JP5132471B2 - Automatic connection device for transport cart and automatic guided vehicle - Google Patents

Description

  In the present invention, when an automatic guided vehicle (towing vehicle) enters the lower part of a transport cart for loading articles, the transport cart and the automatic guided vehicle are automatically connected to pull the transport cart to run. It belongs to the technical field of a connecting device that automatically releases the connection when the transport carriage reaches the target position.

Conventionally, a transport cart for loading articles and an automatic guided vehicle are automatically connected so that the automatic guided vehicle can be pulled and run, and the connection is automatically performed when the transport cart reaches a target position. Prior arts of various mechanisms and mechanisms are well known as coupling devices to be solved.
For example, in the connecting device disclosed in Patent Document 1 below, a connecting receiver having a receiving groove is provided on the lower surface of the transport carriage, and a convex strip that fits into the receiving groove on the upper surface of the automatic guided vehicle (towing vehicle). A connecting main tool provided with a portion is installed, and the protruding portion is fitted into the receiving groove and rotated by about 90 ° to be connected, and when further rotated by about 90 °, the connection can be released.

The connecting device disclosed in Patent Document 2 is provided with an L-shaped connecting pin that can be raised and lowered on the upper surface of an automatic guided vehicle (towing vehicle), a connecting hole provided on the lower surface of the transporting carriage, and an L-shaped connecting pin. Is inserted into the connecting hole of the transport carriage and connected, and is pulled out to release the connection.
In the connecting device disclosed in Patent Document 3, a connecting pin protruding vertically downward by a spring is installed on the front surface of an unmanned guided vehicle (towing vehicle) having a shape straddling the conveying cart. In addition, an inclined surface having an upward slope is formed in the forward direction of the automatic guided vehicle, and a pin hole into which the connecting pin is inserted is provided in a horizontal plane following the end of the inclined surface. The connecting pin that has slid on the surface is pushed into a pin hole in a horizontal plane with a spring to achieve the purpose of connection.

  Further, in the connecting device disclosed in Patent Document 4, a connecting pin protrudes downward on the lower surface of the transport carriage, and the connecting pin fits on the upper surface of the automatic guided vehicle (towing vehicle) that enters under the transport carriage. A pin receiving plate with a pin hole is installed so that it can be moved up and down, and when the automatic guided vehicle enters the lower part of the transport carriage, the pin receiving plate is raised and the connection pin of the transport carriage is inserted into the pin hole. It is configured to achieve the purpose.

Japanese Utility Model Publication No. 64-16967 JP-A-6-135321 JP 7-172353 A JP 2000-127957 A

The connecting devices disclosed in the above-described Patent Documents 1 to 4 are recognized as configurations that exhibit specific operational effects. However, the drawbacks and problems common to each connecting device are that the occurrence of so-called “backlash” in the connected state is unavoidable due to the fitting tolerance (gap) that is always allowed in the connecting portion.
For example, in the coupling device of the above-mentioned cited document 1, a fitting tolerance (gap) is set in the receiving groove and the protruding strip portion fitted in the receiving groove, and the fitting tolerance (gap) is also fitted in the coupling pin and the coupling hole in Patent Documents 2 to 4. Is set.
However, the backlash of the connecting portion is always shocking by the amount of play (gap) at the start when the automated guided vehicle pulls the carriage and starts running, or when the running stops or during acceleration / deceleration during running. It generates noise (rattle and erratic movement) and generates noise, and an impact force acts on the connecting member and easily causes damage. In addition, the difference in motion inertia between the carriages may cause the smooth running state to be damaged, which may cause a running trouble or possibly cause an accident in which the loaded transported article is damaged.

  Next, since the past connecting device has a configuration in which, for example, the connecting pin is fitted into the connecting hole, strictness is required for the alignment of the two, that is, the alignment of the automatic guided vehicle (towing vehicle) and the transport carriage on the travel line. Is done. However, each of the prior arts does not reveal a solution as to what specific guiding means is used for precise alignment as described above.

