JP2007210729A - Transfer machine - Google Patents

Transfer machine Download PDF

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JP2007210729A
JP2007210729A JP2006031300A JP2006031300A JP2007210729A JP 2007210729 A JP2007210729 A JP 2007210729A JP 2006031300 A JP2006031300 A JP 2006031300A JP 2006031300 A JP2006031300 A JP 2006031300A JP 2007210729 A JP2007210729 A JP 2007210729A
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transfer machine
guided vehicle
outrigger
automatic guided
locked
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Akira Suzuki
明 鈴木
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Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
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Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
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Priority to JP2006031300A priority Critical patent/JP2007210729A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a transfer machine to be positioned at a predetermined position by a small driving force. <P>SOLUTION: The transfer machine 30 has a transfer machine body 31 to be mounted on an unmanned conveying vehicle 40. The transfer machine body 31 has a plurality of vertically movable outriggers 10. The outriggers 10 are abutted on a traveling passage 1 to support the transfer machine body 31, and raised from the unmanned conveying vehicle 40. Thus, the transfer machine body 31 is positioned at a predetermined position, and the outriggers 10 are driven by the small driving force. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、移載機に関し、特に無人搬送車に搭載され、小さい駆動力にて所定の位置に位置決め可能な移載機に関する。   The present invention relates to a transfer machine, and more particularly to a transfer machine that is mounted on an automated guided vehicle and can be positioned at a predetermined position with a small driving force.

移載機は、搬送する搬送物品を積載するための昇降可能な積載具を有し、無人搬送車に搭載されている。無人搬送車には四つのキャスタ輪が取り付けられ、そのうち二つには走行路に対して付勢する圧縮コイルばねをキャスタ輪と荷台との間に介在させることで、４つのキャスタ輪を走行路に接地させるようにしている。このような無人搬送車を所定の位置に配置し、前記移載機に前記搬送物品を積載すると、前記搬送物品の自重により前記圧縮コイルばねが収縮して、無人搬送車の配置位置がずれてしまう。このような位置ずれを防止するため無人搬送車にアウトリガを設けており、このアウトリガを走行路に当接させて反力を得ることで、無人搬送車および移載機を所定の位置に配置するようにしている（例えば、特許文献１を参照）。   The transfer machine has a lifting tool that can be moved up and down for loading a transported article to be transported, and is mounted on an automatic guided vehicle. Four caster wheels are attached to the automated guided vehicle, and two of them are provided with a compression coil spring that urges the traveling path between the caster wheel and the loading platform, so that the four caster wheels are connected to the traveling path. To ground. When such an automatic guided vehicle is disposed at a predetermined position and the transported article is loaded on the transfer machine, the compression coil spring contracts due to the weight of the transported article, and the position of the automatic guided vehicle is shifted. End up. In order to prevent such misalignment, the automatic guided vehicle is provided with an outrigger, and the automatic guided vehicle and the transfer machine are arranged at predetermined positions by obtaining reaction force by bringing the outrigger into contact with the traveling path. (For example, refer to Patent Document 1).

特開２０００−３４４４７８号公報JP 2000-344478 A

しかしながら、上記のような無人搬送車では、アウトリガにより無人搬送車および移載機を所定の位置に位置決めすることができるものの、前記アウトリガは前記移載機の自重を支持するのに加えて、前記無人搬送車の自重をも支持しており、それだけアウトリガを駆動する駆動力が大きい装置が必要になってしまい、その分製造コストが嵩んでしまうという課題があった。   However, in the automatic guided vehicle as described above, although the automatic guided vehicle and the transfer machine can be positioned at predetermined positions by the outrigger, the outrigger supports the dead weight of the transfer machine, A device that supports the weight of the automatic guided vehicle and that has a large driving force for driving the outrigger is required, which increases the manufacturing cost.

そこで、本発明は、上述した問題に鑑み提案されたもので、小さい駆動力にて所定の位置に位置決め可能な移載機を提供することを目的とする。   Therefore, the present invention has been proposed in view of the above-described problems, and an object thereof is to provide a transfer machine that can be positioned at a predetermined position with a small driving force.

上述した課題を解決する第１の発明に係る移載機は、無人搬送車に搭載される移載機本体を有する移載機であって、前記移載機本体が垂直方向に移動可能な複数のアウトリガを有し、前記アウトリガを走行路に当接させて前記移載機本体を支持させると共に、前記無人搬送車から浮き上がらせるようにしたことを特徴とする。   A transfer machine according to a first invention for solving the above-mentioned problem is a transfer machine having a transfer machine body mounted on an automatic guided vehicle, and the transfer machine body is movable in a plurality of vertical directions. The outrigger is provided so that the outrigger is brought into contact with a traveling path to support the transfer machine main body and to be lifted from the automatic guided vehicle.

