JPH06208415A - Working line using automatically guided vehicle - Google Patents

Abstract

PURPOSE:To provide an automatically guided vehicle working line constituted of the absolute minimum of automatically guided vehicles by suppressing the power consumption of the automatically guided vehicles to its absolute minimum. CONSTITUTION:The automatically guided vehicle 10G advances from a normal traveling zone 6 into a work assembling zone 4 and is connected to the last automatically guided vehicle 10F through couplers 24F, 20G. When the leading vehicle 10B in a train is driven in a traveling direction by driving means 34, 35 and a series of automatically guided vehicles 10B to 10G start to travel at slow speed and the left rear wheels 17 of the vehicles 10B to 10G are guided by a guide rail 40, so that the vehicles 10B to 10G can stably travel without being vertically meandering. The vehicle 10A separated from the zone 4 is disengaged from couplers 24A, 20B by a separating cum plate 42, disconnected from the vehicle 10B and returned to the zone 6 again. Since the power of the vehicles 10B to 10G themselves is not used in the zone 4, power cosumption can be suppressed to the absolute minimum.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work line using an unmanned guided vehicle, in which a plurality of unmanned guided vehicles are driven at a low speed to perform various operations on these unmanned guided vehicles.

[0002]

2. Description of the Related Art In recent years, in a production plant for automobiles, etc., instead of a conveyor system which constitutes a production line, a production line using an automated guided vehicle for assembling workpieces by running a plurality of automated guided vehicles at very low speed. Has come to be used. That is, in the production line using this unmanned guided vehicle, instead of the conveyor system, a plurality of unmanned guided vehicles are arranged very close to each other and arranged in front and back to form a production line. Then, a series of unmanned guided vehicles are run at a very low speed in a state where the work is placed on the mounting table of these unmanned guided vehicles, and various works such as assembly of the work are performed. In this way, a production line for automobiles and the like is constructed. As a specific example of a production line using such an automatic guided vehicle, for example, there is an invention of an assembly processing system described in Japanese Patent Laid-Open No. 4-210346.

In the technique described in this publication, when an unmanned guided vehicle having a work placed in a work assembly zone arrives at the unmanned guided vehicle, the unmanned guided vehicles travel at a very low speed in a state where they are very close to each other and lined up front and rear. Then, at the time of running at a very low speed, the assembly of the work such as the car body and the chassis is performed. This eliminates the need to install a conveyor system fixed in the factory as a production line, and multiple unmanned guided vehicles can be used to configure the work assembly zone at any time according to the production plan. It will be a flexible production line that can easily and quickly respond to changes in production plans.

[0004]

In the above technique, a plurality of automatic guided vehicles are made to approach each other very closely and run at a low speed in a state where they are arranged in front and back to form a production line.
Since these automated guided vehicles are driven by an electric motor using a battery as a power source, it is necessary to charge the battery every time the vehicle travels a certain distance. This battery is automatically charged by a charger provided in a station for loading and unloading parts. Since the power consumption is proportional to the running time, if the running time is short, the time of the work stop (for example, the stop of loading or unloading the work or parts at the station) when the automatic guided vehicle is running It can be fully charged. However, the automated guided vehicle consumes a large amount of electric power because the traveling time becomes long when traveling at a very low speed. For this reason, in the case of the automatic guided vehicle that constitutes the above-mentioned production line, charging may not be completed within a normal work stop time.
As a result, some unmanned guided vehicles always drop off the line due to charging, and more unmanned guided vehicles are used than the number of unmanned guided vehicles required to construct the line. There was a problem that I had to do it. Therefore, in the present invention, it is possible to provide a work line using an automated guided vehicle that can be configured with a required minimum number of automated guided vehicles by minimizing the power consumption of the automated guided vehicle. To aim.

[0005]

SUMMARY OF THE INVENTION In order to solve the above problems, therefore, in order to solve the above-mentioned problems, a plurality of self-propelled guided vehicles that are self-propelled by a rechargeable electric power source are made to travel at a low speed in an aligned state, and the unmanned guided vehicles are mounted on the unmanned guided vehicles. A work line using an automated guided vehicle for performing various operations in, which is provided before and after the automated guided vehicle and is connected to a preceding automated guided vehicle at the time of entering the work zone where the various tasks are performed, A coupler that is separated from the subsequent automated guided vehicle when the vehicle is separated from the zone, a guide member that is provided in the work zone, and that restricts a traveling route of the automated guided vehicle in the work zone, and the coupled unmanned vehicle A work line using an automatic guided vehicle, comprising: a driving force applying mechanism for applying a driving force for moving at least one of the guided vehicles in a specified traveling direction at a specified traveling speed. Out was.

