JPH0725411A - Unmanned conveyance vehicle - Google Patents

Abstract

PURPOSE:To provide an unmanned conveyance vehicle for performing transfer works of cylindrical conveyance articles unmannedly and conveying them without any pallet. CONSTITUTION:A pair of right and left mounts 6, 6 are provided apart from each other on the upper part of the car body frame 2 of an unmanned conveyance vehicle 1, inclined load receiver faces 6a, 6a lowering toward the central line of the vehicle body are formed in the vehicle body central side of both mounts 6, 6 respectively, a lifter device 15 is arranged between both mounts 6, 6 in such a way as movable vertically, and a load receiver table 16 on which inclined faces 16a, 16a are formed in such a state as lowering from both side toward the vehicle body central line respectively is provided on the upper face of the lifter device 15.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automated guided vehicle used for transporting a cylindrical transported product such as a steel plate coil or a papermaking coil in a manufacturing line of a steel mill, a paper mill, a stockyard, or the like.

[0002]

2. Description of the Related Art Conventionally, in a steel mill, a paper mill or the like, a cylindrical conveyed product such as a steel plate coil or a papermaking coil is often placed so that its axis is in a horizontal state. In the case of carrying a certain route on the premises for the next process or shipping as a product, it was laid on a dedicated rail car or a traveling road. It is generally transferred together with a pallet to an automated guided vehicle equipped with a sensor for detecting a derivative, and when it is carried out from a factory, it is generally transferred together with the pallet to a loading platform such as a truck.

[0003]

However, the transfer work using a crane, a ram truck, or the like is often dangerous because the weight of the transported object is large. In addition, since the transported object is transferred together with the pallet, the transported weight is increased and a large-sized transport vehicle is required. Furthermore, a large number of pallets must be prepared, and empty pallets must be transported separately.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an automatic guided vehicle which can perform the transfer work of a cylindrical conveyed object unattended and which can convey an object without using a pallet.

[0005]

In order to achieve the above-mentioned object, the present invention provides an unmanned guided vehicle having an article to be carried on the upper part of a vehicle body, wherein a pair of left and right mounting bases are provided separately on the upper part of the vehicle body. Inclined load receiving surfaces that descend toward the vehicle body center line are formed at the vehicle body center side of the mounting table, and a lifter device is arranged between the two mounting tables so that the lifter device can be moved up and down. It is characterized in that it is provided with load receiving portions each having an inclined surface that descends toward.

[0006]

[Operation] According to the above configuration, the vehicle travels below the stocked cylindrical objects, lifts the lifter device to place the cylindrical objects on the load receiving portion, and after running, temporarily stops for traveling safety,
The lifter device descends and the cylindrical objects are transferred to the slanted load receiving surfaces of both platforms, and the sensor is used to detect and guide the conductor laid on the travel path. The lifter device is lifted to place the cylindrical transported object on the load receiving portion of the lifter device, and the cylindrical transported object is moved to the bottom of the stock field and the lifter device is lowered to be transferred.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a coil transfer vehicle that travels while detecting a conductor laid on a traveling road will be described in detail with reference to the drawings.

The automated guided vehicle 1 has four traveling wheel devices 3 below the vehicle body frame 2, and a sensor 4 provided at the lower center of the vehicle body frame 2 detects a dielectric 5 laid on the traveling path. The vehicle automatically travels, and a pair of left and right mounting tables 6 and 6 are provided on the upper portion of the vehicle body frame 2 at regular intervals.

Of the four traveling wheel devices 3, two traveling wheel devices 3 are directly provided on the vehicle body frame 2, and the remaining two traveling wheel devices 3 are swingably supported on the rear portion of the vehicle body frame 2. It is provided at both ends of 7.

The traveling wheel device 3 includes a rotary housing 8 rotatably mounted on the vehicle body frame 2 or the equalizer frame 7, and an axle case 10 pivotally supporting the wheels 9, 9 at both ends in a direction perpendicular to the wheels 9, 9. The drive motor 10 and the braking device 11 are arranged horizontally between the wheels 9 and 9 so as to be orthogonal to the axes of the wheels 9 and 9. A differential gear unit for both wheels 9 and 9 is provided therein.

