JP4437545B2 - Transport vehicle - Google Patents

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JP4437545B2
JP4437545B2 JP2005023170A JP2005023170A JP4437545B2 JP 4437545 B2 JP4437545 B2 JP 4437545B2 JP 2005023170 A JP2005023170 A JP 2005023170A JP 2005023170 A JP2005023170 A JP 2005023170A JP 4437545 B2 JP4437545 B2 JP 4437545B2
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conveyor
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support member
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elastic support
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JP2006206295A (en
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洋泰 保手濱
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Daifuku Co Ltd
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Description

本発明は、物品を水平方向又は略水平方向に載置搬送する搬送コンベアが車体に備えられている搬送車に関する。   The present invention relates to a transport vehicle in which a vehicle body is provided with a transport conveyor for placing and transporting articles in a horizontal direction or a substantially horizontal direction.

かかる搬送車は、ステーションから搬送コンベア上に物品を受け取り、物品を搬送コンベアに載置させた状態で別のステーションまで走行し、その別のステーションに対して搬送コンベアから物品を受け渡すようにして、ステーション間で物品の搬送を行うように用いられるものである。そして、このような搬送車においては、搬送コンベアを車体に対して昇降移動しない状態にコンベア支持手段にて支持するように構成されていた（例えば、特許文献１参照。）。   Such a transport vehicle receives articles from the station on the transport conveyor, travels to another station with the articles placed on the transport conveyor, and delivers the articles from the transport conveyor to the other station. , Used to carry articles between stations. And in such a conveyance vehicle, it comprised so that a conveyance conveyor might be supported by the conveyor support means in the state which does not move up / down with respect to a vehicle body (for example, refer patent document 1).

特開平６−３１２８２４号公報JP-A-6-31824

しかしながら、上記の搬送車であると、搬送コンベアが車体に対して昇降移動しない状態にコンベア支持手段にて支持されているため、走行時に車体が上下に振動すると、その振動がコンベア支持手段を介して搬送コンベアに伝達されて、搬送コンベアが車体と同様に振動してしまうので、搬送コンベアに載置支持した物品が破損し易いものであった。
そこで、搬送コンベアを車体に対して昇降移動可能に弾性支持するようにコンベア支持手段を構成して、車体から搬送コンベアに伝達される振動をコンベア支持手段にて吸収して搬送コンベアの振動を抑制することが考えられるが、このように搬送コンベアを昇降移動可能に弾性支持するように構成すると、載置支持した物品の重量によってコンベア支持手段の撓み量が異なるために搬送コンベアの高さを一定に保つことができない。つまり、搬送コンベアの搬送面の高さとステーションの搬送面の高さとを同高さとすることにより、ステーションに対する物品の受け渡しや受け取りを円滑に行うことができるが、載置支持した物品の重量によって搬送コンベアの搬送面が上下方向に変位し、搬送コンベアの搬送面がステーションの搬送面に対して上下にずれてしまうおそれがあるので、物品の移載を円滑に行えないことがある。 However, since the transport vehicle is supported by the conveyor support means in a state where the transport conveyor does not move up and down with respect to the vehicle body, when the vehicle body vibrates up and down during traveling, the vibration is transmitted through the conveyor support means. Since the transfer conveyor vibrates in the same manner as the vehicle body, the article placed and supported on the transfer conveyor is easily damaged.
Therefore, the conveyor support means is configured to elastically support the transport conveyor so that it can move up and down relative to the vehicle body, and vibrations transmitted from the vehicle body to the transport conveyor are absorbed by the conveyor support means to suppress the vibration of the transport conveyor. However, if the conveyor is supported elastically so that it can be moved up and down in this way, the amount of flexure of the conveyor support means varies depending on the weight of the article that is placed and supported, so the height of the conveyor is constant. Can't keep up. In other words, by setting the height of the transport surface of the transport conveyor and the height of the transport surface of the station, it is possible to smoothly deliver and receive articles to and from the station. Since the transfer surface of the conveyor may be displaced in the vertical direction and the transfer surface of the transfer conveyor may be displaced up and down with respect to the transfer surface of the station, the transfer of articles may not be performed smoothly.

本発明は、上記実状に鑑みて為されたものであって、その目的は、走行する際の物品の破損を抑え、且つ、物品の移載を円滑に行うことができる搬送車を提供する点にある。   The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a transport vehicle capable of suppressing breakage of an article during traveling and smoothly transferring the article. It is in.