上述した課題を解決する第２の発明に係る移載機は、第１の発明に記載された移載機であって、前記アウトリガのうち少なくとも２つの先端には、前記走行路に配置された係止部に係止可能な被係止部が形成されることを特徴とする。   A transfer machine according to a second invention for solving the above-mentioned problem is the transfer machine described in the first invention, wherein at least two tips of the outriggers are arranged in the travel path. A locked portion that can be locked to the locking portion is formed.

上述した課題を解決する第３の発明に係る移載機は、第１または第２の発明に記載された移載機であって、前記無人搬送車に第２係止部を形成させる一方、前記移載機本体に前記第２係止部に係止可能な第２被係止部を形成させ、前記無人搬送車に前記移載機本体を搭載させるときに、前記無人搬送車の第２係止部を前記移載機本体の第２被係止部に係止させることを特徴とする。   A transfer machine according to a third invention for solving the above-described problem is the transfer machine described in the first or second invention, wherein the automatic guided vehicle forms a second locking portion, When the transfer machine main body is formed with a second locked portion that can be locked to the second locking portion, and the transfer machine main body is mounted on the automatic guided vehicle, a second of the automatic guided vehicle is used. The locking portion is locked to the second locked portion of the transfer machine main body.

第１の発明に係る移載機によれば、移載機本体を所定の位置に位置決めさせることができる。アウトリガにより無人搬送車を支持させる必要がなくなるので、その分アウトリガを駆動する駆動力を小さくすることができる。よって、アウトリガを駆動する動力源を従来のものに比べて小さくすることができ、その分製造コストを低減することができる。   According to the transfer machine which concerns on 1st invention, a transfer machine main body can be positioned in a predetermined position. Since there is no need to support the automatic guided vehicle by the outrigger, the driving force for driving the outrigger can be reduced accordingly. Therefore, the power source for driving the outrigger can be made smaller than the conventional one, and the manufacturing cost can be reduced accordingly.

第２の発明に係る移載機によれば、第１の発明に記載された移載機と同様な作用効果を奏する他、移載機本体を所定の位置に確実に位置決めすることができる。また、係止部を円錐形状とすると共に、被係止部を円錐形状の穴とすることにより、係止部と被係止部とがそれぞれの重なる領域内でずれても、移載機本体の自重が係止部と被係止部との接触面に作用して、係止部の頂点と被係止部の最奥部とが一致させられるので、移載機本体を所定の位置にさらに確実に位置決めすることができる。   According to the transfer machine which concerns on 2nd invention, besides having the effect similar to the transfer machine described in 1st invention, a transfer machine main body can be reliably positioned in a predetermined position. Further, by making the locking portion conical and the locked portion a conical hole, the transfer machine main body can be used even if the locking portion and the locked portion are displaced in the overlapping region. The weight of the slab acts on the contact surface between the locking part and the locked part, and the apex of the locking part and the innermost part of the locked part coincide with each other. Furthermore, it can position reliably.

第３の発明に係る移載機によれば、第１および第２の発明に記載された移載機と同様な作用効果を奏する他、無人搬送車に対する移載機本体の位置ずれを防止することができ、その結果、移載機本体を位置決めするときの位置ずれを防止することができる。また、第２係止部または第２被係止部に近接センサを設けることで、無人搬送車に対して移載機本体が所定の位置に位置決めされたかを確認することができる。   According to the transfer machine concerning the 3rd invention, besides having the same operation effect as the transfer machine described in the 1st and 2nd inventions, the position shift of the transfer machine body with respect to the automatic guided vehicle is prevented. As a result, it is possible to prevent displacement when positioning the transfer machine body. Further, by providing the proximity sensor in the second locking portion or the second locked portion, it is possible to confirm whether the transfer machine body is positioned at a predetermined position with respect to the automatic guided vehicle.

以下に、本発明に係る移載機を実施するための最良の形態を実施例に基づき具体的に説明する。   Hereinafter, the best mode for carrying out the transfer machine according to the present invention will be specifically described based on examples.

