JP7127420B2 - Reversing mechanism of transport device - Google Patents

Description

The present invention relates to a reversing mechanism for a transport device.

In a production line, a conveying device for conveying parts is one of the important devices for improving production efficiency. In addition, since the conveying device can convey heavy parts or a large number of parts at the same time, it significantly reduces the burden on workers.

At present, the transfer apparatus is an electrically automated automatic transfer apparatus (AGV) equipped with various functions (for example, an automatic emergency stop function) required for automation (see Patent Document 1).

International publication WO2013/105211

On the other hand, in order to improve the efficiency of component loading, the transfer device is divided into, for example, a lower structure and an upper structure, and configured so that the upper structure can rotate with respect to the lower structure about a vertical axis located substantially in the center of the transfer device. can be considered. In this case, if an electric device such as a motor is mounted on the conveying device and the driving force thereof is used to rotate the upper structure, the efficiency of the work can certainly be improved. However, in this case, it is expected that the structure of the conveying device will be complicated, and that an extra load will be applied to the reversing mechanism due to the movement of the center of gravity of the conveying device.

Accordingly, the present invention provides a reversing mechanism for a conveying device that can rotate a portion of the conveying device (especially a component mounting portion) to change its position in the front-rear direction by a mechanical method without relying on electrical means. intended to provide

In order to achieve this object, the reversing mechanism of the conveying device of the embodiment according to claim 1 comprises:
used in conjunction with a carrier having a lower structure and an upper structure disposed on said lower structure, with the front and rear ends of said upper structure corresponding to the front and rear ends of said lower structure, respectively. from the oriented state to the reversed state in which the front and rear ends of the upper structure correspond to the rear and front ends of the lower structure, respectively, and from the reversed state to the forward state, about the vertical axis. In a reversing mechanism of a conveying device that reverses the upper structure back and forth,
an engaged portion provided on the conveying device;
The upper structure is fixed on the traveling path side of the conveying device, and changes the relative positional relationship with the conveying device while engaging with the engaged portion as the conveying device advances. an engaging portion for reversing the front and rear ;
a ramp fixed on the traveling path;
A latch mechanism disposed on the transport device, the latch mechanism comprising a lever configured to contact the ramp as the transport device advances, the lever prior to contacting the ramp. and the latch mechanism that prohibits the upper structure from being reversed back and forth, but permits the upper structure to be reversed back and forth in a state after the lever contacts the ramp . .

The reversing mechanism of the conveying device of the embodiment according to claim 2 includes:
The engaging portion is
a first engaging portion that engages with the upper structure of the conveying device traveling along the advancing path and rotates the upper structure by a first predetermined angle;
a second engaging portion that engages with the upper structure of the conveying device traveling along the advancing path and rotates the upper structure that has been rotated by the first predetermined angle by a second predetermined angle;
The sum of the first predetermined angle and the second predetermined angle is 180 degrees.

According to a third aspect of the present invention, there is provided a reversing mechanism for a conveying device, wherein the first engaging portion and the second engaging portion are arranged on one side of the advancing path.

The reversing mechanism of the conveying device of the embodiment according to claim 4 includes:
used in conjunction with a carrier having a lower structure and an upper structure disposed on said lower structure, with the front and rear ends of said upper structure corresponding to the front and rear ends of said lower structure, respectively. from the oriented state to the reversed state in which the front and rear ends of the upper structure correspond to the rear and front ends of the lower structure, respectively, and from the reversed state to the forward state, about the vertical axis. In a reversing mechanism of a conveying device that reverses the upper structure back and forth,
The reversing mechanism of the conveying device,
an engaged portion provided on the conveying device;
The upper structure is fixed on the traveling path side of the conveying device, and changes the relative positional relationship with the conveying device while engaging with the engaged portion as the conveying device advances. an engaging portion for reversing the front and rear;
a ramp fixed on the traveling path;
A latch mechanism disposed on the transport device, the latch mechanism comprising a lever configured to contact the ramp as the transport device advances, the lever prior to contacting the ramp. and the latch mechanism for prohibiting the upper structure from being reversed back and forth, while permitting the upper structure to be reversed back and forth in a state after the lever contacts the ramp,
The engaging portion is
a first engaging portion that engages with the upper structure of the conveying device traveling along the advancing path and rotates the upper structure by a first predetermined angle;
a second engaging portion that engages with the upper structure of the conveying device traveling along the advancing path and rotates the upper structure that has been rotated by the first predetermined angle by a second predetermined angle;
the sum of the first predetermined angle and the second predetermined angle is 180 degrees;
The first engaging portion is arranged on one side of the traveling path, and the second engaging portion is arranged on the opposite side of the traveling path.