The rotary housing 8 is rotatably provided on the vehicle body frame 2 or the equalizer frame 7 via a turntable bearing 12, and the vehicle body frame 2 or the equalizer frame 7 on the inner periphery of the turntable bearing 12 runs on the vehicle. A steering motor 13 that turns the wheel device 3 is provided.

Therefore, since the automatic guided vehicle 1 is driven by all four wheels and steered by all four wheels, it is possible to perform forward and backward traveling, transverse forward and backward traveling, spin turns, and oblique traveling in all directions. The wheels 9, 9 of each traveling wheel device 3 are swingable, and two traveling wheel devices 3 are provided at both ends of an equalizer frame 7 which is swingably supported by the vehicle body frame 2. Even if there is unevenness on each running wheel device 3
Since the wheels 9, 9 are grounded, stable running is possible.

The mounting tables 6 and 6 are provided on the vehicle body 2 at a central portion of the vehicle body with a space extending in the longitudinal direction of the vehicle body, and the inclined load receiving surfaces 6a and 6a descend toward the vehicle body center line toward the vehicle body center side.
And the coil 14 is placed on the inclined load receiving surfaces 6a, 6a. Further, a lifter device 15 is arranged between the mounting tables 6 and 6 so as to be able to move up and down.

The lifter device 15 is arranged in parallel in the rear part of the vehicle body frame 2 and a large-diameter cylinder 17 arranged in the front part of the vehicle body frame 2 in the longitudinal direction of the vehicle body. It is composed of two small-diameter cylinders 18 and 18, and the load receiving base 16 is different from the large-diameter cylinder 17 in the pin 1
The small diameter cylinders 18 and 18 are connected to each other via a pin 20, and the upper surface of the cargo receiving table 16 is
There are provided load receiving portions 16a, 16a each having an inclined surface descending from both sides of the load receiving platform 16 toward the center line of the vehicle body.

Large diameter cylinder 17 and small diameter cylinders 18 and 1
As shown in FIG. 10, the hydraulic circuit 21 for operating the hydraulic pumps 8 and 8 includes four hydraulic pumps 23, 2 driven by a motor 22.
4, 25, 26, and a front side circuit for supplying pressure oil from the hydraulic pumps 23, 24 to the large diameter cylinder 17 to raise or lower it, and the small diameter cylinder 1 from the hydraulic pumps 25, 26.
It is composed of a rear side circuit that supplies 8 and 18 to raise or lower, and the pressure switch 2 is common to both circuits.
7, pressure control valves 28 and 29, electromagnetic switching valve 30 and the like.

In the ascending process of the large diameter cylinder 17, when the electromagnetic switching valve 31 is switched to ON, the pressure oil from the hydraulic pump 24 passes through the electromagnetic switching valve 31 and joins with the pressure oil from the hydraulic pump 23 to electromagnetically flow. Pass through the check valve in the load holding valve 33 via the switching valve 32, and the fuse valve 34
And is supplied to the upper side of the large diameter cylinder 17 via.

In the descending process of the large-diameter cylinder 17, when the electromagnetic switching valve 30, the electromagnetic switching valve 32, and the electromagnetic switching valve 35 are switched to ON, the pressure oil from the hydraulic pump 24 is divided into two, one of which is the pressure control valve. 29, and the other reaches the pressure control valve 28 via the electromagnetic switching valve 30 and holds the set down pressure of the large diameter cylinder 17.

The pressure oil from the other hydraulic pump 23 is
The oil that has been supplied to the lower side of the large diameter cylinder 17 through the electromagnetic switching valve 35 and has flowed from the upper side of the large diameter cylinder 17 passes through the fuse valve 34 and the load holding valve 33, and then passes through the electromagnetic switching valve 32. Return to tank 36.

