JP2010235267A - Automatic conveying device - Google Patents

Automatic conveying device Download PDF

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JP2010235267A
JP2010235267A JP2009085641A JP2009085641A JP2010235267A JP 2010235267 A JP2010235267 A JP 2010235267A JP 2009085641 A JP2009085641 A JP 2009085641A JP 2009085641 A JP2009085641 A JP 2009085641A JP 2010235267 A JP2010235267 A JP 2010235267A
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container
guided vehicle
automatic guided
automatic
shooter
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JP5311035B2 (en
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Hirohisa Sakai
浩久 酒井
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Toyota Motor Corp
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Toyota Motor Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic conveying device conveying out a container on an automated guided vehicle to a chute without using a driving device. <P>SOLUTION: This automatic conveying device 1 includes a sliding lock means 5 for regulating sliding of the container 3 on the automated guided vehicle 2 in an advancing direction, an extrusion member 6 for extruding the container 3 on the automated guided vehicle 2 in the advancing direction, and a link mechanism 7 provided in the automated guided vehicle 2 to release the sliding lock means 5 and extrude the container 3 by the extrusion member 6 when the automated guided vehicle 2 is in contact with the chute 4. As a result, the container 3 on the automated guided vehicle 2 can be conveyed out to the chute 4 without requiring a manual work by a worker and without using the driving device. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

本発明は、無人搬送車を備えた自動搬送装置に関するものであり、特に、無人搬送車上のコンテナをシュータ（コンテナ収容棚）に搬出する自動搬送装置に関するものである。   The present invention relates to an automatic transfer device including an automatic guided vehicle, and more particularly to an automatic transfer device that carries a container on an automatic guided vehicle to a shooter (container storage shelf).

従来、無人搬送車上のコンテナをシュータに搬出する際には、作業者の手作業やモータ等の駆動装置を使用して搬出していた。   Conventionally, when a container on an automatic guided vehicle is carried out to a shooter, it is carried out using a manual operation of an operator or a driving device such as a motor.

なお、特許文献１には、パレットを載せた無人搬送車が侵入する侵入路が形成されパレット中心を受台の所定搬入位置に合わせてパレットを受け取る搬入側受台と、パレットを載せた無人搬送車が退出する退出路が形成されパレット中心を受台の所定搬出位置中心に合わせてパレットを渡す搬出側受台と、パレットへのワークの積降しのため前記搬入側受台と搬出側受台との間に設けられワークの積降し位置が前記搬入及び搬出位置間の等距離の受渡し距離に設定された積降し用受台と、搬入位置から積降し位置及び該積降し位置から搬出位置へパレットを受渡し距離だけ同時に移動させるパレット移動リフトとを有し、パレット中心をそれぞれ受台の各位置に一致させてパレットの移動を行う無人搬送車用パレット移載装置が開示されている。   In Patent Document 1, an entry path into which an automatic guided vehicle on which a pallet is placed enters is formed, and a loading-side receiving base that receives the pallet with the pallet center aligned with a predetermined loading position of the receiving base; An exit path is formed through which the vehicle exits and the pallet center is aligned with the predetermined unloading position center of the cradle, and the pallet is transferred to the unloading side cradle. A loading / unloading stand provided between the loading position and the loading / unloading position of the workpiece set to an equal distance between the loading and unloading positions; a loading / unloading position from the loading position; Disclosed is a pallet transfer device for an automated guided vehicle that has a pallet moving lift that simultaneously moves a pallet from a position to an unloading position by a delivery distance and moves the pallet with each pallet center aligned with each position of the receiving platform. Have .

特開昭６１−２５７７４８号公報JP 61-257748 A

しかしながら、上述した、特許文献１の無人搬送車用パレット移載装置を含む従来の自動搬送装置では、駆動装置が採用されるため複雑化すると共にコストアップの要因となり、しかも重量増加となり採用することはできない。   However, in the conventional automatic transfer device including the pallet transfer device for the automatic guided vehicle described in Patent Document 1 described above, since the drive device is used, it becomes complicated and causes an increase in cost, and further increases in weight and is used. I can't.

本発明は、かかる点に鑑みてなされたものであり、駆動装置を使用することなく、無人搬送車上のコンテナをシュータに搬出する自動搬送装置を提供することを目的とする。   This invention is made | formed in view of this point, and it aims at providing the automatic conveyance apparatus which carries out the container on an automatic guided vehicle to a shooter, without using a drive device.