以下に、本発明の第１の実施例に係る移載機について、図を用いて説明する。
図１は、本発明の第１の実施例に係る移載機の平面図であり、図２は、その正面図である。図３は、図２における囲み線ＩＩＩの拡大図であり、図４は、図２における囲み線ＩＶの拡大図である。図５は、本発明の第１の実施例に係る移載機が有するアウトリガ駆動機構の平面図であり、図６は、その正面図である。図７は、本発明の第１の実施例に係る移載機が有する位置検出機構の説明図である。 The transfer machine according to the first embodiment of the present invention will be described below with reference to the drawings.
FIG. 1 is a plan view of a transfer machine according to a first embodiment of the present invention, and FIG. 2 is a front view thereof. 3 is an enlarged view of a surrounding line III in FIG. 2, and FIG. 4 is an enlarged view of a surrounding line IV in FIG. FIG. 5 is a plan view of an outrigger drive mechanism included in the transfer machine according to the first embodiment of the present invention, and FIG. 6 is a front view thereof. FIG. 7 is an explanatory diagram of a position detection mechanism included in the transfer machine according to the first embodiment of the present invention.

本発明の第１の実施例に係る移載機３０は、図１、および図２に示すように、無人搬送車４０の荷台４１に搭載され、所定の位置に配置された搬送物品であるワーク（図示せず）を持ち上げたり、持ち上げて把持したワークを所定の位置に配置したりするものである。無人搬送車４０の荷台４１におけるアウトリガ（ジャッキ２５）の近傍には、摩擦係数が低い板状のスライドプレート４４、および全方位に移動自在なボールキャスタ４５がそれぞれ取り付けられる。ここで、スライドプレート４４は、無人搬送車４０の両側部にそれぞれ配置されると共に、対角に配置される。ボールキャスタ４５も、無人搬送車４０の両側部にそれぞれ配置されると共に、対角に配置される。   As shown in FIGS. 1 and 2, the transfer machine 30 according to the first embodiment of the present invention is mounted on a loading platform 41 of an automatic guided vehicle 40 and is a workpiece that is a transported article arranged at a predetermined position. (Not shown) is lifted, or the workpiece that is lifted and gripped is placed at a predetermined position. In the vicinity of the outrigger (jack 25) in the loading platform 41 of the automatic guided vehicle 40, a plate-like slide plate 44 having a low friction coefficient and a ball caster 45 movable in all directions are attached. Here, the slide plate 44 is disposed on both sides of the automatic guided vehicle 40 and diagonally. The ball casters 45 are also arranged on both sides of the automatic guided vehicle 40 and diagonally.

無人搬送車４０が走行する走行路１における所定の位置には、図２および図４に示すように、係止部である、上方に突出した円錐形状の凸部２が設けられる。前記係止部は、所定の位置に少なくとも２箇所（図６を参照）設けられる。   As shown in FIGS. 2 and 4, a conical convex portion 2 that protrudes upward is provided at a predetermined position on the traveling path 1 on which the automatic guided vehicle 40 travels. The locking portion is provided in at least two locations (see FIG. 6) at predetermined positions.

移載機３０は、図１および図２に示すように、略四角形状の移載機本体３１と、移載機本体３１の各角部近傍の下部に配置されたアウトリガ１０と、アウトリガ１０を駆動するアウトリガ駆動機構２０とを有する。   As shown in FIGS. 1 and 2, the transfer machine 30 includes a substantially rectangular transfer machine body 31, an outrigger 10 disposed in a lower portion near each corner of the transfer machine body 31, and an outrigger 10. And an outrigger drive mechanism 20 for driving.

移載機本体３１の上部には、ワークを把持可能であり、移載機本体３１から突出可能であり、且つ昇降可能であるフォーク３２（把持部材）が配置される。移載機本体３１の両側には、アウトリガ駆動機構２０がそれぞれ配置される。アウトリガ駆動機構２０は、駆動源である駆動モータ２１と、駆動モータ２１から延在する主軸２２に連結された直交ディファレンシャル２３と、直交ディファレンシャル２３に連結された駆動軸２４と、駆動軸２４に連結されたジャッキ２５とを有する。直交ディファレンシャル２３により主軸２２の回転が、駆動軸２４に伝わって当該駆動軸２４が回転する。   A fork 32 (gripping member) that can hold a workpiece, can protrude from the transfer machine body 31, and can be moved up and down is disposed on the upper part of the transfer machine body 31. Outrigger drive mechanisms 20 are disposed on both sides of the transfer machine main body 31, respectively. The outrigger drive mechanism 20 is connected to a drive motor 21 as a drive source, an orthogonal differential 23 connected to a main shaft 22 extending from the drive motor 21, a drive shaft 24 connected to the orthogonal differential 23, and a drive shaft 24. Jack 25 is provided. The rotation of the main shaft 22 is transmitted to the drive shaft 24 by the orthogonal differential 23 and the drive shaft 24 rotates.

