JP4937010B2

JP4937010B2 - Carrier cart equipment

Info

Publication number: JP4937010B2
Application number: JP2007163238A
Authority: JP
Inventors: 淳子森川
Original assignee: Ｔｃｍ株式会社
Priority date: 2007-06-21
Filing date: 2007-06-21
Publication date: 2012-05-23
Anticipated expiration: 2027-06-21
Also published as: JP2009001131A

Description

本発明は、手押台車や自走式搬送台車、無人搬送車などの荷台の受け面の高さと、荷を受け渡す荷搬入台や荷搬出台の受け面の高さとを一致させて荷を移載可能な搬送台車の荷台装置に関する。 In the present invention, the height of the receiving surface of a load carrier such as a hand cart, a self-propelled transport cart, or an automatic guided vehicle is matched with the height of the receiving surface of the loading / unloading table for delivering the load. The present invention relates to a loading platform device for a transferable carriage.

搬送台車の荷台と、荷搬入出台の受け面とを位置合わせするものとして、たとえば特許文献１があり、この台車フレームに水平揺動自在な荷台を設けるとともに、荷台の前部に１本の位置決め突起を設け、荷搬入出台に、荷台の位置決め突起が嵌合可能な位置決め凹所を設けたものである。この位置決め突起と位置決め凹所とにより、荷搬入出台に対して搬送台車が傾いて接近しても、荷台を水平揺動させて荷受台に対する水平面上での荷台の方向を合致させることができる。
実開平３−６４１７０号公報 For example, Patent Document 1 discloses a technique for aligning a loading platform of a transport cart and a receiving surface of a loading / unloading platform. A horizontally swingable loading platform is provided on the cart frame, and one positioning is provided at the front of the loading platform. A protrusion is provided, and a positioning recess in which the positioning protrusion of the loading platform can be fitted is provided in the loading / unloading table. With the positioning protrusions and the positioning recesses, even when the transport carriage is tilted and approaches the loading / unloading table, the loading table can be horizontally swung to match the direction of the loading table on the horizontal plane with respect to the loading table.
Japanese Utility Model Publication No. 3-64170

ところで、荷であるたとえば単数または複数のロール体を搬送する場合、これらロール体を転がして荷台と荷搬入出台との間で移載することがある。この場合、上下方向に段差が生じると、ロール体の移載が困難になったり、段差による衝撃でロール体や荷台、荷搬入出台が損傷するおそれがある。また荷台や荷搬入出台の受け面に、ローラコンベヤを搭載している場合であっても、移載時に高さレベルを一致させるほうが望ましい。 By the way, when, for example, one or a plurality of roll bodies that are loads are transported, these roll bodies may be rolled and transferred between the loading platform and the loading / unloading platform. In this case, if a step is generated in the vertical direction, transfer of the roll body may be difficult, or the roll body, the loading platform, and the loading / unloading platform may be damaged by an impact due to the level difference. Further, even when a roller conveyor is mounted on the receiving surface of the loading platform or loading / unloading platform, it is desirable to match the height level during transfer.

本発明は、上記問題点を解決して、荷台と荷搬入出台との受け面の高さを一致させて荷をスムーズに移載することができる搬送台車の荷台装置を提供することを目的とする。 An object of the present invention is to solve the above-mentioned problems and to provide a loading platform device for a transport carriage capable of smoothly transferring a load by matching the heights of the receiving surfaces of the loading platform and the loading / unloading platform. To do.

請求項１記載の発明は、搬送台車の台車本体に、前後方向に走行自在な走行装置を設け、台車本体上に配置された荷台の前部および後部の一方を、上下レベル調整部とし、台車本体と荷台との間に、上下レベル調整部に対応して当該上下レベル調整部を昇降自在に支持する弾性支持具を有する荷台支持装置を設け、荷台の上下レベル調整部と、荷を受渡しする荷搬入出台との一方に、位置決め凸部を設けるとともに、他方に前記位置決め凸部がそれぞれ嵌合されて上下レベル調整部の上下位置を位置決めする位置決め凹部を設けたものである。 According to the first aspect of the present invention, a traveling device capable of traveling in the front-rear direction is provided on the carriage body of the transport carriage, and one of the front part and the rear part of the loading platform arranged on the carriage body is used as an up-down level adjusting part. Between the main body and the loading platform, a loading platform support device having an elastic support for supporting the vertical level adjustment portion so as to be movable up and down is provided corresponding to the vertical level adjustment portion, and the load is transferred to and from the vertical level adjustment portion of the loading platform. A positioning convex part is provided on one side of the loading / unloading base, and a positioning concave part for positioning the vertical position of the vertical level adjusting part by fitting the positioning convex part on the other side.