上記課題を解決するために、本発明の自動搬送装置は、無人搬送車上のコンテナの進行方向への滑動を規制する滑動ロック手段と、前記無人搬送車上の前記コンテナを進行方向に押し出す押出部材と、前記無人搬送車に備えられ、前記無人搬送車が前記シュータに接触した際に、前記滑動ロック手段を解除すると共に前記押出部材により前記コンテナを押し出すリンク機構と、を備えたことを特徴としている。
これにより、作業者による手作業を必要とせず、且つ駆動装置を使用することなく、無人搬送車上のコンテナをシュータに搬出することができる。
なお、本発明の自動搬送装置の各種態様およびそれらの作用については、以下の発明の態様の項において詳しく説明する。 In order to solve the above-described problems, an automatic transfer device according to the present invention includes sliding lock means for restricting sliding of the container on the automatic guided vehicle in the traveling direction, and extrusion for pushing the container on the automatic guided vehicle in the traveling direction. And a link mechanism that is provided in the automatic guided vehicle and releases the sliding lock means and pushes out the container by the pushing member when the automatic guided vehicle comes into contact with the shooter. It is said.
Thereby, the manual work by an operator is not required, and the container on the automatic guided vehicle can be carried out to the shooter without using the driving device.
Various aspects of the automatic conveyance device of the present invention and their actions will be described in detail in the following aspect of the invention.

（発明の態様）
以下に、本願において特許請求が可能と認識されている発明（以下、「請求可能発明」という場合がある。）の態様をいくつか例示し、それらについて説明する。なお、各態様は、請求項と同様に、項に区分し、各項に番号を付して、必要に応じて他の項を引用する形式で記載する。これは、あくまでも請求可能発明の理解を容易にするためであり、請求可能発明を構成する構成要素の組み合わせを、以下の各項に記載されたものに限定する趣旨ではない。つまり、請求可能発明は、各項に付随する記載、実施の形態等を参酌して解釈されるべきであり、その解釈に従う限りにおいて、各項の態様にさらに他の構成要件を付加した態様も、また、各項の態様から構成要件を削除した態様も、請求可能発明の一態様となり得るのである。なお、以下の各項において、（１）乃至（４）の各々が、請求項１乃至４の各々に相当する。 (Aspect of the Invention)
In the following, some aspects of the invention that can be claimed in the present application (hereinafter sometimes referred to as “claimable invention”) will be exemplified and described. In addition, each aspect is divided into a term like a claim, it attaches | subjects a number to each term, and is described in the format which quotes another term as needed. This is for the purpose of facilitating the understanding of the claimable invention, and is not intended to limit the combinations of the constituent elements constituting the claimable invention to those described in the following sections. In other words, the claimable invention should be construed in consideration of the description, embodiments, etc. accompanying each section, and as long as the interpretation is followed, there may be embodiments in which other constituent elements are added to the aspects of each section. In addition, an aspect in which the constituent elements are deleted from the aspect of each item can be an aspect of the claimable invention. In each of the following items, each of (1) to (4) corresponds to each of claims 1 to 4.

（１）無人搬送車上のコンテナをシュータに搬出する自動搬送装置であって、前記無人搬送車上の前記コンテナの進行方向への滑動を規制する滑動ロック手段と、前記無人搬送車上の前記コンテナを進行方向に押し出す押出部材と、前記無人搬送車に備えられ、前記無人搬送車が前記シュータに接触した際に、前記滑動ロック手段を解除すると共に前記押出部材により前記コンテナを押し出すリンク機構と、を備えたことを特徴とする自動搬送装置。
（１）項の自動搬送装置では、無人搬送車上のコンテナをシュータに搬出する際には、無人搬送車がシュータに接触するまでは、滑動ロック手段により無人搬送車上におけるコンテナの進行方向への滑動が規制された状態となっており、無人搬送車がシュータに接触した際には、リンク機構により滑動ロック手段が解除されてコンテナは無人搬送車上で滑動自在となり、押出部材によりコンテナがシュータに向かって押し出されてシュータに搬出される。 (1) An automatic transfer device for unloading a container on an automatic guided vehicle to a shooter, the sliding lock means for restricting sliding of the container on the automatic guided vehicle in the traveling direction; A push-out member that pushes the container in the advancing direction; and a link mechanism that is provided in the automatic guided vehicle and that releases the sliding lock means and pushes the container by the push-out member when the automatic guided vehicle contacts the shooter; And an automatic transfer device.
In the automatic transfer device of item (1), when the container on the automatic guided vehicle is carried out to the shooter, the sliding lock means moves the container on the automatic guided vehicle in the traveling direction until the automatic guided vehicle contacts the shooter. When the automatic guided vehicle comes into contact with the shooter, the sliding lock means is released by the link mechanism so that the container is slidable on the automatic guided vehicle, and the container is moved by the pushing member. It is pushed out toward the shooter and carried out to the shooter.

（２）前記滑動ロック手段は、前記リンク機構に連結され、前記コンテナの進行方向前方に配置されるストッパ部材を有することを特徴とする（１）項に記載の自動搬送装置。
（３）前記滑動ロック手段は、前記無人搬送車から延び、前記コンテナを、該コンテナの下面との摩擦力により滑動不能に支持する支持部材を更に有することを特徴とする（２）項に記載の自動搬送装置。
（２）項及び（３）項の自動搬送装置では、無人搬送車が走行中において、コンテナの無人搬送車上での滑動が規制される。 (2) The automatic conveying apparatus according to (1), wherein the sliding lock means includes a stopper member that is connected to the link mechanism and is disposed in front of the container in the traveling direction.
(3) The slide lock means further includes a support member that extends from the automatic guided vehicle and supports the container in a non-slidable state by a frictional force with a lower surface of the container. Automatic transfer device.
In the automatic transfer device according to the items (2) and (3), sliding of the container on the automatic guided vehicle is regulated while the automatic guided vehicle is traveling.