The reversing mechanism of the conveying device of the embodiment according to claim 5 includes:
The engaged portion includes a first engaged portion and a second engaged portion,
the first engaging portion engages the first engaged portion;
the second engaging portion engages the second engaged portion;
The upper structure is rotated by the first predetermined angle with respect to the lower structure by the engagement between the first engaging portion and the first engaged portion,
The upper structure is rotated by the second predetermined angle with respect to the lower structure by the engagement between the second engaging portion and the second engaged portion.

The reversing mechanism of the conveying device of the embodiment according to claim 6 includes:
The transport device is configured such that the vertical axis moves along the traveling path ,
The first engaged portion is an engaging shaft extending in a vertical direction provided in the upper structure,
The first engaging portion is
Having a first engaging portion facing the conveying device approaching the advancing path toward the first engaging portion,
The first engaging portion engages with the engaging shaft as the conveying device advances, and the engaging position of the engaging shaft moves along the first engaging portion as the conveying device advances. is configured to move by
While the engaging shaft moves the first engaging portion in a direction away from the advancing path, a tangent to the position where the engaging shaft engages in the first engaging portion and a vertical line to the engaging shaft A line of action connecting with the axis forms an angle of more than 90 degrees on the upstream side in the traveling direction .

The reversing mechanism of the conveying device of the embodiment according to claim 7 includes:
The first engaging portion is tangent to a position where the engaging shaft engages at the first engaging portion while the engaging shaft moves in a direction approaching the travel path. and a line of action connecting the engaging axis and the vertical axis form an angle of less than 270 degrees on the upstream side in the traveling direction.

The reversing mechanism of the conveying device of the embodiment according to claim 8 includes:
The transport device is configured such that the vertical axis moves along the traveling path ,
The second engaging portion has a second engaging portion closest to the traveling path,
The second engaged portion has a second engaged portion extending parallel to the advancing path in the upper structure in the reversed state,
A distance between the advancing path and the second engaging portion is equal to a distance from the vertical axis to the second engaged portion.

According to the invention of claim 1 of the present application, the engaging portion rotates the upper structure by changing the positional relationship with the conveying device while engaging with the engaged portion as the conveying device advances. A reversing mechanism can be provided. This allows the superstructure to be rotated to change its longitudinal position by mechanical means.

1 is a schematic diagram of a basic configuration of an AGV reversing mechanism, according to an embodiment of the present invention; FIG. 1 is a schematic diagram showing the structure of an AGV, viewed from above; FIG. Figure 3 is a schematic diagram showing the structure of the AGV viewed from direction III of Figure 2; 4 is a cross-sectional view showing the structure of the latch mechanism of the AGV, viewed from line IV in FIG. 3; FIG. 5 is a cross-sectional view showing the structure of the latch mechanism of the AGV, viewed from line V in FIG. 4; FIG. FIG. 4 is a schematic diagram showing the latch mechanism in its latched state; 7 is a schematic diagram showing the latch mechanism changed from the state shown in FIG. 6 to the unlatched state; FIG. FIG. 2 is a schematic diagram showing that the upper structure of the AGV has rotated from the state shown in FIG. 1 to a state in which the line of action connecting the center of the AGV and the engagement axis is perpendicular to the traveling path; FIG. 9 is a schematic diagram showing that the upper structure of the AGV has rotated from the state shown in FIG. 8 to a state where the engagement shaft has moved along the first engagement portion toward the distal end side of the first engagement portion; FIG. 10 is a schematic diagram showing that the upper structure of the AGV has rotated from the state shown in FIG. 9 to a state where the second engaging portion is in contact with the second engaged portion; FIG. 11 is a schematic diagram showing that the AGV upper structure has rotated from the state shown in FIG. FIG. 9 is a schematic diagram showing the conditions necessary for the engagement shaft to move along the first engagement portion as the AGV advances to the state shown in FIG. 8 ; FIG. 10 is a schematic diagram showing the conditions necessary for the engagement between the engagement shaft and the first engagement portion to be disengaged and the state shown in FIG. 9 to be achieved; FIG. 4 is a schematic diagram of a basic configuration of an AGV reversing mechanism, according to another embodiment;