移載機本体３１の下部３１ａには、図６に示すように、垂直下方に延在するガイド部材３２が設けられる。ガイド部材３２には、垂直下方に延在するレール３３が取り付けられる。   As shown in FIG. 6, a guide member 32 extending vertically downward is provided at the lower portion 31 a of the transfer machine main body 31. A rail 33 extending vertically downward is attached to the guide member 32.

ジャッキ２５には、移載機本体３１を貫通して垂直下方に延在し、回転自在な垂直軸２６が連結される。垂直軸２６には、アウトリガ１０に形成された軸穴１０ａが係止される。すなわち、軸穴１０ａにはねじ山（図示せず）が形成されており、この軸穴１０ａに垂直軸２６に形成されたねじ山（図示せず）が螺合される。アウトリガ１０の一側部には、ガイド部材３２のレール３３上を移動可能なスライド部材２７が固定される。よって、垂直軸２６が回転することで、アウトリガ１０がレール３３に沿って垂直方向に移動する。   The jack 25 is connected to a rotatable vertical shaft 26 that extends vertically downward through the transfer machine body 31. A shaft hole 10 a formed in the outrigger 10 is locked to the vertical shaft 26. That is, a screw thread (not shown) is formed in the shaft hole 10a, and a screw thread (not shown) formed on the vertical shaft 26 is screwed into the shaft hole 10a. A slide member 27 that is movable on the rail 33 of the guide member 32 is fixed to one side portion of the outrigger 10. Therefore, the outrigger 10 moves in the vertical direction along the rail 33 as the vertical shaft 26 rotates.

移載機本体３１の一側部側に配置される２つのアウトリガ１０の先端には、図２、図４および図６に示すように、走行路１上に配置された係止部２に係止可能な被係止部である、下方に凹んだ穴状の凹部１０ｂが形成される。すなわち、凹部１０ｂは円錐形状に形成されており、凸部２に当接される。よって、係止部および被係止部を上述したような形状にすることにより、ゴミ等が入り込まないようになり、移載機本体３１の位置決めの誤差を少なくすることができる。   As shown in FIGS. 2, 4, and 6, the front ends of the two outriggers 10 disposed on one side of the transfer machine main body 31 are engaged with the locking portions 2 disposed on the travel path 1. A hole-like recess 10b that is recessed downward, which is a locked portion that can be stopped, is formed. That is, the concave portion 10 b is formed in a conical shape and is in contact with the convex portion 2. Therefore, by making the locking portion and the locked portion as described above, dust or the like is prevented from entering, and the positioning error of the transfer machine main body 31 can be reduced.

移載機本体３１の他側部側に配置される２つのアウトリガ１０の先端には、図２および図３に示すように、走行路１上を全方位に走行可能なボールキャスタ２８が取り付けられる。   As shown in FIGS. 2 and 3, a ball caster 28 capable of traveling in all directions on the traveling path 1 is attached to the distal ends of the two outriggers 10 disposed on the other side of the transfer machine body 31. .

図１に示すように、２つのアウトリガ１０に位置検出機構１１がそれぞれ取り付けられており、ここでは、移載機本体３１の両側に配置され、且つ対角に配置されるアウトリガ１０にそれぞれ取り付けられる。位置検出機構１１は、図７に示すように、アウトリガ１０に固定具１２を介して固定され、上下方向に延在するように配置された筒状部材１３と、筒状部材１３内に配置されると共に、先端１５ａが上方に向けて配置され、ばね１４により上方に向けて付勢された位置検出軸１５を有する。なお、位置検出軸１５には、近接スイッチ（図示せず）が設けられており、この近接スイッチは無人搬送車４０に対して移載機３０が所定の位置に配置されたことを検出する。   As shown in FIG. 1, the position detection mechanisms 11 are attached to two outriggers 10, respectively, and are here attached to the outriggers 10 arranged on both sides of the transfer machine main body 31 and arranged diagonally. . As shown in FIG. 7, the position detection mechanism 11 is fixed to the outrigger 10 via a fixture 12, and is disposed within the tubular member 13 and a tubular member 13 disposed so as to extend in the vertical direction. In addition, the tip 15a is disposed upward and has a position detection shaft 15 biased upward by the spring 14. The position detection shaft 15 is provided with a proximity switch (not shown), and this proximity switch detects that the transfer machine 30 is disposed at a predetermined position with respect to the automatic guided vehicle 40.

