JPS5830764Y2 - floor moving vehicle - Google Patents

Description

[Detailed description of the invention] This invention relates to a mobile metal cart or its driving vehicle that runs on the floor of a warehouse, factory, hospital, etc. or on the road surface of a factory site to perform cargo handling work. In particular, regarding the combination of a cargo handling trolley without a drive device and a floor moving vehicle that gets under the heavy body of the cargo handling trolley and tows it, a coupling device compatible with both has been installed. It is an object of the present invention to provide a floor moving vehicle characterized by the following features.

As is well known, when carrying out cargo handling work in a warehouse etc., a cargo handling trolley for loading cargo is usually connected to the machine base, and a towing vehicle equipped with a single drive device is connected to the front of this cargo handling trolley to carry the cargo. I'm trying to move around.

There is also known a remote-controlled floor moving vehicle in which a drive device is attached to the cargo handling trolley itself without the need for a towing vehicle, and the vehicle is operated by radio guidance without being controlled by a worker. (See %Komei No. 41-14121).

In this conventional method using guided radio, a moving vehicle is driven along a pre-installed track on the floor, and a plurality of detection coils are attached to the moving vehicle, for example, at a distance in the lateral direction. When the detection state level of this coil becomes below a certain value, the phase is detected and the direction of the moving vehicle is regulated, or operations such as running or stopping the vehicle are performed.

To explain this point in more detail, the above-mentioned conventional device is one in which a drive device and a movement control device are mounted on a hand truck, which has been popular since the past, and goods to be moved are directly loaded onto this device. This was an attempt to achieve the intended purpose.

However, with this type of mobile vehicle, loading and unloading of goods onto the trolley must be carried out manually on tracks on a predetermined floor surface, and during the work period. , the moving vehicle is forced to stop, and even if there are other parts to be moved, they cannot be immediately loaded onto the moving vehicle.

On the other hand, unlike the above-mentioned method, in a method in which a plurality of cargo handling carts without a drive device are connected to the top of the truck and run manually or via radio, loading and unloading of goods is done in advance. Only the cargo handling cart can be removed from the connecting hook attached to the towing vehicle and freely moved out of the planned route without having to be carried out on the installed track.

Also, it is relatively easy to automatically cancel this connection operation or to have the connection operation itself automatically performed, but it is difficult to perform these operations automatically. In such cases, complicated operations are required, such as having to move the driving tow vehicle backward each time to perform the connection.

Moreover, when these devices are installed in a warehouse, the route itself is usually not wide enough to provide a pull-in passage or a vehicle handling passage. Therefore, the operation of the vehicle requires complicated steps, and the effectiveness of automatic coupling is hardly achieved.

Particularly in cases where the route is a single track and there is no pull-in route, it is impossible to tow a bogie that is facing in the direction of travel of the towing vehicle, which causes a decrease in work efficiency. .

In addition, in the above method, the towing vehicle must be connected to the top of the connected trolleys, so the towing vehicle must be stopped there while cargo is being loaded or unloaded on a particular trolley. Even if there were other items to be moved, the cart could not be towed, resulting in extremely inefficient work.

Here, this invention combines a cargo handling trolley that can move freely along a predetermined passageway and a single drive vehicle that can run through the underside of the vehicle body of the cargo handling trolley. By incorporating a pair of automatic coupling devices on the lower surface, all the drawbacks of the conventional device as described above are eliminated.

Furthermore, this invention involves attaching an engaging pawl to the underside of the cargo handling cart and a locking pin to the drive wheel, and pivoting the locking pin to one end of the lever attached while maintaining the loading rod relationship. ,
By attaching an electromagnetic plunger to the other end and indirectly raising and lowering the locking pin, and further equipping the lever device with a locking mechanism, connection and disconnection between the truck and the drive car can be smoothly performed. This is what I did.

Proceeding to explain this invention in detail based on the illustrated embodiment, in FIG. 3, a pair of engaging claws 4 which are one component of the coupling device.
, 4.

