WO2020054533A1

WO2020054533A1 - Unmanned transport system and wheel stopping device

Info

Publication number: WO2020054533A1
Application number: PCT/JP2019/034751
Authority: WO
Inventors: 禎介樫; 正寛小原; 孝彦新井
Original assignee: オムロン株式会社
Priority date: 2018-09-14
Filing date: 2019-09-04
Publication date: 2020-03-19
Also published as: JP2020044859A; JP6988751B2

Abstract

In an unmanned transport system (100) of the present invention, an unmanned transport vehicle (10) may be retracted and a towed vehicle (30) may be placed in a regular position (RP) while being pushed in the rearward direction. This unmanned transport system (100) is provided with, behind the regular position (RP), a wheel stopping device (80) that comes into contact with a pair of left and right rear wheels of the retracting towed vehicle (30) and stops the towed vehicle (30). The wheel stopping device (80) has an actuating unit (81) that applies a forward force to the rear wheels so that the towed vehicle (30) is made to follow the unmanned transport vehicle (10) that advances by a certain distance (Δ).

Description

Unmanned transport system and wheel stopper

The present invention relates to an unmanned transport system, and more particularly, to an unmanned transport system in which an unmanned transport vehicle pulls a towed vehicle such as a trolley for transport. Further, the present invention relates to a wheel stopper device for a towed vehicle that constitutes such an unmanned transport system.

As this type of unmanned transfer system, for example, Non-Patent Document 1 (“Mobile Robot LD Series (registered trademark)”, [online], March 14, 2017, Omron Corporation, [Search August 31, 2018] And the Internet <{URL} https://www.fa.omron.co.jp/products/family/3664/>) are known. In this system, a guided vehicle (cart cart) is connected to an automated guided vehicle (mobile robot), and when a target point is set by a user, the automated guided vehicle pulls the towed vehicle and travels from the starting point. Start and autonomously select a route while avoiding obstacles and travel to the target point. Thus, for example, the load loaded on the towed vehicle is transported to the target point.

(4) When the automatic guided vehicle is to be stopped at a predetermined stop position with high accuracy, an elongated marker magnetic tape having a predetermined length (for example, 500 mm) is attached to the floor surface. The marker magnetic tape is affixed to the stop position in parallel with the magnetic tape forming the main track (extending in the forward and backward traveling directions of the automatic guided vehicle) by 15 mm to 30 mm and in parallel. The AGV detects the front end of the marker magnetic tape by a front sensor provided on the bottom surface of the AGV, and stops at the detected position.

By the way, there is a case where the automatic guided vehicle is retreated and the towed vehicle is pushed rearward to place the towed vehicle at a fixed position (for example, near a wall). In this case, the marker magnetic tape is affixed to the floor at a predetermined position based on the stationary position for the towed vehicle. The unmanned transport vehicle deliberately passes the marker magnetic tape while pushing the towed vehicle to a fixed position behind, then moves forward by a certain distance (about 1 cm), and moves the marker magnetic tape by the front sensor. It is designed to stop when it detects the front end of

Here, when the unmanned guided vehicle is pushed forward by the certain distance (about 1 cm) after pushing the towed vehicle backward, it is displaced relative to the towed vehicle by that amount. (At this time, the connection member of the automatic guided vehicle is automatically accommodated in the main body of the automatic guided vehicle, and the engagement with the towed vehicle is released.) Due to this relative displacement, when the connecting member of the automatic guided vehicle protrudes from the main body and attempts to engage with the towed vehicle at the next forward movement, the engagement fails, and the automatic guided vehicle and the automatic guided vehicle are not connected. There is a problem that the towed vehicle is not connected.

Therefore, an object of the present invention is to move the automatic guided vehicle back to the fixed position while pushing the towed vehicle backward, so that the connecting member of the automatic guided vehicle is successfully connected to the towed vehicle at the next forward movement. An object of the present invention is to provide an unmanned transport system that can be engaged well and can always connect the unmanned transport vehicle and the towed vehicle. Another object of the present invention is to provide a wheel stopper device for a towed vehicle that constitutes such an unmanned transport system.

In order to solve the above-mentioned problems, the unmanned transfer system of the present disclosure
An unmanned transport system that performs transport by towing a towed vehicle by an unmanned transport vehicle,
On the floor, based on a fixed position where the towed vehicle is set back, provided with an elongated marker magnetic tape attached to a predetermined position,
The automatic guided vehicle is
A coupling member that can be engaged with the towed vehicle so that the automatic guided vehicle and the towed vehicle maintain a specific relative positional relationship,
A front sensor provided on the bottom surface of the automatic guided vehicle and capable of detecting the marker magnetic tape,
In order to place the towed vehicle in the stationary position, the vehicle is moved backward, pushes the towed vehicle backward, passes over the marker magnetic tape, and then moves forward by a certain distance. It is designed to stop when it detects the front end of the tape,
The unmanned transport system includes a wheel stopper device for stopping the towed vehicle in contact with a pair of left and right rear wheels of the towed vehicle to be retracted behind the stationary position,
The wheel stopper has an action portion that applies a forward force to the rear wheel so that the towed vehicle follows the automatic guided vehicle that moves forward by a certain distance.

で In this specification, the “automated guided vehicle” typically refers to an automatic transport robot that starts traveling from a starting point, autonomously selects a route while traveling around an obstacle, and travels to a target location.

「The“ predetermined position ”on the floor where the marker magnetic tape is attached refers to a position having a predetermined orientation and distance with respect to the fixed position. This “azimuth and distance” is determined by what “specific relative positional relationship” the automatic guided vehicle and the towed vehicle have on the floor.

The “specific relative positional relationship” between the automatic guided vehicle and the towed vehicle is maintained by the “engagement” by the connecting member. Thus, the towed vehicle can be towed by the automatic guided vehicle.

「The“ front end ”of the marker magnetic tape refers to an end existing on the front side in the front-rear direction of the automatic guided vehicle, of the two ends in the longitudinal direction of the marker magnetic tape.