筒状部材１３の先端には、下方に向けて外側に延在する傾斜面１３ａが形成される。筒状部材１３の後端は、蓋部材１６により閉塞されており、ばね１４の下部が蓋部材１６に係止される。この蓋部材１６は、支持具１７によりアウトリガ１０に固定される。   An inclined surface 13a is formed at the tip of the cylindrical member 13 and extends outwardly downward. The rear end of the tubular member 13 is closed by a lid member 16, and the lower part of the spring 14 is locked to the lid member 16. The lid member 16 is fixed to the outrigger 10 by the support 17.

無人搬送車４０における位置検出機構１１の近傍には、図１および図７に示すように、側方に延在する側部突出部材４２が固定される。この側部突出部材４２には、筒状部材１３の傾斜面１３ａに当接する当接面４３ａを有し、位置検出軸１５が突出可能な位置検出穴４３が形成される。ただし、位置検出穴４３の幅は、係止部である凸部２の幅と略同じ大きさであり、無人搬送車４０に対する移載機３０の位置ずれを許容できるように形成される。   In the vicinity of the position detection mechanism 11 in the automatic guided vehicle 40, as shown in FIG. 1 and FIG. The side projecting member 42 has a contact surface 43 a that contacts the inclined surface 13 a of the tubular member 13, and a position detection hole 43 through which the position detection shaft 15 can project is formed. However, the width of the position detection hole 43 is substantially the same as the width of the convex portion 2 that is the locking portion, and is formed so as to allow the positional shift of the transfer machine 30 with respect to the automatic guided vehicle 40.

無人搬送車４０に移載機３０が搭載されるときには、筒状部材１３の傾斜面１３ａが側部突出部材４２の位置検出穴４３の当接面４３ａに当接して係止され、位置検出軸１５の先端１５ａが位置検出穴４３から突出して配置される。駆動モータ２１を駆動すると、最初はアウトリガ１０が下方に向けて延びる。それに伴い、筒状部材１３および位置検出軸１５が下方に移動し、側部突出部材４２の位置検出穴４３から外に出る。さらに、アウトリガ１０を延ばし、走行路１に当接すると、移載機本体３１が上方に移動され、無人搬送車４０から浮き上がる。アウトリガ１０を走行路１に当接させるとき、アウトリガの凹部１０ｂと走行路の凸部２とがその幅以内でずれていても、移載機３０の自重が凹部１０ｂを介して凸部２に作用して、ボールキャスタ２８により移載機３０が横方向に移動し、アウトリガ１０の凹部１０ｂにおける最奥部２ｃと凸部２の先端部２ａとが一致するようになり、移載機３０が所定の位置に配置されて、位置決めされる。この状態にて、ワークの移載が行われる。   When the transfer machine 30 is mounted on the automatic guided vehicle 40, the inclined surface 13 a of the cylindrical member 13 is brought into contact with and locked with the contact surface 43 a of the position detection hole 43 of the side protruding member 42. The 15 tips 15 a are arranged so as to protrude from the position detection hole 43. When the drive motor 21 is driven, the outrigger 10 initially extends downward. Along with this, the cylindrical member 13 and the position detection shaft 15 move downward and come out of the position detection hole 43 of the side protruding member 42. Further, when the outrigger 10 is extended and brought into contact with the traveling path 1, the transfer machine main body 31 is moved upward and is lifted from the automatic guided vehicle 40. When the outrigger 10 is brought into contact with the travel path 1, even if the recess 10b of the outrigger and the convex part 2 of the travel path are shifted within the width, the weight of the transfer machine 30 is changed to the convex part 2 via the concave part 10b. The transfer machine 30 is moved laterally by the ball caster 28, and the innermost part 2c of the concave part 10b of the outrigger 10 and the tip part 2a of the convex part 2 coincide with each other. It is arranged at a predetermined position and positioned. In this state, the workpiece is transferred.

