JPH06104500B2 - Transfer device for unmanned guided vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to an article transfer device in an automated guided vehicle.

[Prior Art] In a production line of a factory or the like, an unmanned transport vehicle traveling on a predetermined traveling path loads and transports a work such as a work at a loading station, and sends out the transport at a unloading station.

An example of this type of carrier is the push-pull system shown in FIG. That is, a transfer member 33 is slidably provided on the ground equipment side along a pair of left and right guide members 32 in the central portion of the machine base 31 of the transport vehicle, and a motor provided on the machine base 31 is provided.
Movement direction conversion device consisting of 34 forward and reverse rotations such as a bevel gear
The transfer member 33 from 35 through the opinion-rack mechanism O
When transferred to the ground equipment and the machine base 31,
Expands and contracts with.

Then, as indicated by the chain double-dashed line in FIG. 9, the transfer member 33 extends to the ground facility side in two steps at the time of unloading, and the transported object 36 is held on the upper mount 33a on the ground facility side. After that, it is contracted to the machine base 31 side to move the conveyed object 36 to the machine base 31 side. After this, the conveyed object 36 moves on the roller 37 and the guide rail 38.
When it is guided to the machine base 31 and is moved to the machine base 31, the stoppers 39 rotatably provided on both sides of the machine base 31 in the width direction are erected by the action of the electric cylinder 40 provided in the mounting portion 33a, and the transported object is conveyed.
The vehicle starts with 36 held irremovably from both sides.

Further, at the time of loading, the stopper 39 is rotated to shift to the supine posture, and the transferred object 36 is moved to the ground facility side with the extension of the transfer member 33, and is transferred onto the conveyor provided in the ground device.

[Problems to be Solved by the Invention] However, in the transfer device for a transport vehicle described above, the transfer member 33
The stopper 39 is driven by the electric cylinder 40 in the mounting portion 33a to regulate the movement of the conveyed object 36 on the mounting portion 33a. For this reason, the upper surface of the mounting portion 33a becomes high, and it becomes impossible to transfer the conveyed object 36 to and from a low-ground facility, and there is room for improvement in this respect.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a transfer apparatus for an automatic guided vehicle that can cope with low ground equipment.

[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention is provided on the machine base so as to be extendable to the side of the ground device, and when the contraction is performed, the transported object is placed, and when the extension is performed, the machine side is placed. A transfer means for forming a transfer path for the transferred article between the transfer means and the ground facility, and the transferred object that is placed on the transfer means so as to project to the transfer path for the transferred object when the transfer means is contracted. In a conveyed object transfer device in an automated guided vehicle having a pair of stoppers for preventing the deviation from the top of the machine base, one stopper is directly attached to the upper surface of the machine base, and the transfer means is It is composed of a support member protruding and retracting from the machine base and a conveyed object placing member protruding and retracted from the support member, and the other stopper is provided when the placing member projects toward the conveyed object side of the ground equipment. Abutting against and rotating in a direction that does not hinder the protruding operation of the mounting member. In addition, the gist of the invention is that it is provided so as not to rotate so that the carried object can be moved together with the placing member after the projecting.

[Operation] One stopper is provided directly on the upper surface of the machine base, and the other stopper is brought into contact with the transported object of the ground equipment to project the mounted member when it projects toward the transported object. The height of the mounting member is set low regardless of the stopper by rotating in a direction that does not hinder the operation, and by holding it unrotatably so as to move the transported object with the mounting member retracting operation after protruding. it can.

[Embodiment] An embodiment of the present invention will be described in detail below with reference to FIGS. 1 to 7.

In FIG. 7, the unmanned cart V travels on a predetermined traveling path, and at the time of loading, the left side thereof is attached to the loading station S1 and the articles W are loaded from the station S1.
Further, when unloading, the right side of the unloading station is attached to the unloading station S2, and the transported article W is unloaded to the station S2.

As shown in FIGS. 1 and 3, a mounting plate 2 is fixedly mounted on the machine base 1 of the unmanned cart V, and a standing portion U is erected in front of and behind it. Further, a plurality of transfer rollers 4 are arranged in a row in the width direction of the carriage V at both front and rear (left and right) ends of the mounting plate 2 via mounting members 3 each having a side channel shape. A pair of regulation rails R are provided above the transfer rollers 4 so as to cover the outer ends of the rows of the transfer rollers 4, and the article W to be conveyed between the unmanned vehicle V and the ground equipment.
When the transfer is performed, the guide of the conveyed product W moving on the transfer roller 4 and the movement of the conveyed product W supported on the transfer roller 4 are restricted.

