JPH10315956A - Truck coupling disengaging device of automatic guided vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve stable coupling without whirling and sure disengaging with small driving force by providing the rear part of a horizontal fixed guide arm member with a rotary type connecting pin fixture having plural pin grooves at equal spaces and with a pin hook hardware for closing an opening part. SOLUTION: An automatic guided vehicle 1 is provided with a truck coupling disengaging device 20 having a horizontal fixed guide arm member 19, and a loading truck 2 is provided with a connecting pin 25 suspended from the forward end of a support member 24. The guide arm member 19 is so constructed that an opening part 19g a little wider than the connecting pin 25 is formed on the pin connecting side of an outer guide arm 19d and a pin hook hardware 30 for stopping the connecting pin 25 is arranged in a position for closing the opening. A roller 27 (connecting pin fixture) having semi-elliptic pin grooves 27a formed at equal spaces in four places is provided on the pin connecting side of the innder guide arm 19c to be supported on a roller support base 26 in such a manner as to rotate horizontally. Thus, stable pin connection without whirling and sure disengaging with small disengaging driving force can be achieved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of a bogie connecting and disconnecting apparatus for an automatic guided vehicle that distributes articles such as parts and semi-finished products in a production factory or a warehouse by unmanned operation.

[0002]

2. Description of the Related Art Conventionally, as an automatic guided vehicle provided with a bogie connection / disconnection device, for example, the following ones are known.

(1) Japanese Utility Model Publication No. 7-32166 (Showa 6)
(Applied on June 29, 2009) The trolley 1 is provided with a swingable traction fitting 2, and the connection is performed by guiding the connecting rod 11 provided on the traction trolley 10 to the guide rods 3, 9 of the traction fitting 2. The separation is performed by engaging with the stand 9 attached to the floor surface of the station or the like and the traction fitting 2.
Is described which is performed by rocking the upper part of the apparatus.

(2) JP-A-4-328008 (filed on Apr. 27, 1991) A carriage 16 is provided with a swingable metal fitting 14.
For connection, the connecting pin 12 provided on the driven
4 is performed by engaging with a base 28 having a stopper 28, and separation is performed by colliding a stand 54 with a support arm 52 and swinging the latch 14 upward. I have.

(3) Japanese Unexamined Patent Publication No. Hei 6-183232 (filed on Dec. 18, 1992) A modification of the Japanese Unexamined Patent Publication No. Hei 4-328008 discloses a method of operating the motor 12 to swing the latch 28 upward. An apparatus is described which is performed by the following.

(4) Japanese Unexamined Patent Publication No. Hei 3-224807 (filed on January 30, 1990) The tow truck 1 is provided with a swingable arm 10 and is connected by a pin 28 of the tow truck 7 to open and close. The device is described in which the opening 18 is pushed inward and penetrated into the connecting recess 14, and the disconnection is carried out by operating the motor 31 to swing the arm 10 upward from the horizontal position.

(5) Japanese Utility Model Publication No. 4-26290 (Showa 6
The unmanned towing vehicle 1 and the loading truck 2 travel on the same track, and the unmanned towing vehicle 1 is provided with a plurality of connecting tools 3 and 3 having a connecting block 3b. Receiving groove 5b
Are installed, and the connection is made by the main connection tool 3,
3 and the coupling receivers 5 and 5 are superimposed and 9
An apparatus is described in which the rotation is performed by 0 degrees, and the separation is performed by rotating the motor 7 again by 90 degrees.

[0008]

However, the automatic guided vehicle provided with the above-described conventional bogie connection / disconnection device has the following problems.

First, regarding the techniques (1) and (2),
Since the detachment is performed using the stand attached to the floor, if the traveling track of the transport vehicle is disengaged from the stand at the detached position, the detachment cannot be reliably performed such that the detachment is not performed. In addition, since the stand is provided so as to protrude from the floor, the towing vehicle 10
It becomes a hindrance to the work when the robot is moved, and is not preferable in terms of safety.