（４）前記無人搬送車上には、前記支持部材より下方の位置に、ローラがコンテナの進行方向に沿って複数並列に配置されるローラユニットが備えられ、前記無人搬送車が前記シュータに接触した際には、前記リンク機構により、前記ローラユニットの上面が前記支持部材より上方に移動することで、前記コンテナが前記ローラユニットにより進行方向へ滑動自在に支持されると共に、前記ストッパ部材が前記コンテナの進行方向前方から移動して前記滑動ロック手段が解除されることを特徴とする（３）項に記載の自動搬送装置。
（４）項の自動搬送装置では、滑動ロック手段が解除された際、コンテナはローラユニットに支持されるので、コンテナはローラユニット上を容易に滑動可能になる。 (4) On the automatic guided vehicle, a roller unit in which a plurality of rollers are arranged in parallel along the traveling direction of the container is provided at a position below the support member, and the automatic guided vehicle contacts the shooter. In this case, the container moves the upper surface of the roller unit above the support member by the link mechanism, so that the container is slidably supported in the moving direction by the roller unit, and the stopper member is The automatic transfer apparatus according to (3), wherein the sliding lock means is released by moving from the front in the traveling direction of the container.
In the automatic transfer device of (4), since the container is supported by the roller unit when the sliding lock means is released, the container can easily slide on the roller unit.

（５）前記コンテナの下面に凸部が形成され、前記押出部材は前記凸部をシュータ側に押し出すことを特徴とする（１）項〜（４）項のいずれかに記載の自動搬送装置。
（５）項の自動搬送装置では、コンテナと、例えば、無人搬送車に備えたローラユニットの各ローラとの摩擦抵抗が低減される。 (5) The automatic transfer device according to any one of (1) to (4), wherein a convex portion is formed on a lower surface of the container, and the pushing member pushes the convex portion toward the shooter.
In the automatic conveyance device of (5), the frictional resistance between the container and each roller of the roller unit provided in the automatic guided vehicle is reduced, for example.

（６）前記支持部材は、前記無人搬送車から上方に延びる複数の支持シャフトで構成され、各支持シャフトの上端がコンテナの下面に当接されることを特徴とする（３）項〜（５）項のいずれかに記載の自動搬送装置。
（６）項の自動搬送装置では、各支持シャフトの上端とコンテナの下面との摩擦力により、コンテナを無人搬送車上で滑動不能に支持する。 (6) The support member includes a plurality of support shafts extending upward from the automatic guided vehicle, and an upper end of each support shaft is in contact with a lower surface of the container. (3) to (5) The automatic transfer device according to any one of the items).
In the automatic conveyance device of (6), the container is supported on the automatic guided vehicle so as not to slide by the frictional force between the upper end of each support shaft and the lower surface of the container.

本発明によれば、駆動装置を使用することなく、無人搬送車上のコンテナをシュータに搬出する自動搬送装置を提供することができる。   ADVANTAGE OF THE INVENTION According to this invention, the automatic conveyance apparatus which carries out the container on an automatic guided vehicle to a shooter can be provided, without using a drive device.

図１は、本発明の実施の形態に係る自動搬送装置の概略図である。FIG. 1 is a schematic view of an automatic conveyance apparatus according to an embodiment of the present invention. 図２は（ａ）は、コンテナの正面図であり、（ｂ）は、コンテナの下面図である。2A is a front view of the container, and FIG. 2B is a bottom view of the container. 図３は、本発明の実施の形態に係る自動搬送装置の概略図で無人搬送車を除く正面図であり、コンテナが各支持シャフトに滑動不能に支持された状態を示す図である。FIG. 3 is a schematic view of the automatic conveyance device according to the embodiment of the present invention, and is a front view excluding the automatic guided vehicle, and is a diagram illustrating a state in which the container is supported on each support shaft so as not to slide. 図４は、本発明の実施の形態に係る自動搬送装置の概略図で無人搬送車を除く正面図であり、コンテナがローラユニットに滑動自在に支持された状態を示す図である。FIG. 4 is a schematic view of the automatic conveyance device according to the embodiment of the present invention, and is a front view excluding the automatic guided vehicle, and is a diagram showing a state in which the container is slidably supported by the roller unit. 図５は、本発明の実施の形態に係る自動搬送装置で、押出部材によりコンテナの環状凸部を押し出す様子を示した図である。FIG. 5 is a diagram illustrating a state in which the annular convex portion of the container is pushed out by the pushing member in the automatic conveyance device according to the embodiment of the present invention.