この目的を達成するために、本発明にかかる搬送車の第１特徴構成は、物品を水平方向又は略水平方向に載置搬送する搬送コンベアが車体に備えられている搬送車において、
前記搬送コンベアを車体に対して昇降移動可能に支持するコンベア支持手段が、昇降移動可能に前記搬送コンベアを弾性支持する弾性支持状態、及び、下降移動を規制するように前記搬送コンベアを支持する規制状態に切り換え可能に構成され、前記コンベア支持手段が、前記車体に対して前記搬送コンベアを昇降移動可能に弾性状態に載置支持する弾性支持部材と、下降移動を規制するように前記搬送コンベアを載置支持する受け止め支持部材と、前記搬送コンベアを前記受け止め支持部材から浮上する状態に前記弾性支持部材にて載置支持する前記弾性支持状態及び前記搬送コンベアを前記弾性支持部材から浮上する状態に前記受け止め支持部材にて載置支持する前記規制状態に切り換えるように、前記受け止め支持部材を前記弾性支持部材に対して昇降移動させる昇降操作手段とを備えて構成されている点にある。 In order to achieve this object, the first characteristic configuration of the transport vehicle according to the present invention is a transport vehicle in which the vehicle body is provided with a transport conveyor for placing and transporting articles horizontally or substantially horizontally.
The conveyor support means for supporting the transport conveyor so as to be movable up and down relative to the vehicle body is elastically supported to elastically support the transport conveyor so as to be movable up and down, and the regulation for supporting the transport conveyor so as to regulate the downward movement The conveyor support means includes an elastic support member that elastically mounts and supports the transport conveyor relative to the vehicle body, and an elastic support member that regulates the downward movement. A receiving support member for mounting and supporting, an elastic support state for mounting and supporting the conveying conveyor by the elastic support member in a state of floating the conveying conveyor from the receiving support member, and a state of floating the conveying conveyor from the elastic support member The receiving support member is elastically supported so as to switch to the restricted state where the receiving support member is placed and supported. In that it is constituted by a lifting operation means vertically moving relative to wood.

すなわち、コンベア支持手段を弾性支持状態に切り換えることにより、搬送コンベアをコンベア支持手段にて昇降移動可能に弾性支持する状態となるため、車体が上下に振動したとしてもその振動をコンベア支持手段にて吸収して搬送コンベアに伝達される振動を抑制することができ、また、コンベア支持手段を規制状態に切り換えることにより、搬送コンベアを受け止め支持部材にて下降移動を規制するように支持する状態となるため、載置支持した物品の重量に拘らず搬送コンベアの高さを受け止め支持部材にて支持された設定高さに維持することができる。   That is, by switching the conveyor support means to the elastic support state, the conveyor conveyor is elastically supported so that it can be moved up and down by the conveyor support means. Therefore, even if the vehicle body vibrates up and down, the vibration is supported by the conveyor support means. Vibration that is absorbed and transmitted to the conveyor can be suppressed, and by switching the conveyor support means to the restricted state, the conveyor conveyor is received and supported so as to regulate the downward movement. Therefore, the height of the conveyor can be received and maintained at the set height supported by the support member regardless of the weight of the article that is placed and supported.

従って、走行する際はコンベア支持手段を弾性支持状態に切り換えておくことにより、搬送コンベアに伝達される振動を抑制することができるので、車体の振動により搬送コンベアに載置支持されている物品が破損してしまうことを抑制することができ、また、ステーション等の物品移載箇所との間で物品を移載する際はコンベア支持手段を規制状態に切り換えておくことにより、搬送コンベアの高さを受け止め支持部材にて支持された設定高さに維持することができるので、物品移載箇所との間での物品の移載を円滑に行うことができ、もって、走行する際の物品の破損を抑え、且つ、物品の移載を円滑に行うことができる搬送車を提供することができるに至った。
また、弾性支持状態から受け止め支持部材を上昇移動させることにより、その上昇途中において弾性支持部材にて載置支持されている搬送コンベアが受け止め支持部材にて載置支持されて規制状態となり、規制状態から受け止め支持部材を下降移動させることにより、その下降途中において搬送コンベアが弾性支持部材にて載置支持されて弾性支持状態となる。
そして、規制状態における受け止め支持部材の高さを調節することにより規制状態での搬送コンベアの搬送面の高さを調節することができ、複数のステーションの搬送面の高さが夫々異なる場合でも、搬送コンベアの搬送面の高さをステーションの搬送面夫々の高さに合わせることができ、高さが異なる複数のステーションとの間の物品の移載を円滑に行うことができる。 Therefore, when the vehicle is traveling, the vibration transmitted to the conveyor can be suppressed by switching the conveyor support means to the elastic support state, so that the article placed and supported on the conveyor by the vibration of the vehicle body can be reduced. The height of the conveyor can be reduced by switching the conveyor support means to the restricted state when transferring articles to and from the article transfer location such as a station. Since it can be maintained at the set height supported by the receiving and supporting member, it is possible to smoothly transfer the article to and from the article transfer location, and thus break the article when traveling In addition, it has become possible to provide a transport vehicle that can suppress the load and smoothly transfer articles.
Further, by moving the receiving support member upward from the elastic support state, the conveying conveyor that is placed and supported by the elastic support member in the middle of the rise is placed and supported by the receiving support member and is in a restricted state. By moving the receiving support member downward, the conveying conveyor is placed and supported by the elastic support member in the middle of the downward movement, and is in an elastic support state.
And, by adjusting the height of the receiving support member in the regulated state, the height of the conveying surface of the conveying conveyor in the regulated state can be adjusted, even when the heights of the conveying surfaces of the plurality of stations are different, The height of the conveyance surface of the conveyance conveyor can be adjusted to the height of each conveyance surface of the station, and articles can be smoothly transferred between a plurality of stations having different heights.