In the prior arts (3) and (4), the stand is abolished and the separation is performed using the driving force of the mounted motor. However, since the heavy weight of the hook 28 and the entire arm 10 are rocked and separated by the motor, the load of the separation motor increases. As a result, at the time of disconnection, the automatic guided vehicle is temporarily stopped, the load due to the contact resistance with the connecting pin 12 is released, and the swing operation is performed with only the heavy load of the hook 28 and the arm 10, which causes a stop. As a result, the operating rate of the automatic guided vehicle decreases, and the workability of loading and unloading decreases.

[0011] In the prior art (5), the connection is performed by rotating the connection main members 3, 3 and the connection receiving members 5, 5 by the motor 7 in a coaxial state.
It is necessary to stop the unmanned towing vehicle 1 at a position where the rotation center of the coupling receivers 3 and 3 coincides with each other, so that accurate arrangement of the loading truck 2 and accurate stop position control of the unmanned towing vehicle 1 are required. Further, in performing the connection / disconnection control, detection of a connection state or a disconnection state is required. further,
Connection cannot be performed while traveling continues, and the unmanned towing vehicle 1 stops.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a bogie connection / separation device for an automatic guided vehicle in which stable pin connection without whirling and reliable separation can be achieved by a small driving force.

[0013]

[Means for Solving the Problems]

(Solution 1) Solution 1 of the above problem (Claim 1)
An automatic guided vehicle connecting / disconnecting device that is provided at a rear portion of the automatic guided vehicle that travels on the traveling route determined by the destination guidance control and that disconnects and connects to the connecting pin of the loading vehicle. A horizontally fixed guide arm member for guiding from the left and right introduction openings on the left and right sides of the vehicle base toward the arm rear end opening; and a horizontally rotatable provided on the rear top portion of the inner guide arm of the guide arm member. While multiple pin grooves are formed at intervals,
One pin groove on the arm rear end opening side is used as a groove for forming a pin connection space in the arm rear end opening area, and one pin groove on the traction side is pressed against the detent stopper by the urging force of the spring. A rotary connecting pin fixing bracket which is a groove, and a groove for guiding the connecting pin to the pin connecting space when connecting the remaining pin grooves, and an arm in which the two outer guide arms of the guide arm member are close to each other with a space therebetween And a pin hook having a V-shaped cross-section along two outer guide arms, which is arranged so as to be able to enter and exit at a position closing the rear end opening.

According to a second aspect of the present invention, there is provided an automatic guided vehicle connecting and disconnecting device according to the first aspect of the present invention, wherein the guide arm member is separated into an arm base on the automatic guided vehicle side. A drive motor is installed, a pin hook is fixed to the tip of the swing arm that is pin-supported with respect to the arm base, and between the rear end of the swing arm and the separation drive motor, When the motor is not driven, the rocking arm is raised by receiving the upward force acting on the rocking arm and setting the pin hook to the arm lowering position that closes the opening at the rear end of the arm, and then turning it almost half way in one direction from this position. And a cam mechanism for lowering the swing arm in the next half rotation is provided.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION

(Embodiment 1) Embodiment 1 corresponds to Solution 1 and Solution 2.

First, the configuration will be described.

FIG. 1 is a perspective view showing an automatic guided vehicle and a loading truck to which the bogie connecting and disconnecting device according to the first embodiment is applied.
FIG. 2 is an explanatory view of a distribution line of a production factory to which the automatic guided vehicle of the first embodiment is applied, FIGS. 3 and 4 are a plan view and a side view showing a bogie connecting and disconnecting device of the automatic guided vehicle of the first embodiment, 5 and 6 are a detailed view showing a pin connecting portion and a fitting driving portion of the bogie connecting and disconnecting device of the automatic guided vehicle according to the first embodiment, and FIGS. 7 and 8 are loading carts according to the first embodiment. It is the side view and top view which show.

