JP2506292Y2 - Work transfer device for automated guided vehicles - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field of the Invention The present invention, for example, places a work (conveyed product such as a workpiece) on an unmanned guided vehicle that is guided by a guide line and travels by itself.
The present invention also relates to a transfer device that lifts a work from an automated guided vehicle.

Conventional technology Unmanned guided vehicles (hereinafter simply referred to as unmanned vehicles) are self-propelled so as to trace guide means such as guide lines and tapes laid on the floor, and stop by using a mark plate provided on the floor as an instruction means. Control is performed, or the vehicle travels according to the stored data of the storage means provided in itself, and is often used for transporting parts to various parts in a factory. One of the advantages of this unmanned vehicle is that there is little fixed equipment on the floor side, and there is a high degree of freedom in setting and changing the traveling route, and thus the transport route for parts, etc. It has been considered to configure a production line mainly including a car and a chain conveyor as an unmanned vehicle as a transportation means. In such a production line, a jig for mounting a work in a predetermined posture is provided in an unmanned vehicle, or a housing portion for assembly parts is provided together with the jig, and the unmanned vehicle is sequentially run to a predetermined work station to This is a system in which the work is pre-instructed at the work station, and has advantages that it is possible to easily cope with changes in the types of products to be produced and the production amount, and facilitates multi-product mixed production.

On the other hand, in a production line that uses an unmanned vehicle as a transport means, it is necessary not only to load and unload a work on an unmanned vehicle, but also to transfer the work between unmanned vehicles due to the difference in the processing content applied to the work. In order to automate work and improve work efficiency, it is desirable to provide a transfer device in the middle of the transportation route of the unmanned vehicle.

Problems to be solved by the invention When automatically transferring a work between a self-propelled unmanned vehicle on the floor by a transfer device, conventionally, a mark is placed on the floor near the transfer device. An instruction means such as a plate is provided, the instruction means stops the unmanned vehicle at a predetermined position with respect to the transfer device, and in that state, the work is transferred by the transfer device. However, the accuracy of the stop position of an unmanned vehicle is extremely low compared to the positioning accuracy of machines such as transfer devices,
There is a problem that the transfer is not reliable, for example, the work cannot be placed on the predetermined position of the unmanned vehicle due to the displacement of the relative position with the transfer device.

In order to eliminate such inconvenience, it is conceivable to provide a mechanism for stopping the unmanned vehicle at an accurate position with respect to the transfer device. However, such a mechanism is expensive and also allows a plurality of unmanned vehicles to travel. In the case of the system, since there is a slight dimensional variation that can be called a machine difference in the mounting position of the work of each unmanned vehicle, even if the stopping accuracy of the unmanned vehicle becomes high, it is substantially different from the transfer device. There is a problem that the relative position accuracy cannot be increased.

Further, while the pallet for mounting the work provided on the unmanned vehicle is supported by the guide mechanism that allows free movement in the two-dimensional direction in the horizontal plane, the pallet positioning means is provided on the automatic processing machine at the predetermined processing station. , A configuration has been proposed in which when a driverless vehicle reaches the processing station, the pallet is engaged with a positioning means to position the work on the pallet with respect to the automatic processing machine (Japanese Patent Application No. 62-88465). ). With such a configuration, it is possible to increase the relative positional accuracy between the workpiece and the automatic processing machine or a transfer device that replaces it, but on the other hand, a two-dimensional guide mechanism is provided for each unmanned vehicle. Must be provided,
It is also necessary to provide a fixing means to fix the pallet to prevent the guide mechanism from operating in order to prevent the work from shaking and the work from falling when the unmanned vehicle is running. It is complicated and expensive.

This invention was made in the background of the above circumstances,
An object of the present invention is to provide an apparatus capable of reliably transferring a work to an unmanned vehicle with a simple configuration.

