JPH0246404B2 - SHARYOYORENKETSUSOCHI - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a vehicle coupling device, and particularly to a vehicle coupling device suitable for coupling an unmanned guided vehicle to another vehicle. It is.

"Conventional Technology" In recent years, unmanned guided vehicles have been used in factories and other facilities for various tasks such as transporting materials.

This unmanned guided vehicle sometimes performs work by connecting other vehicles (for example, trailers, etc.), and below is an example of the structure of a conventional vehicle coupling device used for such connection.

In FIG. 9a, 1 is an unmanned guided vehicle whose running is controlled by buried control wires, magnets, etc. as is well known.

A coupling device (details will be described later) 2 is provided at the rear end of the unmanned guided vehicle 1. Further, 3 is a magnetic detector 3, which detects magnetic flux generated by buried control wires, magnets, and the like. 4
is a trailer loaded with materials, etc., and is towed by the unmanned guided vehicle 1. A connecting pin 5 is connected to the connecting device 2 and is attached to the front end of the trailer 4. A magnet 6 is buried underground and is used to generate a stop signal to the unmanned guided vehicle 1.

In other words, the magnetic detector 3 described above is connected to the magnet 6.
The unmanned guided vehicle 1 is configured to stop when the generated magnetic flux is detected.

Further, 7 is a stopper part for regulating the position of the trailer 4, and is constructed by bolting an iron plate with a thickness of about 10 mm to the floor surface.

A specific configuration of this stopper portion 7 is shown in FIG.

In this figure, 7a and 7b are guide plates that respectively regulate the position of the trailer 4 in the width direction, and 7a and 7b are stop plates that each regulate the position of the trailer 4 in the traveling direction.

FIGS. 11a to 11d are views showing the coupling device 2 viewed from above.

In FIG. 11a, 10 is a rotary solenoid, and 10a is its lever.

When the rotary solenoid 10 is energized, it drives the lever 10a in the direction of arrow B, and when it is de-energized, it returns the lever 10a to its original position (the position shown in the figure).
is configured to revert to

Numeral 11 is a locking member for locking the locking mechanism 13. This locking member 11 is an arm 11a.
It is driven integrally with the main body and is rotatable around the axis C. The arm 11a and the lever 10a are the connecting member 1
2, the driving force of the lever 10a is connected to the arm 1.
1a.

That is, when the lever 10a is driven in the direction of arrow B, the locking member 11 rotates in the direction of arrow D.

The bracket 13 is rotatable around the axis E,
Furthermore, an engaging portion 13b is formed on one side of the locking mechanism 13, and a spring attachment portion 13a is formed on the other side. One end of a spring 14 is attached to the spring attachment portion 13a, and the other end of the spring 14 is attached to the fixing member 16.

When the locking member 11 rotates in the D direction, the locking mechanism 13 rotates in the arrow F direction due to the elastic force of the spring 14.

17 is a holding member that holds the connecting pin 5;
A substantially circular space 18 is formed by the connecting pin 17 and the locking pin 13.

15 is a limit switch, and 15a is its actuator. This actuator 15
A is pressed when the aforementioned lever 10a rotates in direction B. The limit switch 15 is turned on when the actuator 15a is pressed. This limit switch 1
The contact output of 5 is supplied to the rotary solenoid 10, and thereby the unmanned guided vehicle 1 (see Fig. 9)
When the limit switch 15 is turned on while the vehicle is traveling in reverse, the rotary solenoid 10 is de-energized.

Next, the connection operation will be explained.

First, the unmanned guided vehicle 1 starts traveling backward in the direction of arrow A, as shown in FIG. 9a. At this time, the rotary solenoid 10 is excited and the lever 10a is driven in the direction of arrow B. As a result, the locking member 11 rotates in the direction of arrow D, and the locking member 13
rotates in the direction of arrow F.

Then, as shown in FIG. 11b, the lever 10a
presses the actuator 15a, the rotary solenoid 10 becomes de-energized, and the lever 1
0a returns to its original position. And lever 10
According to the return operation of a, the locking member 11 moves to the first position.
Return to the original position as shown in Figure 1c. At this time, the locking mechanism 13 is held in the rotated position by the elastic force of the spring 14.

On the other hand, since the unmanned guided vehicle 1 continues to travel backwards in the direction of the arrow A, the connecting pin 5 of the trailer 4 is in a state pushing the locking mechanism 13, as shown in FIG. 11c.

