JPH1024842A - Transfer structure for automated guided vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate a work performed between an automated guided vehicle and a mount for laying products and reduce the occupation space by linking transfer mechanisms, which receive and support the bottom faces of the products so as to let them out to the inside/outside of a vehicle body, in the inside of the vehicle body. SOLUTION: After a vehicle body is positioned by coinciding the letting-out direction of a transfer mechanism with the center between frame units 2, an elevating frame 3 is raised so that a coil C is transferred from the vehicle side to the elevating frame 3 side. Secondly, a base 5a is lowered, an auxiliary wheel 5 is made to touch on a traveling face, a carriage frame 2 is supported in the vehicle body side by a wheel 2a, the carriage frame 2 is entered to a prescribed position between each of the frame units 32 so as to stop, and the elevating frame 3 is lowered. The elevating frame 3 is thus lowered than a skid 32c of a boil mount 31 so that the coil C is transferred on the skid 32c during this lowering.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle for transporting coils, which is used, for example, in a steel sheet coil manufacturing facility. And a transfer structure.

[0002]

2. Description of the Related Art An automatic guided vehicle used for transferring heavy objects such as a steel sheet coil includes a traveling device whose direction can be changed by a steering device. The traveling device includes a driving device and wheels driven by the driving device. Is the basic structure. Then, an inductive sensor for detecting the derivative is provided at the lower part of the vehicle body so as to be able to travel along the derivative laid in advance on the traveling road surface, and the steering device is controlled while inputting a signal from the guide sensor to the controller. And a mechanism for correcting the running trajectory of the vehicle body.

[0003] In the operation of transporting the coil of the steel sheet by such an automatic guided vehicle, for example, storage is performed using an automatic warehouse, and a coil table for directly transferring the coil to and from the automatic guided vehicle is used. In some cases, FIG.
Fig. 1 schematically shows the transfer of the coil to the coil table.

A lifter 5 that moves up and down is mounted on the automatic guided vehicle 51.
When the automatic guided vehicle 51 is driven, the lifter 51a is lowered to place the coil C on the support surface 51b on the upper surface of the automatic guided vehicle 51 and stably support the coil C. Further, the coil table 52 is provided with a support 52a.
Are provided at one end, and a pair of cantilever-type support arms 52b protruding forward from the upper end of the column 52a are arranged on the left and right.

When transferring the coil C to the coil table 52, the automatic guided vehicle 51 is stopped and positioned before the coil table 52, and then the lifter 51a is raised as shown in FIG. The end surface is the support arm 52b
To a height that does not interfere with Then, the automatic guided vehicle 51 is moved into the coil table 52 such that the lifter 51a is inserted between the support arms 52b. And
The lifter 51a is lowered to support the coil C in the support arm 52b.
The unmanned transport vehicle 51 is moved out of the coil table 52 again after leaving the upper end of the lifter 51a free from the lower surface of the coil C. When the coil C is received from the coil table 52, the operation of the automatic guided vehicle 52, which is the reverse of the above operation, is performed.

[0006]

However, in the delivery of the coil C to the coil table 52, it is necessary to make the automatic guided vehicle 51 go under the support arm 52b of the coil table 52. The support arm 52b has a shape projecting obliquely downward as shown in FIG. 11 (b) in order to receive the peripheral surface of the cylindrical coil C and drop it. In order to prevent the automatic guided vehicle 51 from hitting the support arm 52b, it is necessary to raise the coil table 51.
Therefore, it is necessary to have a structure in which the lift stroke of the lifter 51a is also increased, which increases the bulk of the automatic guided vehicle 51 in the height direction, and also increases the time required for lifting and lowering the lifter 51a, thereby improving work efficiency. Also have limitations.

On the other hand, the support arm 52b of the coil table 52
Has a cantilever structure so that the automatic guided vehicle 51 can sneak in. Therefore, it is necessary to increase the strength of the column 52a connecting the support arm 52b. This can be dealt with by increasing the cross-sectional shape of the column 52a to increase its rigidity, but the bulk in the width direction increases, and the occupied area of the arrangement space of the coil mounting table 52 increases. , Which also affects storage efficiency.

The problem to be solved by the present invention is to provide a transfer structure for an automatic guided vehicle which can simplify the operation between the automatic guided vehicle and a table for placing products and reduce the occupied space. It is in.