Means for Solving the Problems In order to achieve the above-mentioned object, the present invention aims to achieve the above-mentioned object by providing an unmanned vehicle on the lower side of an elevating base which moves up and down with respect to an unmanned guided vehicle which carries a work and unmannedly travels on a floor. A slide base is attached via a floating mechanism that allows free movement in at least one direction along a plane substantially parallel to the traveling surface of the carrier, and a claw member that engages with the work and suspends the work is described above. One of an engaging portion and an engaged portion that are attached to the slide base and that determine the relative position of the slide base with respect to the automated guided vehicle by engaging with each other in the moving direction by the floating mechanism is provided on the slide base and the other is It is characterized in that it is provided in an automatic guided vehicle or a work.

Effect In this invention, the lifting base moves up and down with respect to the unmanned vehicle, and the claw member attached to the lifting base via the floating mechanism and the slide base engages with the work, thereby Elevate and mount the work,
Or unload it. In that case, when the elevating base is lowered with respect to the unmanned vehicle, the engaging part and the engaged part provided on the slide table and the unmanned vehicle or the work are engaged with each other, whereby the slide table and the attached part are attached. A certain claw member moves in a plane parallel to the traveling surface of the unmanned vehicle, and the relative positions of the unmanned vehicle, the slide base, and the claw member are determined as desired. As a result, when the work is mounted on the unmanned vehicle, the work is surely placed at a predetermined position on the unmanned vehicle, and when the work is unloaded from the unmanned vehicle, the claw member and the work are Since the relative position is accurately determined, the claw member reliably engages the work, and the work can be lifted from the unmanned vehicle.

Embodiment Next, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a front view showing an embodiment of the present invention, and FIG. 2 is a side view thereof, showing a gate-shaped support pillar in the middle of the traveling route of the unmanned vehicle 1 on the floor 2 on which the unmanned vehicle 1 travels. 3 is installed, for example, a hydraulic cylinder 4 is attached downward at the center of the upper end of the gate-shaped column 3 as a driving means for raising and lowering, and an elevating board 6 is attached to the tip (lower end) of the rod 5. ing. A plurality of guide rods 7 are provided on the upper surface of the elevating board 6 to guide the elevating board 6 in the vertical direction.
And each guide rod 7 is fitted to a guide sleeve 8 attached to the upper end of the gate-shaped column 3 so as to move linearly. A slide stand 10 is attached to the lower surface of the elevating board 6 via a floating mechanism 9.

This floating mechanism 9 allows the slide base 10 to freely move in two directions orthogonal to the running surface of the unmanned vehicle 1, that is, in a plane substantially parallel to the floor 2, more specifically, in the front-back direction and the width direction of the unmanned vehicle 1. It is allowed, and the lower surface of the elevating board 6 has two guide rails along the longitudinal direction of the unmanned vehicle 1.
11 mounted, each with linear motion slider
12 are movably engaged. Further, the linear motion slider 12 is provided with a traverse plate 14 provided with two guide rails 13 along the width direction of the unmanned vehicle 1 on the lower surface, and a linear motion slider 15 is movable on each of the guide rails 13. And a slide base 10 is attached to the linear motion slider 15.

As shown in the figure, the slide base 10 has a U-shaped cross section having side wall parts that hang downward on the side surface of the unmanned vehicle 1. Each of the left and right side wall parts has a rod from the outer surface to the inner surface. A penetrating clamp cylinder 16 is attached, and a claw member 18 that engages with a bracket 17, which will be described later, at least in the vertical direction is attached to the tip of the rod. Further, projections 20 having pin holes 19 as engaging portions formed on the lower surface are provided on the lower surface inside the side walls of the slide base 10 at two positions on the left and right. The position of each protrusion 20 is set so that the relative position of the center position of the pin hole 19 to the unmanned vehicle 1 is a predetermined position in terms of design, and the pin hole 19 is a guide for alignment. In order to absorb the deviation of the relative position, the opening end side is a tapered hole as shown in an enlarged view in FIG.