As a result, the locking mechanism 13 rotates in the direction of arrow G, and as shown in FIG.
is locked. At this time, the connecting pin 5 is housed in the space 18, and the connecting operation is completed.

FIG. 9b shows the positional relationship between the unmanned guided vehicle 1 and the trailer 4 when the coupling operation is completed.

Since the unmanned guided vehicle 1 must stop when the connection operation is completed, the magnetic detector 3 must be configured to detect the magnetic flux generated by the magnet 6 at the same time as the connection is completed.

That is, the stop plates 7c and 7d (see Fig. 10)
The distance L between the magnet 6 and the stop plates 7c and 7d is
and the distance L1 between the connecting pin 5 and the distance L2 between the connecting pin 5 and the magnetic detector 3.

As a result, the unmanned guided vehicle 1 is stopped at the same time as the connection operation is completed.

"Problems to be Solved by the Invention" The present invention attempts to solve the following problems in the conventional technology described above.

That is, in the conventional connection method described above, in order to engage with the connection pin 5, it is necessary to stop the trailer 4 etc. at a predetermined position. Board 7
c and 7d are fixed to the floor, but if such a positioning member is provided on the floor, it will not only become an obstacle when the unmanned guided vehicle 1 and the trailer 4 mentioned above are running, but also cause damage to factories, etc. The problem is that the factory tends to become complicated during construction.

Furthermore, instead of the guide plates 7a, 7b and the stop plates 7c, 7d, it is being considered to form grooves in the floor surface into which the tires of the trailer 4 can fall. However, it has not yet been possible to completely eliminate vehicle running obstacles.

"Means for Solving the Problems" An object of the present invention is to provide a vehicle coupling device that can effectively solve the above-mentioned conventional problems. In particular, a vehicle coupling device is a vehicle coupling device that is provided between a pair of vehicles and connects and disconnects both vehicles, and includes a coupling pin that projects from one vehicle and a coupling pin that is swingable to the other vehicle. a connecting ring that is attached to the rocking end of the connecting ring and into which the connecting pin is fitted as the connecting ring swings; It is characterized by comprising a locking mechanism that engages and fixes the connecting pin in the mated state, and a drive mechanism that swings the connecting ring.

"Function" The vehicle coupling device according to the present invention has an annular shape for the other coupling member to which the coupling pin is engaged, thereby enlarging the fittable range of both vehicles. The positioning range is expanded, thereby making it possible to omit the positioning member of the vehicle.

"Embodiment" An embodiment of the present invention will be described below with reference to FIGS. 1 to 8.

In the following description, parts common to those in FIGS. 9 to 11 are designated by the same reference numerals to simplify the description.

In FIGS. 1 and 2, the reference numeral 20 indicates a connecting device 20 according to the present embodiment, and this connecting device 20
is a vehicle coupling device installed between a pair of vehicles 1 and 4 to connect and disconnect both vehicles (unmanned guided vehicle 1 and trailer 4), and is provided protruding from one vehicle (trailer 4). A connecting pin 21, a connecting ring 22 that is swingably attached to the other vehicle (unmanned guided vehicle 1, and into which the connecting pin 21 is fitted as it swings), and an end on the swinging side of this linking ring 22. A locking mechanism is attached to the unmanned guided vehicle 1 and the trailer 4, and as the unmanned guided vehicle 1 and the trailer 4 move relative to each other in the direction of separation, the connecting pin 21 that is fitted to the connecting ring is engaged and fixed. It has a general configuration consisting of a mechanism 23 and a drive mechanism 24 that swings the connecting ring 22.

Next, the details will be described. The connecting pin 21 is integrally provided at one end of the trailer 4 at either the front or rear end in the traveling direction so as to face downward.

The connecting ring 22 is attached to the rear end of the unmanned guided vehicle 1, and has a circular shape as a whole, and as shown in FIG. The unmanned guided vehicle 1 is formed into a substantially triangular shape that gradually narrows, that is, gradually narrows toward the end on the swinging side.
It is supported by a support shaft 27 fixed via a stay 26 to a base plate 25 attached to the base plate 25 so as to be swingable in the vertical direction. In addition, at the end of the swinging side,
A recess 22a is formed that opens toward the inside of the ring, and the inner diameter of the recess 22a is set to a size such that the connecting pin 21 can be inserted therein.

