load is applied, and the durability of tires, axles, bearings, etc. is impaired. It is possible to reduce the impact load by using tires such as pneumatic tires, but the frame height changes between loaded and unloaded vehicles, and the obstacle sensor of the safety bumper installed in the front of the frame, or The position of the travel sensor that reads the travel information from the travel guide plate buried in the floor moves up and down, which causes problems such as erroneous operation and delay in detection timing.

Further, by supporting the loading platform via a metal spring (hereinafter referred to as a spring), the impact load can be reduced without displacement of the frame, but in order to reduce the impact, it is necessary to dispose a large number of them. It becomes a problem in terms of cost, and also increases the weight. Of course, the number of springs can be reduced, but the effect of reducing the impact load is reduced, and the sinking of the loading platform is increased. If the load bed sinks too much, the vertical position of the load may fluctuate, which may cause troublesome handling during loading / unloading, which is not preferable.

The present invention has been made in view of the above-mentioned problems, and has an excellent shock absorbing ability and has an economical cushioning function capable of reducing the vertical movement of the loading platform due to the load, and the loading platform device of the automatic guided vehicle. To provide the solution.

[0006]

A cargo bed device for an automated guided vehicle according to a first aspect of the present invention includes a frame provided with wheels, a resin cushioning member and a spring individually disposed on the frame, and the resin cushioning member and A loading platform disposed on a spring, wherein the loading platform unloaded weight is mainly carried by the spring, and a load amount of a predetermined weight or more placed on the loading platform is mainly carried by the resin cushioning member. It has a feature.

According to a second aspect of the present invention, there is provided an automatic guided vehicle carrier system, a frame having wheels, a resin cushioning member individually disposed on the frame, and a cargo carrier disposed on the resin cushioning member. It is characterized in that it is provided with a guide rod whose front end is locked to the luggage carrier and hangs down, and a guide tube portion which is disposed in the frame and supports the guide rod so as to be vertically slidable.

As the resin buffer member, various rubbers including urethane rubber and elastic foamed resin materials such as hard foamed urethane can be used.

[0009]

In the first aspect of the invention, the unloaded load carrier is mainly carried by the spring. Therefore, the weight of the bed that is constantly applied to the resin cushioning member is greatly reduced or becomes zero, which reduces the weakness of the resin cushioning member, that is, the fatigue due to the long-term load. Further, the load amount is mainly carried by the resin cushioning member, but the resin cushioning member can carry a higher load even if it has the same size as the spring, so that the cushioning mechanism can be made compact and lightweight.

In the second invention, the cargo bed is carried by at least the resin cushioning member. Further, the loading platform is locked by a guide rod that slidably moves up and down in a guide tube portion fixed to the frame, and the guide rod regulates horizontal displacement of the loading platform due to acceleration and deceleration of the vehicle. As a result, it is possible to prevent the resin cushioning member from being fatigued due to horizontal shearing stress and extension in the resin cushioning member due to acceleration / deceleration of the vehicle.

[0011]

As described above, in the load carrier device of the first aspect of the present invention, the no load weight of the load carrier is mainly carried by the spring, and the load amount of a predetermined weight or more placed on the carrier is mainly carried by the resin cushioning member. Therefore, in addition to the advantage that the impact load can be reduced, the fatigue of the resin cushioning member due to the long-term load can be reduced, so that the life of the resin cushioning member that is fatigued early against the long-term load, for example, the foamable resin cushioning member can be improved. With.

Further, since this resin cushioning member has a higher load than the spring in the same pressure receiving area, the number of mounting steps and the mounting space can be reduced by reducing the required number per the same impact resistance load, and the sinking of the loading platform, that is, the load. It has an excellent effect that the vertical movement of the loading platform can be reduced. In the second invention, the cargo bed is carried by at least the resin cushioning member, and the guide rod and the guide cylinder portion can restrict the horizontal displacement of the cargo bed due to the acceleration and deceleration of the vehicle. It is possible to prevent the resin cushioning member from being fatigued due to the occurrence of the phenomenon, and it is possible to improve the life of the resin cushioning member.

Further, it is possible to prevent the bed from swinging horizontally due to the acceleration and deceleration of the vehicle.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION A luggage carrier device for an automated guided vehicle according to the present invention will be described below with reference to the drawings. (Embodiment 1) An automated guided vehicle used in this embodiment is shown in FIGS. 1 and 2, and a sectional view of a buffer mechanism S thereof is shown in FIG.