本発明にかかる搬送車の第２特徴構成は、第１特徴構成において、前記車体に、ガイド部材が備えられ、前記搬送コンベアに、前記弾性支持状態及び前記規制状態、並びに、前記弾性支持状態と前記規制状態とに切り換える間の状態において前記ガイド部材と係合し、前記ガイド部材との係合により前記搬送コンベアの前記車体に対する前後方向並びに横幅方向への移動を規制する被ガイド部材が備えられている点にある。 A second characteristic configuration of the transport vehicle according to the present invention is the first characteristic configuration, wherein the vehicle body is provided with a guide member, and the transport conveyor includes the elastic support state, the restriction state, and the elastic support state. A guided member is provided that engages with the guide member in a state during switching to the restricted state, and restricts movement of the transport conveyor in the front-rear direction and the lateral direction by engagement with the guide member. There is in point.

本発明にかかる搬送車の第３特徴構成は、第２特徴構成において、前記受け止め支持部材が、偏心した横軸心周りに回転自在なカム部材にて構成され、前記昇降操作手段が、前記カム部材を前記横軸心周りに回転操作して前記弾性支持部材に対して昇降移動させるように構成されている点にある。   According to a third characteristic configuration of the transport vehicle according to the present invention, in the second characteristic configuration, the receiving support member is configured by a cam member that is rotatable around an eccentric horizontal axis, and the elevating operation unit includes the cam The member is configured to be moved up and down relative to the elastic support member by rotating the member around the horizontal axis.

すなわち、コンベア支持手段が、昇降操作手段にてカム部材を横軸心周りに回転操作するだけで弾性支持状態と規制状態とに切り換えるように構成されており、コンベア支持手段の構成を簡素なものにすることができる。   That is, the conveyor support means is configured to switch between the elastic support state and the restricted state only by rotating the cam member around the horizontal axis by the lifting operation means, and the configuration of the conveyor support means is simple. Can be.

本発明にかかる搬送車の第４特徴構成は、第１〜第３特徴構成のいずれか１つにおいて、前記物品が、板状体を積層状態に収納可能で横側部に前記板状体を出し入れする開口部が備えられている容器である点にある。   According to a fourth characteristic configuration of the transport vehicle according to the present invention, in any one of the first to third characteristic configurations, the article can store a plate-like body in a stacked state, and the plate-like body is placed on a lateral side portion. The container is provided with an opening for taking in and out.

すなわち、容器には板状体が積層状態で収納されているため、搬送コンベアが振動しより容器に積層状態に収納されている板状体も振動することにより、隣接する板状体同士が接触して破損しやすいものであるが、搬送コンベアの振動がコンベア支持手段にて抑制されるので板状体の破損を抑制することができる。   That is, since the plate-shaped bodies are stored in the container in a stacked state, the plate-shaped bodies stored in the container in a stacked state are also vibrated and the adjacent plate-shaped bodies are in contact with each other. However, since the vibration of the conveyor is suppressed by the conveyor support means, it is possible to suppress the breakage of the plate-like body.

以下、本発明の実施の形態を図面に基づいて説明する。
図１に示すように、搬送車Ｖは、クリーンルームのように清浄度の高い倉庫や工場において、走行経路１に沿って自立走行して物品としての容器Ｙの搬送を行うように構成されている。
そして、容器Ｙは、図２に示すように、板状体としての液晶ガラス２８を積層状態に収納可能で横側部に前記液晶ガラス２８を出し入れする開口部２９が備えられている容器である。容器Ｙの横側壁の内面に備えた支持部材３０にて液晶ガラス２８を載置支持することにより複数枚のガラス基板２８を上下方向に間隔を隔てて積層状態に収納するように構成されている。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the transport vehicle V is configured to travel independently along the travel route 1 and transport the container Y as an article in a warehouse or factory having a high cleanliness like a clean room. .
As shown in FIG. 2, the container Y is a container that can store the liquid crystal glass 28 as a plate-like body in a laminated state and is provided with an opening 29 for taking in and out the liquid crystal glass 28 on the lateral side. . The liquid crystal glass 28 is placed and supported by a support member 30 provided on the inner surface of the lateral side wall of the container Y, so that a plurality of glass substrates 28 are accommodated in a stacked state at intervals in the vertical direction. .