続いて、アウトリガ１０を縮めていくと、移載機本体３１が下方に移動していく。さらにアウトリガ１０を縮めていくと、位置検出機構１１の筒状部材１３および位置検出軸１５が側部突出部材４２の位置検出穴４３内に配置される。さらにアウトリガ１０を縮めていくと、移載機本体３０が無人搬送車４０の荷台４１に当接して、搭載される。このとき、筒状部材１３の傾斜面１３ａが位置検出穴４３の当接面４３ａに当接すると共に、位置検出軸１５が位置検出穴４３の当接面４３ａに当接する。さらにアウトリガ１０を縮めていき、移載機３０が無人搬送車４０に完全に搭載されると、位置検出穴４３の当接面４３ａを介して、筒状部材１３の傾斜面１３ａ、および位置検出軸１５の先端１５ａに作用し、移載機本体３１の自重により、無人搬送車４０に対して所定の位置に移載機３０が配置される。すなわち、位置検出穴４３が第２係止部に相当し、筒状部材１３および位置検出軸１５が第２被係止部に相当する。   Subsequently, when the outrigger 10 is contracted, the transfer machine main body 31 moves downward. When the outrigger 10 is further contracted, the cylindrical member 13 and the position detection shaft 15 of the position detection mechanism 11 are disposed in the position detection hole 43 of the side protrusion member 42. When the outrigger 10 is further contracted, the transfer machine main body 30 comes into contact with the loading platform 41 of the automatic guided vehicle 40 and is mounted. At this time, the inclined surface 13 a of the cylindrical member 13 contacts the contact surface 43 a of the position detection hole 43, and the position detection shaft 15 contacts the contact surface 43 a of the position detection hole 43. When the outrigger 10 is further contracted and the transfer machine 30 is completely mounted on the automatic guided vehicle 40, the inclined surface 13 a of the cylindrical member 13 and the position detection via the contact surface 43 a of the position detection hole 43. The transfer machine 30 is arranged at a predetermined position with respect to the automatic guided vehicle 40 due to the weight of the transfer machine body 31 acting on the tip 15 a of the shaft 15. That is, the position detection hole 43 corresponds to the second locking portion, and the cylindrical member 13 and the position detection shaft 15 correspond to the second locked portion.

したがって、本発明の第１の実施例に係る移載機３０によれば、移載機本体３１を所定の位置に位置決めさせることができる。アウトリガ１０により無人搬送車４０を支持させる必要がなくなるので、その分アウトリガ１０を駆動する駆動力を小さくすることができる。よって、アウトリガ１０を駆動する動力源を従来のものに比べて小さくすることができ、その分製造コストを低減することができる。   Therefore, according to the transfer machine 30 according to the first embodiment of the present invention, the transfer machine body 31 can be positioned at a predetermined position. Since there is no need to support the automatic guided vehicle 40 by the outrigger 10, the driving force for driving the outrigger 10 can be reduced accordingly. Therefore, the power source for driving the outrigger 10 can be made smaller than the conventional one, and the manufacturing cost can be reduced accordingly.

また、２つのアウトリガ１０の先端には、走行路１に配置された係止部２に係止可能な被係止部１０ｂを形成したことにより、移載機本体を所定の位置に確実に位置決めすることができる。係止部２を円錐形状とすると共に、被係止部１０ｂを円錐形状の穴とすることにより、係止部２と被係止部１０ｂとが重なる領域内でずれても、移載機本体３１の自重が係止部２と被係止部１０ｂとの接触面に作用して、係止部２の頂点２ａと被係止部１０ｂの最奥部１０ｃとが一致させられるので、移載機本体３１を所定の位置にさらに確実に位置決めすることができる。   Further, by forming a locked portion 10b that can be locked to the locking portion 2 disposed in the traveling path 1 at the tip of the two outriggers 10, the transfer machine body is reliably positioned at a predetermined position. can do. The locking unit 2 has a conical shape, and the locked portion 10b has a conical hole, so that the transfer machine main body can be moved even if the locking portion 2 and the locked portion 10b are displaced in the overlapping region. Since the own weight of 31 acts on the contact surface between the locking portion 2 and the locked portion 10b, the apex 2a of the locking portion 2 and the innermost portion 10c of the locked portion 10b are made to coincide with each other. The machine body 31 can be more reliably positioned at a predetermined position.