An embodiment of a reversing mechanism (hereinafter referred to as a "reversing mechanism") for a conveying device according to the present invention will be described below together with a conveying device to which the reversing mechanism is applied, with reference to the accompanying drawings.

[Conveyor]
1 to 5 show a schematic configuration of the conveying device 10. FIG. The illustrated transport device is a so-called automatic transport device (hereinafter referred to as "AGV"). An AGV is used, for example, to transport a plurality of assembly parts in a workshop such as an automobile factory. It is configured to move while detecting the tape.

As shown in FIGS. 2-5, the AGV 10 has a rectangular shape when the AGV 10 is viewed from above, with a rectangular undercarriage 14 having four wheels 13 and a rectangular of superstructure 15 . Although not shown, the lower structure 14 includes motors for driving the four wheels 13, a controller for controlling the driving of the motors, and a detector for detecting the guide line. With these configurations, the controller of the AGV 10 controls the motor based on the output from the detector, and with the center of the AGV 10 positioned on the guide line 12 and the longitudinal centerline of the AGV 10 along the guide line, Induced.

In an embodiment, the AGV undercarriage 14 and superstructure 15 each comprise a rectangular lower frame 16 and upper frame 17 having approximately the same size and shape when viewed from above. In the embodiment, both the lower frame 16 and the upper frame 17 have lengths in the front-rear direction (lengths in the horizontal direction in FIG. 2) that are longer than lengths in the horizontal direction (lengths in the vertical direction in FIG. 2).

As shown in FIGS. 3-5, the lower frame 16 comprises a rectangular upper frame portion 18, a lower frame portion 19 and a plurality of vertical frame portions 20 connecting them. Both the upper frame portion 18 and the lower frame portion 19 are constructed by combining a plurality of long members arranged in the longitudinal direction and the lateral direction. and control devices such as controllers are installed.

The upper frame 17 has five main frame portions forming the four sides of the periphery (namely, left and right side frames 21 extending in the front-rear direction, front and rear frames 22 and 23 extending in the lateral direction, and a frame between the left and right side frames 21 . It has a central frame 24 arranged to connect the front and rear frames 22 and 23 to each other, and a plurality of auxiliary frames 25 to connect these main frames to each other.

As shown in FIGS. 3 to 5, the lower frame 16 supports a vertically extending cylindrical support shaft (vertical shaft) 27 at the center 26 of the AGV 10. As shown in FIG. The upper frame 17 has a vertical through-hole 28 in an AGV center 26 located in the center of the central frame 24, and a support shaft 27 is inserted therethrough. Therefore, the upper frame 17 can move up and down with respect to the lower frame 16 along the support shafts 27 . In addition, the upper frame 17 can rotate around the support shaft 27 with respect to the lower frame 16, and as shown in FIG. ) to a state or position in which the rear frame 23 is positioned at the head of the traveling direction (hereinafter, this state is referred to as a "reverse state"), and from the reverse state to the forward state. . Hereinafter, the operation of reversing the upper frame 17 from the forward state to the reverse state and from the reverse state to the forward state is referred to as "front-rear reversal". Further, the clockwise direction in FIGS. 1 and 2 is called "forward direction".

[Latch Mechanism]
The AGV 10 has a mechanism for fixing the upper frame 17 in forward and reverse directions, and a mechanism for making the fixed upper frame 17 rotatable. Hereinafter, these mechanisms are collectively referred to as a latch mechanism.