In the unmanned transport system of the present disclosure, when the towed vehicle is placed at the fixed position, first, the unmanned guided vehicle passes over the marker magnetic tape while retracting and pushing the towed vehicle backward. At this time, the wheel stopper device disposed behind the stationary position comes into contact with a pair of left and right rear wheels of the towed vehicle to be retracted, and stops the towed vehicle. Thereafter, the AGV moves forward by a certain distance, and stops by detecting the front end of the marker magnetic tape by a front sensor provided on the bottom surface of the AGV. At this time, the action section of the wheel stopper device applies a forward force to the rear wheel to cause the towed vehicle to follow the unmanned transport vehicle that moves forward by the certain distance. Thus, even when the engagement of the connecting member of the automatic guided vehicle with the towed vehicle is released, the towed vehicle does not relatively displace with respect to the unmanned guided vehicle. Thus, the unmanned guided vehicle and the towed vehicle maintain the specific relative positional relationship. As a result, at the next forward movement, the connection member of the automatic guided vehicle is successfully engaged with (part of) the towed vehicle, and the automatic guided vehicle and the towed vehicle are always connected.

無 In the unmanned transport system according to one embodiment, the action section of the wheel stopper device is characterized in that the action section is formed of a slope that is inclined in such a manner that the height decreases from the rear to the front.

In the automatic guided vehicle system according to this embodiment, when the automatic guided vehicle moves backward and pushes the towed vehicle to a fixed position behind, the rear wheel of the towed vehicle rides on the slope forming the action section. Thereafter, when the automatic guided vehicle moves forward by the certain distance, the slope applies a forward force (a component of a substantially vertical effect from the slope) to the rear wheel. As a result, the towed vehicle follows the unmanned guided vehicle moving forward by the certain distance.

In one embodiment of the unmanned transport system,
The wheel stopper device includes a rear wall erected behind the stationary position,
The operating portion includes a cushioning material supported by the rear wall and for pushing the rear wheel in contact with the rear wheel forward.

In the automatic guided vehicle system according to this embodiment, when the automatic guided vehicle moves backward and pushes the towed vehicle to a fixed position behind, the rear wheel of the towed vehicle hits the cushioning material forming the action section. In contact, the cushioning material is compressed. Thereafter, when the automatic guided vehicle advances by the certain distance, the cushioning member applies a forward force (repulsive force) to the rear wheel in an attempt to return from the compressed state to the natural state. As a result, the towed vehicle follows the unmanned guided vehicle moving forward by the certain distance.

無 In the unmanned transport system according to one embodiment, the cushioning member is formed of a spring.

In the automatic transfer system according to the embodiment, the cushioning material can be easily configured.

では In one embodiment of the unmanned transport system, the cushioning member is made of a rubber material.

では In one embodiment of the unmanned transport system, the buckle device includes a positioning element for positioning the buckle device and the marker magnetic tape on the floor surface.

In the unmanned transfer system according to the embodiment, when the wheel stopper and the marker magnetic tape are installed on the floor surface, the wheel stopper and the marker magnetic tape are aligned by the positioning element. Easier to do.

In one embodiment of the unmanned transport system,
The towed vehicle has a specific portion for indicating the presence of the towed vehicle,
When the automatic guided vehicle and the towed vehicle are in the specific relative positional relationship, the unmanned guided vehicle faces the specific portion of the towed vehicle, and faces the specific portion. It is characterized by having a towed vehicle sensor for detecting the presence of the towed vehicle.

In the automatic guided vehicle system of this embodiment, when the automatic guided vehicle and the towed vehicle are in the specific relative positional relationship, the towed vehicle sensor faces the specific portion of the towed vehicle. The presence of the towed vehicle is detected. That is, it is detected that the automatic guided vehicle and the towed vehicle have the specific relative positional relationship. Thereby, for example, the control unit mounted on the body of the automatic guided vehicle operates the connecting member of the automatic guided vehicle only when the towed vehicle sensor detects the presence of the towed vehicle. Thus, control can be performed to bring the automatic guided vehicle and the towed vehicle into the connected state.

In one embodiment of the unmanned transport system,
The towed vehicle has a pair of receiving guide surfaces on the left and right halves of the towed vehicle, the spacing of which gradually narrows from the front to the rear of the towed vehicle,
The automatic guided vehicle has a pair of protruding guide surfaces that gradually become narrower from the front to the rear of the automatic guided vehicle in the left half and the right half of the automatic guided vehicle,
When the automatic guided vehicle moves rearward from a state in which the automatic guided vehicle is separated forward from the towed vehicle on the floor surface, the pair of receiving guide surfaces guides the pair of projecting guide surfaces, and the automatic guided vehicle The vehicle and the towed vehicle are in the specific relative positional relationship.

In the automatic guided vehicle system according to this embodiment, the automatic guided vehicle and the towed vehicle can be easily identified from the state in which the automatic guided vehicle is separated from the towed vehicle forward on the floor. Relative positional relationship.

In another aspect, the lashing device of the present disclosure includes:
A wheel stopper device for an unmanned transport system that performs transport by towing a towed vehicle by an unmanned transport vehicle,
The unmanned transport system, on the floor, based on a fixed position where the towed vehicle is set back, provided with an elongated marker magnetic tape attached to a predetermined position,
The automatic guided vehicle is
A coupling member that can be engaged with the towed vehicle so that the automatic guided vehicle and the towed vehicle maintain a specific relative positional relationship,
A front sensor provided on the bottom surface of the automatic guided vehicle and capable of detecting the marker magnetic tape,
In order to place the towed vehicle in the stationary position, the vehicle is moved backward, pushes the towed vehicle backward, passes over the marker magnetic tape, and then moves forward by a certain distance. It is designed to stop when it detects the front end of the tape,
The above wheel stopper device,
Behind the stationary position, arranged to stop the towed vehicle by contacting a pair of left and right rear wheels of the towed vehicle to retreat,
It has an action part which gives a frontward force to the rear wheel so that the towed vehicle may follow the automatic guided vehicle moving forward by the certain distance.