[0006]

Now, in the work line using the automatic guided vehicle according to the present invention, the work line for performing various works on a plurality of automatic guided vehicles that are self-propelled by a rechargeable electric power source is configured as follows. To be done. First, one unmanned guided vehicle enters the work zone where various works are performed, and when this unmanned guided vehicle enters the work zone, each unmanned guided vehicle is to the last unmanned guided vehicle in the work zone. Are connected to each other by couplers provided before and after. A driving force for moving at a predetermined traveling speed in a predetermined traveling direction is applied to at least one of the plurality of automatic guided vehicles connected to each other in this way by the driving force applying mechanism. As a result, a plurality of unmanned guided vehicles connected to each other are caused to travel in the work zone in a predetermined direction at a predetermined speed. At this time,
By the guide member provided in the work zone, the travel route of the automatic guided vehicle in the work zone is regulated,
A series of unmanned guided vehicles run stably without deviating from the travel route. Various predetermined operations are performed on the series of unmanned guided vehicles that travel.

Thus, when a series of unmanned guided vehicles travel in the work zone and the leading unmanned guided vehicle leaves the working zone, the coupler is separated and the connection with the succeeding unmanned guided vehicles is released. As a result, the unmanned guided vehicle that has left the work zone is released from the connection with the series of unmanned guided vehicles in the work zone, and travels alone again. In this way, in the working zone, without using the electric power of the automated guided vehicle itself,
A series of unmanned guided vehicles connected to each other travel at a predetermined speed by the driving force applied by the driving force applying mechanism. This makes it possible to minimize the power consumption of the automated guided vehicle and eliminate the need to use an extra automated guided vehicle. On the other hand, since only the guide member and the driving force applying mechanism are installed in the work zone, the work line can be installed and relocated very easily. In this way, it is possible to configure a work line using an automated guided vehicle with a minimum required number of automated guided vehicles, while maintaining the features of being highly flexible and being able to quickly respond to changes in production plans, etc. .

[0008]

【Example】

First Embodiment Next, a first embodiment embodying the present invention will be described with reference to FIGS. 1 and 2. First Embodiment FIG. 1 is a diagram showing a first embodiment of a work line using an automated guided vehicle according to the present invention.
FIG. 1A is a plan view showing the overall construction of a work line 2 using the automated guided vehicle of this embodiment. In addition, FIG. 1 (B)
FIG. 1C is a perspective view showing a structure of an automatic guided vehicle used in a work line 2 using the automatic guided vehicle.
FIG. 4 is a front view showing a part of the structure of a work line 2 using an automated guided vehicle. As shown in FIG. 1 (A), a work line 2 using the automated guided vehicle of this embodiment mainly includes a work assembly zone 4, a normal traveling zone 6 and an automated guided vehicle 10. Below, regarding the structure of each part,
The details will be described.

As shown in FIG. 1 (A), in the work line 2 using the automatic guided vehicle of this embodiment, the automatic guided vehicle 10 travels at a normal traveling speed to load and unload parts. It is divided into a zone 6 and a work assembly zone 4 in which work is assembled on the unmanned guided vehicle 10 while the unmanned guided vehicle 10 travels at a low speed. In the normal traveling zone 6, for example, a parts storage station for loading and unloading parts, an automatic charger for automatically charging the battery of the automatic guided vehicle 10, and the like are installed. A guide rail 40 is installed on the floor in the work assembly zone 4, and a pair of drive rollers 34, 35 are installed at the exit of the work assembly zone 4. Further, a separating cam plate 42 is provided on the floor surface near the exit of the work assembling zone 4. In the work assembly zone 4, a plurality of unmanned guided vehicles 10A to 10G are arranged in a line and run at a low speed to form a conveyor portion of the work line 2 using the unmanned guided vehicles of this embodiment.