請求項２記載の発明は、請求項１記載の構成において、荷台支持装置は、荷台の前部および後部の他方に対応して、荷台を左右方向の水平軸心周りに揺動自在に支持する固定端支持具が設けられたものである。 According to a second aspect of the present invention, in the configuration according to the first aspect, the loading platform support device supports the loading platform in a swingable manner around a horizontal axis in the left-right direction corresponding to the other of the front portion and the rear portion of the loading platform. A fixed end support is provided.

請求項３記載の発明は、搬送台車の台車本体に、前後方向に走行自在な走行装置を設け、台車本体上に配置された荷台の前部および後部を、上下レベル調整部とし、台車本体と荷台との間に、上下レベル調整部に対応して当該上下レベル調整部を昇降自在に支持する弾性支持具を有する荷台支持装置を設け、荷台の上下レベル調整部と、荷を受渡しする荷搬入出台との一方に、位置決め凸部を設けるとともに、他方に前記位置決め凸部がそれぞれ嵌合されて上下レベル調整部の上下位置を位置決めする位置決め凹部を設けたものである。 According to a third aspect of the present invention, a traveling device capable of traveling in the front-rear direction is provided on the carriage body of the transport carriage, and the front and rear parts of the loading platform disposed on the carriage body are used as the upper and lower level adjusting parts, A loading platform support device having an elastic support that supports the vertical level adjustment portion so as to be movable up and down is provided between the loading platform and the vertical level adjustment portion. A positioning convex portion is provided on one side of the platform, and a positioning concave portion for positioning the vertical position of the vertical level adjusting portion by fitting the positioning convex portion on the other side.

請求項４記載の発明は、請求項３記載の構成において、荷台支持装置は、前部および後部の弾性支持具の中間位置に、荷台を左右方向の水平軸心周りに揺動自在に支持する固定端支持具が設けられたものである。 According to a fourth aspect of the present invention, in the configuration according to the third aspect, the loading platform support device supports the loading platform in a swingable manner around a horizontal axis in the left-right direction at an intermediate position between the front and rear elastic supports. A fixed end support is provided.

請求項５記載の発明は、搬送台車の台車本体に、前後方向および左右方向にそれぞれ走行自在な走行装置を設け、台車本体上に配置された荷台の前後左右の四辺部を上下レベル調整部とし、台車本体と荷台との間に、上下レベル調整部に対応して当該上下レベル調整部を昇降自在に支持する弾性支持具を有する荷台支持装置を設け、荷台の上下レベル調整部と、荷を受渡しする荷搬入出台との一方に、複数の位置決め凸部を設けるとともに、他方に前記位置決め凸部がそれぞれ嵌合されて上下レベル調整部の上下位置を位置決めする位置決め凹部を設けたものである。 The invention according to claim 5 is provided with a traveling device capable of traveling in the front-rear direction and the left-right direction on the carriage body of the transport carriage, and the four sides on the front, rear, left and right of the loading platform arranged on the carriage body are used as the upper and lower level adjustment sections. In addition, a loading platform support device having an elastic support that supports the vertical level adjustment portion in a vertically movable manner corresponding to the vertical level adjustment portion is provided between the carriage body and the loading platform, and the vertical level adjustment portion of the loading platform and the load A plurality of positioning projections are provided on one side of the loading / unloading table to be delivered, and a positioning recess is provided on the other side to which the positioning projections are fitted to position the vertical position of the vertical level adjustment unit.

請求項６記載の発明は、請求項５記載の構成において、四辺部に対応して設けられた弾性支持具の中央部に、荷台を前後方向および左右方向に揺動自在に支持する固定端支持具を設けたものである。 According to a sixth aspect of the present invention, in the configuration of the fifth aspect, the fixed end support that supports the loading platform in a swingable manner in the front-rear direction and the left-right direction at the central portion of the elastic support provided corresponding to the four sides. A tool is provided.

請求項７記載の発明は、荷台の前部および後部の一方を、荷搬入台から単数または複数のロール体からなる荷を転がして搬入移載する荷受部とするともに、他方を荷台から荷搬出台に前記ロール体を転がして搬出移載する荷渡部とした搬送台車の荷台装置であって、前記荷渡部を上下レベル調整部とし、搬送台車の台車本体と荷台との間に、荷受部に対応して当該荷渡部を水平軸心周りに揺動自在に支持する固定端支持具を有するとともに、上下レベル調整部に対応して当該上下レベル調整部を昇降自在に支持する弾性支持具を有する荷台支持装置を設け、荷台の上下レベル調整部と荷搬入出台の一方に、複数の位置決め凸部を設けるとともに、他方に前記位置決め凸部がそれぞれ嵌合されて上下レベル調整部の上下位置を位置決めする位置決め凹部を設けたものである。 According to the seventh aspect of the present invention, one of the front part and the rear part of the loading platform is used as a load receiving unit for rolling in and loading a single or a plurality of rolls from the loading platform, and the other is loaded from the loading platform. It is a loading platform device for a transport cart that serves as a loading section that rolls the roll body onto and out of the platform, and the loading section is an upper and lower level adjustment section, between the cart body and the loading platform of the transport cart, Correspondingly, it has a fixed end support that supports the unloading part so as to be swingable around the horizontal axis, and has an elastic support that supports the vertical level adjustment part so as to be movable up and down corresponding to the vertical level adjustment part. A loading platform support device is provided, and a plurality of positioning projections are provided on one of the vertical level adjustment unit and loading / unloading platform of the loading platform, and the positioning projections are fitted to the other to position the vertical position of the vertical level adjustment unit. Position It is provided with a fit recess.