In the wheel stopper device of this disclosure, when the automatic guided vehicle is retracted and the towed vehicle is pushed rearward and is set at the fixed position, even if the unmanned guided vehicle is engaged with the towed vehicle by the connecting member of the automatic guided vehicle. Even when the vehicle is released, the towed vehicle does not relatively displace with respect to the automatic guided vehicle, and the unmanned guided vehicle and the towed vehicle establish the specific relative positional relationship. maintain. As a result, the connecting member of the automatic guided vehicle is successfully engaged with (part of) the towed vehicle at the next forward movement, and the unmanned guided vehicle and the towed vehicle can be always connected. .

As is clear from the above, according to the unmanned transport system and the wheel stopper device of the present disclosure, when the unmanned transport vehicle is retracted and the towed vehicle is pushed rearward and is set at the fixed position, the above-described operation is performed at the next forward movement. The connecting member of the automatic guided vehicle is successfully engaged with the towed vehicle, and the automatic guided vehicle and the towed vehicle can be always connected.

FIGS. 1A and 1B show a state in which an unmanned transport vehicle (automatic transport robot) and a towed vehicle (cart cart) constituting an unmanned transport system according to an embodiment of the present invention are connected. It is a figure which shows the place seen from the left side and the front, respectively. 2 (A), 2 (B), and 2 (C) are views showing the automatic transfer robot as viewed from the rear, left side, and top, respectively. 3 (A), 3 (B), and 3 (C) are views showing the cart as viewed from the rear, left, and above, respectively. FIG. FIGS. 4A and 4B are views for explaining a process of connecting the automatic transport robot and the cart cart when viewed from above. FIGS. 5 (A) to 5 (C) schematically show the process of retracting the automatic guided vehicle, pushing the towed vehicle backward, and placing the towed vehicle at a fixed position as viewed from above. FIG. FIGS. 6A and 6B are views showing the wheel stopper device according to the embodiment of the present invention as viewed from above and from the left side, respectively. It is a figure explaining operation of the above-mentioned wheel stopper device. FIG. 8A is a diagram showing a modification (Modification 1) of the wheel stopper device as viewed from above. FIG. 8B is a view showing a cross section taken along line DD ′ in FIG. 8A. It is a figure explaining operation of the wheel stopper device of the above-mentioned modification 1. FIG. 10A is a diagram showing a further modified example (Modified Example 2) of the wheel stopper device as viewed from above. FIG. 10B is a view showing a cross section taken along line EE ′ in FIG. It is a figure explaining operation of the wheel stopper device of the above-mentioned modification 2.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(Schematic configuration of unmanned transport system)
FIGS. 1A and 1B show an automatic transfer robot 10 as an unmanned transfer vehicle and a cart trolley 30 as a towed vehicle, which constitute an unmanned transfer system 100 according to an embodiment of the present invention. The state is shown when viewed from the left side and the front, respectively. For easy understanding, XYZ orthogonal coordinate systems are also shown in the drawings (the same applies to FIGS. 4 to 11). For each of the automatic transfer robot 10 and the cart cart 30, the X direction corresponds to the front-back direction, the Y direction corresponds to the left-right direction, and the Z direction corresponds to the height direction. As shown in FIGS. 1A and 1B, the automatic transport robot 10 enters under the cart cart 30, and the automatic transport robot 10 and the cart cart 30 are overlapped with each other (arrangement in which connection is possible). ) Is referred to as “overlapping positional relationship OL” as a specific relative positional relationship in this example. The unmanned transfer system 100 includes a magnetic tape on the floor and a wheel stopper device in addition to the automatic transfer robot 10 and the cart 30. These will be described later.

(Configuration of automatic transfer robot)
2 (A), 2 (B), and 2 (C) show the automatic transfer robot 10 as viewed from the rear, left, and above, respectively. In this example, as the automatic transfer robot 10, a mobile robot LD series (registered trademark) manufactured by OMRON Corporation is used. When the target point is set by the user, the automatic transport robot 10 can pull the cart 30 to start traveling from the starting point, autonomously select a route while avoiding obstacles, and travel to the target point. . Thereby, for example, the load loaded on the cart 30 is transported to the target point. In this example, the main body 11 of the automatic transfer robot 10 has a longitudinal dimension of about 70 cm, a lateral dimension of about 50 cm, and a height dimension of about 38 cm.

As can be seen from FIGS. 2A to 2C, the automatic transfer robot 10 includes a substantially rectangular parallelepiped main body 11 having four rounded corners when viewed from above. The left half and the right half defined by the center line (passing through the center in the left-right direction) C1 of the main body 11 are configured symmetrically with respect to the center line C1. Reference numeral 11f indicates a front portion of the main body 11, and reference numeral 11r indicates a rear portion of the main body 11, respectively.

偏 A flat protruding portion 11A is provided on the upper surface of the main body 11. As can be seen from FIG. 2C, a pair of openings 11Ao, 11Ao are provided in the left half and the right half of the upper surface 11Aa of the raised portion 11A. In these openings 11Ao, 11Ao,

traction plates

12, 12 as connecting members each having a half-moon shape are provided so as to be vertically movable. These

traction plates

12, 12 are controlled by a control unit (including a CPU (Central Processing Unit)) (not shown) mounted in the main body 11 to move upward from the (upper surface 11Aa of the raised portion 11A) of the main body 11. 2 (A) to 2 (C), or a non-operating state accommodated in the main body 11.

一対 A pair of triangular prism-shaped

triangular guide portions

13L and 13R are integrally provided on the left half and the right half of the rear surface 11Ar of the raised portion 11A. The planar shapes of these

triangular guide portions

13L and 13R are each a right triangle. The outer slopes of the

triangular guide portions

13L, 13R constitute a pair of projecting guide surfaces 13Lo, 13Ro whose intervals gradually become narrower from the front to the rear of the main body 11. These protruding guide surfaces 13Lo and 13Ro work to establish an overlapping positional relationship OL when the automatic transport robot 10 and the cart cart 30 are connected (described later in detail).

内側 The inner surfaces 13Li, 13Ri of the

triangular guide portions

13L, 13R facing each other are separated in the left-right direction and parallel. A concave portion (not shown) is provided on one surface 13Li, and a light emitting portion (a light emitting diode in this example) 61 is accommodated in the concave portion. The other surface 13Ri is provided with a concave portion (not shown), and a light receiving portion (a photodiode in this example) 62 is accommodated in the concave portion. The light emitted from the light emitting unit 61 is incident on the light receiving unit 62 unless it is blocked by any light blocking object. The light emitting unit 61 and the light receiving unit 62 constitute a cart cart sensor (to be described in detail later).