無人搬送車４０の側部突出部材４２に位置検出穴４３を形成させる一方、移載機本体３１に位置検出穴４３に係止可能な筒状部材１３および位置検出軸１５を形成させ、無人搬送車４０に移載機本体３１を搭載させるときに、位置検出穴４３に筒状部材１３および位置検出軸１５を係止させるようにしたことで、無人搬送車４０に対する移載機本体３１の位置ずれを防止することができ、その結果、移載機本体３１を位置決めするときの位置ずれを防止することができる。また、近接センサを設けたことで、無人搬送車４０に対して移載機本体３１が所定の位置に位置決めされたかを確認することができる。   While the position detection hole 43 is formed in the side protrusion member 42 of the automatic guided vehicle 40, the cylindrical member 13 and the position detection shaft 15 that can be locked to the position detection hole 43 are formed in the transfer machine main body 31, and the automatic transfer is performed. Since the cylindrical member 13 and the position detection shaft 15 are locked in the position detection hole 43 when the transfer machine main body 31 is mounted on the car 40, the position of the transfer machine main body 31 with respect to the automatic guided vehicle 40. Misalignment can be prevented, and as a result, misalignment when positioning the transfer machine main body 31 can be prevented. Further, by providing the proximity sensor, it can be confirmed whether or not the transfer machine main body 31 is positioned at a predetermined position with respect to the automatic guided vehicle 40.

上記では、係止部として走行路１に設けられた上方に突出した凸部２を用い、被係止部として下方に凹んだ凹部１０ｂを用いて説明したが、係止部と被係止部とが係止可能な形状であれば良く、例えば、係止部を下方に凹んだ穴とし、被係止部を下方に突出した凸部としても、上記係止部および上記被係止部と同様な作用効果を奏する。   In the above description, the projecting portion 2 protruding upward provided on the traveling path 1 is used as the locking portion, and the recessed portion 10b recessed downward is used as the locked portion. For example, the locking portion may be a hole recessed downward, and the locked portion may be a convex portion protruding downward, and the locking portion and the locked portion The same effect is produced.

上記では、４つのアウトリガ１０を有する移載機３０を用いて説明したが、３つのアウトリガを有し、そのうち少なくとも２つのアウトリガの先端に被係止部を形成した移載機としても良く、移載機３０と同様な作用効果を奏する。   In the above description, the transfer machine 30 having the four outriggers 10 has been described. However, a transfer machine having three outriggers, of which at least two outriggers are formed with locked portions, may be used. The same effect as the mounting machine 30 is produced.

上記では、第２被係止部に近接センサを設けたが、第２係止部に近接センサを設けるようにしても良く、第２被係止部に近接センサを設けたものと同様な作用効果を奏する。   In the above description, the proximity sensor is provided in the second locked portion. However, the proximity sensor may be provided in the second locked portion, and the same operation as that in which the proximity sensor is provided in the second locked portion. There is an effect.

本発明は、移載機に利用可能であり、特に無人搬送車に搭載され、小さい駆動力にて所定の位置に位置決め可能な移載機に利用することが可能である。   The present invention can be used for a transfer machine, and in particular, can be used for a transfer machine that is mounted on an automatic guided vehicle and can be positioned at a predetermined position with a small driving force.

本発明の第１の実施例に係る移載機の平面図である。It is a top view of the transfer machine concerning the 1st example of the present invention. 本発明の第１の実施例に係る移載機の正面図である。It is a front view of the transfer machine concerning the 1st example of the present invention. 図２における囲み線ＩＩＩの拡大図である。FIG. 3 is an enlarged view of a surrounding line III in FIG. 2. 図２における囲み線ＩＶの拡大図である。FIG. 4 is an enlarged view of a surrounding line IV in FIG. 2. 本発明の第１の実施例に係る移載機が有するアウトリガ駆動機構の平面図である。It is a top view of an outrigger drive mechanism which a transfer machine concerning the 1st example of the present invention has. 本発明の第１の実施例に係る移載機が有するアウトリガ駆動機構の正面図である。It is a front view of an outrigger drive mechanism which a transfer machine concerning the 1st example of the present invention has. 本発明の第１の実施例に係る移載機が有する位置検出機構の説明図である。It is explanatory drawing of the position detection mechanism which the transfer machine which concerns on 1st Example of this invention has.