On the other hand, a single-drive vehicle 5 capable of running through the underside of the vehicle body of the cargo handling trolley 1 is prepared, and its structure is as follows.

In other words, this single-drive vehicle is constructed with a self-propelled vehicle body equipped with wheels 6.6, and the dimensions of the vehicle body are such that it has a width and height that allows it to enter and pass through the underside of the vehicle body of the bogie 1. Make sure that you have a sense of security.

For example, this drive vehicle is automatically operated by a guidance radio, and its running direction is automatically set along a guide track 7 buried in a predetermined route on the floor F. The vehicle is equipped with a steering mechanism 8 that allows the vehicle to move along the guide line, and a sensing section 9 for detecting a guidance signal emitted from the guidance line.

Furthermore, a locking pin 10, which is a corresponding member of the coupling device in the truck 1, and a starting device 11 for the locking pin are attached to the frontmost part of the drive vehicle 5 in the traveling direction, and the locking pin can be connected to the truck 2 as needed. By engaging the engaging claws 4 and 4',
The engaged cart is driven.

The details of the coupling device are as shown in FIG.
2, and this pin is guided via a fulcrum 13 at the lower end to an operating lever 14 (hereinafter simply referred to as lever 14).
), and a spring 1 is attached to the lever 14.
5 is attached so that it always has a tendency to rotate counterclockwise about the fulcrum 16.

On the other hand, a first electromagnetic plunger 1 is attached to the end of this lever 14.
7 are interlocked, and one end of the lock lever 19c7) is locked to one end 18 of the lever on which the electromagnetic plunger 17 is attached, and the other end of the lock lever 19 is pivoted to the fulcrum 20. Spring 2 is attached to the lock lever 19.
1 is stretched to impart a tendency to rotate in the clockwise direction.

Further, a second electromagnetic plunger 22 different from the above-described one is interlocked with this lock lever 19, and a stopper 23 is disposed on the opposite side.

Incidentally, the electromagnetic plungers 1T and 22 are controlled by a sequence control method or a remote control method, and are operated as appropriate when maneuvering the truck.

The locking toe pawls 4, 4 with which the locking dong 10 engages are transparent to the shaft 4' and are configured to be constantly rotated inward by their own weight.

This invention has the configuration described above, and is operated as follows.

That is, as shown in FIG. 4, as an example, on the floor F soil where the storage locker is arranged, there is a line 51 connected to the phase 17'- on the route where the guide line 7 is buried. In this condition, multiple cargo handling carts 1+ +1z+13 etc. are stopped.

Now, if you want to move the first one of the bogies in the direction shown by the arrow in the figure, move the first drive vehicle 5 into the rearmost vehicle 14 from the seven "t" ms. Move in the direction.

In this case, the self-propelled drive vehicle 5 is set at a height such that the vehicle body itself can crawl into the belly f of the cargo handling trolley, so it can run smoothly without any obstacles, and is able to reach the frontmost position. It reaches the ventral surface of the partial wheel 11.

When the driving wheel 5 reaches the lower surface of the vehicle body of the truck 11, the locking pin 16 provided on the front upper surface of the driving wheel 5 is made to protrude upward by the operation described below, It is brought into contact engagement with the IL pawls 4, 4.

Like the previous J71S, the locking pawls 4, 4 are trying to rotate in the direction shown by the arrow (see Figure 3) with the rotation axis 4' in the upper middle position, but the protruding When the locking pin 10 hits the tapered surface A of the locking pawl 4, the locking pawl rotates and advances in the direction opposite to the arrow direction against gravity.

The locking pin of the cover 7 lever flips over the locking pawl 4 located on the front side and enters between the pawls 4, 4 to connect them.

If the cargo handling truck 11 and the driving vehicle 5 are connected, the truck 1J and other vehicles connected thereto are connected.

. 13, etc., all of them are towed by the driving vehicle 5 and travel to a predetermined position to carry out the work of transporting the cargo.

Next, the attachment and detachment of the locking pin 10 [1j] for secure connection between the cargo handling truck and the driving vehicle will be explained.