1 and 2, reference numeral 1 denotes an automatic guided vehicle,
2 is a loading truck, 3 is a magnetic tape, 4 is a marker for an arm raised position, 5 is a marker for an arm lowered position, 6 is a marker for preventing erroneous detection, 7 is a manhole, 8 is a carrier stop station, and 9 is a production line. It is.

The automatic guided vehicle 1 is a towing type vehicle that runs by magnetic guidance along a magnetic tape 3 according to a destination and a route selected by a magnetic card. As shown in FIG. A driven front wheel 11, a driven rear wheel 12, and a driving wheel 13 are provided on the lower surface side of
A handle 14, a magnetic card control box 15, and a patrol light 16 are provided at a front position on the upper surface side of the vehicle base 10, and a dummy weight 17 and a battery 18 are provided on the upper surface of the vehicle base 10. At the rear of the vehicle base 10, a bogie connecting / disconnecting device 20 having a guide arm member 19 fixed in a horizontal state is provided.

A plurality of loading carts 2 are arranged on the distribution line, and are connected to or separated from the automatic guided vehicle 1 to transport the load A to the destination, as shown in FIG. A front wheel 22 and a rear wheel 23 are provided on the lower surface of the carrier frame 21, a pin support member 24 is provided to protrude from the front part of the carrier frame 21, and a connecting pin 25 is suspended from a tip end of the pin support member 24. (See FIGS. 7 and 8).

The magnetic tape 3 is, as shown in FIG.
It is provided along a traveling route (a branch route is omitted) around the production line 9 on which the automatic guided vehicle 1 travels.

Then, along the line of the magnetic tape 3,
An arm-up position marker 4 and an arm-down position marker 5 for specifying an arm-up position (separation position) are provided on the road surface, and a transport vehicle stop station 8 for specifying a stop position of the automatic guided vehicle 1 is provided. Further, an erroneous detection preventing marker 6 for preventing erroneous detection of the stop position due to the presence of the manhole 7 on the traveling path is provided.

Next, the configuration of the bogie connecting and disconnecting device 20 of the automatic guided vehicle 1 will be described with reference to FIGS.

The guide arm member 19 is shown in FIGS.
As shown in FIG. 5, an arm base 19b fixed to the rear portion of the vehicle base 10 by bolts (bolt holes 19a, 19), and "<"-shaped inner guide arms 19c, 19c supported by the arm base 19b, The inner guide arm 1
9c, 19c, two outer guide arms 19d, 19d arranged in parallel with substantially the same interval as the outer guide arms 19d.
The bridge arms 19e, 19e, 19e, and 19e each have a U-shape supporting the d and 19d. In addition, on the pin introduction side of the outer guide arms 19d, 19d, an introduction opening 1 with improved introduction of the connection pin 25 is provided.
In order to secure 9f, 19f, open arm 19d ',
19d 'and a parallel arm portion 19d ", 19d" are formed. On the pin connecting side of the outer guide arms 19d, 19d, an arm rear end opening 19g is formed at a slightly wider interval than the connecting pin 25, as shown in FIG. At the closing position, a pin hook 30 that connects the connecting pin 25 in a retaining state except when the connector is disconnected is arranged.

As shown in FIG. 5, a roller support base 2 is provided on the pin connecting side of the inner guide arms 19c, 19c.
A roller 27 (connecting pin fixing bracket) is supported by a pin so as to be able to rotate horizontally with respect to 6, and semi-elliptical pin grooves 27a, 27a, 27a, 2 formed at four locations at equal intervals on the roller 27.
One of the pin grooves 27a on the traction side of 7a is provided with a roller detent stopper 29 which is pressed against by the urging force of the spring. In addition, one pin groove 27a on the connection side is provided between the arm rear end opening 19g and the pin hooking fitting 30.
To form a pin connection space for connecting the connection pin 25 stably without whirling, and the two pin grooves 2 at the left and right positions
7a rotates 90 degrees while keeping the connecting pin 25 guided and introduced after the separation by the groove engagement, and has a role of a connecting pin guiding groove which becomes a part of the next pin connecting space.

