JP2859985B2 - Transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device provided with a connecting device for connecting a drive vehicle and a pallet table using a solenoid.

[0002]

2. Description of the Related Art In recent years, unattended driving vehicles have been used to transfer luggage to save labor and the like. At this time, in addition to the type in which the luggage is loaded directly into the driving vehicle, the type in which the so-called mobile vehicle loaded with the luggage is pulled, the mobile vehicle is made into a pallet shape, and the transfer of the luggage for each pallet table is enabled. The efficiency of loading and unloading to trucks and the like has also been improved.

[0003] Further, among pallet stands, casters having casters provided on the pallet stand are being used. Further, since such a pallet table is also used for temporary storage of luggage, it is necessary to connect the pallet with the driving vehicle when moving to a storage place or when changing places. A locking piece such as a pin which can be retracted is provided on the drive vehicle, and the locking piece is used to connect to the pallet table.

[0004]

However, in the case of using a retractable locking piece, the relative rotation between the pallet table and the driving wheel is suppressed when the pallet table having casters is moved by the driving wheel. Therefore, in addition to the necessity of two locking pieces, it is difficult to smoothly transmit the turning of the driving vehicle to the pallet table during play due to the play of the locking pieces and the fitting portion into which the locking pieces are fitted. There were cases. In addition, in order to fit the locking piece and the fitting portion closely so as to eliminate backlash, the stopping accuracy of the driving vehicle must be increased and the positioning must be performed correctly, which makes the apparatus expensive.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a transfer device which includes a connecting device for connecting a driving vehicle and a pallet table using a solenoid, and which can solve the above-mentioned problems.

[0006]

According to the present invention, there is provided a truck-shaped pallet table provided with casters, a driving vehicle having a motor ,
The pallet table and the drive vehicle can be detachably connected to each other.
A transfer device comprising:
With solenoid provided on one of the let base or drive vehicle
A suction device, and a suction device using a magnetic piece provided on the other of the pallet table or the driving wheel , and at least one of the suction device and the suction device is detachable from each other. vertically movably mounted on, yet the a conveying device which the suction device is characterized that you are attracted to the suction device by energization of the solenoid.

[0007]

The driving wheel and the pallet table are connected by a connecting device including a suction tool having a solenoid and a suction tool using a magnetic piece. As a result, in addition to enabling quick coupling, strong coupling is enabled by an increase in magnetic force, coupling with a single coupling device becomes possible, and rotational displacement can be prevented by increasing the coupling strength. Also, the coupling can be performed even when the initial position between the pallet table and the driving vehicle is slightly shifted.

[0008]

An embodiment of the present invention will be described below with reference to the drawings. In FIGS. 1 to 6, a transfer device C includes a driving tool 2 and a pallet table 3, a suction tool 4 using a solenoid S, and a magnetic piece M.
It can be connected by the connecting device 1 using the to-be-attached device 5 made of. Further, in this embodiment, the pallet table 3 is used by the driving vehicle 2 for transferring and aligning the pallet table 3 at the storage location P, and the driving vehicle 2 enters the lower open space A of the pallet table 3 and is connected thereto.

The drive vehicle 2 can move in all directions as described above, and the front, rear, and both sides 13 and 14 of the rectangular parallelepiped body 10 can be moved in all directions. The first distance measuring sensors 111, 111, 112, 112, 113, 1
13, 114, 114 (referred to collectively as the first distance measuring sensor 100),
4, the first distance measuring sensors 113, 113, 11
For example, at the center different from the positions 4 and 114, one second distance measuring sensor 213 and 214 (hereinafter, collectively referred to as a second distance measuring sensor 200) is provided, for example, inclined obliquely upward.

The first distance measuring sensor 100 and the second distance measuring sensor 200 irradiate the object with light such as light, ultrasonic waves, radio waves, and the like, and the distance between the objects is reflected by the reflected light. Although an optical or ultrasonic sensor for measuring the distance can be used, the following description will be made assuming that an optical distance measuring sensor is used.

The vehicle body 10 has wheels 15 linked to a driving motor such as a motor and capable of turning continuously over an angle range of 360 degrees by a steering motor (not shown).
In addition to storing or receiving various information for alignment, the first distance measuring sensor 100, the second distance measuring sensor 200
The information on the distance from the object to the object from the wheels 15 ...
There is provided a control device (not shown) for controlling the rotation and turning stop of the vehicle to automatically run and stop.

The driving vehicle 2 is further provided with various sensors, speed sensors, distance sensors, etc., which are arranged in accordance with an induction system employed by the driving vehicle 2, such as electromagnetic induction, magnetic induction, and optical induction. Appropriate bumpers and sensors (not shown) may be provided on each of the four surfaces 11 to 14 for detecting obstacles in direct contact and non-contact.