以下、本発明を実施するため形態を図１〜図５に基いて詳細に説明する。
本発明の実施の形態に係る自動搬送装置１は、作業者による手作業を必要とせず、且つ駆動装置を使用することなく、無人搬送車２上のコンテナ３をシュータ４に搬出するものである。
すなわち、本発明の実施の形態に係る自動搬送装置１は、図１に示すように、無人搬送車２上でコンテナ３の進行方向への滑動を規制する滑動ロック手段５と、無人搬送車２上のコンテナ３を進行方向に押し出す押出部材６と、無人搬送車２がシュータ４に接触した際に、滑動ロック手段５を解除すると共に押出部材６によりコンテナ３を進行方向に押し出すリンク機構７とを備えている。 Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to FIGS.
The automatic conveyance device 1 according to the embodiment of the present invention is configured to carry out the container 3 on the automatic guided vehicle 2 to the shooter 4 without requiring manual operation by an operator and using a driving device. .
That is, as shown in FIG. 1, the automatic conveyance device 1 according to the embodiment of the present invention includes a sliding lock unit 5 that regulates the sliding of the container 3 in the traveling direction on the automatic guided vehicle 2, and the automatic guided vehicle 2. An extruding member 6 that pushes the upper container 3 in the advancing direction, and a link mechanism 7 that releases the sliding lock means 5 and pushes the container 3 in the advancing direction by the extruding member 6 when the automatic guided vehicle 2 contacts the shooter 4. It has.

無人搬送車２は、図１に示すように、コンテナ３を載せて（図１では２個のコンテナ３が載置される）、床面の所定経路に敷設された走行磁気テープ（図示略）に沿って自走するもので、最終的にコンテナ３はシュータ４に搬出される。
無人搬送車２上には、図１、図３及び図４に示すように、ローラユニット８が上下方向、且つ進退方向に移動自在に支持される。該ローラユニット８は、ローラ９がコンテナ３の進行方向に沿って複数並列に配置されて構成されるが、図３及び図４では、ローラ９が軸方向にも４個配置されて構成される。なお、ローラ９の軸方向の長さにより、ローラ９を軸方向に複数配置するか否かを決定すればよい。
コンテナ３は、図１及び図２に示すように、部品等を積載する箱状に形成され、その下面には、所定幅を有する凸部が環状に延びる環状凸部１２が複数形成される。なお、図２に示すコンテナ３は、図１における無人搬送車２上の後側のコンテナ３であり、その下面には、環状凸部１２が４箇所形成される。
シュータ４は、図１に示すように、箱状に形成され、その内部に支持本体部２３と、該支持本体部２３上に、コンテナ３の滑動方向に複数並列に配置されるローラ２４とが備えられる。また、シュータ４の支持本体部２３の、無人搬送車２からコンテナ３を受け入れる側の壁面の下部にはシュータ側ブロック２２が配設され、後で詳述するが、該シュータ４のシュータ側ブロック２２に、無人搬送車２に備えられたリンク機構７の移動自在シャフト１６の前端に設けたブロック２１が接触するようになる。
なお、無人搬送車２に備えたローラユニット８の各ローラ９の上面と、シュータ４の各ローラ２４の上面とは略同一平面上に位置する。 As shown in FIG. 1, the automatic guided vehicle 2 has a traveling magnetic tape (not shown) on which a container 3 is placed (in FIG. 1, two containers 3 are placed) and laid on a predetermined path on the floor surface. The container 3 is finally carried out to the shooter 4.
As shown in FIGS. 1, 3 and 4, the roller unit 8 is supported on the automatic guided vehicle 2 so as to be movable in the vertical direction and in the forward / backward direction. The roller unit 8 is configured by arranging a plurality of rollers 9 in parallel along the traveling direction of the container 3, but in FIGS. 3 and 4, four rollers 9 are also arranged in the axial direction. . Whether or not a plurality of rollers 9 are arranged in the axial direction may be determined according to the length of the roller 9 in the axial direction.
As shown in FIGS. 1 and 2, the container 3 is formed in a box shape on which components and the like are stacked, and a plurality of annular protrusions 12 having a predetermined width extending in a ring shape are formed on the lower surface of the container 3. The container 3 shown in FIG. 2 is the rear container 3 on the automatic guided vehicle 2 in FIG. 1, and four annular convex portions 12 are formed on the lower surface thereof.
As shown in FIG. 1, the shooter 4 is formed in a box shape, and a support main body 23 and a plurality of rollers 24 arranged in parallel in the sliding direction of the container 3 on the support main body 23. Provided. Further, a shooter side block 22 is disposed below the wall surface of the support main body portion 23 of the shooter 4 on the side where the container 3 is received from the automatic guided vehicle 2, and will be described in detail later. 22, the block 21 provided at the front end of the movable shaft 16 of the link mechanism 7 provided in the automatic guided vehicle 2 comes into contact.
The upper surface of each roller 9 of the roller unit 8 provided in the automatic guided vehicle 2 and the upper surface of each roller 24 of the shooter 4 are located on substantially the same plane.