図３、図４に示すように、搬送車Ｖには、操舵可能で走行用モータ２にて駆動される駆動輪３や遊転式の従動輪４を備えた車体５と、容器Ｙを水平方向又は略水平方向に載置搬送する搬送コンベア７と、搬送コンベア７を車体５に対して昇降移動可能に支持するコンベア支持手段６と、これら車体５、コンベア支持手段６、搬送コンベア７並びに搬送コンベア７に載置支持された容器Ｙを覆うカバー体８が備えられている。尚、図３は、搬送車Ｖの内部構成を示す正面図である。
そして、図１に示すように、カバー体８の横側面には、シャッター１０にて開閉自在な出し入れ口９が備えられており、図６に示すように、シャッター１０を開き操作して出し入れ口９を開き、この出し入れ口９を通してステーションＳとの間で容器Ｙの受け取りや受け渡しを行うように構成されている。
図３に示すように、搬送コンベア７は、搬送方向に複数のローラを並設したローラ式のコンベアに構成されており、搬送コンベア７における搬送方向の前記出し入れ口９の存在側とは反対側の端部には、載置支持した容器Ｙの前記反対側への水平移動を受け止めるストッパー部材１１が設けられている。そして、図１、図７に示すように、搬送コンベア７には開口部２９が出し入れ口９に向くように容器Ｙが載置支持される。 As shown in FIGS. 3 and 4, the transport vehicle V is provided with a vehicle body 5 including a drive wheel 3 that can be steered and driven by a travel motor 2 and a free-wheeling driven wheel 4, and a container Y. Conveyor 7 for placing and transporting in the horizontal direction or substantially horizontal direction, conveyor support means 6 for supporting the transport conveyor 7 so as to be movable up and down with respect to the vehicle body 5, the vehicle body 5, the conveyor support means 6, the transport conveyor 7, and the transport A cover body 8 that covers the containers Y placed and supported on the conveyor 7 is provided. FIG. 3 is a front view showing the internal configuration of the transport vehicle V.
As shown in FIG. 1, the side surface of the cover body 8 is provided with a loading / unloading opening 9 that can be opened and closed by the shutter 10, and as shown in FIG. 9 is opened, and the container Y is received and delivered to and from the station S through the inlet / outlet 9.
As shown in FIG. 3, the transport conveyor 7 is configured as a roller-type conveyor in which a plurality of rollers are arranged in parallel in the transport direction, and is on the opposite side of the transport conveyor 7 from the side where the entrance / exit 9 is present in the transport direction. A stopper member 11 that receives horizontal movement of the container Y placed and supported to the opposite side is provided at the end of the container. As shown in FIGS. 1 and 7, the container Y is placed and supported on the conveyor 7 so that the opening 29 faces the entrance / exit 9.

次に、コンベア支持手段６について説明する。尚、便宜上、図３に示す状態において、搬送車Ｖの走行方向に沿う方向を前後方向と称し、走行方向と直交する搬送コンベア７の搬送方向に沿う方向を横幅方向と称して説明する。
コンベア支持手段６は、昇降移動可能に前記搬送コンベア７を弾性支持する弾性支持状態、及び、下降移動を規制するように前記搬送コンベア７を支持する規制状態に切り換え可能に構成されている。そして、前記コンベア支持手段６が、前記車体５に対して前記搬送コンベア７を昇降移動可能に弾性状態に載置支持する弾性支持部材１６と、下降移動を規制するように前記搬送コンベア７を載置支持する受け止め支持部材としてのカム部材１７と、前記搬送コンベア７を前記カム部材１７から浮上する状態に前記弾性支持部材１６にて載置支持する前記弾性支持状態及び前記搬送コンベア７を前記弾性支持部材１６から浮上する状態に前記カム部材１７にて載置支持する前記規制状態に切り換えるように、前記カム部材１７を前記弾性支持部材１６に対して昇降移動させる昇降操作手段としての昇降用モータ１８を備えて構成されている。 Next, the conveyor support means 6 will be described. For convenience, in the state shown in FIG. 3, the direction along the traveling direction of the transport vehicle V is referred to as the front-rear direction, and the direction along the transport direction of the transport conveyor 7 orthogonal to the traveling direction is referred to as the lateral width direction.
The conveyor support means 6 is configured to be switchable between an elastic support state in which the transport conveyor 7 is elastically supported so as to be movable up and down, and a regulation state in which the transport conveyor 7 is supported so as to restrict the downward movement. Then, the conveyor support means 6 mounts the transport conveyor 7 so as to restrict the downward movement, and an elastic support member 16 which supports the transport conveyor 7 in an elastic state so as to be movable up and down with respect to the vehicle body 5. A cam member 17 as a receiving support member to be placed and supported, and the elastic support state in which the conveyance conveyor 7 is placed and supported by the elastic support member 16 in a state of floating from the cam member 17, and the conveyance conveyor 7 is elastic. An elevating motor as elevating operation means for moving the cam member 17 up and down relative to the elastic support member 16 so as to switch to the restricted state where the cam member 17 is placed and supported by the cam member 17 in a state of rising from the support member 16. 18 is provided.