2A and 2B, a pair of left and right drive wheels 15 is provided on the bottom surface 11b of the main body 11 at a substantially central position in the front-rear direction. A pair of left and right rear

passive wheels

17, 17 is provided at the rear of the bottom surface 11b of the main body 11. At the front of the bottom surface 11b of the main body 11, a pair of left and right front passive wheels 16, 16 (see FIG. 1B) are provided. When the drive wheels 15 are driven by the control unit mounted in the main body 11, the automatic transport robot 10 moves. With the movement, the rear

passive wheels

17, 17 and the front

passive wheels

16, 16 follow.

On the bottom surface 11b of the main body 11 shown in FIGS. 2 (A) and 2 (B), a front sensor 71 which is elongated in the left-right direction in a strip shape is provided at a position near the front

passive wheels

16, 16 in the front-rear direction. Have been. In addition, a rear sensor 72 extending in a strip shape to the left and right is provided at a position corresponding to between the driving

wheels

15, 15 and the rear

passive wheels

17, 17 in the front-rear direction. The front sensor 71 and the rear sensor 72 are, for example, a main truck attached to the floor FL (extends in the forward and backward traveling directions of the automatic transport robot 10) as shown in FIG. 5A. , And a marker magnetic tape 89 indicating a predetermined stop position. Thereby, the accuracy of the movement and stop of the automatic transfer robot 10 can be improved.

(Composition of cart cart)
3 (A), 3 (B), and 3 (C) show the cart cart 30 as viewed from the rear, left side, and top, respectively. The left half and the right half defined by the center line (passing through the center in the left-right direction) C2 of the cart cart 30 are configured symmetrically with respect to the center line C2.

As can be seen from FIGS. 3A to 3C, in this example, the cart 30 includes a pair of right and left

columns

31, 31 extending in the height direction and lower portions of the

columns

31, 31. , A lower member 33 extending forward from a lower portion of each of the columns 31, and above these

lower members

33, 33, a portion extending from the vicinity of the upper portion of each of the columns 31. , And a shelf 35 suspended between the

upper members

34, 34. Note that no horizontal connecting member is provided between the front ends of the

lower members

33, 33 so that the automatic transport robot 10 can enter under (the shelf 35 of) the cart cart 30.

一対 Further, a pair of left and right

rear wheels

37, 37 are provided so as to protrude downward from near the rear ends of the

lower members

33, 33. In addition, a pair of left and right front wheels 36, 36 (see FIG. 1B) are provided so as to protrude downward from near the front ends of the

lower members

33, 33.

On the lower surface of the shelf 35 shown in FIGS. 3 (A) to 3 (C), a traction receiving portion 38 having a rectangular cross section and extending in the left-right direction projects downward at substantially the center in the front-rear direction. It is provided. The height of the lower surface 38b of the traction receiving portion 38 is set slightly higher (for example, by a clearance dimension of about several mm) than the height of the upper surface 11Aa of the raised portion 11A of the automatic transfer robot 10. The traction receiving portion 38 works to engage with the

traction plates

12, 12 of the automatic transport robot 10 described above.

A guide receiving portion 39 having a substantially V-shaped planar shape is provided on the lower surface of the shelf 35 at a position corresponding to the rear of the traction receiving portion 38 in the front-rear direction, and protrudes downward. The two sides of the V-shape of the guide receiving portion 39 are respectively located on the left half and the right half of the shelf 35 partitioned by the center line C2. The V-shaped inner surfaces of the guide receiving portions 39 constitute a pair of receiving guide surfaces 39Li and 39Ri whose intervals gradually become narrower from the front to the rear of the cart cart 30. The height of the lower surface 39b of the guide receiving portion 39 is set lower than the height of the upper surface 11Aa of the raised portion 11A of the automatic transfer robot 10 by a predetermined dimension (for example, an overlap dimension of about several cm). . As a result, as shown in FIGS. 1A and 1B, the guide receiving portion 39 of the cart 30 and the

triangular guide portions

13L and 13R of the automatic transfer robot 10 move in the height direction (and in the front-rear direction). ) Can overlap.

Also, as shown in FIGS. 3A to 3C, the cart cart 30 is located on the lower surface of the shelf 35 at a position on the center line C2 surrounded by the guide receiving portion 39. A light-shielding plate 63 as a specific portion to be shown is provided to protrude downward. In this example, the height of the lower end of the light shielding plate 63 is at the same level as the height of the lower surface 39b of the guide receiving portion 39. As shown in FIGS. 1A and 1B, when the automatic transport robot 10 and the cart cart 30 are in the overlapping positional relationship OL, the light-shielding plate 63 includes the light emitting unit 61 and the light receiving unit 62 forming the cart cart sensor. (Facing the light emitting unit 61 and the light receiving unit 62, respectively). In this overlapping positional relationship OL, the light emitted from the light emitting unit 61 is blocked by the light shielding plate 63 and does not reach the light receiving unit 62. Accordingly, the control unit mounted on the main body 11 of the automatic transfer robot 10 can detect that the automatic transfer robot 10 and the cart 30 are in the overlapping positional relationship OL based on the output of the light receiving unit 62.

In this example, the cart truck 30 has a front-rear dimension of about 77 cm and a lateral dimension of about 70 cm. The distance between the outer surfaces of the

rear wheels

37, 37 and the distance between the outer surfaces of the

front wheels

36, 36 are each about 63 cm.