If the locking pin 10 is depressed 1', as shown by the solid line in FIG. 3, a solenoid is energized via a suitable electrical circuit to extend into the electromagnetic plunger.

In such a case, the lever 14 rotates clockwise about the fulcrum 16 against the elastic force of the spring 150, as shown by the chain line in the figure.

When the lever 14 rotates, due to the elasticity of the lever 19 or the spring 21 that is tangential to one end of the lever 14, it rides on the back of the lever 14 marked in 1) 1) and stops at the position of the collar 23.

As a result, the rotational position of the lever 14 is maintained (the position indicated by the chain line in the figure), and the locking pin 10 remains in its protruding state.

To release the connection between the truck 1 and the drive car 5, the electromagnetic plunger 22 connected to the drive unit 11 is energized, the lock lever 19 is rotated in the direction opposite to the needle pasting needle, and the lock lever 19 is engaged. The lever 14, which has been in the stopped state, is returned to the position 5e by the elastic force of the spring 15, and the locking pin 10 is returned to the position shown by the solid line.

In this way, the locking pin 10 is disengaged from the locking pawl 4.degree. 4, and the connection between the drive vehicle and the truck is released.

As the connection is released, the single-drive vehicle 5 can pass through the f of the truck 1 and move further to the target location.

During the movement, the locking pin 10 attached to the drive wheel 5 is made to protrude again from the upper surface of the drive wheel 5, and the locking pin 10 is attached to the drive wheel 5. Step 7 is performed so that the electromagnetic plunger 17 is excited.

In this way, the connection will be automatically performed simply by crawling under the crushed bodies of the cargo handling carts to which the drive vehicle 5 is to be connected.

In addition, the driving direction of the driving vehicle can be controlled by, for example, receiving the guidance signal emitted from the guidance line placed on the route as described above with a pair of sensing coils installed on the back of the driving vehicle. The driving direction of the 1-drive vehicle is controlled by rotating a servo motor or the like in reverse or forward direction based on the difference in strength of the signal that appears.

As described above, this invention exhibits many functions as described below when transporting cargo from a specific location within a warehouse, hospital, or factory premises to another location.

12 (According to J. Chico's idea, when pulling a cargo handling trolley, the width and height of the first drive vehicle were made so that it could fit under the body of the cargo handling trolley, so it could not be placed on the passageway where cargo handling work was carried out. No matter how many trolleys are arranged, the drive vehicle can be moved to the desired position without any obstacles, and even if there is a parked vehicle on the route that does not need to be moved, it can pass through this trolley. The single-drive vehicle can be connected to the target truck.

In this way, according to this invention, the driving vehicle can run freely regardless of whether or not a bogie is parked on the route, so it is not necessary to branch out the path dedicated to vehicle handling or use it for pulling in, as in the past. Since there is no need to provide a passageway, cargo handling work can be carried out extremely efficiently.

Furthermore, in addition to the above-mentioned configuration, the device of this invention uses an electromagnetic plunger type connecting mechanism for towing the cart that can be automatically controlled or remotely controlled, and furthermore, when connecting the two, the two are connected by engaging claws and locking. Since it is made to work with pins, it exhibits various features such as the following.

■ Carts with no moving power can be provided extremely easily and inexpensively by making slight improvements to conventional handcarts, whereas comparatively complex and expensive drive cars only require a small number of units. This provides advantages such as being able to move a large number of carts and transporting articles.

■ Cargo handling carts can be manually moved freely along routes other than predetermined routes, and not only can they be moved freely, but they can also achieve exactly the same effect as loading goods to be transported directly onto a moving vehicle. It will be done.

■ It is easy to operate to integrally connect the drive vehicle and the trolley, and does not require complicated operations unlike conventional devices.

In this way, since complicated movements of the moving vehicles are not required upon connection, there is no need to complicate the route, and it can be set up quite simply, resulting in lower equipment costs.