A main object of the present invention is to provide an automatic connection device for a transport cart and an automatic guided vehicle that has a configuration in which there is no concern that play will occur in the connecting portion, and that has solved all the above-described problems caused by play. .
The next object of the present invention is exceptionally the alignment of the connecting arm constituting the connecting device and the connected portion gripped by the connecting arm, in other words, the alignment on the travel line of the transport cart and the automatic guided vehicle. It is a configuration that does not require strictness of positioning, and by providing an automatic coupling device between the transport cart and the automatic guided vehicle that can realize automatic operation of the transport cart and the automatic guided vehicle with a simple guiding structure level. is there.

As a means for solving the above-mentioned problems of the prior art, an automatic connection device for a transport cart and an automatic guided vehicle according to the invention described in claim 1 is:
When an automated guided vehicle sinks into a gate-shaped frame formed at the bottom of the transport cart carrying goods, the transport cart is automatically connected to the unmanned transport vehicle, and the automated guided vehicle pulls the transport cart. In the connecting device in which the connection is automatically released when the transport cart or the automatic guided vehicle reaches the target position,
Two connecting arms protruding on the upper surface of the automatic guided vehicle are provided so as to be raised and lowered by a symmetric operation, and a driving device for raising and lowering the two connecting arms by a symmetrical operation is installed in the automatic guided vehicle.
On the ceiling surface part of the gate-shaped frame formed at the lower part of the transport carriage, there are provided connected parts that are gripped by two connection arms that undulate in a symmetrical manner on the upper surface of the automatic guided vehicle. The drive device for raising and lowering the connecting arm is configured to be driven and controlled by a position signal that detects a specific position on the traveling path of the automatic guided vehicle or a position signal that detects that the transport carriage has reached a specific position. .

The invention described in claim 2 is an automatic coupling device for a transport cart and an automatic guided vehicle according to claim 1,
The two connecting arms that protrude from the upper surface of the automatic guided vehicle are installed at two positions on the front and rear of the line common to the traveling direction of the automatic guided vehicle so that they can be raised and lowered symmetrically back and forth in the traveling direction. .
On the ceiling surface part of the portal frame formed at the lower part of the transport cart, both sides of the two connecting arms that stand up and protrude from the upper surface of the automatic transport vehicle are arranged parallel to the traveling direction of the automatic transport vehicle. Two guide bars are installed at intervals to guide the surface.
As a connected portion that is gripped by the two connecting arms, a connected bar that connects between the two guide bars is provided at an interval that is gripped by the standing two connecting arms, and the two The guide bar is installed at a height that allows it to be removed when the two connecting arms are lowered.

The invention described in claim 3 is an automatic coupling device for a transport cart and an automatic guided vehicle according to claim 1,
The connecting arm protruding from the upper surface of the automatic guided vehicle is formed in an upward L-shape when viewed in the side surface direction.
The drive device that raises and lowers the two connecting arms in a symmetrical manner has two rack bars installed so as to move in parallel relative to each other with a common pinion interposed therebetween. A connecting arm is attached to a shaft provided at a right angle to the base so that the L-shaped flange portion faces upward.
At the position where the two rack bars are at the maximum stroke distance from each other and the back of each of the connecting arms hits, a downwardly inclined surface having an angle that allows the buttocks of the connecting arms to lie down is provided. The guide surface that the back of each connecting arm hits in the direction in which the two rack bars approach each other from the upper end of the descending inclined surface is lowered in the approaching direction at a height that raises the flange of each connecting arm upright. They are formed in parallel.
As a power unit of the drive mechanism, an actuator that linearly moves any one of the rack bars or a actuator that rotates the pinion forward and backward is installed.
The invention described in claim 4 is the automatic coupling device for the carrier cart and the automatic guided vehicle described in claim 2 or 3,
When viewed from the side, the upper collar of the connecting arm formed in an upward L-shape has two guide bars installed on the ceiling surface of the portal frame formed at the bottom of the carriage. A constrained plate having a width dimension substantially equal to the legal interval and chamfered in an upward tapered shape at both upper corners is attached.