In the present embodiment, the drive vehicle 2 uses the control device to move a reference surface, such as a wall of a building, a wall of a machine, a guide surface for traveling, etc., along the traveling path to the first measurement. It is assumed that the automatic travel and stop are performed by detecting the distance sensor 100 and the second distance measurement sensor 200.

On the upper surface of the driving wheel 2, the suction tool 4 of the coupling device 1 is provided. The attracting tool 4 uses a solenoid S with its magnetic pole surface facing upward, and generates a magnetic force when energized by a signal from the control device of the driving vehicle 2. And the pallet table 3 can be connected.

The pallet table 3 is constructed as a pallet in the form of a trolley having casters 22...

The bogie base 20 is provided with four supporting legs 21... At four corners of a peripheral frame 23 in which, for example, rectangular shaped steel members are joined.
The upper plate 24 is attached to the upper surface of the frame in which
And in this example, two bridging members 2 that straddle the surrounding frame 23
The device 5 to be sucked is attached by 5 and 25.

The lower end of the bridging member 25 is the same height as the lower end of the peripheral frame 23, and the lower end of the to-be-adsorbed tool 5 does not exceed the lower end of the peripheral frame 23. The space A in which the pallet table 3 is opened downward and which can accommodate the driving wheel 2 can be formed therein.

The to-be-adsorbed member 5 is made of a magnetic piece M such as soft iron which is adsorbed and coupled by the energization of the attraction tool 4 so that the magnetic piece M is relatively moved toward and away from the attraction tool 4. And a movable member 32 that is held up and down.

In the present embodiment, the movable member 32 is composed of two leaf spring pieces 33, 33. The leaf spring pieces 33, 33 are horizontal support pieces 34, 3 of the metal fitting extending from the bridging member 25.
4 and one end is fixed to the magnetic piece M.

The leaf spring piece 33 has, for example, a U-shaped curved portion 33A between the magnetic piece M and the support piece 34. Therefore, the spring piece 33 holds the magnetic piece M at the upper position, and the bending portion 33
The magnetic piece M can be easily moved downward along with the deformation of A, and can be brought into contact with the suction tool 4 and joined thereto. Thus, the spring piece 33
Constitutes a movable member 32 capable of holding the magnetic piece M so as to be able to move up and down relative to the suction member 4.

As shown in FIG. 7, the coupling device 1 may use, as the movable member 32, a single leaf spring piece 33 to which the magnetic piece M is fixed on the lower surface of the intermediate portion. Further, one end thereof is fixed to the support piece 34 and a curved portion 33A is formed, a slide hole 35 is provided at the other end, and a guide piece 3 for guiding the slide hole 35 to a standing piece provided on the other support piece 34.
6 by projecting and making the spring piece 33 bendable,
The magnetic piece M can be moved up and down. Note that a slide hole may be formed in the support piece 34 and a guide piece may be formed in the spring piece 33.

As shown in FIG. 8, the movable member 32 is a vertical rail 4 provided on a hanging piece 39 of the bridging member 25.
By providing a magnetic piece M on the lower surface of the horizontal piece of the L bracket fixed to the linear motion receiver 41 that moves the zero, it can be made to be able to move up and down. At this time, the magnetic piece M is urged upward by the spring 42 and is held at a predetermined height.

Further, as shown in FIG.
By attaching the solenoid S to a linear bearing 45 provided on a mounting bracket 43 on the lower surface of the upper plate of the driving wheel 2, the suction tool 4
May be movable up and down relatively to the magnetic piece M.

Further, the magnetic pieces M can be connected by using a permanent magnet to attract the magnetic pole of the solenoid S by its magnetic force. The solenoid S can be energized in a direction to increase the attraction force, and by energizing in the opposite direction, the two can be separated from each other and the coupling can be released.

As described above, the coupling device 1 includes the solenoid S
And a device to be attracted 5 made of a magnetic piece M, and the two are coupled by energization, so that the structure can be simplified, and rotation during the coupling between the device 4 and the device to be attracted 5 can be achieved. Sliding can also be prevented. Therefore,
Unlike the conventional coupling using pins, which requires at least two pins to prevent rotational displacement, it simplifies the structure, prevents the occurrence of backlash by coupling, and uses both solenoids. Since coupling is performed at a position where the energy of the magnetic circuit generated by S is minimized, accurate coupling is possible.

In order to improve the bonding strength, the suction surface may be provided with irregularities which fit each other.