Next, the structure of the automatic guided vehicle 10 will be described with reference to FIG. As shown in FIG. 1B, the automatic guided vehicle 10 includes one front wheel 14 and two rear wheels 1.
It has a total of 6 and 17 wheels. Of these, front wheel 1
Reference numeral 4 denotes drive wheels, which are rotationally driven by an electric motor and a drive force transmission mechanism (not shown). This electric motor is rotationally driven by the electric power of a battery (not shown) built in the automatic guided vehicle 10. Also, this front wheel 14
Also functions as a steered wheel, and the front wheel 14 rotates in a horizontal plane by a steering mechanism (not shown),
The traveling direction of the automatic guided vehicle 10 changes. Two rear wheels 1
Drive wheels 6, 17 are rotatably supported around a support shaft (not shown). In addition, two rear wheels 1
6, 17 or the front wheel 14 is provided with a brake mechanism (not shown), respectively.
The rotation of can be stopped. Further, the upper surface of the main body of the automated guided vehicle 10 is a mounting surface 11, on which a work or the like is mounted and a work assembling work or the like is performed.

As shown in FIG. 1 (B), a front bumper 12 is attached to the front part of the automatic guided vehicle 10 (on the left side of FIG. 1 (B)). A rear bumper 18 is attached to the rear portion. A front coupler 20 is attached to the front bumper 12, and a rear coupler 24 is attached to the rear bumper 18. These front connector 20 and rear connector 2
The structure of 4 will be described later. Furthermore, FIG.
As shown in (C), the left rear wheel 17 of the automatic guided vehicle 10 is guided by the guide rail 40 installed on the floor surface 44 of the work assembly zone 4. As shown in FIG. 1C, the guide rail 40 is installed on the floor surface 44 of the work assembly zone 4 by being embedded by the thickness of the bottom portion 40a of the guide rail 40. As a result, the upper surface of the guide rail bottom portion 40a is at the same height as the floor surface 44, the automatic guided vehicle 10 does not tilt, and the left rear wheel 1
7 is smoothly fitted into the guide rail 40 and guided.

Next, the structure of the pair of drive rollers 34 and 35 will be described with reference to FIGS. 1 (A) and 1 (C). As shown in FIG. 1 (A), the pair of drive rollers 34 and 35 are installed in a portion corresponding to the exit of the work assembly zone 4 so as to sandwich the path along which the automated guided vehicles 10A to 10G travel. As shown in FIG. 1 (C),
The pair of drive rollers 34 and 35 are respectively the roller shaft 3
It is rotatably supported by 6, 37. The roller shafts 36 and 37 are rotatably supported by the support rods 30 and 31 by clamping members 32 and 33, respectively. Then, the drive rollers 34 and 35 are rotated in opposite directions by a rotary motor and a transmission mechanism (not shown), as will be described later. The pressing members 32 and 33 urge the drive rollers 34 and 35 inward by the action of a built-in spring. That is, in FIG. 1A, the drive roller 34 is urged clockwise around the support rod 30, and the drive roller 35 is urged counterclockwise around the support rod 31. As a result, the pair of drive rollers 34 and 35 rotate while pinching the automatic guided vehicle 10 passing between them.

On the other hand, as shown in FIGS. 1A and 1C, the left and right side surfaces 46, 4 of the automatic guided vehicle 10 are not shown.
The part of the drive roller 34, 35 that contacts the drive roller 7 has a constant width, is parallel to the front-rear direction of the vehicle body, and is smooth.
The pair of drive rollers 34 and 35 are connected to the leading automatic guided vehicle (unmanned guided vehicle 10B in FIG. 1A) near the exit of the work assembly zone 4 among the coupled guided vehicles 10B to 10G. While sandwiching both side surfaces 46 and 47, they rotate in opposite directions. As a result, the leading automated guided vehicle 10B moves in the traveling direction (leftward in FIG. 1A) by the rotational frictional force between the driving rollers 34 and 35. As a result, a series of unmanned guided vehicles 10B to 10G simultaneously move to FIG.
It moves to the left of (A).

Next, the front coupler 20 and the rear coupler 2
4 and the structure around it will be described in more detail with reference to FIG. Here, a series of automatic guided vehicles 10A-
Of the 10G, the automated guided vehicle 10 is shown in FIG.
F, 10G, and in FIG. 2B, the automated guided vehicle 10A,
10B will be described as an example. As shown in FIG. 2A, the front coupler 20G of the automated guided vehicle 10G is rotatably attached to the front of the automated guided vehicle 10G by a support shaft 22G. Similarly, the rear coupler 24F of the automated guided vehicle 10F is provided with a support shaft 26 at the rear of the automated guided vehicle 10F.
It is rotatably attached by F. Figure 2
Similarly for the automated guided vehicles 10A and 10B shown in (B), the rear coupler 24A and the front coupler 2 are also provided.
OB is rotatably attached by support shafts 26A and 22B, respectively.