(Connection between automatic transport robot and cart cart)
4 (A) and 4 (B) show the process of connecting the automatic transport robot 10 and the cart 30 as viewed from above. Before the connection, the

traction plates

12, 12 of the main body 11 are assumed to be in a non-operating state accommodated in the main body 11.

i) First, as shown in FIG. 4 (A), the automatic transport robot 10 moves rearward from a state of being separated from the cart cart 30 forward on the floor FL, and The rear portion 11f enters below the shelf board 35 of the cart cart 30.

ii) Next, when the automatic transfer robot 10 moves further backward with respect to the cart trolley 30, the

triangular guide portions

13L and 13R of the automatic transfer robot 10 and the openings 11Ao and 11Ao of the raised portion 11A (the

traction plates

12 and 12 are accommodated). ) Sequentially pass through a position immediately below the tow receiving portion 38 of the cart cart 30. At this time, even if the center line C1 of the automatic transport robot 10 is slightly displaced leftward or rightward with respect to the center line C2 of the cart trolley 30, the pair of receiving guide surfaces 39Li and 39Ri of the guide receiving portion 39 form a triangle. A pair of projecting guide surfaces 13Lo and 13Ro of the

guide portions

13L and 13R are guided. Thereby, the center line C2 of the cart 30 and the center line C1 of the automatic transfer robot 10 substantially match.

iv) Subsequently, as shown in FIG. 4B, the pair of receiving guide surfaces 39Li and 39Ri of the guide receiving portion 39 and the pair of projecting guide surfaces 13Lo and 13Ro of the

triangular guide portions

13L and 13R correspond to each other. Abut Thereby, the automatic transport robot 10 and the cart cart 30 are positioned in the left-right direction and the front-back direction. As a result, the automatic transfer robot 10 and the cart 30 easily overlap each other in the positional relationship OL.

{V)} Thereafter, the control unit mounted in the main body 11 enters an operating state in which the

traction plates

12, 12 of the automatic transport robot 10 project upward from the upper surface 11Aa of the raised portion 11A. As a result, the traction plate 12 of the automatic transport robot 10 is arranged along the rear surface of the traction receiving portion 38 of the cart 30 and engages in the front-rear direction.

Thus, the automatic transfer robot 10 and the cart cart 30 are connected. In this connection state, the automatic transfer robot 10 can tow the cart 30 while maintaining the overlapping positional relationship OL between the automatic transfer robot 10 and the cart 30.

(Structure of magnetic tape and wheel stopper on floor)
As shown in FIG. 5A, the unmanned transport system 100 is a main truck that is a main truck (extended in the forward and backward traveling directions of the automatic transport robot 10) attached to the floor FL. The magnetic tape 88 includes a magnetic tape 88, a marker magnetic tape 89 indicating a predetermined stop position for the automatic transport robot 10, and a wheel stopper device 80.

In this example, the widths of the main track magnetic tape 88 and the marker magnetic tape 89 are each set to 25 mm. The marker magnetic tape 89 is attached in parallel with the main track magnetic tape 88 at a distance of 25 mm (in the specification, within the range of 15 mm to 30 mm) in this example. The length dimension of the marker magnetic tape 89 is set to 500 mm in this example. The magnetic polarity of the upper surface of the main track magnetic tape 88 is S pole, while the magnetic polarity of the upper surface of the marker magnetic tape 89 is N pole.

In this example, the position where the marker magnetic tape 89 is stuck on the floor FL is the fixed position RP where the cart cart 30 is retracted (in this example, the

front wheels

36, 36 and the rear wheels of the cart cart 30). The outline of the range that should be occupied by 37 and 37 is indicated by a two-dot chain line frame in FIG. 5A.) That is, when the automatic transport robot 10 and the cart cart 30 are in a connected state (that is, the overlapping positional relationship OL), the position of the cart cart 30 (in this example, the

front wheels

36, 36 and the

rear wheels

37, 37 of the cart cart 30). The outline of the range occupied by is indicated by a solid-line frame in FIG. 5A.) In contrast, as shown in the figure, the automatic transfer robot 10 has the center line coincident in the left-right direction as shown in FIG. In this example, it is maintained at a position (direction and distance) protruding only by about 10 cm). Accordingly, the position of the front sensor 71 (and the rear sensor 72) provided on the bottom surface 11b of the main body 11 is maintained with respect to the position of the cart 30. Therefore, the position where the marker magnetic tape 89 is attached is set such that the front sensor 71 of the automatic transport robot 10 detects the front end 89f of the marker magnetic tape 89 just when the cart cart 30 is at the stationary position RP. I have.

輪 Behind the stationary position RP, the wheel stopper device 80 is provided extending in the left-right direction (Y direction). FIGS. 6A and 6B are enlarged views of the wheel stopper device 80 as viewed from above and from the left side, respectively. In this example, the wheel stopper device 80 includes an inclined member 81 extending in the left-right direction, and a pair of

rear wall members

82 and 82 provided near the left end and near the right end of the inclined member 81, respectively. A pair of

side wall members

83, 83 provided in contact with the front surfaces of these

rear wall members

82, 82, respectively, and a pair of rear wheel guide members 84, provided in contact with the front surfaces of these

side wall members

83, 83, respectively. 84. This wheel stopper device 80 is configured symmetrically with respect to the center line C6.

分かる As can be seen from FIG. 6B, the inclined member 81 has a right-angled triangular profile when viewed from the left side. The upper surface of the inclined member 81 is an inclined surface 81a as an acting portion, which is inclined in such a manner that its height decreases from the rear to the front (in the + X direction).

The

rear wall members

82, 82 are rectangular parallelepiped members elongated in the left-right direction, and are attached to positions along the rear end (upper end) of the inclined surface 81a of the inclined member 81 with a double-sided adhesive tape (not shown). The

rear wall members

82, 82 function to stop the

rear wheels

37, 37 of the cart cart 30.

The

side wall members

83, 83 are rectangular parallelepiped members elongated in the front-rear direction, and are not shown at positions between the front surfaces of the

rear wall members

82, 82 and the rear surfaces of the rear

wheel guide members

84, 84 on the slope 81a. Affixed with double-sided adhesive tape. The

side wall members

83, 83 work for positioning the

rear wheels

37, 37 of the cart cart 30 in the left-right direction.

The rear

wheel guide members

84, 84 are rectangular parallelepiped members elongated in the front-rear direction. As can be seen from FIG. 6A, the distance between the rear wheel guide members 84 gradually increases from the rear to the front (in the + X direction). Are attached to the floor surface FL with a double-sided adhesive tape (not shown). The rear wheel guide members 84 work to guide the rear wheels 37 of the cart cart 30 between the side wall members 83 in the left-right direction.

