JPH0925095A - Unmanned carrier with lifter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To elevate a large and heavy cargo and to lower the minimum ground clearance of a load-carrying platform. SOLUTION: A support mechanism 8 to support a load-carrying platform 7 by keeping it horizontal and an arm 9 installed on the load-carrying platform 7 and positioned at a higher position than the relative load-carrying platform 7 itself are provided, a hydraulic cylinder 10 and a hydraulic unit 12 as its drive mechanism are set at an offset position slipped from the load-carrying platform 7 itself and at an intermediate position between both of left and right driving wheels 4, and the load-carrying platform 7 is supported by the support mechanism 8 having a pair of left and right links 16, 17 along a direction where they cross with each other in an X letter form free to elevate. The load-carrying platform 7 is elevated by actuation of the hydraulic cylinder 10 through the arm 9.

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 with a lifter capable of raising and lowering a carrier for receiving an object to be conveyed such as a work. It is applied to an automated guided vehicle that moves by lifting and lowering a loading platform that can be lifted under a pallet or skid. Such an automatic guided vehicle is required to have the lowest ground height of the loading platform as low as possible.

[0002]

2. Description of the Related Art As a conventional automated guided vehicle with a lifter, there is one as shown in FIGS. In the automated guided vehicle with a lifter shown in FIG. 5, a column 42 is erected on a lower frame 41, a wire 44 is wound around a pulley 43 provided on the column 42, and one end of this wire 44 is projected onto a lifting platform 45. It is connected to the hanging portion 46 provided. The lifting platform 45 is adapted to be raised by winding the other end of the wire 44 around the drum 48 which is rotationally driven by the motor 47.

Further, the automatic guided vehicle with a lifter shown in FIG.
The trolley 49 has a driving wheel 50 at an intermediate position in the front-rear direction and driven wheels 51 at positions near both ends, and a hydraulic cylinder 54 provided directly below an unloading platform 53 supported by a support mechanism 52 raises and lowers the unloading platform 53. In the automated guided vehicle with lifter shown in FIG. 7, the lifting platform 53 is moved up and down by a plurality of hydraulic cylinders 54 provided directly below.

[0004]

In the case of the automatic guided vehicle with a lifter shown in FIG. 5, when the heavy load exceeds a certain level,
There is a problem that the minimum ground height of the lifting platform becomes high in the case of the automatic guided vehicle with lifter shown in FIG. 6 or 7, which cannot be raised or lowered.

In view of the above-mentioned conventional problems, the present invention provides an automatic guided vehicle with a lifter capable of lifting and lowering a heavy object and lowering the minimum ground height of the lifting platform. With the goal.

[0006]

In order to achieve the above object, the present invention according to claim 1 is a lifter for carrying an object to be conveyed on a load platform which can be raised and lowered by the operation of an actuator provided in the lifter. In an automated guided vehicle, a support mechanism for holding and supporting the cargo bed substantially horizontally and a sideways arm attached to the cargo bed at a position higher than the cargo bed itself are provided, and the actuator and its drive mechanism are provided to the cargo bed itself. The present invention according to claim 2 is characterized in that it is installed at an offset position deviated from the above position and at an intermediate position between both left and right wheels, and the loading platform is moved up and down by the operation of the actuator via the arm. In the automated guided vehicle with lifter described above, the support mechanism includes a pair of links that support the loading platform so as to be able to move up and down and that extend in a direction intersecting with each other in an X shape. And wherein the door.

An automated guided vehicle with a lifter according to the present invention is provided with a support mechanism for holding and supporting a cargo bed substantially horizontally, and an arm attached to the cargo bed and located at a position higher than the cargo bed itself.
An actuator and its drive mechanism are installed at an offset position deviating from the luggage carrier itself and at an intermediate position between the left and right wheels, and the actuator is actuated via the arm to raise and lower the luggage carrier, enabling the lifting of heavy objects. Therefore, it is possible to lower the minimum ground height of the loading platform.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION An automated guided vehicle with a lifter according to an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a side view showing a schematic configuration of an essential part of an entire automated guided vehicle with a lifter according to an embodiment of the present invention, and FIG. 2 is an enlarged side view of the lifter shown in FIG.