On the other hand, the unmanned vehicle 1 uses the engine block as the work W in the example shown in the figure, and is self-propelled so as to trace the guide wire buried in the floor 2, for example, like the conventional unmanned vehicle, and also the mark. It is configured to stop at a designated position by an instruction means such as a plate, and its traveling route is set to pass through the inside of the gate-shaped support column 3. As shown in FIG. 4, a pair of left and right work jigs 21 are erected on the unmanned vehicle 1. Each upper end portion of the unmanned vehicle 1 serves as an engaged portion that closely fits into the pin hole 19. Positioning pins 22 are respectively provided so as to project. Further, inside the upper end of each work jig 21, there is provided a work pedestal 23 that rotates around a horizontal axis connecting the upper ends of both work jigs 21. A work fixing pin 24 that fits into a bracket 17 attached to the work W is projected. That is, the brackets 17 attached to both sides of the work W are fixed to the work fixing pins
The work W is rotatably supported between the work jigs 21 by being fitted into the work jigs 21 about the horizontal axis.

The bracket 17 is explained here.
17 is the work fixing pin 24 fixed to the work W
The work W is mounted on the unmanned vehicle 1 in a predetermined posture by being fitted to the unmanned vehicle 1, and is clamped so as to be able to move up and down by engaging the claw member 18, and Plural types are prepared so that the relative positions to the unmanned vehicle 1 and the claw member 18 are constant even if the sizes are different. That is, for example, FIG. 5 (A)
As shown in (B) and FIGS. 6 (A) and (B), the bracket 171 used for the first work W1 and the bracket 172 used for the second work W2 are fixed to the works W1 and W2, respectively. First mounting plates 171a and 172a and the work fixing pin 24
Second mounting plates 171b, 172b having pin holes formed therein, which are fitted to each other. Not only the diameter of each pin hole in the second mounting plates 171b, 172b, but also the pin hole spacing 1, l2, 2 Mounting plate 17
The length l3 of 1b and 172b, the distance l4 between the outer edges of the left and right mounting plates 171b and 172b, and the distance h between the lower surfaces of the second mounting plates 171b and 172b and the centers of gravity of the workpieces W1 and W2 are respectively in the brackets 171 and 172. They are set to the same size. Thus the bracket
Reference numerals 171, 172 are so-called common brackets, which allow works W having different sizes and shapes to be mounted on one type of unmanned vehicle 1.

Next, the operation of the transfer device described above will be described. First, the case where the work W is mounted on the unmanned vehicle 1 will be described. The work W has a bracket 17 fixed to its side surface.
By engaging the above-mentioned claw member 18 with the claw member 18 and raising the lifting base 6 to the upper position by the hydraulic cylinder 4 in this state, the lifting base 6 is lifted to a position where it does not interfere with the unmanned vehicle 1. In this state, the unmanned vehicle 1 Runs along a predetermined guide means such as a guide line and stops below the work W. The stop position of the unmanned vehicle 1 is determined in advance by the guide means or stop control means such as a mark plate (not shown), but positive positioning engagement means such as a stopper protruding from the floor 2 or a transfer device. Because there is no driverless car 1
There are variations in the stop position of. Therefore, when the work W is lowered with respect to the stopped unmanned vehicle 1 by lowering the lifting board 6 by the hydraulic cylinder 4,
As it is, the bracket 17 attached to the work W does not necessarily fit to the work fixing pin 24 of the unmanned vehicle 1. However, in the above-mentioned transfer device, it is first provided on the lower surface of the slide base 10 as the lifting base 6 is lowered. The pin hole 19 formed in the protruding portion 20 fits into the opening end of the positioning pin 22 provided on the upper end of the work jig 21 of the unmanned vehicle 1. At that point pin hole 19
Although the axes of the positioning pin 22 and the positioning pin 22 are misaligned with each other, since the pin hole 19 has a tapered hole on the opening end side, a load is applied in a direction in which the axes of the two coincide with each other as the fitting depth between the two gradually increases. Works. That is, if the unmanned vehicle 1 is displaced from the regular stop position in the front-rear direction, the load is applied in the front-rear direction, if it is displaced in the left-right direction, the load is applied in the left-right direction, and if it is displaced in both the front-rear, left-right directions, these two directions are applied. Works. On the other hand, since the slide base 10 suspending the work W is attached to the elevating base 6 via the floating mechanism 9 which allows free movement in the front, rear, left and right directions, the slide base 10 is positioned with the pin hole 19. By the above-described load acting due to the engagement with the pin 22, the pin hole 19 and the positioning pin 22 move so that the axes thereof match, and as a result, the workpiece suspended on the slide base 10 W is positioned with respect to the unmanned vehicle 1. That is, the work W is placed at a position where the pin hole of the bracket 17 fixed to the work W and the work fixing pin 24 protruding from the work jig 21 of the unmanned vehicle 1 are fitted.
Is positioned, and as a result, the work W is positioned and fixed on the work receiving base 23 of the unmanned vehicle 1 via the bracket 17 when the elevating base 6 is lowered to the lower limit. Then, the clamping cylinder 16 moves backward, the claw member 18 is disengaged from the bracket 17, and the elevating base 6 is raised before the traveling of the unmanned vehicle 1 is completed, whereby the work W mounting work is completed.