滑動ロック手段５は、図１、図３及び図４に示すように、無人搬送車２上でコンテナ３の進行方向への滑動を規制するものであり、後で詳述するリンク機構７に連結され、コンテナ３の進行方向前方に配置されるストッパ部材１３と、無人搬送車２から延び、コンテナ３を、該コンテナ３の下面との摩擦力により滑動不能に支持する支持部材１４とから構成される。
ストッパ部材１３は、図１に示すように、リンク機構７の前方突設部材１８の先端に連結されており、その上端が無人搬送車２上の前側のコンテナ３の進行方向前方に配置され、無人搬送車２上における各コンテナ３の進行方向への滑動を規制している。
支持部材１４は、図３及び図４に示すように、無人搬送車２の本体部から上方に延設される複数の支持シャフト１５で構成され、各支持シャフト１５の上端が各コンテナ３の下面に接触することで、摩擦力により無人搬送車２上における各コンテナ３の進行方向への滑動を規制している。 As shown in FIGS. 1, 3 and 4, the sliding lock means 5 regulates the sliding of the container 3 in the traveling direction on the automatic guided vehicle 2, and is connected to a link mechanism 7 described in detail later. The stopper member 13 is disposed in front of the container 3 in the traveling direction, and the support member 14 extends from the automatic guided vehicle 2 and supports the container 3 in a non-slidable state by a frictional force with the lower surface of the container 3. The
As shown in FIG. 1, the stopper member 13 is connected to the front end of the front projecting member 18 of the link mechanism 7, and the upper end thereof is disposed in front of the container 3 on the front side on the automatic guided vehicle 2, The sliding to the advancing direction of each container 3 on the automatic guided vehicle 2 is regulated.
As shown in FIGS. 3 and 4, the support member 14 includes a plurality of support shafts 15 extending upward from the main body of the automatic guided vehicle 2, and the upper ends of the support shafts 15 are the lower surfaces of the containers 3. , The sliding of each container 3 in the traveling direction on the automatic guided vehicle 2 is regulated by the frictional force.

押出部材６は、図１に示すように、その下端がリンク機構７の調整シャフト２１の後端に枢着されると共に、その中央部が無人搬送車２の本体部に枢着される。なお、図１、図２及び図５に示すように、押出部材６は、無人搬送車２がシュータ４に接触すると、リンク機構７により無人搬送車２の本体部との枢着部位を中心に反時計周り方向に回動するようになるが、その上端の回動範囲にコンテナ３の環状凸部１２が位置するように配置される。なお、図２及び図５では、押出部材６の上端の回動範囲に、環状凸部１２の内側の面が位置するように配置されているが、環状凸部１２の外側の面が位置するように配置してもよい。   As shown in FIG. 1, the lower end of the push member 6 is pivotally attached to the rear end of the adjustment shaft 21 of the link mechanism 7, and the central portion thereof is pivotally attached to the main body of the automatic guided vehicle 2. As shown in FIGS. 1, 2, and 5, when the automatic guided vehicle 2 comes into contact with the shooter 4, the push-out member 6 is centered on a pivotally attached portion with the main body of the automatic guided vehicle 2 by the link mechanism 7. Although it rotates in the counterclockwise direction, it is arranged so that the annular convex portion 12 of the container 3 is located in the rotation range of the upper end thereof. In FIGS. 2 and 5, the inner surface of the annular convex portion 12 is arranged in the rotation range of the upper end of the pushing member 6, but the outer surface of the annular convex portion 12 is located. You may arrange as follows.