The pin hooking member 30 has a V-shaped cross section, is fixed to the tip end of a swing arm 31, and uses a motor 32 with a reduction gear provided at the rear end of the arm as a driving means. Movement from a position that closes the rear end opening 19g of the arm to an open position is achieved by a rotation (elevation) that lifts up by a predetermined angle, and a rotation (down) that returns the swing arm 31 by a predetermined angle downwards. The movement from the position where the arm rear end opening 19g is opened to the position where it is closed is achieved. Note that a manual hook 33 connected to the bogie-side connection ring is fixed to the pin hook 30.

The swing arm 31 is provided on the arm base 19.
b is pivotally supported by a pin 35 with respect to a support bracket 34 fixed at the center of the arm b.
6 are formed.

The motor 32 with a reduction gear is mounted on a motor support bracket 37 fixed to the arm base 19b, and as shown in FIG. A cam plate 38 having a chord 38a in which arc portions of the range are connected by a straight line is fixed. A drive pin 39 which is inserted and connected to the long hole 36 is fixed to the upper part of the cam plate 38 in the horizontal direction. When the motor 32 with the reduction gear is not driven, the drive pin 39 is inserted through the long hole 36 of the swing arm 31. Upon receiving an upward force acting on the drive pin 39, the swing arm 31 is held at the lowered position shown by the solid line in FIG.

At the outer peripheral position of the cam plate 38, a chord portion 38 is provided.
A first micro switch 40 and a second micro switch 41 for detecting whether the arm is raised or lowered based on the change of the switch signal due to a are provided at opposing positions across the motor shaft 32a.

On the arm base 19b, a left proximity switch 4 is provided at the left and right positions of the swing arm 31 when viewed from the towing direction.
2 and the right proximity switch 43 (separation position sensor) are fixed via brackets 44 and 45, respectively.
Each of the markers 4, 5, 6 on the road surface shown in FIG. 2 and the manhole 7 on the road surface that causes a switch operation like the marker are detected, and a switch signal is output.

The motor 32 with a reduction gear has a dip switch (departure switch for the automatic guided vehicle 1), two micro switches 40 and 41, and a right and left proximity switch 4 (not shown).
A connection / disconnection controller 46 for inputting switch signals from the input signals 2 and 43 and performing connection / disconnection drive control by the pin hooking fitting 30 in accordance with a drive command based on the input signal is connected.

Next, the operation will be described.

[Connection / Disconnection Drive Control Operation] FIG. 9 shows a pin hook 3 performed by the connection / disconnection controller 46.
Each step will be described below with reference to a flowchart showing the flow of the connection / disconnection drive control operation of 0.

At step 90, the dip switch is turned on.
It is determined whether or not the connection is disconnected and the drive control is started by turning on the dip switch.

In step 91, the right proximity switch 43
It is determined whether the switch signal from is turned on.

In step 92, if it is determined in step 91 that the right switch signal is on, it is determined whether the switch signal from the left proximity switch 42 is on or not. If the left switch signal is on, the process proceeds to step 92. Return to 91.

When both the conditions that the switch signal on the right side is ON in step 91 and the switch signal on the left side are OFF in step 92 are satisfied, it is determined that the arm is at the disconnection position for raising the arm. When the time timer is turned on and it is determined in step 94 that the timer time has reached the set time, step 9 is executed.
At 5, a motor drive command for raising the swing arm 31 is output.

In this step 92, it is confirmed that the motor 32 is stopped when the switch signal from the second micro switch 41 changes from off to on to off (when the chord 38a of the cam plate 38 is turned on). Is output. As a result, the pin hook 30 moves from the position that closes the arm rear end opening 19g to the position that opens it.