符号の説明Explanation of symbols

１ 走行路
２ 凸部
１０ アウトリガ
１１ 位置検出機構
１２ 固定具
１３ 筒状部材
１４ ばね
１５ 位置検出軸
１６ 蓋部材
１７ 支持具
２０ アウトリガ駆動機構
２１ 駆動モータ
２２ 主軸
２３ 直交ディファレンシャル
２４ 駆動軸
２５ ジャッキ
２６ 垂直軸
２７ スライド部材
２８ ボールキャスタ
３０ 移載機
３１ 移載機本体
３２ フォーク
３３ レール
４０ 無人搬送車
４１ 荷台
４２ 側部突出部材
４３ 位置検出穴
４４ スライドプレート
４５ ボールキャスタ DESCRIPTION OF SYMBOLS 1 Traveling path 2 Convex part 10 Outrigger 11 Position detection mechanism 12 Fixing tool 13 Cylindrical member 14 Spring 15 Position detection shaft 16 Lid member 17 Support tool 20 Outrigger drive mechanism 21 Drive motor 22 Main shaft 23 Orthogonal differential 24 Drive shaft 25 Jack 26 Vertical Shaft 27 Slide member 28 Ball caster 30 Transfer machine 31 Transfer machine main body 32 Fork 33 Rail 40 Automated guided vehicle 41 Loading platform 42 Side protrusion member 43 Position detection hole 44 Slide plate 45 Ball caster

Claims (3)

無人搬送車に搭載される移載機本体を有する移載機であって、
前記移載機本体が垂直方向に移動可能な複数のアウトリガを有し、
前記アウトリガを走行路に当接させて前記移載機本体を支持させると共に、前記無人搬送車から浮き上がらせるようにした
ことを特徴とする移載機。 A transfer machine having a transfer machine body mounted on an automated guided vehicle,
The transfer machine body has a plurality of outriggers movable in the vertical direction;
A transfer machine characterized in that the outrigger is brought into contact with a traveling path to support the transfer machine body and to be lifted from the automatic guided vehicle. 請求項１に記載された移載機であって、
前記アウトリガのうち少なくとも２つの先端には、前記走行路に配置された係止部に係止可能な被係止部が形成される
ことを特徴とする移載機。 The transfer machine according to claim 1,
At least two tips of the outriggers are formed with a locked portion that can be locked to a locking portion disposed in the travel path. 請求項１または請求項２に記載された移載機であって、
前記無人搬送車に第２係止部を形成させる一方、前記移載機本体に前記第２係止部に係止可能な第２被係止部を形成させ、
前記無人搬送車に前記移載機本体を搭載させるときに、前記無人搬送車の第２係止部に前記移載機本体の第２被係止部を係止させる
ことを特徴とする移載機。 A transfer machine according to claim 1 or claim 2, wherein
While forming the second locking part in the automatic guided vehicle, the transfer machine body is formed with a second locked part that can be locked to the second locking part,
When the transfer machine main body is mounted on the automatic guided vehicle, the second locked portion of the transfer machine main body is locked to the second locking portion of the automatic guided vehicle. Machine.
JP2006031300A 2006-02-08 2006-02-08 Transfer machine Withdrawn JP2007210729A (en)

Priority Applications (1)

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Publication Number Publication Date
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Family

ID=38489503

Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Link
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008222109A (en) * 2007-03-14 2008-09-25 Sumitomo Heavy Ind Ltd Conveyance carriage with outrigger mechanism
CN105291062A (en) * 2015-12-02 2016-02-03 湖北华轩自动化科技有限公司 Manual planar floating platform
US20190064819A1 (en) * 2017-08-24 2019-02-28 Linde Material Handling Gmbh Autonomous Industrial Truck
KR20200137339A (en) * 2019-05-30 2020-12-09 마구야오 Jacking structure of link type and automated guided vehicle

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008222109A (en) * 2007-03-14 2008-09-25 Sumitomo Heavy Ind Ltd Conveyance carriage with outrigger mechanism
JP4712748B2 (en) * 2007-03-14 2011-06-29 住友重機械工業株式会社 Conveyor cart with outrigger mechanism
CN105291062A (en) * 2015-12-02 2016-02-03 湖北华轩自动化科技有限公司 Manual planar floating platform
CN105291062B (en) * 2015-12-02 2017-03-22 湖北华轩自动化科技有限公司 Manual planar floating platform
US20190064819A1 (en) * 2017-08-24 2019-02-28 Linde Material Handling Gmbh Autonomous Industrial Truck
US10941026B2 (en) * 2017-08-24 2021-03-09 Linde Material Handling Gmbh Autonomous industrial truck
KR20200137339A (en) * 2019-05-30 2020-12-09 마구야오 Jacking structure of link type and automated guided vehicle
KR102200667B1 (en) 2019-05-30 2021-01-15 마구야오 Jacking structure of link type and automated guided vehicle

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