リンク機構７は、図１に示すように、無人搬送車２の進行方向に延び、無人搬送車２上のローラユニット８に連結される移動自在シャフト１６と、下端が移動自在シャフト１６の進行方向前側に枢着されると共に上端が無人搬送車２の本体部に枢着される第１回動部材１７と、第１回動部材１７から前方に延びる前方突設部材１８と、下端が移動自在シャフト１６の進行方向後端に枢着されると共に上端が無人搬送車２の本体部に枢着される第２回動部材１９と、移動自在シャフト１６の進行方向略中央部に固定されるＬ字状部材２０と、該Ｌ字状部材２０の水平延設部の先端から突出され、該先端からの突出量が調整可能で水平延設部に対して上下方向に移動自在な調整シャフト２１とからなる。
そして、リンク機構７の前方突設部材１８の前端に滑動ロック手段５の構成であるストッパ部材１３の下端が連結されると共に、リンク機構７の調整シャフト２１の後端に押出部材６の下端が枢着される。なお、リンク機構７の移動自在シャフト１６の前端には、シュータ４の壁面に備えたシュータ側ブロック２２に接触するブロック２１が設けられる。
なお、上述した、ストッパ部材１３、押出部材６及びリンク機構７は、無人搬送車２の幅方向に沿って複数セット配置される（本実施の形態では、図２（ｂ）から解るように２セット配置される）が、以下の説明では、便宜上１セット配置されるものとして説明する。 As shown in FIG. 1, the link mechanism 7 extends in the traveling direction of the automatic guided vehicle 2 and is connected to the roller unit 8 on the automatic guided vehicle 2, and the lower end is the traveling direction of the movable shaft 16. A first rotating member 17 that is pivotally attached to the front side and whose upper end is pivotally attached to the main body of the automatic guided vehicle 2, a forward projecting member 18 that extends forward from the first rotating member 17, and a lower end that is freely movable. A second rotating member 19 that is pivotally attached to the rear end in the traveling direction of the shaft 16 and whose upper end is pivotally attached to the main body of the automatic guided vehicle 2, and L that is fixed to a substantially central portion in the traveling direction of the movable shaft 16. A character-shaped member 20 and an adjustment shaft 21 that protrudes from the tip of the horizontally extending portion of the L-shaped member 20 and can be adjusted in the vertical direction with respect to the horizontally extending portion by adjusting the amount of protrusion from the tip. Consists of.
And the lower end of the stopper member 13 which is the structure of the sliding lock means 5 is connected with the front end of the front protrusion member 18 of the link mechanism 7, and the lower end of the extrusion member 6 is connected to the rear end of the adjustment shaft 21 of the link mechanism 7. It is pivotally attached. A block 21 that contacts a shooter side block 22 provided on the wall surface of the shooter 4 is provided at the front end of the movable shaft 16 of the link mechanism 7.
A plurality of sets of the stopper member 13, the pushing member 6, and the link mechanism 7 described above are arranged along the width direction of the automatic guided vehicle 2 (in this embodiment, as shown in FIG. 2B, 2 However, in the following description, it is assumed that one set is arranged for convenience.

次に、本発明の実施の形態に係る自動搬送装置１の作用を説明する。
なお、無人搬送車２がコンテナ３を載置して走行している際には、滑動ロック手段５により、無人搬送車２上におけるコンテナ３の進行方向への滑動が規制されている。なお、本発明の実施形態では、無人搬送車２上には２個のコンテナ３が載置されている。
すなわち、図１に示すように、ストッパ部材１３の上部が前側のコンテナ３の前方に配置されることで、無人搬送車２上における各コンテナ３の進行方向への滑動を規制し、また、図３に示すように、無人搬送車２の本体部から延びる各支持シャフト１５の上端が各コンテナ３の下面に接触すると共に、各コンテナ３の下面がローラユニット８の各ローラ９から離れることで、各支持シャフト１５の上端と各コンテナ３の下面との摩擦力により無人搬送車２上における各コンテナ３の進行方向への滑動を規制している。
また、押出部材６の上端の回動範囲には、図１、図２及び図５から解るように、無人搬送車２上で後側のコンテナ３の下面に設けた、進行方向前側に位置する環状凸部１２の内側の面が配置される。 Next, the operation of the automatic conveyance device 1 according to the embodiment of the present invention will be described.
When the automatic guided vehicle 2 is traveling with the container 3 mounted thereon, the sliding lock means 5 regulates the sliding of the container 3 on the automatic guided vehicle 2 in the traveling direction. In the embodiment of the present invention, two containers 3 are placed on the automatic guided vehicle 2.
That is, as shown in FIG. 1, the upper portion of the stopper member 13 is disposed in front of the front container 3, thereby restricting the sliding of each container 3 in the traveling direction on the automatic guided vehicle 2. 3, the upper end of each support shaft 15 extending from the main body of the automatic guided vehicle 2 is in contact with the lower surface of each container 3, and the lower surface of each container 3 is separated from each roller 9 of the roller unit 8, The frictional force between the upper end of each support shaft 15 and the lower surface of each container 3 restricts sliding of each container 3 in the traveling direction on the automatic guided vehicle 2.
Moreover, the rotation range of the upper end of the pushing member 6 is positioned on the front side in the traveling direction provided on the lower surface of the rear container 3 on the automatic guided vehicle 2 as can be seen from FIGS. 1, 2, and 5. The inner surface of the annular convex portion 12 is disposed.