請求項８記載の発明は、請求項２，４，６および７のいずれかに記載の構成において、弾性支持具に、荷の荷重に対応して荷台の上下レベル調整部の高さを調整可能な高さ調整装置を設け、前記高さ調整装置は、上下レベル調整部の高さを検出可能な高さ検出器と、弾性支持具を固定端支持具に接近離間移動可能な調整駆動装置と、前記高さ検出器の検出データに基づいて調整駆動装置を駆動し上下レベル調整部の高さを調整可能な高さ制御装置とを具備したものである。 The invention according to claim 8 is the configuration according to any one of claims 2, 4, 6 and 7, wherein the elastic support can adjust the height of the upper and lower level adjusting portions of the loading platform in accordance with the load of the load. Provided with a height adjustment device, the height adjustment device comprising: a height detector capable of detecting the height of the vertical level adjustment unit; and an adjustment drive device capable of moving the elastic support member toward and away from the fixed end support device. And a height control device capable of adjusting the height of the upper / lower level adjusting unit by driving the adjustment driving device based on the detection data of the height detector.

請求項９記載の発明は、請求項１乃至８のいずれかに記載の構成において、位置決め凸部は、左右一対の支持部材にそれぞれ水平軸心周りに回転自在に支持されたカムローラからなり、位置決め凹部は、前記カムローラが嵌合可能なカム溝により構成され、前記カム溝が開口端ほど広がるテーパ状に拡開されたものである。 According to a ninth aspect of the present invention, in the configuration according to any one of the first to eighth aspects, the positioning convex portion includes a cam roller rotatably supported by a pair of left and right support members around a horizontal axis. The concave portion is constituted by a cam groove into which the cam roller can be fitted, and the cam groove is expanded in a tapered shape that widens toward the opening end.

請求項１記載の構成によれば、荷台支持装置により弾性支持具を介して荷台の上下レベル調整部を昇降自在に支持させ、位置決め凹部と位置決め凸部とにより、荷台の上下レベル調整部と荷搬入出台の受け面の高さを互いに一致させることができる。これにより、荷台と荷搬入出台との間の荷の移載をスムーズに行うことができ、荷の移載が困難になったり、移載時の衝撃で荷や荷台、荷搬入出台が損傷されることがない。 According to the configuration of the first aspect, the upper and lower level adjusting portion of the loading platform is supported by the loading platform supporting device via the elastic support so as to be movable up and down, and the upper and lower level adjusting portion of the loading platform and the load are supported by the positioning concave portion and the positioning convex portion. The height of the receiving surface of the loading / unloading table can be made to coincide with each other. This makes it possible to smoothly transfer the load between the loading platform and the loading / unloading platform, making it difficult to transfer the load, or damaging the loading platform, loading platform, and loading / unloading platform due to the impact during transfer. There is nothing to do.

請求項２記載の構成によれば、上下レベル調整部の反対側に固定端支持具を設けたので、荷を荷搬入出台から荷台に搬入移載する時に、荷台が低いマイナスの段差で荷台に衝撃が生じても、荷台を確実に支持することができる。これにより、弾性支持具のみで支持される荷台に比較して、荷台の振動を軽減することができる。 According to the second aspect of the present invention, since the fixed end support is provided on the opposite side of the vertical level adjustment unit, when the load is loaded into the loading platform from the loading / unloading platform, the loading platform is moved to the loading platform with a low negative step. Even if an impact occurs, the loading platform can be reliably supported. Thereby, the vibration of the loading platform can be reduced as compared with the loading platform supported only by the elastic supporter.

請求項３記載の構成によれば、荷台の前部と後部とを上下レベル調整部とすることで、荷台の前部と後部をそれぞれ荷搬入出台の受け面との高さを一致させて、荷の搬入移載や搬出移載をスムーズに行うことができ、また搬送台車の荷の搬入出姿勢の自由度を向上させることができる。 According to the configuration of claim 3, by making the front part and the rear part of the cargo bed the upper and lower level adjustment unit, the height of the front part and the rear part of the cargo bed with the receiving surface of the loading / unloading table, respectively, The loading / unloading of the load can be carried out smoothly, and the degree of freedom of the loading / unloading posture of the load of the transport carriage can be improved.