一対 Further, a pair of

marker lines

86i, 86i are provided at both sides of the center line C6 of the inclined surface 81a of the inclined member 81 at intervals of 25 mm in this example. An elongated main track position indicating plate 86 extends forward from the front end of the inclined member 81 at a position corresponding to the position between these

marker lines

86i, 86i in the left-right direction. Is pasted on. On the inclined surface 81a of the inclined member 81, a pair of

marker lines

87i, 87i are attached to the left side of the

marker lines

86i, 86i at intervals of 25 mm in this example. An elongated marker position indicating plate 87 extends forward from the front end of the inclined member 81 at a position corresponding to the position between these

marker lines

87i, 87i in the left-right direction, and is placed on the floor FL with a double-sided adhesive tape (not shown). It is pasted. The main track position indicating plate 86 and the marker position indicating plate 87 serve as positioning elements when the wheel stopper device 80, the main track magnetic tape 88, and the marker magnetic tape 89 are installed on the floor FL. The positioning of the wheel stopper device 80 with the main track magnetic tape 88 and the marker magnetic tape 89 can be facilitated.

In this example, as shown in FIGS. 6A and 6B, the horizontal dimension of the inclined member 81 of the wheel retaining device 80 is 700 mm, the longitudinal dimension is 60 mm, and the height of the rear end of the inclined member 81 is high. The length is set to 6 mm. The material of the inclined member 81 is made of aluminum in this example. The lateral dimension of the rear wall member 82 is set to 100 mm, the longitudinal dimension is set to 25 mm, and the height dimension is set to 20 mm. The lateral dimension of the side wall member 83 is set to 25 mm, the longitudinal dimension is set to 35.3 mm, and the height dimension is set to 20 mm. The lateral dimension of the rear wheel guide member 84 is set to 25 mm, the longitudinal dimension is set to 60 mm, and the height dimension is set to 20 mm. In this example, the material of the rear wall member 82, the side wall member 83, and the rear wheel guide member 84 is made of ABS resin (acrylonitrile-butadiene-styrene copolymer synthetic resin).

(Operation to put cart cart in fixed position)
Next, with reference to FIGS. 5A to 5C, a description will be given of a process of retracting the automatic transport robot 10, pushing the cart cart 30 backward, and placing the cart cart 30 at the stationary position RP.

i) First, as shown in FIG. 5 (A), the automatic transport robot 10 and the cart cart 30 are located forward in a connected state with respect to the fixed position RP where the cart cart 30 is to be retracted. Shall be. As described above, in this example, the stationary position RP indicates an outline of a range that the

front wheels

36, 36 and the

rear wheels

37, 37 of the cart cart 30 should occupy. Further, the position of the cart cart 30 is a range occupied by the

front wheels

36, 36 and the

rear wheels

37, 37 of the cart cart 30 when the automatic transport robot 10 and the cart cart 30 are in a connected state (that is, the overlapping positional relationship OL). Is shown.

{Ii)} Next, as shown in FIG. 5 (B), the automatic transfer robot 10 moves backward and pushes the cart cart 30 backward to pass over the marker magnetic tape 89. In this process, the rear wheel guide members 84 of the wheel stopper device 80 guide the rear wheels 37 of the cart cart 30 between the side wall members 83 in the left-right direction. The

side wall members

83, 83 position the

rear wheels

37, 37 of the cart cart 30 in the left-right direction. Further, the rear wall members 82 of the wheel stopper device 80 disposed behind the stationary position RP abut the pair of left and right rear wheels 37 of the cart cart 30 moving backward to stop the cart cart 30.

iii) {After this, the automatic transfer robot 10 moves forward by a certain distance Δ according to the specifications, and as shown in FIG. 5C, the front sensor 71 provided on the bottom surface 11b of the automatic transfer robot 10. Detects the front end 89f of the marker magnetic tape 89 and stops. At this time, as shown in FIG. 7, the slope 81a as the action portion of the wheel stopper device 80 applies a forward force F1x (a component of the substantially vertical force F1 from the slope 81a) to each rear wheel 37. The cart cart 30 is made to follow the automatic transfer robot 10 moving forward by a distance Δ. As a result, even when the

traction plates

12, 12 of the automatic transport robot 10 are disengaged from the cart trolley 30, the cart trolley 30 is relatively displaced with respect to the automatic transport robot 10. The automatic transfer robot 10 and the cart 30 overlap and maintain the positional relationship OL. In this way, as shown in FIG. 5C, the cart cart 30 is placed at the stationary position RP.

When the automatic transport robot 10 and the cart 30 overlap and in the positional relationship OL, the light-shielding plate 63 is positioned between the light emitting unit 61 and the light receiving unit 62 that form the cart cart sensor (for example, see FIG. 4B). . Accordingly, the control unit mounted on the main body 11 of the automatic transfer robot 10 can detect that the automatic transfer robot 10 and the cart 30 are in the overlapping positional relationship OL based on the output of the light receiving unit 62. Accordingly, the control unit can perform control to cause the

traction plates

12, 12 to protrude upward from the upper surface 11Aa of the raised portion 11A only when the cart cart sensor detects the presence of the cart cart 30.

As a result, when the control unit mounted in the main body 11 of the automatic transfer robot 10 causes the

traction plates

12, 12 to protrude upward from the upper surface 11Aa of the raised portion 11A at the next forward movement, the

traction plates

12, 12 are moved to the cart cart. The automatic transfer robot 10 and the cart cart 30 are always connected to each other by successfully engaging with the tow receiving portion 38 of the 30.

The members constituting the wheel stopper device 80, and the members constituting the wheel stopper device 80 and the floor surface FL are not limited to the double-sided adhesive tape, but may be attached with an adhesive or a bolt or the like. It may be attached by other attachment means.

In the above example, the inclined member 81 is made of aluminum, but is not limited to this. The inclined member 81 may be made of a metal material other than aluminum or a resin material. Similarly, the rear wall member 82, the side wall member 83, and the rear wheel guide member 84 may be made of a resin material other than the ABS resin or a metal material. Further, the inclined member 81, the rear wall member 82, the side wall member 83, and the rear wheel guide member 84 may be made of, for example, an integral metal material.