そして、無人搬送車２上の各コンテナ３をシュータ４に搬出する際には、図１に示すように、無人搬送車２に備えたリンク機構７の前端のブロック２１をシュータ４の壁面に備えたシュータ側ブロック２２に接触させる。
すると、移動自在シャフト１６がローラユニット８と共に進行方向後側に軸方向に移動することで、第１回動部材１７が無人搬送車２の本体部との枢着部位を中心に反時計周り方向に回動する（図１の２点鎖線で示す）と共にストッパ部材１３が前方突設部材１８と共に同方向に回動する（図１の２点鎖線で示す）。さらに、第２回動部材１９も無人搬送車２の本体部との枢着部位を中心に反時計周り方向に回動する（図１の２点鎖線で示す）と共に、押出部材６が無人搬送車２の本体部との枢着部位を中心に反時計回り方向に回動する（図１の２点鎖線で示す）。さらにまた、図１及び図４に示すように、移動自在シャフト１６が、軸方向への移動量に対応してローラユニット８と共に上方に移動して、ローラユニット８の各ローラ９の上面が各支持シャフト１５の上端よりも上方に位置する。 When each container 3 on the automatic guided vehicle 2 is carried out to the shooter 4, a block 21 at the front end of the link mechanism 7 provided on the automatic guided vehicle 2 is provided on the wall surface of the shooter 4 as shown in FIG. 1. The shooter side block 22 is brought into contact.
Then, the movable shaft 16 moves axially rearward in the traveling direction together with the roller unit 8, so that the first rotating member 17 is counterclockwise about the pivotally attached portion with the main body of the automatic guided vehicle 2. (Indicated by a two-dot chain line in FIG. 1) and the stopper member 13 rotates in the same direction together with the front projecting member 18 (indicated by a two-dot chain line in FIG. 1). Further, the second rotating member 19 also rotates counterclockwise around the pivotally attached portion with the main body of the automatic guided vehicle 2 (indicated by a two-dot chain line in FIG. 1), and the pushing member 6 is unmannedly conveyed. It rotates in the counterclockwise direction around the pivotally attached portion with the main body of the vehicle 2 (indicated by a two-dot chain line in FIG. 1). Furthermore, as shown in FIGS. 1 and 4, the movable shaft 16 moves upward together with the roller unit 8 in accordance with the amount of movement in the axial direction, and the upper surface of each roller 9 of the roller unit 8 is It is located above the upper end of the support shaft 15.

その結果、ストッパ部材１３及び各支持シャフト１５による滑動ロック手段５が解除され、各コンテナ３が無人搬送車２のローラユニット８上を進行方向に滑動自在となり、押出部材６が無人搬送車２の本体部との枢着部位を中心に反時計回り方向に回動して、無人搬送車２上の後側に位置するコンテナ３の下面に設けた、進行方向前側に位置する環状凸部１２の内側の面を進行方向に押し出すことで、全コンテナ３がローラユニット８の各ローラ９上からシュータ４内の各ローラ２４上へ滑動して、シュータ４内に搬出される。   As a result, the sliding lock means 5 by the stopper member 13 and the respective support shafts 15 is released, each container 3 can be slid in the traveling direction on the roller unit 8 of the automatic guided vehicle 2, and the pushing member 6 of the automatic guided vehicle 2. The ring-shaped convex portion 12 is provided on the lower surface of the container 3 located on the rear side of the automatic guided vehicle 2 and rotated in the counterclockwise direction around the pivotally attached portion with the main body portion. By pushing the inner surface in the traveling direction, the entire container 3 slides from the rollers 9 of the roller unit 8 onto the rollers 24 of the shooter 4 and is carried out into the shooter 4.

なお、押出部材６の進行方向の位置は、調整シャフト２１のＬ字状部材２０の水平延設部先端からの突出量を調整することで適宜位置に設定することができる。当然ながら、押出部材６の中央部と無人搬送車２の本体部との枢着部位も押出部材６の位置に対応して適宜変更可能となる。
また、図１に示すように、無人搬送車２上にコンテナ３が複数載置される場合には、無人搬送車２上で最も後側に位置するコンテナ３を押出部材６で押し出し、全コンテナ３をシュータ４に搬出するようになる。 In addition, the position of the pushing member 6 in the traveling direction can be appropriately set by adjusting the amount of protrusion of the L-shaped member 20 of the adjustment shaft 21 from the front end of the horizontally extending portion. As a matter of course, the pivoting portion between the central portion of the pushing member 6 and the main body portion of the automatic guided vehicle 2 can be appropriately changed corresponding to the position of the pushing member 6.
As shown in FIG. 1, when a plurality of containers 3 are placed on the automatic guided vehicle 2, the container 3 positioned on the rearmost side on the automatic guided vehicle 2 is pushed out by the extrusion member 6, and all containers are 3 is carried out to the shooter 4.

以上説明したように、本発明の実施の形態に係る自動搬送装置１によれば、無人搬送車２上のコンテナ３をシュータ４に搬出する際には、無人搬送車２に備えたリンク機構７の移動自在シャフト１６の先端をシュータ４の壁面に接触させて、移動自在シャフト１６を軸方向に後退させると共に上方に移動させれば、ストッパ部材１３及び各支持シャフト１５からなる滑動ロック手段５が解除されてコンテナ３が無人搬送車２のローラユニット８上を進行方向に滑動自在となり、押出部材６がコンテナ３の下面に設けた環状凸部１２を押し出すことで、コンテナ３が各ローラ９上を進行方向に滑動されて、シュータ４内に搬出される。
これにより、作業者による手作業を必要とせず、且つ駆動装置を使用することなく、無人搬送車２上のコンテナ３をシュータ４に搬出することができる。 As described above, according to the automatic conveyance device 1 according to the embodiment of the present invention, when the container 3 on the automatic guided vehicle 2 is carried out to the shooter 4, the link mechanism 7 provided in the automatic guided vehicle 2. If the tip of the movable shaft 16 is brought into contact with the wall surface of the shooter 4 to move the movable shaft 16 back in the axial direction and move upward, the sliding lock means 5 comprising the stopper member 13 and each support shaft 15 is provided. When the container 3 is released, the container 3 can slide on the roller unit 8 of the automatic guided vehicle 2 in the advancing direction, and the pushing member 6 pushes out the annular convex portion 12 provided on the lower surface of the container 3. Are slid in the direction of travel and carried out into the shooter 4.
Thereby, the container 3 on the automatic guided vehicle 2 can be carried out to the shooter 4 without requiring a manual operation by an operator and using a driving device.