請求項４記載の構成によれば、荷台支持装置に、荷台の前部および後部に対応して設けられた弾性支持具の中間位置に、固定端支持具を設けたので、固定端支持具により荷台の中間部が昇降されることなく揺動自在に支持されるので、荷の大荷重を効果的に支持することができ、また弾性支持具のみで支持される荷台に比較して、荷台の振動を軽減することができる。 According to the configuration of the fourth aspect, since the fixed end support is provided in the intermediate position of the elastic support provided corresponding to the front portion and the rear portion of the load platform, Since the middle part of the platform is swingably supported without being raised or lowered, it is possible to effectively support a large load of the load, and compared to the platform supported only by the elastic support, Vibration can be reduced.

請求項５記載の構成によれば、荷台の前後左右の四辺部を上下レベル調整部をとして、それぞれに弾性支持具と、位置決め用凸部または位置決め用凹部を設けたので、各四辺部の高さをそれぞれ搬入出台の受け面の高さに一致させることができ、荷の移載をスムーズに行うことができ、また搬送台車の荷の受渡し姿勢の自由度を向上させることができる。 According to the fifth aspect of the present invention, the elastic support and the positioning convex portion or the positioning concave portion are provided on each of the four sides on the front, rear, left and right of the loading platform as the upper and lower level adjustment portions. The height can be matched to the height of the receiving surface of the carry-in / out table, the load can be transferred smoothly, and the degree of freedom of the load delivery posture of the transport carriage can be improved.

請求項６記載の構成によれば、荷台支持装置の四辺に対応して設けられた弾性支持具の中央部に固定端支持具を設けたので、荷台の中央部が昇降されることなく揺動自在に支持され、荷の大荷重を効果的に支持することができ、また弾性支持具のみで支持される荷台に比較して、荷台の振動を軽減することができる。 According to the configuration of the sixth aspect, since the fixed end support is provided at the center of the elastic support provided corresponding to the four sides of the bed support device, the center of the bed does not move up and down. It can be freely supported, can effectively support a large load of the load, and can reduce the vibration of the load bed as compared with the load bed supported only by the elastic supporter.

請求項７記載の構成によれば、荷としてロール体を転がして移載し、搬送する搬送台車で、荷搬出台に移載する荷台の荷渡部を上下レベル調整部として弾性支持具で支持し、上下レベル調整部と荷搬出台に設けた位置決め凸部と位置決め凹部とにより、荷台の荷渡部と搬出台の受け面の高さを一致させることができるので、ロール体を荷台から荷搬出台に転がしてスムーズに移載して搬出することができ、段差による衝撃もなく、荷搬出台やロール体が損傷することもない。 According to the configuration of the seventh aspect, the roll body is rolled and transferred as a load, and is transported and transported, and the unloading portion of the loading platform to be transferred to the loading / unloading table is supported by the elastic support as the vertical level adjusting portion. The height of the loading part of the loading platform and the receiving surface of the loading platform can be made to coincide with each other by the positioning projections and positioning recesses provided on the vertical level adjustment unit and the loading platform, so that the roll body can be unloaded from the loading platform. Can be smoothly transferred and carried out, there is no impact due to a level difference, and the load carrying table and the roll body are not damaged.

請求項８記載の構成によれば、高さ調整装置により、高さ検出器の検出信号に基づいて、調整駆動装置により弾性支持具を固定端支持具に接近または離間させることにより、弾性支持具に加わる固定端支持具を中心とするモーメントを増減させて弾性支持具の伸縮量を変化させ、荷渡部の高さを、位置決め凸部と位置決め凹部とが嵌合可能な範囲に保持することができる。これにより、荷の荷重変動に容易に対応することができる。 According to the configuration of the eighth aspect of the invention, the elastic support member is moved closer to or away from the fixed end support member by the adjustment driving device based on the detection signal of the height detector by the height adjustment device. The amount of expansion and contraction of the elastic support is changed by increasing / decreasing the moment about the fixed end support applied to the load, and the height of the unloading part is maintained within a range where the positioning convex part and the positioning concave part can be fitted. it can. Thereby, it can respond easily to the load fluctuation of a load.

請求項９記載の構成によれば、位置決め凸部をカムローラとするとともに位置決め凹部をカム溝とし、カム溝の開口部をテーパ状に拡開したので、荷台を上下方向に変位させて、荷台と荷搬入出台、または荷台と荷搬出台の高さをスムーズに一致させることができる。 According to the configuration of the ninth aspect, since the positioning convex portion is a cam roller and the positioning concave portion is a cam groove, and the opening of the cam groove is expanded in a tapered shape, the cargo bed is displaced in the vertical direction, The height of the loading / unloading table or the loading table and the loading / unloading table can be smoothly matched.