The locking mechanism 23 includes a locking lever 28 that is rotatably attached to the connecting ring 22, and a coil spring 29 that elastically presses the locking lever 28 in one direction of rotation. A stopper 30 for regulating the rotational position of the locking lever 28 by the coil spring 29;
A pin 31 that supports and serves as the center of rotation.
It is composed of:

Further, the locking lever 28 is connected to the stopper 3.
2, one end of the connecting ring 22 protrudes into the opening of the recess 22a formed in the connecting ring 22, and this opening The dimensions of the connecting pin 21 are made narrower than the outer diameter of the connecting pin 21.

Furthermore, a return spring 32 is interposed between the connecting ring 22 and the base plate 25 to press and rotate the connecting ring 22 upward at all times. A stopper 33 is provided to limit the rotational position of the coupling ring 22 by the return spring 32. When the rotation of the coupling ring 22 is stopped by the stopper 33, as shown in FIG. , the swinging end of the connecting ring 22 is stopped swinging at a position where it intersects with the connecting pin 21.

On the other hand, a connecting piece 34 is integrally attached to the connecting ring 22 on the opposite side of the swing center thereof, and the driving mechanism 24 is provided between the connecting piece 34 and the base plate 25. It is being

In this embodiment, an electromagnetic solenoid is used as the drive mechanism 24, and is driven by a control means (not shown) to swing the connecting piece 34 at a predetermined angle, thereby causing the connecting ring 22 to bounce off the spring of the return spring 32. The connecting ring 22 is swung against the force, thereby positioning the connecting ring 22 below the connecting pin 21.

Connecting device 2 of this embodiment configured as described above
The operation of 0 will be explained.

First, in the state shown in FIG. 9a, the unmanned guided vehicle 1 is moved backward in the direction of arrow A in the figure toward the trailer 4.

At this time, the electromagnetic solenoid of the drive mechanism 24 is energized to swing the connecting ring 22 by a predetermined angle via the connecting piece 34, and as shown in FIG. Shake until

Then, by continuing to drive the unmanned guided vehicle 1 backward, as shown in FIG. 1. Stop backward travel.

In this way, the excitation to the electromagnetic solenoid is released when the unmanned guided vehicle 1 is stopped. As a result, the connecting ring 22 is connected to the return spring 3.
It is rotated by the elastic force of 2 and returned to its original position, and as shown in FIG. 6, the connecting pin 21 is positioned inside the ring.

From this, when the unmanned guided vehicle 1 is moved forward,
The connecting pin 21 is moved relative to the connecting ring 22 toward the narrow portion as shown by the arrow in FIG. 6, and then the locking lever 28 is pressed and rotated by the connecting pin 21. Then, as shown in FIG. 7, the opening of the recess 22a is opened.

Further, when the unmanned guided vehicle 1 is moved forward, the connecting pin 21 is guided along the inner surface of the connecting ring 22 and then fitted into the recess 22a as shown by the arrow in FIG. When the contact between the connecting pin 21 and the locking lever 28 is released, the locking lever 28 is rotated back to its original position by the elastic force of the coil spring 29, and the recess 22a is rotated. opening is closed.

The locking lever 28, which has been rotated back to its original position in this way, is returned to its original position as described above, in other words, to the position that closes the opening of the recess 22a, due to the action of the coil spring 29 and the stopper 30. As a result, as shown in FIGS. 5 and 8, the connecting pin 21 is trapped between the connecting ring 22 and the locking lever 28, and the connecting pin 2
1 and the connecting ring 22, that is, the connection between the unmanned guided vehicle 1 and the trailer 4 is completed.

The control of each component for the above connection operation is as follows:
For example, the magnetic flux of the magnet 6 provided on the floor is detected by the magnetic detector 3 attached to the unmanned guided vehicle 1, and electrical control is performed based on the detection signal.

During such a connection operation, the connection pin 21 is captured in a wide range inside the connection ring 22 by the swinging operation of the connection ring 22, and then guided to the recess 22a on the inner surface of the connection ring 22. locked,
Furthermore, the connecting pin 2 guided into the recess 22a
1 is prevented from leaving the recess 22a by the automatically rotated locking lever 28, so that the range of alignment between the unmanned guided vehicle 1 and the trailer 4 for connection is greatly expanded. .