なお、本実施の形態に係る自動搬送装置１では、滑動ロック手段５は、リンク機構７に連結され、コンテナ３の進行方向前方に配置されるストッパ部材１３と、無人搬送車２から延び、コンテナ３を、該コンテナ３の下面との摩擦力により滑動不能に支持する支持シャフト１５（支持部材１４）とから構成され最良の形態であるが、ストッパ部材１３だけで構成してもよい。   In the automatic conveyance device 1 according to the present embodiment, the sliding lock means 5 is connected to the link mechanism 7 and extends from the stopper member 13 disposed in the forward direction of the container 3 and the automatic guided vehicle 2 to the container. 3 is composed of a support shaft 15 (support member 14) which is supported in a non-slidable manner by a frictional force with the lower surface of the container 3, but may be composed of only the stopper member 13.

１ 自動搬送装置，２ 無人搬送車，３ コンテナ，４ シュータ，５ 滑動ロック手段，６ 押出部材，７ リンク機構，８ ローラユニット，１２ 環状凸部，１３ ストッパ部材，１４ 支持部材，１５ 支持シャフト   DESCRIPTION OF SYMBOLS 1 Automatic conveyance apparatus, 2 Automated guided vehicle, 3 Container, 4 Shuter, 5 Sliding lock means, 6 Extrusion member, 7 Link mechanism, 8 Roller unit, 12 Annular convex part, 13 Stopper member, 14 Support member, 15 Support shaft

Claims (4)

無人搬送車上のコンテナをシュータに搬出する自動搬送装置であって、
前記無人搬送車上の前記コンテナの進行方向への滑動を規制する滑動ロック手段と、
前記無人搬送車上の前記コンテナを進行方向に押し出す押出部材と、
前記無人搬送車に備えられ、前記無人搬送車が前記シュータに接触した際に、前記滑動ロック手段を解除すると共に前記押出部材により前記コンテナを押し出すリンク機構と、
を備えたことを特徴とする自動搬送装置。 An automatic transfer device for unloading a container on an automated guided vehicle to a shooter,
Sliding lock means for regulating sliding of the container on the automatic guided vehicle in the traveling direction;
An extrusion member for extruding the container on the automatic guided vehicle in a traveling direction;
A link mechanism that is provided in the automatic guided vehicle and releases the sliding lock means and pushes out the container by the pushing member when the automatic guided vehicle contacts the shooter;
An automatic transfer device comprising: 前記滑動ロック手段は、前記リンク機構に連結され、前記コンテナの進行方向前方に配置されるストッパ部材を有することを特徴とする請求項１に記載の自動搬送装置。   2. The automatic transfer device according to claim 1, wherein the sliding lock unit includes a stopper member that is connected to the link mechanism and is disposed in front of the container in the traveling direction. 前記滑動ロック手段は、前記無人搬送車から延び、前記コンテナを、該コンテナの下面との摩擦力により滑動不能に支持する支持部材を更に有することを特徴とする請求項２に記載の自動搬送装置。   3. The automatic transfer device according to claim 2, wherein the sliding lock unit further includes a support member that extends from the automatic guided vehicle and supports the container in a non-slidable state by a frictional force with a lower surface of the container. . 前記無人搬送車上には、前記支持部材より下方の位置に、ローラがコンテナの進行方向に沿って複数並列に配置されるローラユニットが備えられ、
前記無人搬送車が前記シュータに接触した際には、前記リンク機構により、前記ローラユニットの上面が前記支持部材より上方に移動することで、前記コンテナが前記ローラユニットにより進行方向へ滑動自在に支持されると共に、前記ストッパ部材が前記コンテナの進行方向前方から移動して前記滑動ロック手段が解除されることを特徴とする請求項３に記載の自動搬送装置。 On the automatic guided vehicle, a roller unit in which a plurality of rollers are arranged in parallel along the traveling direction of the container is provided at a position below the support member,
When the automatic guided vehicle contacts the shooter, the link mechanism moves the upper surface of the roller unit upward from the support member, so that the container is slidably supported in the traveling direction by the roller unit. 4. The automatic transfer device according to claim 3, wherein the stopper member is moved from the front in the traveling direction of the container to release the sliding lock means.
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