以下、本発明の実施の形態を図面に基づいて説明する。
［実施の形態１］
本発明に係る搬送台車の荷台装置を図１〜図８を参照して説明する。図１〜図４に示すように、この搬送台車は自動的に荷を搬送する電動式の無人搬送車１で、無人搬送車１は、荷であるたとえば単数または複数のロール体Ｍを無人搬送車１の荷台２に搬入または搬出する移載作業が行われる。すなわち、作業員により、ロール体Ｍを転がして荷搬入台（荷搬入出台）Ｓ上から荷台２の後部の荷受部２ａに搬入移載し、作業員によりロール体Ｍを転がして荷台２の前部の荷渡部２ｂから荷搬出台（荷搬入出台）Ｒに搬出移載する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Embodiment 1]
A carrier device for a transport cart according to the present invention will be described with reference to FIGS. As shown in FIGS. 1 to 4, this transport cart is an automatic unmanned transport vehicle 1 that automatically transports a load, and the unmanned transport vehicle 1 unmanned transports, for example, one or a plurality of roll bodies M that are loads. A transfer operation for carrying in or out of the loading platform 2 of the car 1 is performed. That is, an operator rolls the roll body M and loads and transfers it from the loading / unloading base (loading / unloading base) S to the load receiving portion 2a at the rear of the loading base 2, and the operator rolls the roll body M in front of the loading base 2 Unloading / transferring from the unloading part 2b of the part to a loading / unloading table (loading / unloading table) R.

台車本体３の底部に設けられた走行装置４は、前部の中央位置に配置された換向輪４ａと、後部に配置された左右一対の駆動輪４ｂとを具備し、左右の駆動輪４ｂを回転駆動して台車本体３を前後方向に走行させるとともに、換向輪４ａを図示しないステアリング装置により走行方向を換向することができる。また台車本体３の換向輪４ａと駆動輪４ｂの間に、駆動輪４ｂの駆動電源であるバッテリー７が搭載され、図示しない充電ソケットを介してバッテリー７が充電可能に構成されている。８Ｆ，８Ｒは台車本体３の前部と後部に設けられた緩衝用バンパーである。 The traveling device 4 provided at the bottom of the cart body 3 includes a diverting wheel 4a disposed at the front center position and a pair of left and right driving wheels 4b disposed at the rear, and the left and right driving wheels 4b. Can be rotated to drive the cart body 3 in the front-rear direction, and the turning direction of the turning wheel 4a can be changed by a steering device (not shown). Further, a battery 7 as a driving power source for the driving wheel 4b is mounted between the diverting wheel 4a and the driving wheel 4b of the cart body 3, and the battery 7 is configured to be rechargeable via a charging socket (not shown). 8F and 8R are buffer bumpers provided at the front and rear of the carriage body 3.

台車本体３には、図４に示す走行床面に敷設された磁気テープなどからなる誘導路Ｌとその位置データＰを検出するための検出センサ（図示せず）が設けられており、コントロールパネル５から入力された搬送指令と、前記検出センサにより検出された位置データＰとに基づいて自動的に走行して、荷台２に載せたロール体Ｍを荷搬入台Ｓから目的の荷搬出台Ｒまで自動搬送する。 The cart body 3 is provided with a guide path L made of a magnetic tape or the like laid on the traveling floor shown in FIG. 4 and a detection sensor (not shown) for detecting the position data P thereof, and a control panel. 5 automatically moves on the basis of the conveyance command inputted from 5 and the position data P detected by the detection sensor, and the roll body M placed on the loading platform 2 is transferred from the loading table S to the target loading table R. Automatically conveys to

この無人搬送車１では、荷台２から荷搬出台Ｒに搬出移載する場合、ロール体Ｍを転がして移動させると、荷台２の受け面２ｄより荷搬出台Ｒの受け面が高くなるプラスの段差があると、ロール体Ｍを転がして移載するのが困難になったり、無理に転がして移載するとロール体Ｍを損傷させる恐れがある。反対に荷搬出台Ｒの受け面が低くなるマイナスの段差があると、荷搬出台Ｒに衝撃を与えてロール体Ｍや荷搬出台Ｒを損傷させる恐れがある。このため、本発明では荷台２の荷渡部２ｂを上下レベル調整部とし、荷渡部２ｂの高さを荷搬出台Ｒの受け面の高さに一致させるために、荷渡部２ｂを昇降自在に支持する荷台支持装置１１を設けるとともに、荷渡部２ｂに設けられた位置決め用凸部１５と、荷搬入台Ｒに設けられた位置決め用凹部１６とが具備されている。 In this automatic guided vehicle 1, when unloading and transferring from the loading platform 2 to the loading platform R, if the roll body M is rolled and moved, the receiving surface of the loading platform R becomes higher than the receiving surface 2 d of the loading platform 2. If there is a level difference, it may be difficult to roll and transfer the roll body M, or the roll body M may be damaged if it is forced to roll and transfer. On the other hand, if there is a negative step in which the receiving surface of the unloading table R is lowered, there is a risk of damaging the roll body M and the unloading table R by giving an impact to the unloading table R. For this reason, in the present invention, the unloading portion 2b of the loading platform 2 is used as an upper / lower level adjusting portion, and the unloading portion 2b is supported so as to be movable up and down in order to match the height of the loading portion 2b with the height of the receiving surface of the unloading table R The loading platform support device 11 is provided, and the positioning convex portion 15 provided in the unloading portion 2b and the positioning concave portion 16 provided in the loading table R are provided.