As shown in FIGS. 2A and 2B, a connection confirmation sensor 23G or 23B is provided below the front coupler 20G or 20B.
The connection confirmation sensors 23G and 23B are connected to the front connector 20.
It also functions as a stopper that prevents the tips of G and 20B from falling. On the other hand, the rear coupler 24F or 24A
A separation confirmation sensor 28F or 28A is provided below. Further, stoppers 27F and 27A are provided above the rear couplers 24F and 24A, respectively. Further, the rear couplers 24F and 24A are urged by spring members (not shown) in the direction in which they come into contact with the stoppers 27F and 27A.

Then, as shown in FIG. 2 (A), the front coupling 20G of the automated guided vehicle 10G comes into contact with the rear coupler 24F of the rearmost unmanned guided vehicle 10F and is pushed up, thereby rear coupling. The device 24F and the front connector 20G are connected. At the time of this connection, a series of vertical movements of the front connector 20G is detected by the connection confirmation sensor 23G provided below the front connector 20G, and a predetermined electric signal is output. As a result, the connection between the front coupler 20G and the rear coupler 24F of the preceding automated guided vehicle 10F is detected. On the other hand, as shown in FIG. 2 (B), the rear coupler 24A of the automated guided vehicle 10A is provided on the floor surface near the exit of the work assembly zone 4 of FIG. By being pushed up by, the connection between the rear coupler 24A and the front coupler 20B is released.
At this time, the separation confirmation sensor 28A provided below the rear coupler 24A detects a series of vertical movements of the rear coupler 24A and outputs a predetermined electric signal. As a result, the separation between the rear coupler 24A and the front coupler of the succeeding automated guided vehicle is detected. Further, when the rear coupler 24A and the disconnecting cam plate 42 come into contact with each other, the stopper 27A suppresses the backward rotation of the rear coupler 24A.

Further, the automatic guided vehicle 10 is provided with an electromagnetic sensor (not shown), and the guide wire embedded in the floor along the work assembly zone 4 and the normal traveling zone 6 shown in FIG. It runs automatically by detecting and tracing with an electromagnetic sensor. This automatic driving is based on the automated guided vehicle 10.
It is performed by controlling the direction and the rotation speed of the front wheels 14 of the automatic guided vehicle 10 by a control unit (not shown) mounted on the vehicle. In addition, the connection confirmation sensor 23 described above
The electrical signals output from G and the separation confirmation sensor 28A are also input to this control unit. Based on these signals, the control unit controls the traveling state of the automatic guided vehicle 10. When a signal for confirming the connection with the preceding automatic guided vehicle is input from the connection confirmation sensor 23G, control is performed to shift the automatic guided vehicle 10 from the normal traveling state to the unloaded state. That is, the transmission of the driving force to the drive wheels (front wheels) 14 of the automatic guided vehicle 10 is interrupted, and the brakes of the driven wheels (rear wheels) 16 and 17 or the front wheels 14 are released, so that they can be pushed freely like a trolley. It is ready to be pulled. Further, when a signal for confirming separation from the succeeding automated guided vehicle is input from the separation confirmation sensor 28A,
Control for shifting the automatic guided vehicle 10 from the unloaded state to the normal traveling state is performed.

Now, a process of assembling a work in the work line 2 using the automatic guided vehicle of the present embodiment having the above-mentioned structure will be described with reference to FIGS. 1 and 2.
First, as shown in FIG. 1 (A), an automated guided vehicle 10G
Enters the work assembly zone 4 from the normal traveling zone 6 traveling at a normal traveling speed. This unmanned guided vehicle 10G that has entered is the last unmanned guided vehicle 1 in the work assembly zone 4.
It is automatically connected with 0F. That is, as shown in FIG. 2 (A), the front coupler 20G of the unmanned guided vehicle 10G that has entered is the rear coupler 24F of the rearmost unmanned guided vehicle 10F.
Being brought into contact with and pushed up, the rear coupler 2
4F and the front coupler 20G are connected. At the same time, the transmission of the driving force to the drive wheels (front wheels) 14G of the unmanned guided vehicle 10G that has entered is blocked, and the driven wheels (rear wheels) 16G,
The brake on the 17G or the front wheel 14G is also released. As a result, the unmanned guided vehicle 10G that has entered enters a state in which it can be freely towed in the same manner as a bogie, and is connected to a series of unmanned guided vehicles 10B to 10F that are already connected to each other to move integrally.