The automatic coupling device for a transport cart and an automatic guided vehicle according to the present invention sets the position of the automatic guided vehicle on the traveling path when the automatic guided vehicle enters the portal frame formed at the bottom of the transport cart for loading articles. In response to the detected position signal or the position signal detected that the transport carriage has reached a specific position, the drive device raises the two connecting arms protruding from the upper surface of the automatic guided vehicle in a symmetrical manner, A to-be-connected portion installed on the ceiling surface portion of the portal frame of the transport carriage is gripped and automatically connected so as to be sandwiched between the two connecting arms. That is, since the to-be-connected tool of a conveyance trolley is grasped so that two connection arms of an automatic guided vehicle may pinch | interpose, a positional relationship of both is not required | required exact | strict.
In addition, since the connected portion is sandwiched and gripped by two connecting arms, there is no room for play (gap) in the connected state, and the automatic guided vehicle is smoothly and reliably integrated with the conveying cart. Tow and drive. Therefore, there is no concern that the connecting portion rattles and becomes unstable and unfairly traveled as in the prior art and generates noise or an impact force acts on the connecting portion to break the connecting portion. Even if there is a difference in motion inertia between the towed carrier cart and the automated guided vehicle, the integrity of the connecting part is ensured, so that a smooth towing traveling state is realized and no running obstacles occur, There is no risk of damaging the transported goods.

When an automated guided vehicle sinks into a gate-shaped frame formed at the bottom of the transport cart carrying goods, the transport cart is automatically connected to the unmanned transport vehicle, and the automated guided vehicle pulls the transport cart. In this connection device, the connection is automatically released when the transport cart or the automatic guided vehicle reaches the target position.
The two connecting arms protruding on the upper surface of the automatic guided vehicle are provided so as to be raised and lowered by a symmetrical operation, and a driving device for raising and lowering the two connecting arms by a symmetrical operation is installed in the automatic guided vehicle. .
A to-be-connected portion that is gripped by two connecting arms that undulate in a symmetrical manner on the upper surface of the automatic guided vehicle is provided on the ceiling surface portion of the portal frame formed at the lower portion of the transport carriage.
The drive device for raising and lowering the two connecting arms in a symmetrical motion is based on a position signal that detects a specific position on the traveling path of the automatic guided vehicle or a position signal that detects that the transport carriage has reached a specific position. Drive controlled.
The connecting arms projecting up and down freely on the upper surface of the automatic guided vehicle are raised and lowered in a symmetrical manner in the front and rear in the traveling direction at two positions on the front and rear of the line common to the traveling direction of the automatic guided vehicle.

Hereinafter, the present invention will be described based on illustrated embodiments.
An example of the transport cart 1 and the automatic guided vehicle 2 in which the coupling device of the present invention is implemented is shown in FIGS. Each of the transport cart 1 and the automatic guided vehicle 2 is configured as a cart having wheels running on the road surface 3 at the lower ends of the leg portions. In the case of the illustrated example, the transport carriage 1 has a frame assembled with a thin steel pipe coated with a synthetic resin and bonded. The transport cart 1 does not include a traveling power unit and includes a loading shelf 10 (loading unit) on which articles are loaded. The leg portions below the loading shelf 10 have four corner support members 11 below. It extends in a straight line, and a wheel (swivel caster) 12 is attached to the lower end thereof to form a portal frame structure.
On the other hand, as illustrated in FIGS. 1 and 2, the automated guided vehicle 2 can sink into and pass through the portal frame formed below the loading rack 10 (loading unit) of the transport cart 1. It consists of a height and a width dimension. The automatic guided vehicle 2 has a pair of connecting arms 22 and 22 protruding upward through a slit-shaped opening 21 formed in the cover member 20 constituting the upper surface of the automatic guided vehicle 2 on a central line common to the traveling direction of the automatic guided vehicle 2. Are provided so as to be undulated by symmetrical movements in front and rear in the traveling direction.
The drive device for raising and lowering these two connecting arms 22 and 22 by a symmetrical operation is configured as shown in FIGS. 3 and 4, but is installed and covered under the cover member 20.