すなわち、図５，図７に示すように、荷台支持装置１１は、台車本体３と荷台２との間に、荷台２の後部の荷受部２ａに対応して、荷台２をヒンジ部材に水平ピン（水平軸心）１２ａを介して揺動自在に支持する固定端支持具１２が設けられ、また荷台２の前部の荷渡部２ｂに対応して、荷渡部２ｂを所定範囲で昇降自在に支持する弾性支持具１３が設けられている。 That is, as shown in FIGS. 5 and 7, the loading platform support device 11 is provided between the cart body 3 and the loading platform 2 so as to correspond to the cargo receiving portion 2 a at the rear of the loading platform 2, with the loading platform 2 as a hinge member. (Horizontal axis) A fixed-end support 12 is provided that is swingably supported via a 12a, and supports the unloading portion 2b so that it can be raised and lowered within a predetermined range corresponding to the unloading portion 2b at the front of the loading platform 2. An elastic support 13 is provided.

前記弾性支持具１３は、図６，図８（ａ）に示すように、幅方向に所定間隔をあけて配置され複数本（図は４本）の伸縮具１４からなり、これら伸縮具１４は、台車本体３上の支持フレーム３ａに立設された外筒部１４ａに、荷渡部２ｂの受け具２ｃから垂下された軸部１４ｂがスライド自在に嵌合されて伸縮筒１４ｃが形成され、前記支持フレーム３ａと受け具２ｃとの間で伸縮筒１４ｃに外嵌されたコイルばね１４ｄが介在されて構成されている。またこれら伸縮具１４は、着脱自在にボルト止めされて、ロール体Ｍの荷重に応じて、異なる弾性（ばね係数）のものと交換可能に構成されている。 As shown in FIG. 6 and FIG. 8A, the elastic support tool 13 is composed of a plurality of (four in the figure) stretchable tools 14 arranged at predetermined intervals in the width direction. The shaft part 14b suspended from the receiving member 2c of the unloading part 2b is slidably fitted to the outer cylinder part 14a erected on the support frame 3a on the carriage body 3 to form the telescopic cylinder 14c. A coil spring 14d externally fitted to the telescopic cylinder 14c is interposed between the support frame 3a and the support 2c. In addition, these extenders 14 are detachably bolted and configured to be exchangeable with ones having different elasticity (spring coefficient) according to the load of the roll body M.

前記位置決め凸部１５は、図１，図２に示すように、荷台２の荷渡部２ｂの前部で受け面２ｄの下部に左右一対が配置されており、位置決め凸部１５は、荷台２から左右一対の板状の支持部材１５ａが突設され、これら支持部材１５ａの先端部外面にそれぞれカムローラ１５ｂが水平軸心周りに回転自在に支持されている。 As shown in FIGS. 1 and 2, the positioning protrusions 15 are arranged in a pair of left and right at the front part of the unloading part 2 b of the loading platform 2 and below the receiving surface 2 d. A pair of left and right plate-like support members 15a are projected, and cam rollers 15b are rotatably supported around the horizontal axis on the outer surfaces of the tips of these support members 15a.

また位置決め凹部１６は、荷搬出台Ｒの下部で位置決め凸部１５に対向して配置されて、そのカムローラ１５ｂが嵌合可能なカム溝１６ａが設けられている。これら位置決め凹部１６は、たとえば図３に示すように、一対の基板１６ｂの対向面に、上下一対のガイド板１６ｃが突設されてカム溝１６ａが形成されており、カム溝１６ａは、ガイド板１６ｃの間隔が開口端ほど拡開されたテーパ部１６ｄを有し、ロール体Ｍの荷重の変動や、走行面の変位による荷渡部２ｂの上下位置の許容範囲内でカムローラ１５ｂを受け入れて案内するように構成されている。前記位置決め凸部１５と位置決め凹部１６とは、それぞれ左右一対を配置したが、単数であっても、または３個以上であってもよい。 Further, the positioning recess 16 is disposed at the lower part of the unloading table R so as to face the positioning projection 15 and is provided with a cam groove 16a into which the cam roller 15b can be fitted. For example, as shown in FIG. 3, the positioning recesses 16 have a pair of upper and lower guide plates 16c projecting from opposite surfaces of a pair of substrates 16b to form cam grooves 16a. The cam grooves 16a are formed as guide plates. 16c has a taper portion 16d that is widened toward the opening end, and receives and guides the cam roller 15b within an allowable range of the vertical position of the unloading portion 2b due to fluctuations in the load of the roll body M and displacement of the running surface. It is configured as follows. The positioning convex portion 15 and the positioning concave portion 16 are arranged in a pair on the left and right, but may be singular or three or more.