A series of automatic guided vehicles 1 connected in this way
Of the 0B to 10G, the leading automated guided vehicle 10B near the exit of the work assembly zone 4 has a pair of drive rollers 3
It is moved forward (leftward in FIG. 1A) by 4, 35. That is, as shown in FIG. 1C, both side surfaces 46 and 47 of the automated guided vehicle 10B are sandwiched by the pair of drive rollers 34 and 35, and the drive rollers 34 and 35 rotate in opposite directions. As a result, the drive rollers 34, 3
The automated guided vehicle 1 is driven by the frictional force between the vehicle 5 and the side surfaces 46 and 47.
OB moves to the left in FIG. 1 (A), and along with this, the succeeding automated guided vehicles 10C to 10G also move to the left. In this way, a series of unmanned guided vehicles 10B to 10G connected to each other.
However, the workpiece assembly zone 4 travels at a low speed, and the assembly work of the workpieces is performed on the mounting surfaces of these automated guided vehicles 10B to 10G. At this time, the guided rail 10 is provided by the guide rail 40 provided on the floor surface 44 of the work assembly zone 4.
The left rear wheels 17B to 17G of B to 10G are guided.
As a result, the traveling route of the automatic guided vehicles 10B to 10G is regulated, and the series of connected automatic guided vehicles 10B to 10G is regulated.
Runs stably without wobbling to the left or right.

On the other hand, of the series of unmanned guided vehicles 10A to 10F that were originally connected, the leading unmanned guided vehicle 10A is driven by the disconnecting cam plate 42 when it approaches the exit of the work assembly zone 4. The connection with the transport vehicle 10B is disconnected. That is, as shown in FIG. 2B, the lower end of the rear coupler 24A of the automated guided vehicle 10A is pushed by the disconnecting cam plate 42, so that the rear coupler 24A is centered on the support shaft 26A of the rear coupler. As it rotates, the connecting part at the tip goes down. As a result, the automated guided vehicle 1
The rear coupler 24A of the 0A and the front coupler 20B of the succeeding automatic guided vehicle 10B are disconnected, and the automatic guided vehicle 10A is separated from the succeeding automatic guided vehicles 10B to 10F. The unmanned guided vehicle 10A at the top of which the connection is released in this way is
The work assembly zone 4 is shifted to the normal traveling zone 6 and the vehicle travels again at the normal traveling speed.

As described above, in the work assembly zone 4, the series of unmanned guided vehicles 10A to 10A connected by the driving force of the driving rollers 34 and 35 is used without using the electric power of the battery mounted on the unmanned guided vehicles 10A to 10G. 10F, 10
B-10G, ..., Slow speed running is performed. This makes it possible to minimize the power consumption of the automated guided vehicles 10A to 10G and eliminate the need to use an extra automated guided vehicle. In this way, the work line using the automated guided vehicle can be configured with the required minimum number of automated guided vehicles.

Second Embodiment Next, a second embodiment embodying the present invention will be described with reference to FIG. FIG. 3 is a diagram showing a second embodiment of the coupler of the automatic guided vehicle in the work line using the automatic guided vehicle according to the present invention. FIG. 3A is a plan view showing the structure of the coupler of the automatic guided vehicle according to the present embodiment.
(B) And (C) is a partial enlarged view seen from the front showing the structure and function of the coupler. As shown in FIG. 3 (A), the automatic guided vehicles 60A and 60B in the present embodiment are
It has a scissor-shaped front coupler 70 and a rear coupler 80 having a constriction sandwiched by the front coupler 70. The front coupler 70 includes a pair of holding members 71 and 72 that are rotatably assembled to each other by support pins 73, and the pressing springs 7 are respectively attached to the rear portions of the holding members 71 and 72.
5,76 are attached.