コンベア支持手段６について具体的に説明すると、図３、図４に示すように、車体５に連結支持された支持フレーム２１の左右中間部には、前後両端部の夫々にガイド部材２２が設けられており、そのガイド部材２２の夫々は、図４、図５に示すように、外方に向けて凹入形成された凹入形成部分が上下方向に沿って形成されている。そして、搬送コンベア７の左右中間部には、前後両端部の夫々に被ガイド部材２３が設けられており、この被ガイド部材２３がガイド部材２２の凹入形成部分に係合されている。つまり、被ガイド部材２３のガイド部材２２に対する上下方向の移動が許容されており、搬送コンベア７の車体５に対する昇降移動を可能としている。そして、被ガイド部材２３のガイド部材２２に対する前後方向並びに横幅方向の移動をガイド部材２２にて規制されており、搬送コンベア７の車体５に対する前後方向並びに横幅方向の移動が規制されている。
また、被ガイド部材２３は搬送コンベア７に横方向の揺動軸心周りに回転自在に設けられており、搬送コンベア７が横方向の揺動軸心周りに揺動可能に構成されている。 The conveyor support means 6 will be described in detail. As shown in FIGS. 3 and 4, guide members 22 are provided at the front and rear end portions of the support frame 21 connected and supported by the vehicle body 5. As shown in FIGS. 4 and 5, each of the guide members 22 is formed with a recessed portion that is recessed toward the outside along the vertical direction. Then, the right and left middle portion of the conveyor 7 is guided member 23 is provided on each of the front and rear ends, the guided member 23 is engaged with the recessed formation portion of the guide member 2 2. That is, the movement of the guided member 23 in the vertical direction with respect to the guide member 22 is allowed, and the transport conveyor 7 can be moved up and down with respect to the vehicle body 5. The movement of the guided member 23 in the front-rear direction and the lateral width direction with respect to the guide member 22 is restricted by the guide member 22, and the movement of the transport conveyor 7 in the front-rear direction and the lateral direction is restricted.
Further, the guided member 23 is provided on the conveyor 7 so as to be rotatable around a horizontal swing axis, and the transport conveyor 7 is configured to be swingable around a horizontal swing axis.

支持フレーム２１の上部には複数のリング状部材にて構成された弾性体２４が連結支持され、この弾性体２４の上部には、搬送コンベア７の下面を載置支持する支持板２５が連結されている。そして、弾性体２４は、支持フレーム２１の前後方向の端部夫々に横幅方向に並ぶように複数設けられ、その横幅方向に並ぶ複数の弾性体２４の夫々に支持板２５が連結されており、複数の弾性体２４と支持板２５とにより弾性支持部材１６が構成されている。   An elastic body 24 composed of a plurality of ring-shaped members is connected and supported on the upper portion of the support frame 21, and a support plate 25 for mounting and supporting the lower surface of the transport conveyor 7 is connected to the upper portion of the elastic body 24. ing. A plurality of elastic bodies 24 are provided so as to be arranged in the lateral width direction at the respective longitudinal ends of the support frame 21, and a support plate 25 is connected to each of the plurality of elastic bodies 24 arranged in the lateral width direction. The plurality of elastic bodies 24 and the support plate 25 constitute an elastic support member 16.

また、支持フレーム２１には、偏心した横軸芯周りに回転自在にカム部材１７が設けられており、カム部材１７を４つ設けてカム部材１７にて搬送コンベア７の四隅を載置支持するように構成されている。
前記昇降用モータ１８が、前記カム部材１７を前記横軸心周りに回転操作して前記弾性支持部材１６に対してカム部材１７を昇降移動させるように構成されており、昇降用モータ１８を４つ設けて４つのカム部材１７を個別に回転操作するように構成されている。
そして、昇降用モータ１８にてカム部材１７を回転操作することにより、カム部材１７の上端が弾性支持部材１６の上端より上方に位置する上昇位置と、カム部材１７の上端が弾性支持部材１６の上端より下方に位置する下方位置とに亘ってカム部材１７を昇降移動可能に構成されており、搬送コンベア７を昇降移動させる場合は、４つの昇降用モータを駆動させて４つのカム部材１７を同期させて昇降移動させることにより、搬送面が水平又は略水平な姿勢を維持するように搬送コンベア７を昇降移動させるように構成されている。 The support frame 21 is provided with cam members 17 that are rotatable around an eccentric horizontal axis. Four cam members 17 are provided, and the cam members 17 place and support the four corners of the transport conveyor 7. It is configured as follows.
The elevating motor 18 is configured to move the cam member 17 up and down relative to the elastic support member 16 by rotating the cam member 17 around the horizontal axis. And four cam members 17 are individually rotated.
Then, the cam member 17 is rotated by the elevating motor 18, so that the upper end of the cam member 17 is positioned above the upper end of the elastic support member 16 and the upper end of the cam member 17 is the elastic support member 16. The cam member 17 is configured to be movable up and down over a lower position located below the upper end. When the transport conveyor 7 is moved up and down, the four cam members 17 are driven by driving the four lifting motors. By moving up and down in synchronization, the transfer conveyor 7 is moved up and down so that the transfer surface maintains a horizontal or substantially horizontal posture.