Although the details of the specific configuration of the automatic guided vehicle 2 are not shown, for example, reference is made to the “preceding type guided towing vehicle” disclosed by the present applicant in Japanese Patent Laid-Open No. 2002-178821 (Japanese Patent No. 3482463). It is a configuration. That is, two drive wheels 24, 24 driven by a motor of a traveling power source (not shown) are provided below the center of the chassis, and the four corners of the chassis are supported by other free wheels 25 (universal casters). ing. Steering of the automatic guided vehicle 2 is executed by a speed difference method between the two drive wheels 24 and 24. Bumpers 26 configured to surround the front and rear free wheels 25 are installed at the front end and the rear end in the traveling direction of the automatic guided vehicle 2, and are respectively positioned directly above (that is, the front end surface and the rear end surface of the automatic guided vehicle 2). A non-contact type obstacle sensor 29 is installed. Further, a sensor 28 that receives an induction signal transmitted from an induction signal transmitter laid on the road surface 3, for example, a magnetic tape, and transmits it to an unillustrated controller at two front and rear positions inside the bumper 26, is transmitted to the front side. A total of 6 are installed, 3 on the back and 3 on the back side. Incidentally, two of the sensors 28 are NS sensors (sensors that read a magnetic tape for position support provided at a specified position on the road surface 3), and the other one is a travel sensor (a magnetic tape indicating the travel trajectory of the road surface 3). Sensor).
Each signal received and transmitted by the obstacle sensor 29 and the sensor 28 for receiving the guidance signal is received by a controller (not shown) and subjected to arithmetic processing in accordance with a control flow program set in advance in the controller. The driving power source motor is driven and controlled by the control signal to cause traction traveling by the driving wheels 24, or the driving control of the automatic coupling device described below is performed in a series of relations with the control of the driving wheels 24.

Next, the configuration and operation of the automatic coupling device will be described with reference to FIGS.
As described above, the two connecting arms 22 and 22 projecting from the cover member 20 on the upper surface of the automatic guided vehicle 2 are installed so that they can be moved in parallel and linearly with a single pinion 30 therebetween. The two rack bars 31A and 31B are attached to the respective outer ends.
Reference numeral 40 in FIGS. 3 and 4 denotes a support shaft of the pinion 30, which is horizontally supported by a plurality of columns 43 fixed to a plate-like frame 23 that forms a part of the vehicle body of the automatic guided vehicle 2. It is supported on the base plate 44. The two rack bars 31A and 31B are also configured to slide while being guided and restrained by a base plate 44 and a guide member 42 fixed to the base plate 44.
In the case of the present embodiment, the rack bars 31A and 31B are installed in a direction parallel to the traveling direction of the automatic guided vehicle 2, and the two connecting arms 22 and 22 are raised and lowered in the traveling direction of the automatic guided vehicle 2. However, this is not a limitation. The direction in which the two connecting arms 22 and 22 move up and down is not necessarily limited to the traveling direction of the automatic guided vehicle 2, and the two connecting arms 22 and 22 are perpendicular to the traveling direction of the automatic guided vehicle 2. It can also be implemented in a configuration that performs undulation operation.