In step 96, the left proximity switch 42
It is determined whether the switch signal from the right side proximity switch 43 is on at step 97.

If both the conditions that the left switch signal is on at step 96 and the right switch signal is off at step 97 are satisfied, it is determined that the arm is in the return position for lowering the arm, and at step 98 the swing position is determined. Moving arm 3
A motor drive command for lowering 1 is output.

In order to confirm that the arm has been lowered in step 98, a command to stop the motor 32 is output when the switch signal from the first microswitch 40 changes from off to on to off. As a result, the pin hook 30 returns from the position where the rear end opening 19g of the arm is opened to the position where it is closed.

[Attachment / Detachment Operation of Unmanned Aerial Vehicle and Loading Truck] The unattached automatic vehicle 1 and the loading truck 2 which are self-propelled on the traveling route determined by the destination guidance control are disconnected and performed in the following procedure. .

(1) Truck Arrangement Procedure First, the loading truck 2 is arranged on the traveling route in a state where the traveling of the automatic guided vehicle 1 is not obstructed and the connecting pin 25 is directed toward the traveling road.

That is, as shown at the position 2-1 or 2-4 of the loading cart 2 in FIG. 2, at a position slightly away from the magnetic tape 3, a direction substantially orthogonal to the laying direction of the magnetic tape 3. The loading trolley 2 is arranged on the trolley.

(2) Truck connection procedure The connection pin 25 is introduced into the introduction opening 19f of the guide arm member 19 provided at the rear of the automatic guided vehicle 1 that has traveled, and the inner guide arm 19c and the outer guide arm 19d.
The connecting pin 25 is guided along the groove, the connecting pin 25 is engaged with the pin groove 27a of the roller 27, the roller 27 rotates 90 degrees while maintaining the groove engagement, and the arm rear end opening 19
g, the connecting pin 25 reaches the position g, and the connecting pin 25 is connected in a locked state by a pin hooking member 30 arranged at a position to close the arm rear end opening 19g, and connects the automatic guided vehicle 1 and the loading cart 2 to each other. .

(3) Tow Truck Pulling Procedure As shown in FIG. 5, the automatic guided vehicle 1 and the loading truck 2
The connecting pin 25 moves along the magnetic tape 3 along the determined traveling path toward the destination point in a connected and pulled state in which the connecting pin 25 contacts the V-shaped inner surface of the pin hooking fitting 30.

(4) Cart separation procedure When the separation position specified by the arm-up position marker 4 provided on the road surface during the traveling movement is detected by the switch signals of the proximity switches 42 and 43, the traveling is maintained. Then, the swing arm 31 is raised after a short time from the detection of the separation position.

As a result, the pin hooking member 30 moves from the position for closing the rear end opening 19g of the arm to the open position, and only the automatic guided vehicle 1 runs away with the rear end opening 19g opened by this movement. Arm rear end opening 19
The connecting pin 25 comes off from the g and the loading cart 2 is separated.

(5) Hook fitting return procedure When the bracket return position specified by the arm lowering position marker 5 provided on the road surface is detected during the traveling movement in which the separation operation is completed, the return of the hook is immediately followed by a swing. The moving arm 31 is lowered to the original position.

As a result, the pin hooking member 30 returns to the original position for closing the arm rear end opening 19g while maintaining traveling, and the system for connecting the loading truck 2 is prepared.

[Product Transfer Operation] A description will be given of a product transfer operation for transferring a product manufactured on a production line of a factory to a warehouse or the like according to a specific application example shown in FIG.

First, when the automatic guided vehicle 1 stopped at the position of the transport vehicle stop station 8 starts traveling, the connecting pin 25 of the empty loading cart 2-1 is moved by the guide arm member 19 with the traveling. A pin hook 3 which is guided to the position of the rear end opening 19g and closes the arm rear end opening 19g.
0 connects the empty loading truck 2-1 and the automatic guided vehicle 1
And the loading cart 2 move along the magnetic tape 3 in a connected and pulled state.