As shown in FIGS. 4 and 6, the latch mechanism 30 has first and second rollers 31, 32 or balls fixed to the bottom surface of the upper frame 17. As shown in FIGS. The first and second rollers 31 and 32 are separated from the center 26 of the AGV 10 by a predetermined distance and arranged symmetrically with respect to the center 26 . The latch mechanism 30 also has a roller receiving portion 33 which is positioned below the rollers 31, 32 of the upper frame 17 in the forward or reverse position and is engageable with the rollers 31, 32 from below. The roller receiving portion 33 is supported by the lower frame portion 19 of the lower frame 16 so as to be able to move up and down, and is moved between a raised position and a lowered position by a lifting mechanism 34 that constitutes a part of the latch mechanism 30 . It's becoming

The lifting mechanism 34 has a lever 35 inclined downward from the front to the rear. The lever 35 is rotatably supported by a horizontal shaft 36 fixed to the lower frame portion 19 of the lower frame 16 so that it can swing around the horizontal shaft 36 . As shown, one end of the lever 35 (right side in the drawing) is rotatably engaged with the roller receiving portion 33, and the other end of the lever 35 (left side in the drawing) is attached to the lower frame portion 19 by a spring 37. connected through Therefore, normally, as shown in FIG. 6, the lever 35 is held in the illustrated state (pre-swing position) by the spring 37, and the roller receiving portion 33 engaged with the lever 35 is in the raised position, that is, the roller 31, or 32, thereby holding the upper frame 17 in the forward state shown (latched state). On the other hand, although not shown, when the lever 35 swings in the forward direction by a predetermined angle against the urging force of the spring 37 (post-swing state), one end side of the lever 35 (right side in the drawing) as shown in FIG. ) is lowered, thereby the roller receiving portion 33 is lowered to release the roller 31 or 32, and the upper frame 17 becomes rotatable with respect to the lower frame 16 (unlatched state).

In order to switch the latch mechanism 30 from the latched state to the unlatched state, more specifically, to switch the lever 35 from the pre-swing state shown in FIG. 6 to the post-swing state shown in FIG. A trapezoidal ramp (raised portion) 40 is provided on the floor surface of the workshop in front of a region (reversal region) in which the AGV 10 moving along the line 12 is rotated from the forward state to the reverse state. As shown in the figure, the ramp 40 has inclined surfaces 41 and 42 on the side opposite to the traveling direction of the AGV 10, and a flat upper surface 43 between the inclined surfaces 41 and 42. It is arranged at a position through which the lever 35 of the AGV 10 moving along the line 12 passes. The height of the ramp 40 (flat upper surface 43) is such that when the lever 35 passes over it, the lower end of the lever 35 contacts the ramp 40 so that the lever 35 transitions from the pre-swing state to the post-swing state. It swings and the latch mechanism 30 is determined to switch from the latched state to the unlatched state.

[Reversing mechanism]
Referring to FIG. 8, a reversing mechanism 50 for reversing the upper frame 17 from the forward state to the reverse state with respect to the lower frame 16 and from the reverse state to the forward state will be described.

In the embodiment, the motion of reversing the upper frame 17 includes a first rotating motion and a second rotating motion. The first rotation operation is, for example, an operation of rotating the upper frame 17 in the forward state with respect to the lower frame 16 by a first predetermined angle (α1). The second rotating operation is an operation of rotating the upper frame 17 rotated by the first predetermined angle by a second predetermined angle (α2). The sum of the first predetermined angle (α1) and the second predetermined angle (α2) is 180 degrees. To this end, the reversing mechanism 50 includes a first engaging portion 52 provided in the reversing area 51 of the workplace and a first engaged portion 53 provided on the upper frame 17 corresponding to the first rotating motion. 1 reversing mechanism portion 54, and corresponding to the second rotating operation, a second engaging portion 55 provided in the reversing area 51 of the work station and a second engaged portion 56 provided on the upper frame 17. and a second reversing mechanism portion 57 including

The first engaging portion 52 constituting the first reversing mechanism portion 54 and the second engaging portion 55 constituting the second reversing mechanism portion 57 are divided into two regions 58 separated by the guide line 12 as shown in FIG. , 59 in one region 58 or 59 .