A motor M is provided in the rear upright portion U, and the rotation direction of the output shaft of the motor M is converted by the bevel gear G, and the transfer roller 4 is moved.
It is transmitted to a rotating shaft S extending through the center of the carriage V through a space between them, and the rotation of the rotating shaft S causes a drive gear A from a gear operating device D arranged in the center of the carriage V via a chain-sprocket mechanism C. Is rotated.

Further, as shown in FIG. 2, a guide rail 6 composed of a pair of side surface L-shaped bar members facing each other via a reinforcing plate 5 extending in the width direction is arranged at the central portion of the machine base 1 in the front-rear direction. ing. A guide roller 6a protruding outward is provided on a side surface of each guide rail 6, and a rack 7 is arranged between the guide rails 6 so as to extend in the entire width direction of the carriage V.

As shown in FIG. 3, a transfer member 8 as a transfer unit that slides along the guide rail 6 is provided on the guide rail 6,
The transfer member 8 includes an elongated plate-shaped sliding portion 9 that slides directly on the guide rail 6, and an elongated plate-shaped loading portion 10 that also slides on the sliding portion 9. It consists of

The sliding portion 9 will be described with reference to FIG. 2. A pair of side-faced U-shaped fitting portions 11 that rotatably accommodate the guide rollers 6a of the guide rails 6 are provided on the upper surfaces of the side-elbow-shaped support portions 12. Are fixed to each other, and three large gears 14a, a small gear 14b, and a large gear are arranged in the width direction with respect to these supporting portions 12.
14c (FIG. 4) is supported by the supporting portion 12 from both sides via the retaining plates 15. The diameters of the large gears 14a and 14c are set to be larger than that of the drive gear A.
Engages with the lower rack 7.

Then, the guide roller 12 protruding outward is provided on each support portion 12.
a is provided. A horizontal portion of the right support portion 12 projects rightward and extends upward, and a driven rack 16 extending in the width direction of the carriage V is fixedly mounted on the right side surface thereof. The rotations of the motor M in the forward and reverse directions are transmitted to the driven rack 16 from the lower side via a driving gear A that meshes with the driven rack 16, and the driven rack 16 moves to the loading side and the unloading side, respectively, and the sliding portion 9 also drives the driven rack. Moved in the same direction as 16.

Further, regarding the loading section 10, a pair of side-U-shaped fitting portions 17 that rotatably accommodate both guide rollers 12a of the sliding portion 9 are provided with a placing portion 18 and are mounted together. Table 18
A rack 20 is fitted in a mounting groove 19 which is formed so as to divide it into almost the entire length direction. This rack
20 is located at a position corresponding to the rack 7 between the guide rails 6, the pitch thereof is also set to be equal, and the two large gears 14a and 14c of the transfer member 8 are meshed from below. And
The rack 16 is driven by the drive gear A that rotates according to the rotation of the motor M.
When the large gears 14a, 14c are rotated by the mounting member 8 which moves together with the large gears 14a, 14c, the amount of movement of the loading portion 10 is changed by the movement of the sliding portion 9 based on the difference in diameter between the drive gear A and the large gears 14a, 14c. Will be larger than the quantity.

As shown in FIG. 2, unidirectional stoppers 21 each having a substantially right-angled triangular shape are attached to both sides of the end of the unloading portion 10 in the unloading direction so as to be rotatable only rightward from the original position shown in FIG. As shown in FIGS. 5 and 6, the rotation range is restricted by the movement restricting pieces L1 and L2 that are provided on the side surface of the unloading section 10.
When the stopper 21 is pressed to the right, it is rotated to the right until it comes into contact with the restriction piece L1 as shown in FIG. 5, and when the pressing force is released in this state, it is biased to the left by a spring (not shown). As shown in FIG. 6, it is rotated back to the left until it comes into contact with the restriction piece L2.

Then, as shown in FIG. 5, when the unloading section 10 is moved to the left for unloading, the left oblique side 21a of the stopper 21 comes into contact with the pallet P of the article W, and the unloading section 10 When the pallet P is moved to the left or when the pallet P is moved to the right, the pallet P presses the pallet P to rotate it to the right, thereby allowing the load pickup section 10 to move further to the left. Then, as shown in FIG.
When 10 moves sufficiently to the left and the stopper 21 moves from the pallet P to the left, the force pressing the stopper 21 is released, and the stopper 21 is released.
21 automatically returns to the original position, and when the loading member 10 is moved to the right, that is, to the dolly V side, the stopper 21 does not rotate to the left, and its hanging portion 21b is located on the pallet P. It comes in contact with the left side.

As shown in FIG. 1, on the mounting plate 2, a stopper 23 is rotatably provided between the guide rail 6 and the front transfer roller 4 via a bracket 22 having a side channel shape. As shown in FIG. 3, with the extension of the electric cylinder 25 connected to the rotary shaft 24, the stopper 23 is in the standing posture,
As it contracts, it is controlled to be in a supine position.