The presence of the manhole 7 during the movement in the connected towing state causes the right proximity switch 43 provided on the automatic guided vehicle 1 to detect the manhole 7, but at the same time, is provided in parallel with the manhole 7. When the left proximity switch 42 detects the erroneous detection preventing marker 6, it is determined that the position is not the separation position (steps 91 and 92 in FIG. 9), and further moves along the magnetic tape 3.

When the right proximity switch 43 detects the arm-up position marker 4, the conditions of steps 91 and 92 in FIG. 9 are satisfied, and the pin hook 25 is moved rearward by driving the swing arm 31 up. End opening 1
9g is moved to a position to open, and in this state, only the automatic guided vehicle 1 runs away, and the empty loading cart 2 is separated from the automatic guided vehicle 1 at the 2-2 position. The separated empty loading cart 2 is moved from the 2-2 position to the 2-3 position, the product produced on the production line 9 is loaded, and the loaded loading cart 2 is further loaded with the product. -4 position to be in the connection standby state.

When the left proximity switch 42 detects the arm lowering position marker 5, the conditions of steps 96 and 97 in FIG. 9 are satisfied, and the pin hook 2
5 is returned to the original position to close the rear end opening 19g of the arm.

When the unmanned transport vehicle 1 having returned the pin hook 25 has passed the position 2-4, the loading truck 2 already loaded with the product and waiting is continued while traveling, as described above. As shown in FIG. 2, the unmanned transport vehicle 1 and the loading cart 2 in the connected towed state move along the magnetic tape 3 after passing through the 2-5 position as shown in FIG. 2. .

When the right proximity switch 43 detects the marker 5 for the arm lowering position, the pin hook 25 is lifted in the same manner as described above, and the loading cart 2 loaded with the product is separated from the automatic guided vehicle 1. The separated loading cart 2 is unloaded from the traveling route and the products are unloaded as shown at the position 2-6, and the products are temporarily stored in a warehouse or carried to the next production line. Then, the empty loading cart 2 is moved to the 2-1 position and is again brought into the connection standby state.

Then, the automatic guided vehicle 1 having the pin hook 25 returned to its original position is temporarily stopped at the position of the transport vehicle stop station 8.

In this way, by repeating the above-mentioned operation performed while the traveling of the automatic guided vehicle 1 is continued with the transport vehicle stop station 8 as the starting point and the end point, the products produced on the production line 9 are successively transferred to the warehouse side. Will be transported to

Further, in this system, if the guidance control that does not stop once is performed at the transport vehicle stop station 8, the operating time determined by the capacity of the battery 18 allows the continuous traveling without stopping or decelerating the automatic guided vehicle 1 at all. By maintaining this, the product can be transported with the maximum transport efficiency.

Next, the effects will be described.

In the first embodiment, it is possible to provide a bogie connecting / disconnecting device 20 for the automatic guided vehicle 1, which also achieves the following usefulness.

(1) A roller 2 is provided at the rear top of the inner guide arms 19c, 19c of the guide arm member 19 so as to be horizontally rotatable.
7, four pin grooves 27a, 27a, 27a are formed at equal intervals on the outer periphery of the roller 27, and one pin groove 27a on the arm rear end opening 19g side is connected to the arm rear end opening 1
A groove for forming a pin connection space limited to the area of 9 g, one pin groove 27a on the traction side is a groove on which the detent stopper 29 is pressed by the biasing force of the spring 28, and the remaining pin grooves 27a, 27a Is a groove for guiding the connection pin 25 to the pin connection space at the time of connection, so that the connection pin 25 is smoothly introduced at the time of connection, and in the connected state, the movable range of the connection pin 25 is limited to the pin connection space, and No stable pin connection is achieved.