In an embodiment, the first engagement portion 52 comprises a single straight first guide bar 60 . One end of the first guide bar 60 is connected to a column 61 extending vertically from the floor surface 11 and held in a cantilevered state. As shown, the post 61 is sufficiently far from the passage area 62 through which the AGV 10 passes. On the other hand, the tip 63 of the first guide bar 60 has entered the passage area 62 . The amount of entry of the first guide bar 60 into the passage area 62 can be determined within a range in which the tip 63 of the first guide bar 60 does not contact the spindle 27 of the AGV 10 . To prevent the first guide bar 60 entering the passage area 62 from interfering with the movement of the AGV 10, the first guide bar 60 is positioned high enough to enter the gap 64 (see FIG. 3) between the upper frame 17 and the lower frame 16. is determined.

In the embodiment, the first engaged portion 53 of the upper frame 17 corresponding to the first engaging portion 52 extends downward from the lower surface of the right corner in the traveling direction of the upper frame 17 in the forward state shown in FIGS. It has a cylindrical pin (engagement shaft) 65 extending toward it. As shown in FIG. 3, pin 65 is located in gap 64 between upper frame 17 and lower frame 16 . Therefore, the first guide bar 60 of the first engaging portion 52 can be engaged with the pin 65 of the first engaged portion 53 with respect to the AGV 10 entering the reversal region 66 along the guide line 12 .

The second engaging portion 55 has a substantially trapezoidal shape when viewed from above, and is fixed to the floor at a position sufficiently distant from the passage area 62 of the AGV 10 with a predetermined gap in the AGV traveling direction. Columns 67, 68, two horizontal beams 69, 70 extending horizontally from the upper ends of these two columns 67, 68 toward the guide line 12, and second guides connecting tips 71, 72 of the horizontal beams 69, 70 A bar 73 is provided. As shown, the horizontal beam 69 on the upstream side with respect to the direction of travel of the AGV is shorter than the horizontal beam 70 on the downstream side, so that the upstream end 71 of the second guide bar 73 is aligned with the second guide bar 73 on the downstream side. further from the guide line 12 than the downstream end 72 of the . As a result, the second guide bar 73 is oriented so as to gradually approach the guide line 12 from upstream to downstream in the direction of travel of the AGV. The distance from the guide line 12 to the downstream end 72 of the second guide bar 73 is determined to be substantially equal to the distance from the center 26 of the AGV 10 to the side frames 21 that constitute the upper frame 17 .

Unlike the first guide bar 60 , the second guide bar 73 is set at substantially the same height as the side frame 21 of the upper frame 17 that constitutes the AGV 10 . Therefore, as will be described later, when the AGV 10 travels through the reversal region 66, the second guide bar 73 contacts the side frame 21. As shown in FIG.

[Back and forth reversal of upper frame]
The operation of the reversing mechanism 50 having the above configuration will be described. First, when the AGV 10 traveling along the guide line 12 reaches just before the reversal area 66, one end of the lever 35 in the latch mechanism 30 contacts the inclined surface 41 of the ramp 40 on the floor surface 11 (see FIG. 1). As the AGV 10 advances, the contact point of the lever 35 with respect to the ramp 40 rises, the inclination angle of the lever 35 changes accordingly, and the roller receiving portion 33 engaged with the other end of the lever 35 descends (see FIG. 7). As a result, the roller receiving portion 33 releases the first roller 31, and the upper frame 17 becomes rotatable with respect to the lower frame 16 (unlatched state). As shown, the ramp 40 has a trapezoidal shape and the upper frame 17 is held unlatched while one end of the lever 35 contacts the flat surface 43 of the ramp 40 .

The pin 65 of the upper frame 17 contacts the first guide bar 60 while the upper frame 17 remains unlatched. Further, as the AGV 10 advances, the pin 65 moves along the first guide bar 60 toward the fixed end side of the first guide bar 60 (direction away from the tip 63), and as a result, the first guide bar of the AGV 10 The position relative to 60 changes and the upper frame 17 begins rotating forward from the forward state to the reverse state. The rotation of the upper frame 17 that occurs when the pin 65 moves along the first guide bar 60 toward its fixed end is called "primary rotation".