  Further, the vertical support plate 32 is attached to the outer ends of the rack bars 31A and 31B. The upper portion of the support plate 32 has an L upward when viewed in the side direction of FIG. The base portions 22b of the connecting arms 22 and 22 each having a letter shape are rotatably attached to a support shaft 41 provided on the support plate 32 in a direction perpendicular to the moving direction of each rack bar. As shown in FIG. 4, the connecting arm 22 has a configuration in which an L-shaped flange portion 22 a that is substantially perpendicular to the distal end portion of the base portion 22 b is provided upward, and substantially the flange portion 22 a is the automatic guided vehicle 2. It protrudes from the cover member 20 on the upper surface of and exhibits an undulating action.

As shown in FIG. 4, the connecting arm 22 is configured such that the back surface of the base portion 22 b slides on the upper surface of the pulling posture guide 45 that is installed on the base plate 44 while being fixed almost horizontally. When the two rack bars 31A and 31B and the connecting arm 22 are located at positions where the maximum stroke is far away from each other as shown in FIG. 4, the back surface of the base portion 22b is at the outer end portion of the pulling posture guide 45. The connecting arm 22 is in contact with the formed downward inclined surface 45a of about 20 °, so that the collar portion 22a is laid down by about 20 ° from the vertical posture as shown by a solid line in FIG. However, the inclination angle of the downward inclined surface 45a is a design matter of how much the collar portion 22a of the connecting arm 22 is laid down, and 20 ° is an example and is not limited thereto.
The upper surface of the pulling posture guide 45 is formed in a substantially horizontal plane except for the downward inclined surface 45a. Accordingly, when the two rack bars 31A and 31B move in the direction in which they approach each other from the position where the maximum stroke is far away from each other, the back surfaces of the connecting arms 22 are quickly separated from the downward inclined surface 45a. It will be in a state of sliding in contact with the horizontal plane. Therefore, each of the connecting arms 22 translates in a direction in which the L-shaped flange portion 22a stands upright in the upright posture indicated by the dotted line in FIG.
As means for smoothly realizing the above-described undulation operation of the connecting arm 22, in the illustrated embodiment, the lower surface of the base plate 44 is in contact with the lower portion of the support plate 32 that supports the connecting arm 22 with the support shaft 41. A rolling roller 46 is rotatably installed. Accordingly, the roller 46 provides a reaction force necessary and sufficient for the above-described undulation operation of the connecting arm 22.

In the case of the present embodiment, a pneumatic cylinder 50 is employed as an actuator that linearly moves the two rack bars 31A and 31B in a reciprocal manner with a constant stroke. That is, the pneumatic cylinder 50 is connected to the rack bars 31A and 31B on a stand 51 fixed on the plate-like frame 23 that forms a part of the vehicle body of the automatic guided vehicle 2 (see FIG. 5). Installed in parallel arrangement. As shown in FIG. 3, the base portion of the pneumatic cylinder 50 is fixedly connected to the base plate 44 by a fixture 52. The output shaft 50a of the pneumatic cylinder 50 is coupled at its distal end to a vertical support plate 32 attached to the outer end of the rack bar 31A by a connector 53. Therefore, the output shaft 50a of the pneumatic cylinder 50 and the rack bar 31A integrally perform a linear reciprocating operation.
Further, the output shaft 50 a of the pneumatic cylinder 50 is also coupled to the input shaft 55 a of the stroke meter 55 by a connecting material 54. The stroke value of the pneumatic cylinder 50 measured by the stroke meter 55 is input to the controller of the automatic guided vehicle 2 through the relay 56. The stroke meter 55 is disposed in parallel with the base portion of the pneumatic cylinder 50 and is integrally coupled by a coupler 57.