(2) The pin hooking fitting 30 is removably disposed at a position where the two outer guide arms 19d, 19d of the guide arm member 19 close the arm rear end opening 19g which is close to each other with a gap therebetween. Since the cross-sectional shape of the bracket 30 is a V-shaped cross-sectional shape along the two outer guide arms 19d, the contact with the connecting pin 25 having a circular cross-section at the time of connection becomes a line contact or a point contact with a small contact area, and a surface contact. In comparison, the contact resistance is small, and a reliable separation can be achieved by a small separation driving force to the pin hooking member 30 at the time of separation.

(3) Between the rear end of the swing arm 31 and the separation drive motor 32, the pin hooking member 30 receives the upward force acting from the swing arm 31 when the motor is not driven, and causes the arm 30 to be armed. An arm lowering position for closing the rear end opening 19g is set, and the swing arm 31 is raised by substantially half-turning in one direction from this position, and the swinging arm 31 is rotated by the next half turn.
The swing arm 31 is kept in the lowered position for most of the time except when the swing arm 31 needs to be lifted, since the cam mechanism including the long hole 36, the cam plate 38, and the driving pin 39 for lowering the swing arm 31 is provided. And the battery load can be reduced.

As a result, the vehicle-mounted battery 18 can be mainly used for driving the automatic guided vehicle 1 for traveling, and the operating time can be extended.

(Other Embodiments) In the first embodiment, an example in which the automatic guided vehicle 1 is self-propelled by magnetic guidance has been described. However, an aluminum tape or the like that reflects light is laid on a traveling road surface, and optical guidance is provided. For example, or an example of guiding by using both magnetism and optics.

In the first embodiment, an example has been shown in which the pin hook is moved to the open position by pivoting the pin hook, which moves the pin hook located at the position closing the rear end opening of the arm.
An example in which the pin hook is moved by rotation or vertical movement may be used.

In the first embodiment, an example is shown in which a motor is used as the separating driving means, but other driving means such as a hydraulic or pneumatic cylinder may be used.

[0070]

According to the first aspect of the present invention, an unmanned vehicle is provided at a rear portion of an unmanned guided vehicle that travels along a traveling route determined by destination guidance control and is connected to and disconnected from a connecting pin of a loading truck. In a bogie connecting and disconnecting device for a carrier, a horizontally fixed guide arm member for guiding a connecting pin of a loading cart from an introduction opening on both left and right sides of a vehicle base toward an arm rear end opening, and an inner guide of the guide arm member. A plurality of pin grooves are formed at the rear top of the arm so as to be horizontally rotatable, and a plurality of pin grooves are formed at equal intervals on the outer periphery. One pin groove on the arm rear end opening side is provided with a pin connection space in the arm rear end opening area. One pin groove on the traction side is used as a groove to which the detent stopper is pressed by the biasing force of the spring, and the other pin grooves are used to connect the connecting pins when connecting. A rotary connecting pin fixing bracket serving as a guiding groove, and two outer guide arms of a guide arm member are disposed so as to be able to enter and exit at a position to close an arm rear end opening portion that is close to and spaced from the two outer guide arms. V along the guide arm
The present invention provides a bogie connection / separation device for an automatic guided vehicle in which a pin hooking member having a U-shaped cross section is provided, and a stable pin connection without whirling and a secure separation with a small separation driving force are achieved. The effect that it can be obtained is obtained.

In the invention according to claim 2, claim 1
In the automatic guided vehicle connecting / disconnecting device described above, a detaching drive motor is installed on an arm base of the guide arm member on the automatic guided vehicle side, and a pin is hooked on a tip end portion of a swing arm supported by a pin with respect to the arm base. Fix the bracket, between the rear end of the swing arm and the separation drive motor,
When the motor is not driven, the rocking arm is raised by receiving the upward force acting on the rocking arm and setting the pin hook to the arm lowering position that closes the opening at the rear end of the arm, and then turning it almost half way in one direction from this position. And a cam mechanism for lowering the swing arm in the next half rotation is provided.
Most of the time except for the time when the swing arm needs to be lifted, except for the time of disconnection, is in a no-load state in which the swing arm remains at the lowered position, so that the battery load can be reduced.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an automatic guided vehicle and a loading truck to which a truck connecting and disconnecting device according to a first embodiment is applied.