すなわち、図８（イ）〜（ハ）に示すようなカム部材１７が上昇位置に位置する規制状態から、カム部材１７を回転操作して図８（ニ）に示すような下降位置に下降移動させると、カム部材１７にて載置支持されている搬送コンベア７も下降移動して、その下降途中において搬送コンベア７が弾性支持部材１６にて載置支持されて、図８（ニ）に示すような弾性支持状態となる。また、図８（ニ）に示すようなカム部材１７が下降位置に位置する弾性支持状態から、カム部材１７を回転操作して図８（イ）〜（ハ）に示すような上昇位置に上昇移動させると、その上昇途中において弾性支持部材１６にて載置支持されている搬送コンベア７がカム部材１７にて載置支持されて、その後、搬送コンベア７もカム部材１７とともに上昇移動して、図８（イ）〜（ハ）に示すような規制状態となる。
そして、下降位置からのカム部材１７の回転操作量を調節することにより、規制状態での搬送コンベア７の搬送面の位置を、図８（イ）に示すような高い位置や、図８（ハ）に示すように低い位置、図８（ロ）に示すような中間の位置に高さ調節することができる。従って、複数のステーションＳの搬送面の高さが異なる場合でも、その夫々のステーションの搬送面の高さに搬送コンベア７の搬送面の高さを合わせることができ、ステーションＳとの間の容器Ｙの搬送を円滑に行うことができる。尚、ステーションＳの搬送面の高さ情報は、ステーションＳとの通信によりステーションＳの高さ情報を入力させるように構成されている。 That is, from the restricted state in which the cam member 17 is located at the raised position as shown in FIGS. 8A to 8C, the cam member 17 is rotated and moved down to the lowered position as shown in FIG. Then, the conveyer 7 placed and supported by the cam member 17 also moves downward, and the conveyer 7 is placed and supported by the elastic support member 16 in the middle of the descent, as shown in FIG. Such an elastic support state is obtained. Further, from the elastic support state in which the cam member 17 is located at the lowered position as shown in FIG. 8 (d), the cam member 17 is rotated and moved up to the raised position as shown in FIGS. 8 (a) to (c). When moved, the conveying conveyor 7 placed and supported by the elastic support member 16 is placed and supported by the cam member 17 in the middle of the ascent, and then the conveying conveyor 7 is also moved upward together with the cam member 17, The restricted state is as shown in FIGS.
Then, by adjusting the rotational operation amount of the cam member 17 from the lowered position, the position of the transport surface of the transport conveyor 7 in the restricted state is set to a high position as shown in FIG. The height can be adjusted to a low position as shown in FIG. 8 and an intermediate position as shown in FIG. Therefore, even when the heights of the transfer surfaces of the plurality of stations S are different, the height of the transfer surface of the transfer conveyor 7 can be adjusted to the height of the transfer surface of each station, and the container between the stations S can be adjusted. Y can be smoothly conveyed. The height information of the transfer surface of the station S is configured to input the height information of the station S through communication with the station S.

図６に示すように、制御装置Ｈには、走行経路１の位置情報に加えて、図外の複数の反射板についての配設位置情報もレイアウトマップとして予め記憶されており、投受光器１２にてレーザー光を投光するとともに反射板にて反射されたレーザー光を受光して、この受光するときの走査角情報及び複数の反射板についての配設位置情報に基づいて搬送車Ｖの位置を検出するように構成されている。そして、制御装置Ｈは、検出した位置情報に基づいて、走行経路１に沿って搬送車Ｖを走行させるべく走行用モータ１１や駆動輪３の操向方向を制御するように構成されている。   As shown in FIG. 6, in addition to the position information of the travel route 1, the control device H also stores in advance the arrangement position information for a plurality of reflectors outside the figure as a layout map. The laser beam is projected and the laser beam reflected by the reflecting plate is received, and the position of the transport vehicle V is determined based on the scanning angle information when the light is received and the arrangement position information about the plurality of reflecting plates. Is configured to detect. The control device H is configured to control the steering direction of the traveling motor 11 and the drive wheels 3 so that the transport vehicle V travels along the traveling route 1 based on the detected position information.