荷台２の前部と後部には、図２に示すように、ロール体Ｍの転がりを防止する前後一対の可動ストッパー１７Ｆ，１７Ｒが前後方向に位置調整自在に設けられており、これら可動ストッパー１７Ｆ，１７Ｒは対称構造であるため、前部の可動ストッパー１７Ｆのみを説明する。 As shown in FIG. 2, a pair of front and rear movable stoppers 17F and 17R for preventing the roll body M from rolling are provided at the front and rear parts of the loading platform 2 so as to be position-adjustable in the front-rear direction. These movable stoppers 17F , 17R have a symmetrical structure, only the front movable stopper 17F will be described.

可動ストッパー１７Ｆは、図８に示すように、荷台２の左右側面に沿ってアリ溝形のガイド溝１７ｂがそれぞれ形成され、これらガイド溝１７ｂにスライドブロック１７ａがそれぞれ移動自在に嵌合されている。そしてスライドブロック１７ａの外側面に突設された水平ピン１７ｃに、揺動プレート１７ｄが揺動自在に支持され、左右の揺動プレート１７ｄの遊端部間に受けロッド１７ｅが貫通して連結固定されている。また受けロッド１７ｅには、揺動プレート１７ｄの内側に端板１７ｆが取り付けられ、左右の端板１７ｆ間に受け面２ｄに対応する受けプレート１７ｇが取り付けられ、また左右の端板１７ｆの内面に位置決めピン１７ｈが突設されている。さらに受けロッド１７ｅの両端部にそれぞれ操作プレート１７ｉが取り付けられている。さらにまた、荷台２で受け面２ｄの前端部および後端部に、受けロッド１７ｅと受けプレート１７ｇを収容する三角形断面の収容凹部１７ｊがそれぞれ形成されている。また荷台２の左右側縁部に沿って、位置決めピン１７ｈを案内するととも一定間隔ごとに位置決め可能な凹部が形成されたガイドレール１７ｋがそれぞれ配設されている。そして、ガイドレール１７ｋの収容凹部１７ｊの対応部に、下方に傾斜する倒伏傾斜部１７ｍが形成されている。 As shown in FIG. 8, the movable stopper 17F is formed with dovetail guide grooves 17b along the left and right side surfaces of the loading platform 2, and slide blocks 17a are movably fitted in the guide grooves 17b. . The swing plate 17d is swingably supported by a horizontal pin 17c projecting from the outer surface of the slide block 17a, and the receiving rod 17e penetrates between the free ends of the left and right swing plates 17d and is fixedly connected. Has been. An end plate 17f is attached to the receiving rod 17e on the inner side of the swing plate 17d, a receiving plate 17g corresponding to the receiving surface 2d is attached between the left and right end plates 17f, and the inner surfaces of the left and right end plates 17f are attached. A positioning pin 17h is projected. Further, operation plates 17i are attached to both ends of the receiving rod 17e. Furthermore, a receiving section 17j having a triangular cross section for receiving the receiving rod 17e and the receiving plate 17g is formed at the front end portion and the rear end portion of the receiving surface 2d of the loading platform 2, respectively. Guide rails 17k are provided along the left and right side edges of the loading platform 2 and are provided with recesses that can be positioned at regular intervals while guiding the positioning pins 17h. And the fall inclination part 17m which inclines below is formed in the corresponding | compatible part of the accommodation recessed part 17j of the guide rail 17k.

したがって、作業員により可動ストッパー１７Ｆ，１７Ｒが受け面２ｄの前端部および後端部に移動されると、位置決めピン１７ｈがガイドレール１７ｋの収容傾斜部１７ｍに案内されて揺動プレート１７ｄが倒伏され、受けロッド１７ｅおよび受けプレート１７ｇが収容凹部１７ｊ内に収容された開放姿勢となり、ロール体Ｍの転がりを許容する。また作業員により操作プレート１７ｉを操作して、可動ストッパー１７Ｆを中間部側に移動すると、位置決めピン１７ｈが収容傾斜部１７ｍからガイドレール１７ｋ上に乗り上げて揺動プレート１７ｄを起立させ、受けロッド１７ｅおよび受けプレート１７ｇが受け面２ｄから突出されてロール体Ｍの転がりを規制する係止姿勢となる。 Therefore, when the movable stoppers 17F and 17R are moved by the operator to the front end portion and the rear end portion of the receiving surface 2d, the positioning pin 17h is guided to the accommodation inclined portion 17m of the guide rail 17k, and the swing plate 17d is laid down. The receiving rod 17e and the receiving plate 17g are in an open posture in which they are accommodated in the accommodating recess 17j, and the roll body M is allowed to roll. Further, when the operator operates the operation plate 17i to move the movable stopper 17F to the intermediate portion side, the positioning pin 17h rides on the guide rail 17k from the accommodation inclined portion 17m and raises the swing plate 17d, and the receiving rod 17e. And the receiving plate 17g protrudes from the receiving surface 2d, and it becomes the latching attitude which controls the rolling of the roll body M.