In short, the two connecting arms 22, 22 run the unmanned transport vehicle 2 in a timely manner by the expansion / contraction (reciprocation) of the pneumatic cylinder 50 that is driven and controlled by a control signal generated by the controller of the unmanned transport vehicle 2. Before and after the direction, the collar portion 22a of the connecting arm 22 is undulated in a symmetrical manner from a posture lying at a certain angle to a vertical posture, and moves toward or away from each other. Such expansion / contraction (reciprocating) operation of the pneumatic cylinder 50 is appropriately controlled based on the stroke value measured by the stroke meter 55. Therefore, the operation in which the two connecting arms 22 and 22 hold or release the connected portion of the transport carriage 1 is performed in a considerably wide range on the premise of the stroke of the pneumatic cylinder 50. Therefore, there is a wide margin in the positional relationship for connecting the transport cart 1 and the automatic guided vehicle 2, and strictness is not required.
But the actuator which raises / lowers the collar part 22a of the connection arm 22 by symmetrical operation is not restricted to said pneumatic cylinder 50. FIG. It can also be implemented in the same manner by using an actuator, such as a rotary motor, that directly and normally rotates the pinion 30 sandwiched between the two rack bars 31A and 31B.

On the other hand, when the automated guided vehicle 2 sinks into a gate-shaped frame formed at the lower part of the transport carriage 1 on which articles are loaded, the connected parts gripped by the two connecting arms 22 and 22 are connected to the transport carriage 1. As a corresponding component of the automatic coupling device that the automatic guided vehicle 2 pulls and travels, it is provided on the ceiling surface portion of the portal frame formed at the lower part of the transport cart 2 as follows.
As shown in FIG. 1 and FIG. 2, the ceiling surface portion of the portal frame formed at the lower part of the transport carriage 2 is arranged substantially parallel to the traveling direction of the transport carriage 1 and the automatic guided carriage 2, and The coupled portion is provided in a positional relationship overlapping with the coupling arm 22 of the automatic guided vehicle 2 when viewed in plan. That is, when the L-shaped flanges 22a of the two connecting arms 22 and 22 protruding from the upper surface of the automatic guided vehicle 2 are raised in a vertical posture, the hooks 22a are positioned at a height position sandwiching both side surfaces of the flange 22a. Two guide bars 14 and 14 set at an interval between both side surfaces of the portion 22a use a connecting structure of a thin-walled steel pipe coated with the synthetic resin and bonded to form a portal frame of the transport carriage 1 and a joint. Installed.

However, in the case of the illustrated embodiment, a constrained plate 27 is installed at the distal end of the collar portion 22a of the connecting arm 22 so as to be surely and smoothly guided by the two guide bars 14 and 14. Yes. That is, the collar portion 22a of the connecting arm 22 is configured such that the restraint plate 27 is directly sandwiched and restrained by the two guide bars 14 and 14, and the movement is guided. Therefore, the width dimension of the constrained plate 27 is configured to be equal to the inner space between the two guide bars 14 and 14. As a guide for effective automatic connection operation, both corners of the upper end of the constrained plate 27 are chamfered in a tapered shape upward at an angle of about 30 ° as an example.
Therefore, when the automatic guided vehicle 2 sinks into the gate-shaped frame formed at the lower part of the transport carriage 1 with the traveling tracks matched, the restraint 22a of the two connecting arms 22 and 22 stands up. The two connecting arms 22, 22 surely enter between the two guide bars 14, 14 by the guiding effect that the upper end of the plate 27 is chamfered in an upward tapered shape. The movement is guided by being pinched tightly and receiving restraint.