〔別実施の形態〕
（１） 上記実施の形態では、搬送コンベア７の搬送面が水平又は略水平となる水平姿勢を維持するように構成したが、コンベア支持手段にて、搬送コンベア７の搬送面の姿勢を水平又は略水平姿勢となる水平状態と傾斜姿勢となる傾斜状態とに切り換え可能に構成して、傾斜状態において開口部２９側が上向きとなるように容器Ｙを搬送コンベア７にて載置支持するようにしてもよい。
つまり、例えば、図９に示すように、支持体２５における搬送コンベア７を載置する載置面が傾斜姿勢となるように弾性支持部材１６を構成し、コンベア支持手段６を弾性支持状態に切り換えた状態では、搬送コンベア７の搬送面が傾斜姿勢となるように弾性支持部材１６にて搬送コンベア７を載置支持し、コンベア支持手段７を規制状態に切り換えた状態では、搬送コンベア７の搬送面が水平姿勢となるようにカム部材１７にて搬送コンベア７を載置支持するように構成してもよい。また、前後方向或いは横幅方向に並ぶカム部材１７を組として、その組となるカム部材１７同士を同期させ、組とならないカム部材１７同士を同期させない用に回転操作して、規制状態において搬送コンベア７搬送面の姿勢を水平状態と傾斜状態とに切り換えられるように構成してもよい。 [Another embodiment]
(1) In the above-described embodiment, the transport surface of the transport conveyor 7 is configured to maintain a horizontal posture in which the transport surface is horizontal or substantially horizontal. It is configured to be switchable between a horizontal state that is a substantially horizontal posture and an inclined state that is a tilted posture, and the container Y is placed and supported on the transport conveyor 7 so that the opening 29 side faces upward in the tilted state. Also good.
That is, for example, as shown in FIG. 9, the elastic support member 16 is configured so that the mounting surface on the support 25 on which the transport conveyor 7 is placed is inclined, and the conveyor support means 6 is switched to the elastic support state. In the state where the transport conveyor 7 is placed and supported by the elastic support member 16 so that the transport surface of the transport conveyor 7 is inclined, the transport of the transport conveyor 7 is performed when the conveyor support means 7 is switched to the restricted state. You may comprise so that the conveyance conveyor 7 may be mounted and supported by the cam member 17 so that a surface may become a horizontal attitude | position. Further, the cam members 17 arranged in the front-rear direction or the lateral width direction are set as a set, the cam members 17 constituting the set are synchronized with each other, and the cam members 17 that are not set are rotated so as not to synchronize with each other. 7 You may comprise so that the attitude | position of a conveyance surface can be switched to a horizontal state and an inclination state.

（２） 上記実施の形態では、受け止め支持部材１７を、偏心した横軸心周りに回転自在なカム部材１７にて構成し、昇降操作手段１８を、カム部材１７を横軸心周りに回転操作して弾性支持部材１６に対して昇降移動させるように構成したが、受け止め支持部材１７を、上下方向にスライド移動可能な部材にて構成し、昇降操作手段１８を、前記スライド移動可能な部材を上下方向にスライド移動操作して弾性支持部材１６に対して昇降移動させるように構成してもよい。 ( 2 ) In the above embodiment, the receiving support member 17 is constituted by the cam member 17 that is rotatable around the eccentric horizontal axis, and the elevating operation means 18 is operated to rotate the cam member 17 around the horizontal axis. In this case, the elastic support member 16 is moved up and down. However, the receiving support member 17 is formed of a member that can be slid up and down, and the elevating operation means 18 is a member that can be slid. The elastic support member 16 may be moved up and down by sliding and moving up and down.

（３） 上記実施の形態では、搬送コンベア７における搬送方向の一端側にストッパー部材１１を設けて、走行経路２の一方側のステーションＳとの間で物品Ｙを移載するように構成したが、ストッパー部材１１を出退自在に構成して、走行経路２の両方側のステーションＳとの間で物品Ｙを移載できるように構成してもよい。 ( 3 ) In the above embodiment, the stopper member 11 is provided on one end side in the transport direction of the transport conveyor 7, and the article Y is transferred to and from the station S on one side of the travel path 2. The stopper member 11 may be configured so as to be freely retractable, and the article Y may be configured to be transferred between the stations S on both sides of the travel route 2.

（４） 上記実施の形態では、物品Ｙを、板状体２８を積層状態に収納可能で横側部に板状体２８を出し入れする開口部２９が備えられている容器としたが、物品Ｙとしてはこのような容器に限られるものではなく、別形状の容器や搬送物を載置支持可能なパレット等でもよい。 ( 4 ) In the above embodiment, the article Y is a container that can store the plate-like body 28 in a stacked state and has an opening 29 for taking in and out the plate-like body 28 on the lateral side. However, the container is not limited to such a container, and may be a container having a different shape or a pallet capable of mounting and supporting a transported object.