When the upper frame 17 rotates a predetermined angle, the end of the lever 35 passes the ramp 40 and the lever 35 returns to the latched position. However, the first roller 31 of the upper frame 17 is already separated from the roller receiving portion 33 at this time. Therefore, the upper frame 17 can be rotated without being latched until it is reversed.

Next, as shown in FIG. 8, the AGV 10 has a line of action 74 connecting the AGV center 26 and the pin 65 (more precisely, the point of contact between the pin 65 and the first guide bar 60) perpendicular to the guide line 12. (hereinafter referred to as "pin reversal position"), the pin 65 moves along the first guide bar 60 toward the tip side of the first guide bar 60 as the AGV 10 advances. (see Figure 9). However, forward rotation of the upper frame 17 is maintained. The rotation of the upper frame 17 that occurs when the pin 65 moves along the first guide bar 60 toward its distal end is called "secondary rotation". The combination of the primary rotation and the secondary rotation is the first rotation motion.

As the AGV 10 advances, the pin 35 passes the tip 63 of the first guide bar 60 and the engagement between the two is released.

After that, when the AGV 10 further advances through the reversal area 66 , the second guide bar 73 contacts the side frame 21 of the upper frame 17 . More specifically, the side frames 21 of the upper frame 17 that have completed the first rotation come into contact with the upstream ends 71 of the second guide bars 73 . As a result, the upper frame 17 rotates forward again. After that, when the rotation of the upper frame 17 progresses further, the entire second guide bar 73 comes into contact with the side frame 21 as shown in FIG. When the AGV 10 progresses further beyond this state, the side frame 21 is guided only by the downstream end 72 of the second guide bar 73 to maintain its rotation. Finally, as shown in FIG. 11, when the intersection of the guide line 12 and the perpendicular drawn from the downstream end 72 of the second guide bar 73 to the guide line 12 reaches the center 26 of the AGV 10, the upper frame 17 is The state is reversed, and the rotation of the upper frame 17 (second rotation operation) ends.

In addition, in the reversed state, the second roller 32 of the upper frame 17 is received by the roller receiving portion 33, whereby the upper frame 17 is in the latched state.

As described above, according to the reversing mechanism 50 of the embodiment, the upper frame 17 of the AGV 10 moving along the guide line 12 rotates as the AGV 10 advances, without relying on electrical control or human labor. The state is switched to or from the reverse state to the forward state. In the embodiment, after the upper frame 17 of the AGV 10 has been switched from the forward state to the reverse state, the operator returns the upper frame 17 from the reverse state to the forward state. After that, the AGV 10 is returned to the guidance line 12 and resumes running.

[Setting angle of the first guide bar]
The direction of the first guide bar 60, particularly the direction or angle of the portion (first engagement portion) of the first guide bar 60 that contacts the pin 65, is such that the pin 65 changes relative position to the first guide bar 60 as the AGV 10 advances. It should be determined that the upper frame 17 is continuously rotated in the intended forward direction along with the movement.

Specifically, referring to FIG. 12, in order for the pin 65 to move along the first guide bar 60 to the pin reversing position as the AGV 10 advances, the center 26 of the AGV 10 and the pin 65 (specifically, the pin 65 and the contact point 75) of the first guide bar 60, and the tangent line 76 of the first guide bar 60 at the contact point 75, from the tangent line 76 to the line of action 74. It is required that the angle β1 measured in the clockwise direction (forward direction) always exceeds 90 degrees during the first rotation. If this condition is not satisfied (β1≦90 degrees), the component force 77 of the force transmitted from the pin 65 to the first guide bar 60 at the contact point 75 is directed toward the tip side of the first guide bar 60, and the forward direction of the upper frame 17. Rotation is prohibited.