The same applies to the small-diameter cylinders 18, 18, and in the rising process, when the electromagnetic switching valve 37 is switched to ON, the pressure oil from the hydraulic pump 25 passes through the electromagnetic switching valve 37 and becomes the pressure oil from the hydraulic pump 26. They are merged and supplied to the upper side of the small diameter cylinders 18, 18 via the electromagnetic switching valve 38, the check valve in the load holding valve 39, and the fuse valve 40.

In the lowering process, when the electromagnetic switching valve 30, the electromagnetic switching valve 38, and the electromagnetic switching valve 41 are switched to ON, the pressure oil from the hydraulic pump 25 is divided into two parts, one of which is the pressure control valve 29.
And the other reaches the pressure control valve 28 via the electromagnetic switching valve 30 and holds the set down pressure of the large diameter cylinder 17, and the pressure oil from the other hydraulic pump 26 is transferred to the electromagnetic switching valve 41. Is supplied to the lower side of the small-diameter cylinders 18, 18 through the oil, and the oil discharged from the upper side of the small-diameter cylinders 18, 18 is
It passes through the fuse valve 40, the load holding valve 39, and the electromagnetic switching valve 38, and returns to the tank 36.

Further, the lifter device 1 thus constructed
5, the case where the load receiving table 16 is inclined more than a certain limit due to an unbalanced load, the large diameter cylinder 17 and the small diameter cylinder 18,
Inclination detection device 4 for detecting the case of 18 synchronization adjustment failure
Two are provided.

The inclination detecting device 42 is used in the large diameter cylinder 1.
Two proximity switches 43, 44 provided horizontally on the sensor bracket 17b fixed to the pin receiving block 17a of No. 7
And a detection plate 45 fixed to the lower part of the cargo receiving table 16 with an optimum gap provided between the proximity switches 43 and 44,
The detection plate 45 has a notch 45a and a long hole 45b.

The tilt detecting device 42 thus configured
Is the two proximity switches 43, 4 when the loading tray 16 is horizontal.
4 detects the detection plate 45, and the small-diameter cylinder 1 of the loading tray 16
In the inclined state where the 8 and 18 sides are raised, the proximity switch 43 detects the detection plate 45, and the proximity switch 44 detects the detection plate 45.
Since the long hole 45b of the proximity switch 44 comes down to the front surface of the proximity switch 44, the detection plate 45 is not detected, and the proximity switch 4 is in an inclined state in which the large diameter cylinder 17 side of the load carrier 16 is raised.
4 detects the detection plate 45, and the proximity switch 43 does not detect the detection plate 45 because the notch 45a of the detection plate 45 rises.

In this way, the inclination detecting device 42 is
The inclination state of the cargo receiving table 16 is detected by the combination of the presence or absence of the detection plate 45 detected by the one proximity switch 43, 44, and the inclination of the cargo receiving table 16 is corrected by operating the corresponding switching valve of the hydraulic circuit.

The automated guided vehicle 1 thus constructed transfers the coil 14 to and from the skid equipment 46 shown in FIG. The skid equipment 46 is installed in a stockyard or the like, is formed in a gate shape, and has both side walls 47, 47.
Placing sections 48, 48 are provided in the upper part of the table toward the center, and the automated guided vehicle 1 enters below the placing sections 48, 48.

The mounting portions 48, 48 have a gap at the center where the lifter device 15 of the automated guided vehicle 1 appears and disappears, and the upper surfaces are formed with inclined load receiving surfaces 48a, 48a descending toward the center. .

The automated guided vehicle 1 is, as shown in FIG. 14, a mounting portion 4 of a skid equipment 46 on which a coil 14 is mounted.
8 and 48, and then the loading tray 16 of the lifter device 15
And the coil 14 on the inclined load receiving surfaces 48a and 48a is received by the load receiving table 16, the load receiving table 16 is further raised to lift the coil 14, and the lifted state is run from the skid equipment 46 to stop temporarily. The table 16 is lowered to set the table 6,6
The coil 14 is transferred onto the slanted load receiving surfaces 6a, 6a, and the load receiving base 16 is lowered to the lowermost end to reach the destination.
Is detected by the sensor 4 and the vehicle runs.