Further, the two guide bars 14 and 14 installed on the ceiling surface portion of the lower gate frame of the transport carriage 1 have two front and rear protrusions protruding from the upper surface of the automatic guided vehicle 2 so that FIG. When the collars 22a and 22a of the connecting arms 22 and 22 stand up in a vertical posture and approach each other, they are sandwiched between the two collars 22a and 22a of the two coupling arms 22 and 22 at a fixed approach position. Connected bars 15 and 15 are installed in a configuration that connects the two guide bars 14 and 14 as connected parts to be gripped.
Therefore, the flanges 22a and 22a of the two connecting arms 22 and 22 that stand up and move close to each other in the traveling direction of the automatic guided vehicle 2 (substantially restrained in the illustrated example). The plate 27) is surely sandwiched between the two connected bars 15, 15 from both outer sides and is firmly connected. Therefore, there is no room for looseness at the connecting portion. Further, even if the connecting position of the transport carriage 1 and the automatic guided vehicle 2 is slightly shifted in the traveling direction, the flange portions 22a and 22a of the two connecting arms 22 and 22 are moved closer to each other and the two connected parts are connected. Since the bars 15 and 15 are pinched and grasped from both outer sides, the positional deviation is eliminated without any problem, and the positional deviation in the traveling direction does not cause any problem in the automatic coupling operation and the coupling effect.
On the other hand, the two guide bars 14 and 14 installed on the ceiling surface portion of the portal frame at the lower part of the transport carriage 1 are provided when the two connecting arms 22 and 22 protruding from the upper surface of the automatic guided vehicle 2 are turned down. In FIG. 1, the two connecting arms 22 and 22 are installed at a height at which they are completely removed as indicated by dotted lines. Therefore, when the two connecting arms 22 and 22 protruding from the upper surface of the automatic guided vehicle 2 are moved down by the pneumatic cylinder 50 of the driving device and laid down, the above connection is automatically and completely released. Will be.

Since it is said structure, it is the arrangement | positioning which the conveyance trolley 1 which loads articles | goods, and the automatic guided vehicle 2 provided with the driving | running | working power apparatus drive | work on the same travel route, The portal frame formed in the lower part of the conveyance trolley 1 When the automatic guided vehicle 2 enters the vehicle and the sensor 28 of the automatic guided vehicle 2 detects a position signal emitted by a position signal element (for example, another type of magnetic tape) of the connection instruction installed on the road surface 3, the controller is based on the detected position signal. The pneumatic cylinder 50 is contracted by a control signal transmitted from the two, the two connecting arms 22 and 22 are erected and moved close to each other, and the two carriages 1 of the transport carriage 1 are brought close to each other. The connection bars 15 and 15 are firmly grasped and automatically connected to each other, so that the automatic guided vehicle 2 can be pulled and run.
Then, when the automated guided vehicle 2 is pulled and traveled by the automatic guided vehicle 2 and the automatic guided vehicle 1 or the automated guided vehicle 2 reaches the target position, a position signal element installed in advance on the road surface or the like is transmitted to indicate the position. When the position signal to be received is received, the pneumatic cylinder 50 expands in response to the control signal transmitted from the controller based on the position signal, and the two connecting arms 22 and 22 operate symmetrically. The above connection is automatically and completely solved because the distance is sneak away.
Thus, the article conveyance by the conveyance cart 1 and the automatic guided vehicle 2 is smoothly and freely performed as an automatic operation without error.

Although the present invention has been described above with the illustrated embodiment, the present invention is not limited to the embodiment. The present invention includes a range of design changes, applications, and modifications made by those skilled in the art as needed without departing from the scope and spirit of the present invention.
For example, in the above-described embodiment, the two connecting arms 22 and 22 projecting from the upper surface of the automatic guided vehicle 2 are installed at two places before and after the automatic guided vehicle 2 in the traveling direction. It can also be installed and implemented so as to move up and down in a direction perpendicular to the direction. Of course, in this case, two guide bars 14 and 14 and two connected bars 15 and 15 are installed in a direction perpendicular to the traveling direction on the portal frame formed at the lower portion of the transport carriage 1. Will be implemented.
Further, the connected portion installed in the gate-shaped frame formed in the lower portion of the transport carriage 1 is not limited to the configuration constituted by the two connected bars 15 and 15. For example, a single plate having a length equal to the interval between the two connected bars 15 and 15 shown in the above embodiment may be installed, or a protrusion or a step portion that changes to the connected bar may be provided. it can.