When unloading the work W from the unmanned vehicle 1, the unmanned vehicle 1 equipped with the work W is stopped at a predetermined position, then the elevating base 6 is lowered, and then the claw member 18 is moved forward by the clamping cylinder 16. Then, by engaging the bracket 17 and raising the elevating base 6 in this state, the work W is pulled up from the work receiving base 23 of the unmanned vehicle 1, and the unloading is completed.
Even in that case, when the elevator base 6 descends with respect to the unmanned vehicle 1 stopped at a predetermined position, the pin hole 19 formed in the protrusion 20 is fitted into the positioning pin 22, so that the slide base 10 is moved. By moving by the floating mechanism 9, the relative position between the slide base 10 and the centerless vehicle 1, that is, the relative position between the claw member 18 and the work W is determined as expected.

7 and 8 show another embodiment of the present invention, in which the pawl member for suspending the work W is movable only in the longitudinal direction of the unmanned vehicle 1, and The engaged portion for positioning is provided on the work W.
That is, a pair of left and right suspension arms 30 that are close to and away from each other are provided so as to hang down from an elevator base (not shown), and the unmanned vehicle 1 is provided at the lower ends of the suspension arms 30 facing each other.
A guide rail 31 is attached along the front-rear direction, and a slide base 32 integrated with a linear motion slider is attached to the guide rail 31. Therefore, in this embodiment, the floating mechanism is formed by the guide rail 31 and the slide base 32 movably engaged with the guide rail 31. On the slide base 32, receiving claws 34 that engage with the lower surface of the bracket 33 fixed to the work W are formed, and guide portions 35 as engaging portions for positioning are formed at both ends in the front-rear direction. There is. This guide portion 35 is, as shown in FIG.
It has a guide surface that is an inclined surface that is open toward and a parallel surface that fits the bracket 33 in contact with the longitudinal end surface of the bracket 33.

A centering mechanism is provided in the above configuration. That is, a protrusion 36 is formed at the center of the slide base 32, springs 37 are arranged on both sides of the protrusion 36 in the moving direction of the slide base 32, and one end of each spring 37 is formed on the protrusion 36. The slide base 32 is fixed, and the other end is fixed to a receiving metal 38 integrated with the suspension arm 30, and the slide base 32 is centered with the position where the elastic force of each spring 37 is balanced as the center position. .