■ 1 Since the drive car is configured to freely pass through the lower part of the floor, which is the underside of the bogie body, the drive car can be connected to any bogie placed on the route, and the connection mechanism is also simple. Therefore, there are advantages such as there being no risk of increasing manufacturing costs even if the connecting member is attached to each of the cargo handling carts.

Further, according to this invention, the locking pin 10 used for connecting the first drive vehicle and the truck is not directly connected to the electromagnetic plunger and moved up and down, but is connected via the lever 14 that is attached to the electromagnetic plunger while maintaining the loading rod relationship. This lever mechanism is combined with a locking mechanism consisting of a separate locking lever 19, an electromagnetic plunger 22, etc., to raise and lower the lever 14 indirectly.
Since the protruding state of the pin 10 is mechanically maintained, the following advantages are also exhibited.

■ When connecting the truck and the drive vehicle, a strong impact force is applied to the locking pin at the time of connection.

In that case, if the locking pin and the electromagnetic plunger are directly connected, the impact force will be transmitted to the electromagnetic plunger, which will have an adverse effect on the electromagnetic plunger, which is originally highly accurate. Since it is operated indirectly by the electromagnetic plunger via the electromagnetic plunger, the above-mentioned concerns are eliminated and the operation is reliable.

■ Since the locking pin and the electromagnetic plunger are indirectly connected, the locking pin can be made strong and structured to withstand impact force, and in addition, the locking pin can be easily extended and lowered. Both sides are mechanically locked, ensuring reliable operation and high safety.

(2) If the first electromagnetic plunger is momentarily energized only once when the locking pin is protruded, it is then mechanically held by the locking mechanism.

If the locking pin and electromagnetic plunger are directly connected as in the conventional type, the electromagnetic plunger must be constantly energized during operation, resulting in low power consumption and the risk of burnout. According to the invention, there are no drawbacks.

■ In particular, even in the event of a failure in the electrical system, the locking pin maintains its predetermined state and there is no risk of the connection being unexpectedly released, making it an excellent floor moving vehicle in this respect. Demonstrate.

[Brief explanation of the drawing]

Fig. 1 is a side view showing the configuration of the floor moving vehicle of this invention, showing the state of connection between the first drive car and the cargo handling cart, Fig. 2 is a front view of the same, and Fig. 3 is the connection of the above. An explanatory diagram showing details of the mechanism, and FIG. 4 is a side view showing a state in which the present apparatus is in the midst of cargo handling work. 1... Cargo handling trolley, 2... Base, 3... Lower surface part, 4
゜4... Engaging claw, 4'... Rotating shaft, 4'... Tapered surface, 5... Drive wheel, 6... Wheel, 7... Guide line, 8... Control mechanism, 9...Guidance signal sensing unit, 1
0... Locking pin, 11... Starting part of the locking pin, 12...
・・Support frame, 13.16・Fully point, 14・Lever (operation lever), 15.21・Spring, 17.22・
...First. Second electromagnetic plunger, 18... Lever end L 19... Lock lever 20... Fulcrum, 23...
・Stopper, F...[.

Claims (1)

[Scope of utility model registration request] A combination of a cargo handling trolley without a driving device and an automatically controlled moving vehicle capable of freely running through the underside of the cargo handling trolley, with an engaging pawl attached to the underside of the cargo handling trolley. boxwood, a locking pin corresponding to the engagement claw is attached to the drive wheel, the engagement claw and the locking pin constitute an engagement device, and the locking pin is oscillated by the drive wheel; A first electromagnetic plunger is pivotally attached to one end of the freely attached operating lever, imparts a disengagement tendency by the elasticity of a spring attached to the operating lever, and engages and drives the other end of the operating lever. The lever is attached to the driving wheel, and is rotatable to the drive wheel, and is always engaged and held by the other end surface of the operating lever by the elasticity of another spring, and when the engaging pawl and the locking pin are engaged, the A lock lever is provided which abuts against the other end of the operating lever to lock the engaged state, and a second electromagnetic plunger for unlocking is attached to the lock lever. A floor moving vehicle characterized by automatically or remotely energizing and de-energizing an electromagnetic plunger.