It is a side view which shows the conveyance trolley and automatic guided vehicle which implement the automatic coupling device of this invention in a connection state. A is a front view showing the transport cart and the automatic guided vehicle in the connected state, and B is a partial view showing an enlarged view of a portion b in FIG. It is the top view which showed the drive device of the two connection arms which protrude on the upper surface of an automatic guided vehicle. It is the side view which showed the drive device same as the above. It is the front view which showed the drive device same as the above.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Transfer trolley 2 Automatic guided vehicle 22 Connecting arm 22a Ridge part 15 Connected bar (connected part)
14 Guide bar 30 Pinion 31A, B rack bar 45a Downward inclined surface 45 Towing posture guide (guide surface)
50 Actuator (Pneumatic cylinder)
27 Restraint plate

Claims (4)

When an automated guided vehicle sinks into a gate-shaped frame formed at the bottom of the transport cart carrying goods, the transport cart is automatically connected to the unmanned transport vehicle, and the automated guided vehicle pulls the transport cart. In the connecting device in which the connection is automatically released when the transport cart or the automatic guided vehicle reaches the target position,
In the automatic guided vehicle, two connecting arms protruding on the upper surface thereof are provided so as to be able to be raised and lowered symmetrically, and a driving device for raising and lowering the two connecting arms in a symmetrical operation is installed in the automatic guided vehicle. And
On the ceiling surface portion of the gate-shaped frame formed at the lower part of the transport carriage, there is provided a connected portion that is gripped by two connecting arms that undulate in a symmetrical manner on the upper surface of the automatic guided vehicle,
The drive device that operates the two connecting arms is driven and controlled by a position signal that detects a specific position on the traveling path of the automatic guided vehicle or a position signal that detects that the transport carriage has reached a specific position. An automatic connection device for a transport cart and an automatic guided vehicle, characterized in that The two connecting arms protruding from the upper surface of the automatic guided vehicle are installed in a undulating manner in a symmetrical motion back and forth in the traveling direction at two positions on the front and rear of a line common to the traveling direction of the automatic guided vehicle.
On the ceiling surface of the portal frame formed in the lower part of the transport carriage, both sides of the two connecting arms that stand up and protrude from the upper surface of the automatic transport vehicle are arranged parallel to the traveling direction of the automatic transport vehicle. Two guide bars are installed at intervals to guide
As a connected portion that is gripped by the two connecting arms, a connected bar that connects between the two guide bars is provided at an interval that can be gripped by the two standing connecting arms,
The automatic connection device for a transport cart and an automatic guided vehicle according to claim 1, wherein the two guide bars are installed at a height that is disengaged when two connecting arms are lowered. The connecting arm protruding from the upper surface of the automatic guided vehicle is formed in an upward L-shape when viewed in the side surface direction,
The drive device that raises and lowers the two connecting arms in a symmetrical manner has two rack bars installed so as to move in parallel relative to each other with a common pinion interposed therebetween. The connecting arm is attached to the shaft provided at a right angle with the L-shaped flange part facing upward, and the base part is rotatable.
At the position where the two rack bars are at the maximum stroke distance from each other and the back of each of the connecting arms hits, a downwardly inclined surface having an angle that allows the buttocks of the connecting arms to lie down is provided. The guide surface where the back surface of each connecting arm hits in the direction in which the two rack bars approach each other from the upper end of the descending inclined surface is almost in the approaching direction at a height that raises the collar portion of each connecting arm upright. Formed in parallel,
The actuator for moving any one of the rack bars linearly with a constant stroke or the actuator for rotating the pinion forward and backward is provided as drive means of the drive mechanism. The automatic connection device for the transport cart and automatic guided vehicle described in 1. Two guide bars installed on the ceiling surface of the portal frame formed at the lower part of the transport carriage are located on the upper L-shaped buttocks of the connecting arm formed in an L-shape upward when viewed from the side. 4. A carriage and unmanned conveyance according to claim 2 or 3, wherein a constrained plate having a width dimension substantially equal to the inner space of the upper surface and chamfered at both upper corners in an upward tapered shape is attached. Auto coupling device for cars.

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