Therefore, the setting of the standby position of the trailer 4 is
This will suffice with rough accuracy, eliminating the need for a member for positioning the trailer 4. Instead, for example, simply marking the rough stopping position on the floor with paint or the like will suffice for the connection work. can be done. Along with this, there is no need to provide protrusions or grooves on the floor, and it is possible to use unmanned guided vehicles 1 and trailers 4.
Obstacles during driving are removed, allowing these vehicles to run smoothly and expanding their driving range.

It should be noted that the various shapes and dimensions of each component shown in the above embodiments are merely examples, and can be variously changed based on the vehicle to which the invention is applied, the place to which it is applied, or design requirements.

For example, although an example has been shown in which the shape of the connecting ring 22 is approximately triangular, the shape is not limited to this and can be changed as appropriate.

In addition, instead of the electromagnetic induction type unmanned guided vehicle described above, it can be similarly applied to an optically guided unmanned guided vehicle that runs by detecting reflective tape laid on the road surface with an optical sensor. Of course, application to other vehicles is also possible.

"Effects of the Invention" As explained above, the vehicle coupling device according to the present invention is a vehicle coupling device that is provided between a pair of vehicles and connects and disconnects both vehicles. a connecting pin installed on the other vehicle, a connecting ring that is swingably attached to the other vehicle and into which the connecting pin is fitted as the connecting ring swings, and a connecting ring that is attached to the end of the swinging side of the connecting ring and It is characterized by comprising a locking mechanism that engages and fixes the connecting pin in the fitted state as the vehicle moves relative to the other direction, and a drive mechanism that swings the connecting ring. It has the following excellent effects.

By making the other connecting member with which the connecting pin is engaged annular, the range in which the two can be fitted is expanded, and the range of positioning for connecting both vehicles is expanded. This makes it possible to eliminate the need for a positioning member.

As a result of the above-mentioned effects, protrusions, grooves, etc. are eliminated from the floor surface on which the vehicle is operated, thereby making the vehicle run smoothly, expanding its range, and simplifying the construction of the floor surface.

[Brief explanation of the drawing]

In the drawings, FIGS. 1 to 8 show an embodiment of the present invention, in which FIG. 1 is a vertical cross-sectional side view of the main part, FIG. 2 is a plan view of the main part, and FIG. 3 is a connection operation. On this occasion,
A schematic side view showing the initial stage when the other vehicle is moved toward one vehicle, FIG. 4 is a schematic side view showing the state where the other two vehicles are brought closest to each other, and FIG. 5 is a state where the connection is completed. 6 is a schematic plan view showing a state in which the connecting pin is positioned within the connecting ring, and FIG. 7 is a state in which both vehicles have been relatively moved in the direction of separating them from the state shown in FIG. 6. 8 is a schematic plan view showing a state in which the connection is completed, FIGS. 9a and 9b are explanatory diagrams of conventional vehicle connection methods, and FIG. 9a shows the state before connection. A schematic side view, FIG. 9b is a schematic side view showing the state after connection, FIG. 10 is an external view showing a stopper portion for positioning the vehicle for connection, and FIG. 11 is a diagram of a conventional connection device. FIG. 11a is a schematic plan view for explaining the operation, and FIG. 11a is a diagram showing the state before connection;
Figure b shows an initial state in which both vehicles are moved relatively toward each other for connection, Figure 11 c shows a state in which the connection has started, and Figure 11 d shows a state in which the connection has been completed. It is a diagram. 1... Unmanned guided vehicle (other vehicle), 3... Magnetic detector, 4... Trailer, 6... Magnet, 2
0... Connecting device, 21... Connecting pin, 22... Connecting ring, 22a... Recess, 23... Locking mechanism, 24
... Drive mechanism, 28 ... Locking lever, 29 ... Coil spring, 30 ... Stopper, 32 ... Return spring, 33 ... Stopper.

Claims (1)

[Claims] 1 A vehicle coupling device that is installed between a pair of vehicles and connects and detaches the two vehicles, and includes a coupling pin that projects from one vehicle and a coupling pin that is swingably attached to the other vehicle and that connects and disconnects the two vehicles. a connecting ring into which the connecting pin is fitted; and a connecting pin that is attached to the swinging end of the connecting ring and is in a fitted state as the two vehicles move relative to each other in the direction of separation. A vehicle coupling device comprising: a locking mechanism that engages and fixes the coupling ring; and a drive mechanism that swings the coupling ring.