The unmanned guided vehicle 1 with lifter according to this embodiment has a front driven wheel 2 and a rear driven wheel 3 on the left and right.
The lower frame 5 is supported by the drive wheel 4 near the front driven wheel 2, and the lifter 6 is mounted on the lower frame 5.
The lifter 6 is provided with a support mechanism 8 for holding and supporting the loading platform 7 in a substantially horizontal state, a lateral arm 9 attached to the loading platform 7 at a position higher than the loading platform 7 itself, and a hydraulic cylinder 10 as an actuator. And a hydraulic unit 12 as a drive mechanism thereof.

In this automated guided vehicle 1 with lifter, the loading platform 7 is moved up and down by the operation of the hydraulic cylinder 10 via the arm 9, and the hydraulic cylinder 10 and the hydraulic unit 12 as its drive mechanism are detached from the loading platform 7 itself. It is characterized in that it is installed at an offset position and at an intermediate position between the left and right drive wheels 4. The lower frame 5 is symmetrically arranged on the upper surface of a predetermined place, and the projecting piece 14 is attached to the mounting hole 14 upward.
It is fixed by a bolt (not shown) inserted through a.

FIG. 3 is a perspective view showing the support mechanism of FIG. The support mechanism 8 symmetrically arranges a pair of links 16 and 17 along a direction intersecting with each other in an X-shape, and the left and right links 16 and 17 have a common intermediate connecting shaft 18 at the intersecting portion so as to rotate mutually. It is movably joined.

The left and right links 16, 16 constituting the support mechanism 8 are joined to respective connecting members 20 fixed to the lower surface of the front end of the loading platform 7 with pins 21, and rollers 22 are attached to the lower ends located rearward. The roller 22 is movably in contact with the upper surface of the lower frame 5. The other left and right links 17, 17 are joined by an upper end connecting shaft 19, and the lower end is joined to the projecting piece 14 of the lower frame 5 with a pin 24, and is rotatable at both ends of the upper end connecting shaft 19 located at the rear. A roller 23 is attached, and the roller 23 is movably in contact with the lower surface of the luggage carrier 7.

The arm 9 is, as shown in FIGS. 1 and 2,
The vertical member 2 is provided at a portion near the front end of the connecting member 20 protruding forward.
5 is erected and fixedly attached to the upper end of this vertical member 25, and the upper end of the rod 11 of the hydraulic cylinder 10 is in contact with the lower surface. As shown in FIGS. 3 and 4, the connecting member 20 is provided with both laterally projecting mounting plates 20a, 20a integrally provided on the upper portion of the bifurcated connecting portion 20b, and a bolt (not shown) inserted through the mounting hole 20c. The mounting plate 20a is fixed to the lower surface of the cargo bed 7 by using, and the upper end of the link 16 is joined by inserting the pin 21 into the through hole formed in the connecting portion 20b.

The hydraulic cylinder 10 includes a cylinder body 10a.
And a rod 11 that moves in and out of the cylinder body 10a, is installed on the lower frame 5 at an offset position deviated from the platform 7 itself and at an intermediate position between the left and right drive wheels 4, and is an upward and downward rod. The upper end of 11 is brought into contact with the lower surface of the arm 9.

The hydraulic unit 12 for driving the hydraulic cylinder 10 is located near the hydraulic cylinder 10 and is located on the bed 7.
Left and right drive wheels 4 at offset positions deviating from themselves
It is installed on the lower frame 5 at an intermediate position between them. Then, the pressure oil is supplied from the hydraulic unit 12, and the loading platform 7 is moved up through the arm 9 when the loading and unloading rod 11 of the hydraulic cylinder 10 is moved by the pressure oil, and the loading platform 7 is lowered when the loading and unloading rod 11 is loaded. To be

In the automated guided vehicle 1 with lifter according to the above-described embodiment, the loading platform 7 can be lifted and lowered by the support mechanism 8 having the pair of left and right links 16 and 17 along the directions intersecting with each other in an X shape. Since it is supported by, it can withstand a large load, and the minimum ground clearance can be lowered significantly.