As shown in FIG. 1, this automatic guided vehicle has a frame 3 mounted on a traveling wheel 1 and a drive steering wheel 2 which are made of a non-foaming urethane resin, and an upper surface of the frame 3 is provided on the frame 3. Is a front box 91 with a built-in electric drive mechanism and a battery case 9 with a built-in battery in order from the front to the rear.
2, a luggage carrier 4, and a rear box 93 are arranged, and both side plates 31 are provided between the battery case 92 and the rear box 93 so as to surround the luggage carrier 4. 94 is a front bumper and 95 is a rear bumper.
1 is an obstacle sensor (not shown) for detecting an obstacle ahead
Is built in.

As shown in FIG. 2, the frame 3 connects the front frame 32 on which the front box 91 and the battery case 92 are mounted, the rear frame 33 on which the rear box 93 is mounted, and the front frame 32 and the rear frame 33. The vertical beams 34 and 36 and the side plate 31 and the horizontal beam 35 whose both ends are fixed to the side plate 31 are arranged on the vertical beam 36, and the left and right two-row buffer mechanisms S and S are arranged.

As shown in FIG. 3, both shock absorbing mechanisms S are arranged from the front to the rear by a spring buffer portion 5, a resin buffer member 6, a guide portion 7, a spring buffer portion 5, a guide portion 7, a resin buffer member 6, a spring buffer member. The upper part of the resin buffer member 6 and the upper end of the spring buffer part 5 are fixed to a rectangular horizontal support plate 9. The top plate portion 41 of the luggage carrier 4 is placed and fixed on the horizontal support plate 9 via an intervening plate (not shown).

Front and rear pedestals 8 are provided in front of and behind the shock absorbing mechanisms S, respectively. Note that FIG. 2 is a diagram showing the position of each part of the cushioning mechanism S under the luggage carrier 4, and the cushioning mechanism S under the luggage carrier 4 is actually invisible from above. The cushioning mechanism S and the bed 4 will be described in detail with reference to FIG. Loading platform 4
Is a top plate portion 41 on which a rectangular load that is slightly larger than the horizontal support plate 9 is placed, and is welded to a lower surface of the top plate portion 41 located immediately below the peripheral edge of the horizontal plate portion 41 and immediately above the guide portion 7. And the square pipe 42 that is formed.

The guide portion 7 has a guide tube portion 71 whose lower end is fixed to the frame 3, and a guide rod 72 is held by the guide tube portion 71 so as to be vertically slidable. The flange plate portion 73 at the upper end of the guide rod 72 is fixed to the lower surface of the square pipe 42 via the intermediate plate portion 74. The pedestal 8 is composed of a cylindrical member having a top plate 81 and a bottom plate 82 fixed to both ends, the bottom plate 82 is fixed to the frame 3, and the top plate 81 is angled through a gap having a predetermined maximum sinking allowance when no load is applied. It stands upright under the pipe 42.

The lower end of the spring cushion 5 is the frame 3
Has a guide tube portion 51 fixed to the guide tube portion 51, and a guide rod 52 is vertically slidably held in the guide tube portion 51.
The upper end of the guide rod 52 is fixed to the horizontal support plate 9. A coil spring 53 is attached to the guide rod 52.
Is wound around, and its upper end is locked to the horizontal support plate 9 and its lower end is locked to the upper end of the guide cylinder portion 51.

The resin cushioning member 6 has a supporting cylindrical portion 63 for height adjustment to which a top plate 61 and a bottom plate 62 are fixed at both ends. The bottom plate 62 is fixed to the frame 3 and the top plate 61 has a resin cushioning member. A cylindrical seat 65 that receives the bottom of the cylindrical body 64 is fixed. The resin buffer cylinder 64 is made of rigid polyurethane foam having a cylindrical shape with a small diameter central hole. More specifically, the product name Lapok (manufactured by Hayashi Manufacturing Co., Ltd.)
The outer diameter is 50 mm, the inner diameter is 15 mm, and the axial length is 100 mm. The resin cushioning cylinder 64 can buffer and carry a higher load than a metal coil spring of the same size, and as a result, the pressure receiving area becomes smaller, so that it is possible to reduce the size and the number of products, and it is characterized by being lightweight. .. However, the load stress of the resin cushioning cylinder 64 decreases due to fatigue under the condition where a load is constantly applied.