搬送車を示す斜視図Perspective view showing a transport vehicle 容器を示す斜視図Perspective view showing container 搬送車の内部構成を示す正面図Front view showing the internal configuration of the transport vehicle コンベア支持手段を示す側面図Side view showing conveyor support means 搬送コンベアのガイド構造を示す平面図Plan view showing the guide structure of the conveyor 制御ブロック図Control block diagram ステーションとの移載を示す作用図Action diagram showing transfer with station 搬送コンベアの昇降移動を示す作用図Action diagram showing up and down movement of conveyor 別実施の形態における弾性支持状態を示す図The figure which shows the elastic support state in another embodiment

符号の説明Explanation of symbols

５ 車体
６ コンベア支持手段
７ 搬送コンベア
１６ 弾性支持部材
１７ カム部材
１８ 昇降操作手段
２８ 板状体
２９ 開口部
Ｖ 搬送車
Ｙ 容器 DESCRIPTION OF SYMBOLS 5 Car body 6 Conveyor support means 7 Conveyor 16 Elastic support member 17 Cam member 18 Elevating operation means 28 Plate-shaped body 29 Opening part V Conveyor vehicle Y Container

Claims (4)

物品を水平方向又は略水平方向に載置搬送する搬送コンベアが車体に備えられている搬送車であって、
前記搬送コンベアを車体に対して昇降移動可能に支持するコンベア支持手段が、昇降移動可能に前記搬送コンベアを弾性支持する弾性支持状態、及び、下降移動を規制するように前記搬送コンベアを支持する規制状態に切り換え可能に構成され、
前記コンベア支持手段が、前記車体に対して前記搬送コンベアを昇降移動可能に弾性状態に載置支持する弾性支持部材と、下降移動を規制するように前記搬送コンベアを載置支持する受け止め支持部材と、前記搬送コンベアを前記受け止め支持部材から浮上する状態に前記弾性支持部材にて載置支持する前記弾性支持状態及び前記搬送コンベアを前記弾性支持部材から浮上する状態に前記受け止め支持部材にて載置支持する前記規制状態に切り換えるように、前記受け止め支持部材を前記弾性支持部材に対して昇降移動させる昇降操作手段とを備えて構成されている搬送車。 A transport vehicle equipped with a transport conveyor for mounting and transporting articles in a horizontal direction or a substantially horizontal direction,
The conveyor support means for supporting the transport conveyor so as to be movable up and down relative to the vehicle body is elastically supported to elastically support the transport conveyor so as to be movable up and down, and the regulation for supporting the transport conveyor so as to regulate the downward movement Configured to be switchable to a state ,
An elastic support member for placing and supporting the conveyor in an elastic state so that the conveyor can be moved up and down relative to the vehicle body; and a receiving support member for placing and supporting the conveyor to regulate the downward movement. The elastic support member is placed and supported by the elastic support member in a state where the transfer conveyor is levitated from the receiving support member, and the transfer conveyor is placed by the receiving support member in a state where the conveyer is levitated from the elastic support member. A transporting vehicle configured to include a lifting operation means for moving the receiving support member up and down relative to the elastic support member so as to switch to the restricted state to be supported . 前記車体に、ガイド部材が備えられ、
前記搬送コンベアに、前記弾性支持状態及び前記規制状態、並びに、前記弾性支持状態と前記規制状態とに切り換える間の状態において前記ガイド部材と係合し、前記ガイド部材との係合により前記搬送コンベアの前記車体に対する前後方向並びに横幅方向への移動を規制する被ガイド部材が備えられている請求項１記載の搬送車。 The vehicle body is provided with a guide member,
The transport conveyor is engaged with the guide member in the elastic support state and the restricted state, and in a state during switching between the elastic support state and the restricted state, and the transport conveyor is engaged by engagement with the guide member. The guided vehicle according to claim 1, further comprising a guided member that restricts movement of the vehicle body in the front-rear direction and the lateral width direction . 前記受け止め支持部材が、偏心した横軸心周りに回転自在なカム部材にて構成され、
前記昇降操作手段が、前記カム部材を前記横軸心周りに回転操作して前記弾性支持部材に対して昇降移動させるように構成されている請求項２記載の搬送車。 The receiving support member is composed of a cam member rotatable around an eccentric horizontal axis;
The transport vehicle according to claim 2, wherein the elevating operation means is configured to rotate the cam member around the horizontal axis to move up and down relative to the elastic support member. 前記物品が、板状体を積層状態に収納可能で横側部に前記板状体を出し入れする開口部が備えられている容器である請求項１〜３のいずれか一項に記載の搬送車。   The transport vehicle according to any one of claims 1 to 3, wherein the article is a container that can store a plate-like body in a stacked state, and is provided with an opening for taking in and out the plate-like body on a lateral side portion. .
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