(Modification 1)
FIG. 8A shows a top view of a buckling device 90 (Modification 1) obtained by modifying the buckling device 80 described above. FIG. 8B shows a cross section taken along line DD ′ in FIG. 8A.

In this example, the wheel stopper device 90 includes a rear wall member 91 extending in the left-right direction, a pair of side wall members 92 provided at a left end portion and a right end portion of the rear wall member 91, respectively, and these side walls. The vehicle includes a pair of rear

wheel guide members

93, 93 provided in contact with the front surfaces of the

members

92, 92, respectively, and a pair of coil springs 94, 94 as cushioning materials forming an action portion. The wheel stopper device 90 is configured symmetrically with respect to the center line C8.

The rear wall member 91 is a rectangular parallelepiped member elongated in the left-right direction, and is attached to the floor surface FL with a double-sided adhesive tape (not shown). The rear wall member 91 functions to support the coil springs 94 and 94 to stop the

rear wheels

37 and 37 of the cart cart 30.

The

side wall members

92, 92 are rectangular parallelepiped members elongated in the front-rear direction, and are located on the floor surface FL at positions between the front surface of the rear wall member 91 and the rear surfaces of the rear

wheel guide members

93, 93. Affixed with adhesive tape. The

side wall members

92, 92 function to position the

rear wheels

37, 37 of the cart cart 30 in the left-right direction, similarly to the

side wall members

83, 83 of the wheel stopper device 80 described above.

The rear

wheel guide members

93, 93 are rectangular parallelepiped members elongated in the front-rear direction, and are gradually widened from the rear to the front (in the + X direction). Affixed on FL. The rear

wheel guide members

93, 93 guide the

rear wheels

37, 37 of the cart cart 30 between the

side wall members

92, 92 in the left-right direction, similarly to the rear

wheel guide members

84, 84 described above. Work to do.

The coil springs 94 are provided in the vicinity of the left end and the right end of the rear wall member 91 so as to protrude forward along the inside of the

side wall members

92, 92, respectively. More specifically, a pair of

recesses

95, 95 are provided near the left end and near the right end of the front surface of the rear wall member 91. The root-side ends of the coil springs 94, 94 are fitted into and supported by the

recesses

95, 95, respectively. The coil springs 94, 94 respectively extend forward along inner surfaces of the

side wall members

92, 92 facing each other, and the distal ends of the coil springs 94, 94 are free ends. According to such coil springs 94, 94, the cushioning material can be easily configured.

According to the wheel stopper device 90, when the cart cart 30 is pushed backward by the automatic transport robot 10 to place the cart cart 30 at the stationary position RP, as shown in FIG. The ring 37 comes into contact with the tip of the corresponding coil spring 94 and compresses the coil spring 94. Thereafter, when the automatic transport robot 10 moves forward by a certain distance Δ, the coil spring 94 applies a forward force F2 (repulsive force) to the corresponding rear wheel 37 in an attempt to return from the compressed state to the natural state. Push back. As a result, the cart 30 follows the automatic transfer robot 10 moving forward by a certain distance Δ. As a result, even when the

traction plates

12, 12 of the automatic transport robot 10 are disengaged from the cart trolley 30, the cart trolley 30 is relatively displaced with respect to the automatic transport robot 10. The automatic transfer robot 10 and the cart 30 overlap and maintain the positional relationship OL.

traction plates

The

marker lines

96i and 96i, the main track position indicating plate 96, the

marker lines

97i and 97i, and the marker position indicating plate 97 of the wheel stopper device 90 shown in FIG. It has the same configuration as the

marker lines

86i, 86i, the main track position indicating plate 86, the

marker lines

87i, 87i, and the marker position indicating plate 87, and also works for positioning.

(Modification 2)
FIG. 10A shows a top view of a wheel stopper device 190 (Modification 2) obtained by modifying the above-described wheel stopper device 90 (Modification 1). FIG. 10B shows a cross section taken along line EE ′ in FIG. 10A.

This wheel stopper device 190 is different from the above-described wheel stopper device 90 in that a pair of

rubber members

194 and 194 are provided instead of the pair of

coil springs

94 and 94 as the cushioning material forming the action part. I have. 10A and 10B, the rear wall member 191, the

side wall members

192, 192, the rear

wheel guide members

193, 193, the

marker lines

196i, 196i, the main track position indicating plate 196, the

marker line

197i, 197i and the marker position indicating plate 197 are the rear wall member 91, the

side wall members

92 and 92, the rear

wheel guide members

93 and 93, and the

marker lines

96i and 96i shown in FIGS. 8A and 8B, respectively. , The main track position indicating plate 96, the

marker lines

97 i, 97 i, and the marker position indicating plate 97, and operate similarly.

Each of the

rubber members

194 and 194 has a substantially rectangular parallelepiped outer shape, and a double-sided adhesive tape (not shown) along the inside of the

side wall members

192 and 192 near the left end and the right end of the rear wall member 191, respectively. It is pasted and supported by. According to

such rubber materials

194 and 194, the cushioning material can be easily configured.

According to the wheel stopper device 90, when the cart cart 30 is pushed backward by the automatic transport robot 10 to place the cart cart 30 at the stationary position RP, as shown in FIG. The ring 37 comes into contact with the front surface of the corresponding rubber member 194 to compress the rubber member 194. Thereafter, when the automatic transfer robot 10 moves forward by a certain distance Δ, the rubber member 194 applies a forward force F3 (repulsive force) to the corresponding rear wheel 37 in an attempt to return from the compressed state to the natural state. Push back. As a result, the cart 30 follows the automatic transfer robot 10 moving forward by a certain distance Δ. As a result, even when the

traction plates

In the first and second modifications described above, the coil springs 94 and 94 and the

rubber members

194 and 194 are used as cushioning members, respectively. However, the present invention is not limited to this. Any cushioning material can be used as long as it can apply a forward force to the rear wheel 37. For example, a leaf spring or the like may be used instead of the coil spring 94.