Therefore, since the automatic guided vehicle 1 can carry out the transfer work unattended and can carry the coil 14 without using a pallet, no manpower is required, and the pallet management and the pallet storage area are also reduced. No longer needed. Further, the coil 14 is mounted on the inclined load receiving surfaces 6a, 6a facing each other in the center of the upper part of the vehicle body.
Since the vehicle is mounted on the road, the stability of the cargo is extremely high and high-speed traveling is possible, and the main body of the guided vehicle can be downsized. Since the occupied area can be reduced, the effective area such as a stockyard can be expanded.

It is also possible to mount a plurality of coils 14 by lengthening the mounting tables 6 and 6 and the lifter device 15 in the longitudinal direction of the vehicle body.

[0030]

As described above, the automatic guided vehicle of the present invention is provided with a pair of left and right mounting bases spaced apart from each other on the upper portion of the vehicle body, and is inclined toward the center line of the vehicle body on the center side of the both mounting bases. Each of the load receiving surfaces is formed, a lifter device is arranged so as to be able to move up and down between the two mounting tables, and a load receiving part is formed on the upper surface of the lifter device, each of which is formed with an inclined surface descending from both sides toward the center line of the vehicle body. Therefore, it travels under the stocked cylindrical objects, lifts the lifter device and puts the cylindrical objects on the load receiving part, and after running, temporarily stops it for traveling safety and lowers the lifter device for both loading. Cylindrical objects are transferred to the slanted receiving surface of the table, and the sensor is used to detect and guide the conductor laid on the traveling path.When the robot reaches the destination, it stops once again and lifts the lifter device to lift it. Place the cylindrical object on the cargo receiving part of the Since enters the bottom of the field to the mounting moves by lowering the lifter device, perform the transfer operations of the cylindrical conveyed unattended, and can be transported without a pallet.

[Brief description of drawings]

FIG. 1 is a rear view of an automated guided vehicle showing an embodiment of the present invention.

FIG. 2 is a side view of the same automated guided vehicle.

FIG. 3 is a plan view of an automated guided vehicle.

FIG. 4 is a partial cross-sectional view of a traveling wheel device.

FIG. 5 is a side view of the traveling wheel device.

FIG. 6 is a side view of the lifter device.

FIG. 7 is a plan view of a lifter device.

FIG. 8 is a cross-sectional view showing a large diameter cylinder of the lifter device.

FIG. 9 is a sectional view showing a small diameter cylinder of the lifter device.

FIG. 10 is a hydraulic circuit diagram of the lifter device.

FIG. 11 is a front view of the tilt detection device.

FIG. 12 is a cross-sectional side view of the tilt detection device.

FIG. 13 is a perspective view of skid equipment.

FIG. 14 is a front view showing a transfer operation of the automatic guided vehicle.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Automated guided vehicle, 2 ... Vehicle body frame, 3 ... Running wheel device, 4 ... Sensor, 5 ... Derivative, 6 ... Mounting table, 6a ... Inclined load receiving surface, 15 ... Lifter device, 16 ... Load receiving table, 16a ... Load receiving surface

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toichiro Hashimoto 20-1 Shintomi, Futtsu City, Chiba Prefecture Nippon Steel Co., Ltd.Technology Development Headquarters 1 Inside Nippon Steel Corporation Yawata Works

Claims (1)

[Claims] 1. An unmanned guided vehicle having an article to be carried on an upper part of a vehicle body, wherein a pair of left and right mounting tables are provided on the upper part of the vehicle body so as to be spaced apart from each other, and descend toward the vehicle body center line toward the vehicle body center side of the both mounting tables. Inclined load receiving surfaces are respectively formed, and a lifter device is arranged so as to be able to move up and down between both mounting tables, and a load receiving part is formed on the upper surface of the lifter device, which is formed with inclined surfaces descending from both sides toward the vehicle body center line. An automated guided vehicle that is characterized by that.