Next, after passing the pin reversal position, the pin 65 moves along the first guide bar 60 to the tip side as the AGV 10 advances, and finally passes the tip 63 of the first guide bar 60 to 1 To disengage the guide bar 60, the angle formed between the line of action 74 and the tangent 76 measured clockwise (forward) from the tangent to the line of action 74 It is required that the angle β2 is always less than 270 degrees during the secondary rotation (see Figure 13). If this condition is not satisfied (β2≧270 degrees), the component force 78 of the force transmitted from the pin 65 to the first guide bar 60 at the contact point 75 is directed toward the fixed end side of the first guide bar 60 and forward direction of the upper frame 17. rotation is prohibited.

In the above description, the first guide bar 60 is formed of a straight bar, but as long as the angle conditions (β1>90 degrees, β2<270 degrees) are satisfied, the shape of the first guide bar 60 is It may be curved.

Further, in the above-described embodiment, the second guide bar 73 is used as the second engaging portion 55, and the side frame 21 is used as the second engaged portion 56. A pin or shaft provided at the downstream end 72 of the guide bar 73 may be substituted.

[Other embodiments]
In the above-described embodiment, both the first engaging portion 52 and the second engaging portion 55 are arranged in one region 58 of the two regions 58 and 59 divided by the guide line 12, but the second engaging portion 55 may be located in the other region 59 . In this case, as indicated by a dashed line in FIG. 14, the second engaging portion 55′ is engaged with the first engaging portion 52 and the first engaged portion 53 to complete the first rotation operation. First, the portion 81' of the second engaged portion 56 that comes into contact first is located on the downstream side in the direction of travel of the AGV with respect to the line passing through the center 26' of the AGV 10' and perpendicular to the guide line 12. is necessary as a condition of In order for the portion 81' to move along the second engaging portion 55' as the AGV 10' advances, the second condition is that the center 26' of the AGV 10' and the portion 81' (specifically, the portion 81' and the contact point 82' with the second engaging portion 55'), and the angle formed between the tangent line 84' of the second engaging portion 55' at the contact point 82', It is required that the angle β3 measured clockwise (forward) from the tangent line 84' to the line of action 83' always exceeds 90 degrees during rotation. Furthermore, in order for the upper frame 17 to complete the rotation, the third condition is that the distance from the guide line 12 to the downstream end 72' of the second engaging portion 55' must be from the center 26' of the AGV 10' to the upper frame It is necessary that the distance to the side frame 21' that constitutes 17' is substantially equal. As shown in the figure, "a portion 81' of the second engaged portion 56' that first contacts the second engaging portion 55'" is an upper frame corner portion 85' where the side frame 21' and the rear frame 23' intersect. or a pin (not shown) provided there. In addition, unlike the first embodiment, when using the upper frame corner portion 85' or the pin as the second engaged portion 56', the second engaging portion 55', especially the second engaged portion 56' It is preferable that the portion to be curved is a curve.

10: AGV (conveyor)
12: Guidance line (advance route)
14: lower structure 15: upper structure 21: side frame (second engaged portion)
27: Spindle (vertical axis)
50: reversing mechanism 52: first engaging portion 53: first engaged portion 55: second engaging portion 56: second engaged portion 60: first guide bar (first engaging portion)
65: Pin (engagement shaft)
73: Second guide bar (second engaging portion)
74: Line of action 76: Tangent line

Claims (8)