Therefore, in the configuration shown in FIGS. 7 and 8, each suspension arm 30 advances while the unmanned vehicle 1 is stopped at a predetermined position, and in that case, if the stopped position of the unmanned vehicle 1 is displaced in the front-rear direction. , The longitudinal end surface of the bracket 33 comes into contact with the inclined surface of the guide portion 35, thereby applying a load in the front-rear direction, and as a result, the slide base 32 moves against the elastic force of the spring 37 and finally Specifically, the end surface of the bracket 33 is fitted so as to contact the parallel surface of the guide portion 35, and the relative position of the both is determined. At the same time, the receiving claw 34 is the bracket
The work W is lifted up from the unmanned vehicle 1 by entering the lower side of 33 and raising the suspension arm 30 in that state. When the work W is pulled up from the unmanned vehicle 1, the slide base 32 is centered by the elastic return force of the spring 37, and is held at a predetermined center position in the transfer device. Therefore, the transfer device having the configuration shown in FIGS. 7 and 8 is effective when the work W is transferred from the unmanned vehicle 1 to another transfer means or the like.

As is apparent from the above description, according to the transfer device of the present invention, the relative positions of the slide base and the unmanned vehicle or the work are directly determined by the engaging portion and the engaged portion. The variation of the stop position of the unmanned vehicle does not affect the transfer work, and the transfer work can be performed reliably, and in this invention, the floating mechanism that absorbs the error in the relative position with the unmanned car is used. The equipment is simple and inexpensive because it is provided on the side of the transfer device through which is passed.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of the present invention, FIG. 2 is a side view thereof, and FIG. 3 shows a pin hole and a positioning pin as an example of an engaging portion and an engaged portion for positioning. Partial view,
FIG. 4 is a front view showing an example of an unmanned vehicle, and FIG. 5 (A).
6B and 6B are a front view and a side view showing an example of a common bracket, FIG. 7 is a partial front view showing another embodiment of the present invention, and FIG. Of FIG.
FIG. 8 is a view taken along the line VIII-VIII. 1 ... Unmanned vehicle, 2 ... Floor, 6 ... Elevating base, 9 ...
… Floating mechanism, 10 …… Slide base, 11,13 ……
Guide rails, 12, 15 ... Linear motion sliders,
17,171,172 …… Bracket, 18 …… Claw member, 19 …… Pin hole, 22 …… Positioning pin, 30 …… Suspending arm, 31 …… Guide rail, 32 …… Slide base, 33 …… Bracket, 34
...... Receiving claw, 35 …… Guide part, W, W1, W2 …… Workpiece.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Yuto Kato, Toyota Town, Toyota City, Aichi Prefecture, 1st Toyota Motor Co., Ltd. (72) Masao Kawase, 1 Toyota Town, Toyota City, Aichi Prefecture, Toyota Motor Co., Ltd. (72) Inventor Akira Taga 1 Toyota-cho, Toyota-shi, Aichi Toyota Motor Co., Ltd. (72) Inventor Shigeru Umehara 2-chome, Toyota-cho, Kariya-shi, Aichi Toyota Industries Corporation (72) Inventor Satoshi Kaseda 2-chome, Toyota-cho, Kariya city, Aichi prefecture, Toyota Industries Corporation (72) Inventor Yoshiaki Kato, 3-20 Kinugahara, Toyota-shi, Aichi Shinmei Industry Co., Ltd. (56) References Special Kai 63-254507 (JP, A) Actual Kaihei 2-88929 (JP, U)

Claims (1)

(57) [Scope of utility model registration request] 1. At least one direction along a plane substantially parallel to a traveling surface of the automatic guided vehicle, below an elevating base that moves up and down with respect to an automated guided vehicle that carries a workpiece and travels unmanned on a floor. A slide base is mounted via a floating mechanism that allows free movement to the slide base, and a pawl member that engages the work and suspends the work is mounted on the slide base. One of an engaging portion and an engaged portion for engaging and determining a relative position of the slide table with respect to the automatic guided vehicle is provided on the slide table, and the other is provided on the automatic guided vehicle or the work. Work transfer device for automated guided vehicles.