FIG. 2 is an explanatory diagram of a distribution line of a production factory using an automatic guided vehicle to which the bogie connecting and disconnecting device according to the first embodiment is applied.

FIG. 3 is a plan view showing a bogie connecting and disconnecting device of the automatic guided vehicle according to the first embodiment.

FIG. 4 is a side view showing a bogie connecting and disconnecting device of the automatic guided vehicle according to the first embodiment.

FIG. 5 is a detailed view showing a pin connecting portion of the bogie connecting and disconnecting device of the automatic guided vehicle according to the first embodiment.

FIG. 6 is a detailed view showing a pin hook driving unit of the bogie connecting and disconnecting device of the automatic guided vehicle according to the first embodiment.

FIG. 7 is a side view illustrating an example of a loading truck pulled by the automatic guided vehicle according to the first embodiment.

FIG. 8 is a plan view showing an example of a loading truck towed by the automatic guided vehicle according to the first embodiment.

FIG. 9 is a flowchart showing a flow of a drive control operation of a pin hooking device performed by a connection / disconnection controller of the bogie connection / disconnection device of the automatic guided vehicle according to the first embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Unmanned guided vehicle 2 Loading cart 3 Magnetic tape (derivative) 4 Marker for arm raising position 5 Marker for arm lowering position 10 Vehicle base 19 Guide arm member 19c Inner guide arm 19d Outer guide arm 19g Arm rear end opening 20 Connection disconnection Apparatus 25 Connecting pin 27 Roller (rotary connecting pin fixing bracket) 30 Pin hooking bracket 31 Swing arm 32 Motor with reduction gear 37 Cam plate

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Katsunobu Ota 2-10-10 Honcho, Naka-ku, Yokohama-shi, Kanagawa Pref.

Claims (2)

[Claims] An automatic guided vehicle connecting / disconnecting device provided at a rear portion of an automatic guided vehicle that runs on a traveling route determined by destination guidance control and that disconnects / connects to / from a connecting pin of a loading vehicle. A horizontally fixed guide arm member for guiding the connecting pin of the bogie from the left and right introduction openings on the left and right sides of the vehicle base toward the arm rear end opening; and a rotatably provided at the rear top of the inner guide arm of the guide arm member. A plurality of pin grooves are formed at equal intervals on the outer periphery, and one pin groove on the side of the arm rear end opening is used as a groove for forming a pin connection space in the arm rear end opening area. A rotary type in which one pin groove is a groove in which a detent stopper is pressed by a biasing force of a spring, and the other pin groove is a groove for guiding a connecting pin to a pin connecting space during connection. A V-shaped cross-section along the two outer guide arms, wherein a connecting pin fixing bracket and two outer guide arms of the guide arm member are arranged so as to be able to enter and exit at a position that closes an arm rear end opening portion that is close to and spaced from the arm; A bogie connecting and disconnecting device for an automatic guided vehicle, comprising: a pin catch having a shape; 2. The uncoupling and uncoupling device for an automatic guided vehicle according to claim 1, further comprising: a motor for separating and driving the guide arm member, which is mounted on an arm base of the automatic guided vehicle on a side of the automatic guided vehicle, the pin being supported by the arm base. A pin hook is fixed to the leading end of the swinging arm, and an upward force acting from the swinging arm when the motor is not driven is provided between the rear end of the swinging arm and the separation drive motor. A cam mechanism that raises the swing arm by rotating the pin hooking bracket halfway in one direction from this position to the arm lowering position that closes the arm rear end opening, and lowers the swing arm by the next half rotation A bogie bogie connection and disconnection device, characterized in that it is provided.