used in conjunction with a carrier having a lower structure and an upper structure disposed on said lower structure, with the front and rear ends of said upper structure corresponding to the front and rear ends of said lower structure, respectively. from the oriented state to the reversed state in which the front and rear ends of the upper structure correspond to the rear and front ends of the lower structure, respectively, and from the reversed state to the forward state, about the vertical axis. In a reversing mechanism of a conveying device that reverses the upper structure back and forth,
an engaged portion provided on the conveying device;
The upper structure is fixed on the traveling path side of the conveying device, and changes the relative positional relationship with the conveying device while engaging with the engaged portion as the conveying device advances. an engaging portion for reversing the front and rear ;
a ramp fixed on the traveling path;
A latch mechanism disposed on the transport device, the latch mechanism comprising a lever configured to contact the ramp as the transport device advances, the lever prior to contacting the ramp. and the latch mechanism that prohibits the upper structure from being reversed back and forth, but permits the upper structure to be reversed back and forth in a state after the lever contacts the ramp . Reversing mechanism of transport device. The engaging portion is
a first engaging portion that engages with the upper structure of the conveying device traveling along the advancing path and rotates the upper structure by a first predetermined angle;
a second engaging portion that engages with the upper structure of the conveying device traveling along the advancing path and rotates the upper structure that has been rotated by the first predetermined angle by a second predetermined angle;
2. A reversing mechanism for a conveying device according to claim 1, wherein the sum of said first predetermined angle and said second predetermined angle is 180 degrees. 3. A reversing mechanism for a conveying device according to claim 2 , wherein said first engaging portion and said second engaging portion are arranged on one side of said advancing path. used in conjunction with a carrier having a lower structure and an upper structure disposed on said lower structure, with the front and rear ends of said upper structure corresponding to the front and rear ends of said lower structure, respectively. from the oriented state to the reversed state in which the front and rear ends of the upper structure correspond to the rear and front ends of the lower structure, respectively, and from the reversed state to the forward state, about the vertical axis. In a reversing mechanism of a conveying device that reverses the upper structure back and forth,
The reversing mechanism of the conveying device,
an engaged portion provided on the conveying device;
The upper structure is fixed on the traveling path side of the conveying device, and changes the relative positional relationship with the conveying device while engaging with the engaged portion as the conveying device advances. an engaging portion for reversing the front and rear;
a ramp fixed on the traveling path;
A latch mechanism disposed on the transport device, the latch mechanism comprising a lever configured to contact the ramp as the transport device advances, the lever prior to contacting the ramp. and the latch mechanism for prohibiting the upper structure from being reversed back and forth, while permitting the upper structure to be reversed back and forth in a state after the lever contacts the ramp,
The engaging portion is
a first engaging portion that engages with the upper structure of the conveying device traveling along the advancing path and rotates the upper structure by a first predetermined angle;
a second engaging portion that engages with the upper structure of the conveying device traveling along the advancing path and rotates the upper structure that has been rotated by the first predetermined angle by a second predetermined angle;
the sum of the first predetermined angle and the second predetermined angle is 180 degrees;
A reversing mechanism for a conveying device, wherein the first engaging portion is arranged on one side of the advancing path, and the second engaging portion is arranged on the opposite side of the advancing path. The engaged portion includes a first engaged portion and a second engaged portion,
the first engaging portion engages the first engaged portion;
the second engaging portion engages the second engaged portion;
The upper structure is rotated by the first predetermined angle with respect to the lower structure by the engagement between the first engaging portion and the first engaged portion,
5. The upper structure is rotated by the second predetermined angle with respect to the lower structure by the engagement between the second engaging portion and the second engaged portion. reversing mechanism of the transport device. The transport device is configured such that the vertical axis moves along the traveling path ,
The first engaged portion is an engaging shaft extending in a vertical direction provided in the upper structure,
The first engaging portion is
Having a first engaging portion facing the conveying device approaching the advancing path toward the first engaging portion,
The first engaging portion engages with the engaging shaft as the conveying device advances, and the engaging position of the engaging shaft moves along the first engaging portion as the conveying device advances. is configured to move by
While the engaging shaft moves the first engaging portion in a direction away from the advancing path, a tangent to the position where the engaging shaft engages in the first engaging portion and a vertical line to the engaging shaft 6. A reversing mechanism for a conveying device according to claim 5, wherein the line of action connecting with the axis forms an angle of more than 90 degrees with respect to the upstream side of the advancing direction . The first engaging portion is tangent to a position where the engaging shaft engages at the first engaging portion while the engaging shaft moves in a direction approaching the travel path. and a line of action connecting said engaging shaft and said vertical shaft form an angle of less than 270 degrees on the upstream side of said advancing direction. reversing mechanism. The transport device is configured such that the vertical axis moves along the traveling path ,
The second engaging portion has a second engaging portion closest to the traveling path,
The second engaged portion has a second engaged portion extending parallel to the advancing path in the upper structure in the reversed state,
8. A reversing mechanism for a conveying device according to claim 5 , wherein the distance between said advancing path and said second engaging portion is equal to the distance between said vertical axis and said second engaged portion. .

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