[0009]

SUMMARY OF THE INVENTION The present invention relates to an automatic guided vehicle for traveling by designating its traveling direction by an inductive sensor installed on a traveling surface and mounting and transporting a product on an upper surface thereof. A transfer mechanism capable of receiving and supporting the lower surface of the product inside the vehicle body is connected so as to be able to be extended toward the inside and outside of the vehicle body.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In the transfer structure of an automatic guided vehicle according to the present invention, the transfer mechanism comprises a bogie frame movable to the outside of a vehicle body by a driving means, and a product connected to the bogie frame to mount a product. A lifting frame for raising and lowering this,
And a rotatable auxiliary wheel connected to the extending end side of the bogie frame so as to be able to move up and down.

The transfer mechanism is movable to the outside of the vehicle body by a driving means, and a delivery end side thereof is swingable up and down, and a bogie frame for mounting a product connected to the vehicle body, and a tilt drive for tilting the bogie frame. It may be constituted by means and an auxiliary wheel connected to the delivery end side of the bogie frame.

[0012]

1 is a cutaway side view showing an automatic guided vehicle according to the present invention in which a mounted coil is extended forward.
Is a rear view of the automatic guided vehicle, FIG. 3 is a rear view of a state where the coil is being transferred to the coil table, viewed from the back side of the coil table,
FIG. 4 is a plan view of FIG.

In the figure, as described in the conventional example, the vehicle body 1 of the automatic guided vehicle traveling along a predetermined route by the guidance sensor is provided with a traveling wheel 1a and a coil C is mounted on the upper surface. A pair of skids 1b are provided at intervals.

The vehicle body 1 is provided with a storage chamber 1c whose left end is opened in FIG. 1, and a transfer mechanism T which moves in and out of the storage chamber 1c in and out and also has a lifting / lowering function.
Incorporate. The transfer mechanism T includes a bogie frame 2 that can be extended to the outside of the storage chamber 1c, and an elevating frame 3 connected to the bogie frame 2.

The bogie frame 2 is provided with four wheels 2a for rolling the two guide rails 1d provided in the storage chamber 1c at both ends in the width direction.
Rod 4a of shift cylinder 4 with its base end connected to the back side of
It is connected to. Then, the retracting operation of the rod 4a and the storing position in the storing chamber 1d and FIG.
Can be moved to the delivery position shown in FIG.

An outrigger type auxiliary wheel 5 is provided at the end of the bogie frame 2 so as to be able to move up and down. The auxiliary wheel 5 is rotatably mounted on the lower surface of the base 5a. The base 5a is connected to the bogie frame 2 by two guide rods 5b, and a driving elevating cylinder 5c is connected to the base 5a. .

Further, as shown in FIG. 1, the lifting frame 3 is connected to the upper end of a guide rod 3a vertically penetrating the bogie frame 2, and has a coil C whose upper surface is formed as a depression inclined as shown in FIG. Of the supporting surface 3b. The lifting frame 3 is driven up and down by a lifting cylinder 3c connected to the bogie frame 2. In a normal case, the lifting frame 3 is lowered as shown in FIG. To support this.

As shown in FIGS. 3 and 4, the coil table 31 for receiving the coil C transported by the automatic guided vehicle can mount the coil C using both adjacent frame units 32. Frame unit 32
Are frame members each having a substantially rectangular planar shape, and include four columns 32a arranged at the corners and a table 32b fixed to the upper ends thereof. Both ends of the table 32a have inclined surfaces. The skids 32c whose directions are opposite to each other are arranged.

As shown in FIG. 3, a large number of these frame units 32 are arranged at a distance from each other in a parallel positional relationship, and the slopes of the opposed skids 32c of the adjacent frame units 32 are inclined. The support surface 32d is a mounting surface for the coil C. The width of the interval between the frame units 32 is set to such a size that the bogie frame 2 and the elevating frame 3 can enter each other as shown in FIG.

In the above configuration, as shown in FIG.
The vehicle 1 is run while the coil C is mounted on the skid 1b of the vehicle 1, and the coil table 31 designated as a storage location is transferred as a destination. Since the reciprocating direction of the transfer mechanism T is orthogonal to the traveling direction of the vehicle body 1, the vehicle body 1 is transported along the direction in which the frame units 32 are arranged. The transfer mechanism T is stopped and placed sideways, and positioned so that the feeding direction of the transfer mechanism T coincides with the center between the frame units 32. During the running of the vehicle body 1, the auxiliary wheel 5 is raised by the lifting cylinder 5c, and is evacuated so as not to roll on the running surface.

After the positioning of the vehicle body 1, the lifting frame 3 is raised by the lifting cylinder 3c, and the coil C on the skid 1b of the vehicle body 1 is moved to the support surface 3 of the lifting frame 3.
b, the coil C is further raised, and the coil C is moved from the vehicle body 1 side to the lifting frame 3 side. The lifting frame 3
Is set so that the lower end surface of the coil C is slightly higher than the support surface 32d of the skid 32c of the coil table 31, and when the coil C is transferred,
Avoid interference with the end face of 2c.