By the way, in the transported object transfer device configured as described above, when the carriage V performs unloading at the unloading station S1,
The motor M is normally rotated and the sliding portion 9 of the transfer member 8 is moved to the loading side, so that the loading portion 10 projects toward the station S1. Then, after the unloading section 10 has been sufficiently inserted into the pallet P of the articles W arranged in the station S1, the unloading section 10 is moved by the reverse movement of the motor M and the sliding section 9 moves in the opposite direction. When the pallet P is returned to the trolley V side, the pallet P is pressed by the stopper 21 and moves to the trolley V1 side together with the load pickup section 10. Then, the pallet P reaches the transfer roller 4, and the transported object W attracted to the central portion of the carriage V by the movement of the sliding portion 9 is guided by the regulation rail R while the transfer roller 4 rotates. It is placed at a predetermined position on V. After that, the electric cylinder 25 is extended to hold the stopper 23 in the upright posture, the transported object W is moved in the width direction of the carriage and in the front-rear direction, and both stoppers 21, 23 and the regulation rail R are moved.
The truck V travels toward the loading station S2 after being regulated respectively.

In the loading station S2, the motor M is retracted after the electric cylinder 25 is contracted to move the stopper 23 to the supine posture.
Is reversed to move the sliding portion 9 of the mounting member 8 to the load-holding side, and the load-taking portion 10 is projected to the station S load-side accordingly. Then, as the load pickup section 10 moves, the pallet P is pressed by the stopper 21 and moved to the station S2 side together with the load pickup section 10, and the conveyed product W is collected by the conveyor or the like provided in the station S2.

In the above-mentioned transported object transfer device, a one-way stopper 21 such as an electric cylinder which does not require a driving means is attached to the side surface of the transfer member 8 and the stopper 23 is directly mounted on the machine base 1 of the carriage V.
Also, by providing the electric cylinder 25 for driving the same, it is possible to avoid the structure in which the electric cylinder is built in the transfer member 8 as in the conventional product, and it is possible to reduce the height of the transfer device. did it. Therefore, it is possible to transfer the transported article W to and from a station having a low height.

Further, since the one-way station 21 is provided at the end of the unloading section 10 on the unloading side, when the unloading section 10 is inserted into the pallet P of the article W, the stopper 21 is rotated and the unloading section is rotated. Ten
Is allowed to extend, and the stopper 21 stands up when the insertion is completed. When the unloading section 10 is pulled back to the trolley side, the pallet P is pressed by the stopper 21 from the unloading side, so that the unloading operation can be reliably performed.

[Effects of the Invention] As described in detail above, the present invention exhibits an excellent effect that it is possible to cope with low-ground equipment.

[Brief description of drawings]

FIG. 1 is a side view showing an automated guided vehicle, FIG. 2 is an enlarged side view showing a transfer member, FIG. 3 is a plan view of the automated guided vehicle, and FIG. 4 is a partially cutaway front view of the automated guided vehicle. 5 and 6
The figures are partially cutaway front views showing the operation of the one-way stopper immediately before and at the time of unloading, FIG. 7 is a schematic plan view showing each station and the automated guided vehicle stopped at these stations, and FIG. 8 is a conventional view. FIG. 9 is a side view showing the automated guided vehicle of FIG. 9, and FIG. 9 is a front view of FIG. Machine stand 1, transfer member 8 as transfer means, load-carrying part 10 as transferred object mount member, support part 12 as support member, one-way stopper 21 and rotation stopper 23 as stopper, as ground equipment The unloading station S1 and the unloading station S2, and the transported object W.

Claims (1)

[Claims] 1. An extension device is provided on a machine base to extend to a ground device side, and when contracted, a conveyed product is placed, and when expanded, a transfer route for the conveyed product is formed between the machine side and the ground facility. A transfer means and a pair of stoppers that, when the transfer means is contracted, project into the transfer path of the transferred article and prevent the transferred article placed on the transfer means from deviating from the machine base. In a conveyed object transfer device for an unmanned guided vehicle, the one stopper is directly attached to the upper surface of the machine base, and the transfer means is a support member protruding and retracted from the machine base,
Consists of a transported object placing member that emerges from the supporting member,
Further, when the mounting member projects toward the conveyed object of the ground device, the other stopper is rotated in a direction in which it abuts against the conveyed object and does not hinder the projecting operation of the mounting member, and after the protrusion, the conveyed object is conveyed. An article transfer device for an unmanned guided vehicle, which is provided so as to be non-rotatable in order to move the mounting member with the immersing operation.