On the other hand, a cylindrical seat 66 is fixed to the lower surface of the horizontal support plate 9, and the cylindrical seat 66 receives the upper end of the resin buffer cylinder 64. Further, the cylindrical seats 65, 66 and the horizontal support plate 9 are provided with a small hole aligned with the central hole of the resin buffering cylinder 64, and the small rod 67 caulked and fixed to this small hole is used for resin buffering. It is inserted into the central hole of the cylindrical body 64 and regulates the horizontal displacement of the resin cushioning cylindrical body 64 together with the cylindrical seats 65 and 66.

The first important point in this embodiment is an unloaded state in which no load is placed on the bed 4, that is, the buffer mechanism S has a bed weight (here, 240 kg weight).
Is all supported by the spring buffer portion 5. That is, in the unloaded state of FIG. 3, the resin cushioning cylinder 64 of the resin cushioning member 6 is dimensioned so that no load is applied even if the spring cushioning portion 5 is compressed by the weight of the bed 4.
The point is that the dimensions of the spring cushioning portion 5 and the resin cushioning member 6 are designed.

The second important point is that the resin cushioning cylinder 64 is designed to have a smaller compression length for the same load than the coil spring 53, in other words, it is designed to have a large required load corresponding to the same compression length. .. Here, when carrying a large load, the resin cushioning cylinder 64 has about 2 of the coil spring 53.
It is designed to bear 0 times the load (per wire).

The operation of this device will be described below. As described above, since the spring cushioning portion 5 bears the weight of the bed when there is no load, the resin cushioning cylinder 64 is not always loaded and the fatigue of the resin cushioning cylinder 64 due to it is avoided. On the other hand, when a large heavy object is placed on the loading platform 4 with a hoist or the like, a large vertical impact load applied to the loading platform 4 is mainly carried by the resin buffering cylinder 64 having a high load carrying capacity, so that the buffering mechanism S can be simplified. , Can be miniaturized.

In the guide portion 7, since the guide cylinder portion 71 allows the guide rod 72 to slide only in the vertical direction and prohibits horizontal displacement and vibration of the loading platform 4, the resin is caused by shear stress caused by acceleration / deceleration of the vehicle. The buffer cylinder 64 is prevented from fatigue. When a large load exceeding the maximum allowable compression rate (40% in this embodiment) of the resin cushioning cylinder 64 is applied to the cradle 8, the cradle 8 carries the luggage carrier 4,
The resin cushioning cylinder 64 can be protected from such fatigue due to a large load. (Embodiment 2) Another embodiment is shown in FIG.

In this embodiment, the coil spring 53a is arranged outside the resin buffer cylinder 64a with the resin buffer cylinder 64a as the center. By doing so, the resin cushioning portion 6 and the spring cushioning portion 5 having the above-mentioned characteristics can be made into an integrated unit, which simplifies production and mounting. (Embodiment 3) Another embodiment is shown in FIG.

In this embodiment, the coil spring 53a is arranged outside the resin buffer cylinder 64a with the center being the resin buffer cylinder 64a.
Further, a guide portion 7a composed of a fixed guide cylinder portion 78 and a movable guide cylinder portion 79 that fits vertically slidably with the fixed guide cylinder portion 78 is disposed integrally and coaxially with the cylindrical seats 65 and 66. By doing so, the guide portion 7a, the resin cushioning portion 6, and the spring cushioning portion 5 can be made into an integral unit, and the production, production, and mounting are further simplified.

[Brief description of drawings]

FIG. 1 is a side view of an automated guided vehicle used in Embodiment 1;

2 is a plan view of the automatic guided vehicle of FIG. 1,

FIG. 3 is a vertical sectional view of the cushioning mechanism according to the first embodiment,

FIG. 4 is a vertical cross-sectional view of a buffer mechanism used in Example 2;

FIG. 5 is a vertical sectional view of a buffer mechanism used in Example 3;

[Explanation of symbols]

3 is a frame, 4 is a loading platform, 64 is a resin cushioning cylinder (resin cushioning member) 64, 53 is a coil spring (spring)
53a and 71 are guide cylinders, 72 is a guide rod,

Claims (2)

[Claims] 1. A load-bearing bed no-load, comprising: a frame provided with wheels; a resin cushioning member and a spring individually disposed on the frame; and a cargo bed disposed on the resin cushioning member and the spring. A load carrier device for a cargo handling vehicle, wherein a weight is mainly carried by the spring, and a load amount of a predetermined weight or more placed on the cargo carrier is mainly carried by the resin cushioning member. 2. A frame provided with wheels, a resin cushioning member individually disposed on the frame, a cargo bed disposed on the resin cushioning member, and a drooping end of which is locked to the cargo rack. And a guide tube portion provided on the frame and slidably supporting the guide rod in the vertical direction.