Next, by lowering the base 5a by the lifting cylinder 5c, the auxiliary wheel 5 is landed on the running surface to make it rollable.

With the landing of the auxiliary wheel 5, the bogie frame 2 is supported on the vehicle body 1 side by the four wheels 2a and at the same time is supported on the running surface by the auxiliary wheel 5. Then, the shift cylinder 4 is driven to drive the rod 4a.
Is advanced, the carriage frame 2 is pushed out of the storage chamber 1c. Immediately after the start of the movement of the bogie frame 2, the two wheels 2a on the payout end side of the bogie frame 2 escape from the guide rail 1d, but thereafter, the two wheels 2a on the rear end side and the Since the auxiliary wheel 5 provided at the tip is on the floor, the transfer mechanism T travels in a state of being supported at four points by these wheels 2a and 5, and even if the heavy coil C is mounted. The bogie frame 2 moves stably without being in a posture in which the front end side is lowered forward.

When the carriage frame 2 enters the position shown in FIG. 4 between the frame units 32, the movement is stopped, and the lifting frame 3 is lowered by the lifting cylinder 3c. As a result, the lifting frame 3 at the position indicated by the dashed line in FIG.
The coil C is transferred onto the skid 32c of the coil table 31 during this lowering.

After the transfer of the coil C, the bogie frame 2 is pulled back to the storage chamber 1c by the shift cylinder 4 and stored therein, and the auxiliary wheel 5 is raised by the lifting cylinder 5c to be separated from the running surface. This allows
The vehicle body 1 is in a state where only its own wheel 1a has landed on the running surface, and the running is resumed by the automatic operation for the conveyance of the next coil C.

In the operation of pulling out the coil C stored in the coil table 31, the above operation can be performed in reverse order.

FIGS. 5 to 10 show another example, in which the coil C is transferred to and from the coil table 31 by the operation of inclining the coil C. FIG.
It should be noted that the present embodiment is different from the previous embodiment in that the lifting frame 3 is not provided, and the other components are substantially the same.

The bogie frame 2 is provided with two wheels 2a only on the rear end side and a support 2b for receiving the axial end surface of the coil C. The rod 5a of the shift cylinder 4 is connected to the base 5a of the auxiliary wheel 5. Have been. The base end of the tilt cylinder 6 is swingably connected to the base 5 a, and the rod 6 a is connected to the end of the bogie frame 2. With the provision of the tilt cylinder 6, when the rod 6a is advanced, the bogie frame 2 swings up and down with the wheel 2a on the rear end side as a pivot point.

The bogie frame 2 is set to be inclined when receiving and passing the coil C from above the coil table 31. To maintain this inclined posture, the side of the bogie frame 2 has a lock hole 2c. The lock holes 2 are formed in the upper surface of the vehicle body 1 as shown in FIG.
c is provided with a lock cylinder 7 for engaging with c. In these lock cylinders 7, the bogie frame 2 can be restrained at an inclined position by supporting the wheel 2a and the pins 7a by inserting a pin 7a connected to the tip of the rod into the lock hole 2c. .

FIGS. 9 to 10 are schematic views showing the operation of receiving the coil C on the coil table 31. FIG.

When the vehicle body 1 travels in the same manner as in the previous example, the auxiliary wheel 5 is set at the raised position, as in the previous example, and the traveling with only the wheel 2a is maintained. Then, after positioning in front of the coil table 31, the carriage frame 2 is set in a horizontal posture, and the auxiliary wheel 5 is lowered to land on the running surface. Then
In the same manner as in the previous example, by moving the cylinder 4a of the shift cylinder 4 forward, the bogie frame 2 is inserted between the frame units 32 of the coil mounting base 31, as shown in FIG.

Here, as shown in FIG. 7, when the bogie frame 2 is in a horizontal posture, the height relation is such that the level of the upper end is about the lower surface portion of the table 32b of the coil mounting base 31. Thereby, when inserting the bogie frame 2, the bogie frame 2 can be inserted without interfering with the lower end portion of the coil C mounted on the skid 32c.

The bogie frame 2 set in FIG. 9B
10A, the rod 6a of the tilt cylinder 6 is advanced so that the auxiliary wheel 5 is always in the running surface even when the inclination angle of the bogie frame 2 is large. To be able to maintain the state of being implanted. Thereby, the bogie frame 2 is always supported at four points by the auxiliary wheel 5 and the wheel 2a in the guide rail 1d.