The movable member 32 can also be adjustable in front, rear, left and right in a horizontal plane using a magnetic piece M and an appropriate linear bearing. Thus, the coupling can be performed at the position where the magnetic energy in the magnetic circuit is minimized, and the coupling failure due to the variation in the stopping accuracy of the driving vehicle 2 can be eliminated.
When the pallet table moves, lock the linear bearing,
Unmovable.

On the other hand, the pallet table 3 is suspended from the short side of the rectangular upper plate 24, and the front surface 11 and the rear surface 12
The space A is surrounded by two one wall surfaces 51, 52 facing the front side and two other wall surfaces 53, 54 hanging from the long side and facing the both side surfaces 13, 14 of the driving vehicle.

An opening 50 is formed in one of the other wall surfaces 53 so that the space between the peripheral frame 23 and the supporting leg 24 is opened so that the driving wheel 2 can enter and exit the space A. I have.

The opening 50 forms a transmitting portion 313 for transmitting light from the first distance measuring sensors 113 and 113 and the second distance measuring sensor 213 on the side surface 13 of the driving vehicle 2 together.

On the other wall 54, the peripheral frame 2 is provided.
3, a plate material 60 is bridged between the legs 21, 21 .
By adding a reflective material to the inner surface of the plate member 60 facing the space A, a reflective portion 414 for reflecting the light of the first distance measuring sensors 114 and 114 on the side surface 14 of the driving vehicle 2 is formed.

The plate member 60 has a notch hole through which the light obliquely directed upward from the second distance measuring sensor 214 on the side surface 14 of the driving vehicle 2 passes.
A transmission portion 314 through which 14 light beams pass is formed.

Further, one wall surface 51 on which the front surface 11 of the driving vehicle 2 faces is provided with the peripheral frame 23, the support legs 24,
By opening the space between the two, a transmission portion 311 for transmitting the light of the first distance measurement sensors 111 on the front surface 11 is formed.

A frame member 62 is provided on the other wall surface 52 of the drive vehicle 2 opposite to the rear surface 12 between the support legs 21 and 21 in contact with the peripheral frame 23, and is provided on the inner surface of the plate member 62. The first distance measuring sensor 11 on the rear surface 12 is
A reflector 412 is formed to reflect the light of 2, 112 (note that the drive wheel 2 can move in all directions, and thus the description of the wall surface 51 facing the front surface 11 on the pallet table 3 is also used for simplification of the description). It's only relative).

Further, a reflection material is also formed on the outer surface of the plate member 62, and the reflection material allows the transmission portion of the one wall surface 51 of the other pallet table 2 to be transported by the driving wheel 2 to approach. An outer reflecting portion 512 for reflecting light passing through 311 is formed.

Further, a reflector is formed on the surface of the peripheral frame 23 on the outside of the other wall surface 53 having the opening 50, so that the other pallet table 3 which is transported by the driving wheel 2 and approached. The transmitting portion 31 of the other other wall surface 54
An outer reflecting portion 513 for reflecting the light of the second distance measuring sensor 214 passing through the fourth reflecting sensor 514 is formed.

The reflecting portions 412, 414, 512, 51
3 is a plate material 60, 62 coated with a white paint and a reflective material in advance.
By using a reflective tape, etc.
Various things can be adopted according to the kind of sensor.

Next, the operation will be described. It is assumed that the pallet tables 3 placed on the traveling path on which the driving vehicle 2 automatically travels are aligned at the storage location P as shown in FIG.

First, the drive vehicle 2 enters the space A through the opening 50 as shown in FIG. When approaching, the rear side 12,
Two first distance measurement sensors 112, 112,
At least two of the first ranging sensors 114 and 114 (in this example, the first ranging sensors 112 and 112).
By measuring the distance from the reflecting portion 412 and driving, turning and stopping the wheels 15 by the control device, the rear surface 12 of the driving vehicle 2 becomes parallel to the other one wall surface 52 as shown in FIG. In addition, they are located at a predetermined distance L1.

At the same time, the first of at least one of the side surfaces 14
The distance measuring sensor 114 of the distance L2
, Each surface 11 to 14 of the driving vehicle 2
The vehicle is stopped at a predetermined position in parallel with each of the wall surfaces 51 to 54 of the pallet table 3. After that, they are joined by the joining device 1,
The driving vehicle 2 moves again.

In the present embodiment, when moving to the storage location P, the vehicle automatically travels on the reference plane SP using a reflective material arranged along the travel path. As shown in FIG. 5, at this time, the first distance measuring sensors 111, 111, 113, 113 passing through the transmitting portions 311, 313, 314 provided on the wall surfaces 51, 53, 54 of the pallet table 3, Distance sensor 2
The vehicle travels while measuring the distance from the reference plane SP using the reference numerals 13 and 214.

