JPS5996053A - Automatic travelling cart - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a self-driving transport vehicle that travels automatically on a dielectric laid on the floor, for example; a conventional example is shown in FIG. That is, (1) is a vehicle main body, which has idle wheels (2) disposed at the lower portions of the four corners and driving wheels (3) disposed on both sides of the lower center.

Drive roller conveyors (4) whose conveyance direction is in the direction of the vehicle are disposed at the front and rear of the upper surface of the vehicle body (υ), and these drive roller conveyors (4) are connected to a common drive device (5).
(6) is a guide body, (7) is a push-pull device, and (8) is a device that controls i-, which are driven forward and backward by i-. Bumpers (9) are disposed at the front and rear of the vehicle body (1), respectively, and these bumpers (9) are attached via pantograph-type links 00 so as to be able to approach and separate from the vehicle body (1). , a spring (1ll) that urges the vehicle body (1) to move away from the vehicle body (1), and a bumper (
9) is provided with a limit switch (121) for detecting the relative movement of the link Ql). According to the conventional configuration, the bumper (9) is attached to another object when the cage is in motion while driving. When the bumper (9) moves toward the vehicle body (1) against the spring (11), the relative movement of the link αG that occurs at this time is detected by the detection device ++21, and the detection signal is detected. Conventionally, collisions are detected using the movement of the entire bumper, but in the case of large bumpers, the movement becomes slow and lacks sensitivity.

On the other hand, if you make it too sensitive, it will be detected by vibrations while driving, resulting in frequent malfunctions. If a worker's foot or the like enters the space between the front and rear surfaces of the shunted vehicle body (1) and the pumper (9), it will not be detected or stopped, which is extremely dangerous.

The object of the present invention is to provide an automated driving vehicle that can detect collisions by making both ends, which are frequently involved in collisions, movable, and can also detect when a foot or other object enters between the bumper and the vehicle body. The point is to suggest a car.

In order to achieve the above object, the present invention provides bumpers at the front and rear of the vehicle body, and configures both ends of the bumpers in the width direction as part of a movable bumper that moves toward the vehicle body side by external force. A bellows body and an optical straight pipe device through which the light beam is directed inside the bellows body are provided between the bellows body and the vehicle body. According to this configuration, when both ends, which have a high collision frequency, collide with another object, a part of the movable bumper that constitutes these ends moves, and this prevents the light beam from the phototube device from entering the receiver, making it impossible to detect the collision. , the self-driving transport vehicle can be stopped. Also, when a foot enters between the bumper and the vehicle body, for example, the foot pushes against the bellows and the bellows blocks the light beam, thereby detecting the entry of other objects and stopping the self-driving transport vehicle. can be done.

An embodiment of the present invention will be described below based on FIGS. 2 to 4. In the present invention, both ends of the bumper (9) are constructed into movable bumper parts (6). In other words, the movable bumper part θ3) is attached via a vertical pin (14) so that it can swing back and forth, and the movable bumper part 03) is normally j>lA.
For example, the bumper (9) is configured to be located on an extension line of the bumper (9) using a coiled spring or the like. When an external force is applied, the vehicle body (1) rotates around the vertical pin 04).
) side. Further, a bellows body 351 is disposed between the side end of the movable bumper and the side end of the vehicle body (1). A reflecting mirror θe is attached to the movable bumper part 3), and a phototube device (17) consisting of a projector, a light receiver, etc. is installed on the vehicle body (1) so as to face this reflecting mirror (1). At this time, the light beam from the projector passes through the inside of the bellows body α and reaches the reflecting mirror (I6), and the reflected light beam enters the light receiver.

Note that the vehicle body (1) may be provided with a light projector, and the movable bumper portion may be provided with a light receiver.

When traveling, a collision through the pants < - (9) is detected by the detection device ab, and the self-driving transport vehicle is thereby stopped, and at both ends where collisions occur frequently, the collision is detected by the detection device ab. A part of the movable bumper (+4 is attached to the vehicle body (1) around the vertical pin H)
rock to the side. As a result, the direction of the reflecting mirror 04 changes as shown by the imaginary line in FIG.
As a result, the self-driving transport vehicle is stopped. When a foot or other object gets between the front of the vehicle (1) and the front of the vehicle (9), the bellows will be pushed inward by the foot and the car will block the light. The self-driving transport vehicle is then stopped.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing a conventional example, Fig. 2 1 to 4 show an embodiment of the present invention, Fig. 2 is a plan view, Fig. 3 is a surface survey view, and Fig. 4 is a main part. FIG.

Claims (1)

[Claims] L Bumpers are provided at the front and rear of the vehicle body, and both ends of the bumper in the width direction are configured as part of a movable bumper that moves toward the vehicle body by external force, and a bellows is installed between the movable bumper part and the vehicle body. 1. An automatic traveling transport vehicle, comprising: a body; and a light-transmitting tube device whose light beams enter the inside of the bellows body.