In the above embodiment, the cart cart sensor detects the presence of the cart cart 30 by blocking the light from the light emitting unit 61 to the light receiving unit 62 with the light shielding plate 63 (transmission optical interrupter). However, it is not limited to this. For example, both the light emitting portion 61 and the light receiving portion 62 may be provided on the surface 13Li of one triangular guide portion 13L, and a reflecting plate may be provided instead of the light shielding plate 63 as a specific portion of the cart cart 30 (reflection type optical interrupter). ). Thereby, when the automatic transport robot 10 and the cart cart 30 overlap and in the positional relationship OL, the light emitted from the light emitting unit 61 is reflected by the reflector plate of the cart cart 30 and the reflected light is received by the light receiving unit 62. Thus, the presence of the cart 30 may be detected. Further, the cart cart sensor may detect the presence of the cart cart 30 by other means such as capacitance instead of light.

Also, in the above-described embodiment, the shelf board 35 of the cart cart 30 has a single-stage configuration, but is not limited to this. 3 (A) to 3 (C), the

columns

31, 31 are further extended upward, and one or more stages of shelves are further provided above the shelves 35. Is also good. Thereby, the transport amount can be increased.

The above embodiments are merely examples, and various modifications can be made without departing from the scope of the present invention. Each of the above-described embodiments can be realized independently, but combinations of the embodiments are also possible. In addition, various features in different embodiments can be independently realized, but combinations of features in different embodiments are also possible.

DESCRIPTION OF SYMBOLS 10 Automatic conveyance robot 11 Main body 12

Towing plate

13L, 13R Triangular guide part 13Lo, 13Ro Projection guide surface 30 Cart trolley 35 Shelf board 36 Front wheel 37 Rear wheel 38 Traction receiving part 39 Guide receiving part 39Li, 39Ri Receiving guide surface 61 Light emitting part 62 Light receiving unit 63 Light shielding plate 71 Front sensor 72

Rear sensor

80, 90, 190 Wheel stopper 81a Slope 88 Main track magnetic tape 89 Marker magnetic tape 94 Coil spring 194 Rubber material 100 Unmanned transport system RP Stationary position

Claims

An unmanned transport system that performs transport by towing a towed vehicle by an unmanned transport vehicle,
On the floor, based on a fixed position where the towed vehicle is set back, provided with an elongated marker magnetic tape attached to a predetermined position,
The automatic guided vehicle is
A coupling member that can be engaged with the towed vehicle so that the automatic guided vehicle and the towed vehicle maintain a specific relative positional relationship,
A front sensor provided on the bottom surface of the automatic guided vehicle and capable of detecting the marker magnetic tape,
In order to place the towed vehicle in the stationary position, the vehicle is moved backward, pushes the towed vehicle backward, passes over the marker magnetic tape, and then moves forward by a certain distance. It is designed to stop when it detects the front end of the tape,
The unmanned transport system includes a wheel stopper device for stopping the towed vehicle in contact with a pair of left and right rear wheels of the towed vehicle to be retracted behind the stationary position,
The above-mentioned wheel stopper device has an action portion that applies a forward force to the rear wheel so that the towed vehicle follows the unmanned guided vehicle moving forward by the certain distance. system.
The unmanned transport system according to claim 1,
The unmanned conveyance system, wherein the action portion of the wheel stopper device has a slope that is inclined in such a manner that the height decreases from the rear to the front.
The unmanned transport system according to claim 1,
The wheel stopper device includes a rear wall erected behind the stationary position,
The unmanned transport system, wherein the action portion includes a cushioning material supported by the rear wall and for pushing the abutted rear wheel forward.
The unmanned transport system according to claim 3,
An unmanned transport system, wherein the cushioning member comprises a spring.
The unmanned transport system according to claim 3,
An unmanned transport system, wherein the cushioning member is made of a rubber material.
The unmanned transport system according to any one of claims 1 to 5,
The unmanned transport system according to claim 1, wherein the wheel stopper device includes an alignment element for aligning the wheel stopper device and the marker magnetic tape on the floor surface.
The unmanned transport system according to any one of claims 1 to 6,
The towed vehicle has a specific portion for indicating the presence of the towed vehicle,
When the automatic guided vehicle and the towed vehicle are in the specific relative positional relationship, the unmanned guided vehicle faces the specific portion of the towed vehicle, and faces the specific portion. An unmanned transport system comprising a towed vehicle sensor for detecting the presence of a towed vehicle.
The unmanned transport system according to any one of claims 1 to 7,
The towed vehicle has a pair of receiving guide surfaces on the left and right halves of the towed vehicle, the spacing of which gradually narrows from the front to the rear of the towed vehicle,
The automatic guided vehicle has a pair of protruding guide surfaces that gradually become narrower from the front to the rear of the automatic guided vehicle in the left half and the right half of the automatic guided vehicle,
When the automatic guided vehicle moves rearward from a state in which the automatic guided vehicle is separated forward from the towed vehicle on the floor surface, the pair of receiving guide surfaces guides the pair of projecting guide surfaces, and the automatic guided vehicle An unmanned transport system wherein a vehicle and the towed vehicle have the specific relative positional relationship.
A wheel stopper device for an unmanned transport system that performs transport by towing a towed vehicle by an unmanned transport vehicle,
The unmanned transport system, on the floor, based on a fixed position where the towed vehicle is set back, provided with an elongated marker magnetic tape attached to a predetermined position,
The automatic guided vehicle is
A coupling member that can be engaged with the towed vehicle so that the automatic guided vehicle and the towed vehicle maintain a specific relative positional relationship,
A front sensor provided on the bottom surface of the automatic guided vehicle and capable of detecting the marker magnetic tape,
In order to place the towed vehicle in the stationary position, the vehicle is moved backward, pushes the towed vehicle backward, passes over the marker magnetic tape, and then moves forward by a certain distance. It is designed to stop when it detects the front end of the tape,
The above wheel stopper device,
Behind the stationary position, arranged to stop the towed vehicle by contacting a pair of left and right rear wheels of the towed vehicle to retreat,
A wheel stopper device comprising: an action portion that applies a forward force to the rear wheel so that the towed vehicle follows the automatic guided vehicle that moves forward by a certain distance.