An example of a cargo handling method using the automatic guided vehicle with lifter according to the above embodiment of the present invention will be described. The automated guided vehicle 1 receives the transported object W with the loading platform 7 fully lowered, and therefore moves backward at a low speed. An unillustrated conveyed object detection sensor is turned on, and the automatic guided vehicle 1 stops at the spot. The loading platform 7 rises and lifts the front portion of the transported object W. The automated guided vehicle 1 moves forward at a low speed, slides out the transported object, separates from the succeeding transported object, advances an arbitrary distance, and stops. The loading platform 7 is lowered, and the legs of the transported object W are once landed. The automated guided vehicle 1 moves backward at a low speed and stops when a receiving position sensor (not shown) is turned on. The loading platform 7 moves up and scoops up the transported object W. The automated guided vehicle 1 advances toward a target location, transports the transported object W, and returns in an empty state. After that, the operations described in 1 to 3 above are repeated for the subsequent objects to be conveyed.

In the case of performing a normal scooping operation in which it is not necessary to slide out the transported object W, the operation is switched to the operation cutoff state in which the transported object detection sensor does not work, and the operations described in 1 to 3 above are performed on the automatic guided vehicle 1. Let it be done.

It should be noted that the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention. For example, the hydraulic cylinder 10
Instead of this, a pneumatic cylinder may be used.

[0020]

According to the first aspect of the present invention, by supporting and supporting the cargo bed substantially horizontally by the support mechanism, a large heavy object can be lifted and lowered, and the actuator and its drive mechanism can be moved from the cargo bed itself. It is installed at an offset position and at an intermediate position between the left and right wheels, and the minimum ground height of the loading platform is raised by raising and lowering the loading platform by the operation of an actuator via an arm attached to the loading platform and located at a position higher than the loading platform itself. The effect that it can be lowered is achieved. Further, according to the present invention as set forth in claim 2, since the loading platform is supported so as to be able to move up and down by the support mechanism having the pair of links along the X-shaped crossing directions with each other, the heavy object is reliably supported. can do.

[Brief description of drawings]

FIG. 1 is a schematic configuration side view showing a main part of an entire automated guided vehicle with a lifter according to an embodiment of the present invention.

2 is an enlarged side view of the lifter shown in FIG. 1. FIG.

FIG. 3 is a perspective view showing the support mechanism of FIG.

FIG. 4 is a partial perspective view showing a main part of a modified example of the automatic guided vehicle with lifter according to the embodiment of the present invention.

FIG. 5 is a side view of a conventional automated guided vehicle with a lifter.

FIG. 6 is a side view of another conventional automated guided vehicle with a lifter.

FIG. 7 is a side view of another conventional automated guided vehicle with a lifter.

[Explanation of symbols]

 W Transported object 1 Automated guided vehicle with lifter 4 Drive wheel 6 Lifter 7 Loading platform 8 Support mechanism 9 Arm 10 Hydraulic cylinder (actuator) 11 Inlet rod 12 Hydraulic unit (drive mechanism) 16, 17 Link 18 Intermediate connecting shaft 20 Connecting member 22 Around 23

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code Agency reference number FI Technical display location B66F 11/04 B66F 11/04

Claims (2)

[Claims] 1. An automated guided vehicle with a lifter, which carries an object to be transported on a load platform which can be raised and lowered by the operation of an actuator provided in the lifter, and a support mechanism for holding and supporting the load platform substantially horizontally, A lateral arm that is attached to and is located at a higher position than the cargo bed itself is provided, and the actuator and its drive mechanism are installed at an offset position deviating from the cargo bed itself and at an intermediate position between the left and right wheels, and via the arm, An automated guided vehicle with a lifter, which lifts and lowers the platform by operating an actuator. 2. The unmanned transporter with lifter according to claim 1, wherein the support mechanism includes a pair of links that support the loading platform so as to be able to move up and down and extend in a direction intersecting with each other in an X shape. car.