Below the front coupler 70, a coupler opening rod 74 is provided. The coupler opening rod 74 can be moved up and down by an up / down mechanism (not shown). As shown in FIGS. 3B and 3C, the tip of the connector opening rod 74 has a sharp conical shape. As shown in FIG. 3B, when the coupler opening rod 74 is in the lowered position, the holding members 71,
72 has its tip closed by the biasing force of the pressing springs 75 and 76. When the coupler opening rod 74 is lifted from this state, the conical tip of the coupler opening rod 74 pushes the rear portions of the sandwiching members 71 and 72, as shown in FIG. 3 (C). As a result, the tips of the sandwiching members 71, 72 are opened, the rear coupler 80 is opened, and the connection between the front coupler 70 and the rear coupler 80 is released.

In each of the above embodiments, the pair of driving rollers is used as the driving force applying mechanism. However, the rack gear provided on the bottom surface of the automatic guided vehicle has a pinion protruding from the floor of the traveling route. Other drive mechanisms such as gear meshing may be used. In addition, the driving force is applied to one unmanned guided vehicle of the connected unmanned guided vehicles, but the driving force is applied to two or more unmanned guided vehicles of the connected unmanned guided vehicles. It can also be a system. Furthermore, although guide rails installed on the floor are used as guide members for restricting the travel route of the automated guided vehicle, other guide methods such as installing guide rollers similar to the drive rollers on both sides of the travel route. Can also be used. Further, it goes without saying that the number of front wheels and rear wheels of the automatic guided vehicle and which of the driving wheels is used can be freely selected. The shape and size of the automated guided vehicle are merely examples,
Other than this, various shapes, sizes, etc. can be adopted. The structure, shape, size, material, number, arrangement, etc. of the other parts of the work line using the automatic guided vehicle are not limited to those in this embodiment.

Further, as an effect peculiar to each of the above-mentioned embodiments, since the guide rails installed on the floor are used as the guide member, the space on both sides of the series of unmanned guided vehicles that travel at a low speed can be widely opened, and work can be performed. Is extremely easy to perform.

[0026]

According to the present invention, an unmanned guided vehicle is coupled to another unmanned guided vehicle at the time of entering the work assembly zone, and at least one of the coupled unmanned guided vehicles is moved in the traveling direction by the driving force applying mechanism. Driven and moved, and created a work line using an automated guided vehicle that was separated from other automated guided vehicles when leaving the work assembly zone, minimizing the power consumption of the automated guided vehicle Therefore, the work line using the automatic guided vehicle can be configured with the required minimum number of automatic guided vehicles. In this way, the number of unmanned guided vehicles can be reduced and the production line cost can be reduced while maintaining the characteristic that installation and relocation are extremely easy. It becomes a work line.

[Brief description of drawings]

FIG. 1 is a plan view, a perspective view, and a front view showing a first embodiment of a work line using an automated guided vehicle according to the present invention.

FIG. 2 is a side view showing the structure of the coupler of the automatic guided vehicle in the working example 1 using the automatic guided vehicle.

3A and 3B are a plan view and a front view showing the structure of the coupler of the automated guided vehicle in the working example 2 using the automated guided vehicle.

[Explanation of symbols]

 2 Work line using unmanned guided vehicle 4 Working zone 10 Unmanned guided vehicle 10A to 10G Plural unmanned guided vehicles 20, 24 Coupler 34, 35 Driving force applying mechanism 40 Guide member

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshito Kato 1 Toyota-cho, Toyota-shi, Aichi Toyota Motor Co., Ltd. (72) Inventor Isao Kashihara 1-17-13 Nishiki, Naka-ku, Nagoya-shi, Aichi Ceremony Company Meidensha Technical Headquarters (72) Inventor Hiroshi Murase Nishibiwajima-cho, Nishikasugai-gun, Aichi Prefecture (no house) Meidensha Nagoya factory

Claims (1)

[Claims] 1. A work line using an unmanned guided vehicle, wherein a plurality of unmanned guided vehicles self-propelled by a rechargeable electric power source are run at a low speed in an aligned state to perform various operations on the unmanned guided vehicle, A coupler provided before and after the automated guided vehicle, coupled with the preceding automated guided vehicle when entering the work zone where the various operations are performed, and separated from the subsequent automated guided vehicle when leaving the work zone, A guide member that is provided in the work zone and regulates a traveling path of the automatic guided vehicle in the work zone, and a predetermined traveling direction in a predetermined traveling direction with respect to at least one of the connected automatic guided vehicles. A work line using an automatic guided vehicle, comprising: a driving force applying mechanism for applying a driving force for moving at a traveling speed.