Further, at the storage location P, as shown in FIG. 2, the two walls W1, W2 of the storage location P and the other pallet table 3 arranged beforehand are used for alignment.
Note that the storage location P is such that the one wall surface 51 is
It is assumed that the other wall surface 54 is arranged in parallel to the wall body W2 toward 1 and in parallel.

Therefore, each pallet table 3 along the wall W1
a is a predetermined distance L3 in the X direction parallel to the wall W1 and orthogonal to the wall W1 by the first distance measuring sensors 111, 111 on the front surface 11 due to reflection from the wall W1.
Can be lined up.

The pallet table 3b not along the wall W1 is
The first distance measuring sensors 111, 111 approach the reflecting portion 512 on the outer surface of the other one wall surface 52 of the pallet table 3 which has stopped earlier, measure the distance therebetween, and respectively measure the wall members W
1 and a predetermined distance L3 in the X direction with the pallet table 3a.
Can be separated.

In the Y direction, the light from the second distance measuring sensor 214 on the side surface 14 passes through the transmission portion 314, so that the pallet table 3 along the wall W2 reflects the reflected light from the wall W2. In another pallet table 3, as shown in FIG. 6, the second distance measuring sensor 214 stops first.
Reflecting portion 513 provided outside the one other wall surface 53
The pallet tables 3 can be aligned by determining the distance L4 in the Y direction by receiving reflected light from the pallet. After the alignment, the coupling device 1 is opened, and the driving wheel 2 exits the space A through the opening 50 and is used for the next alignment.

As described above, the driving vehicle 2 can move in all directions, and when the side A enters the space A of the pallet table 3 in the back, the distance L4 in the Y direction is determined by the second distance measuring sensor 213 to the rear surface 12A. First distance measuring sensors 112, 112
Thereby, the distance L3 in the X direction and the wall body W1 are parallelized.

[0047]

As described above, according to the transfer apparatus of the present invention, since the drive vehicle and the pallet table are connected by the connecting device including the suction tool having the solenoid and the suction tool using the magnetic piece, the speed can be reduced. In addition to the coupling, a strong coupling is possible due to an increase in magnetic force, and coupling with a single coupling device is possible. In addition to simplifying the device, the rotational strength is prevented by increasing the coupling strength, and furthermore, the pallet table is mounted. It is also possible to connect the vehicle and the driving vehicle even when there is some deviation between the initial positions.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a plan view illustrating the operation of the transport device.

FIG. 3 is a plan view illustrating the operation of the transport device.

FIG. 4 is a plan view illustrating the operation of the transport device.

FIG. 5 is a plan view illustrating the operation of the transport device.

FIG. 6 is a cross-sectional view showing the operation of the transport device.

FIG. 7 is a sectional view showing another example of the coupling device.

FIG. 8 is a sectional view showing another example of the coupling device.

FIG. 9 is a sectional view showing another example of the coupling device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Coupling device 2 Driven car 3 Pallet base 4 Suction tool 5 Suction tool 11 Front surface 12 Rear surface 13 Side surface 14 Side surface 15 Wheel 22 Caster 50 Opening 51 One one wall surface 52 The other one wall surface 53 One other wall surface 54 Other other wall surfaces 111, 112, 113, 114 First distance measurement sensor 213, 214 Second distance measurement sensor 311, 313, 314 Transmission part 412, 414 Reflection part 512, 513 Outside reflection part M Magnetic piece S solenoid

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ identification symbol FI G05D 1/02 G05D 1/02 Y (58) Field surveyed (Int.Cl. ⁶ , DB name) B61B 13/00 B62D 27 / 06 B65G 35/00 G05D 1/02

Claims (2)

(57) [Claims] 1. A cart-like pallet table provided with casters,
A drive vehicle having a motor, the pallet table and the drive vehicle
And a coupling device that can be detachably coupled.
Thus, the coupling device is provided on one of a pallet table and a driving wheel.
A suction tool having a solenoid, and the pallet table or drive
A suction device using a magnetic piece provided on the other side of the vehicle, and at least one of the suction device and the suction device is mutually
It is attached so that it can move up and down so as to be able to contact and separate , and the object to be sucked is energized by energizing the solenoid.
A transfer device characterized by being sucked by a suction tool . 2. The pallet base has a lower open space communicating with an opening provided on a wall surface of the carriage base below a carriage base having casters, and the driving vehicle enters the space from the opening. The transport device according to claim 1, wherein the transport device is coupled by the coupling device.