When the bogie frame 2 is inclined, the support surface 2d formed on the upper surface of the bogie frame 2 passes through the space between the skids 32c and rotates toward the surface of the coil C, whereby the support surface 2d holds the coil C. It is received from the skid 32c and mounted.

Next, when the rod 4a of the shift cylinder 4 is retracted, the bogie frame 2 can be pulled back into the storage chamber 1c as shown in FIG.
After this storage, the pin 7a is inserted into the lock hole 2c, and the auxiliary wheel 5 is raised by the tilt cylinder 6 and pulled up from the running surface.
a can be run.

It is to be noted that the transfer of the coil C to the coil table 31 is performed after the operations shown in FIGS.
The coil C can be transferred to the coil table 31 and changed by following the operation procedure reverse to that shown in FIG.

[0037]

According to the present invention, the transfer mechanism can be extended from the body of an automatic guided vehicle that carries a product such as a coil made of a steel plate and conveys the product. Since it is possible to receive the vehicle body from below, it is not necessary to sink the vehicle body under the table unlike the related art, and the height of the table can be reduced. Therefore, when the transfer mechanism is provided with a lifting device for lifting and lowering the product, the lifting stroke can be reduced, the product can be worked in a stable posture in a short time, and the working efficiency can be improved. Also,
Since the height of the table can be reduced, the structure is simplified, and equipment costs are reduced.

[Brief description of the drawings]

FIG. 1 is a cutaway side view of an automatic guided vehicle provided with a transfer mechanism according to the present invention when the transfer mechanism is extended.

FIG. 2 is a rear view of the automatic guided vehicle.

FIG. 3 is a front view showing a state in which the transfer mechanism is inserted between frame units of the coil table.

FIG. 4 is a plan view of FIG. 1;

FIG. 5 is a cutaway side view showing an example in which the bogie frame is inclined.

FIG. 6 is a cutaway front view of the automatic guided vehicle shown in FIG. 5;

FIG. 7 is a front view showing a state in which the transfer mechanism is inserted between the frame units of the coil holder in the example of FIG. 5;

FIG. 8 is a plan view of FIG. 5;

9A and 9B are diagrams showing coil handling in the example of FIG. 5, wherein FIG. 9A shows a state in which the vehicle body is positioned before placing the coil, and FIG. 9B shows a state in which the bogie frame is extended. Show.

FIG. 10 is a view showing the handling subsequent to FIG. 9; FIG. 10A shows a state in which the bogie frame is tilted to receive the coil, and FIG. 10B shows a state in which the bogie frame is pulled back and collected. Is shown.

11A is a conventional example, in which FIG. 11A shows a state in which an automatic guided vehicle is moved into a coil holder, and FIG. 11B is a right side view of FIG. is there.

[Explanation of symbols]

 1: body 1a: wheel 1b: skid 1c: storage chamber 1d: guide rail 2: trolley frame 2a: wheel 2b: support 2c: lock hole 2d: support surface 3: lifting frame 3b: support surface 3c: lifting cylinder 4: shift Cylinder 5: Auxiliary wheel 5 a: Base 5 c: Lifting cylinder 6: Tilt cylinder 7: Lock cylinder 31: Coil table 32: Frame unit 32 a: Support 32 b: Table 32 c: Skid 32 d: Support surface C: Coil T: Transfer mechanism

Claims (3)

[Claims] 1. An automatic guided vehicle for traveling by designating its traveling direction by an inductive sensor installed on a traveling surface, and loading and transporting a product on an upper surface thereof, wherein a lower surface of the product is provided inside a vehicle body. A transfer structure for an automatic guided vehicle, wherein a transfer mechanism capable of receiving and supporting the transfer mechanism is connected so as to be able to be extended toward the inside and outside of the vehicle body. 2. The vehicle according to claim 1, wherein the transfer mechanism includes a bogie frame movable to the outside of the vehicle body by a driving unit, an elevating frame connected to the bogie frame for mounting the product, and elevating the bogie frame. 2. The transfer structure for an automatic guided vehicle according to claim 1, further comprising a rotatable auxiliary wheel connected to the payout end so as to be able to move up and down. 3. A bogie frame for mounting a product connected to the vehicle body, wherein the transfer mechanism is movable by driving means to the outside of the vehicle body, and a pay-out end side thereof can swing up and down, and tilts the bogie frame. 2. The transfer structure for an automatic guided vehicle according to claim 1, comprising: a tilt drive means for operating; and an auxiliary wheel connected to a paying-out end side of the bogie frame.