上記構成において、無人搬送車１を後退させて荷台２の荷受部２ａを荷搬入台Ｓに接近させ停止させる。次いで、前部の可動ストッパー１７Ｆを後方の所定位置までスライドさせて係止姿勢とする。 In the above configuration, the automatic guided vehicle 1 is moved backward to bring the load receiving portion 2a of the loading platform 2 closer to the loading platform S and stopped. Next, the movable stopper 17F at the front part is slid to a predetermined position at the rear to obtain a locking posture.

荷搬入台Ｓからロール体Ｍを転がして荷台２の荷渡部２ｂに積み込む。この時、荷搬入台Ｓの高さより荷渡部２ｂが高くて、ロール体Ｍの荷重で荷台２に衝撃を与えることがあっても、固定端支持具１２により荷台２を確実に支持することができる。そしてロール体Ｍを荷台２の受け面２ｄ上で転がして前部の可動ストッパー１７Ｆに係止させる。荷搬入台Ｓから次のロール体Ｍを転がして荷台２の荷渡部２ｂから受け面２ｄに積み込み、先のロール体Ｍに当接させる。 The roll body M is rolled from the loading platform S and loaded onto the unloading portion 2b of the loading platform 2. At this time, even if the unloading portion 2b is higher than the height of the loading table S and the load 2 is impacted by the load of the roll body M, the loading table 2 can be reliably supported by the fixed end support 12. it can. Then, the roll body M is rolled on the receiving surface 2d of the loading platform 2 and locked to the front movable stopper 17F. The next roll body M is rolled from the loading platform S and loaded onto the receiving surface 2d from the unloading portion 2b of the loading platform 2 and brought into contact with the previous roll body M.

全てのロール体Ｍの積み込みが完了すると、後部の可動ストッパー１７Ｒを前方にスライドさせて係止姿勢とし、最後尾のロール体Ｍに当接させる。
荷台２の側面に配置された走行開始ボタン６を押すと、無人搬送車１がコントロールパネル５に予め入力された搬送指令と、前記検出センサにより検出された誘導路Ｌの位置データＰとに基づいて走行し、自動的に目的の荷搬出台Ｒまでロール体Ｍを搬送する。誘導路Ｌの位置データＰに基づいて左右方向に位置決めされた無人搬送車１が前進して荷搬出台Ｒに接近すると、位置決め凸部１５のカムローラ１５ｂが位置決め凹部１６のカム溝１６ａに嵌り込み、荷台２の荷渡部２ｂの上下位置が位置決めされ、荷渡部２ｂの高さと荷搬出台Ｒの受け面の高さが一致される。 When the loading of all the roll bodies M is completed, the rear movable stopper 17R is slid forward to the locking posture and brought into contact with the last roll body M.
When the travel start button 6 arranged on the side surface of the loading platform 2 is pressed, the automatic guided vehicle 1 is based on the transport command input in advance to the control panel 5 and the position data P of the guide path L detected by the detection sensor. The roll body M is automatically transported to the target loading table R. When the automated guided vehicle 1 positioned in the left-right direction based on the position data P of the guide path L moves forward and approaches the unloading table R, the cam roller 15b of the positioning convex portion 15 is fitted into the cam groove 16a of the positioning concave portion 16. The vertical position of the unloading portion 2b of the loading platform 2 is positioned, and the height of the unloading portion 2b and the height of the receiving surface of the unloading platform R are matched.

前部の可動ストッパー１７Ｆを前端までスライドして収容凹部１７ｈ内に収容し開放姿勢とした後、最前部のロール体Ｍから順次荷台２上を転がして荷渡部２ｂから荷搬出台Ｒの受け面に移載する。 After the front movable stopper 17F is slid to the front end and accommodated in the accommodating recess 17h to be in an open posture, the receiving surface of the unloading base R from the unloading part 2b is rolled by sequentially rolling on the loading platform 2 from the frontmost roll body M. To be transferred to.

上記実施の形態によれば、ロール体Ｍを転がして荷台２に移載する無人搬送台車１で、荷搬出台Ｒに移載する荷台２の荷渡部２ｂを弾性支持具１３で支持するとともに、荷台２の荷渡部２ｂに設けた位置決め凸部１５と、荷搬出台Ｒに設けた位置決め凹部１６とにより、荷渡部２ｂの高さと荷搬出台Ｒの受け面の高さを一致させることができるので、ロール体Ｍを転がして荷台２の荷渡部２ｂから荷搬出台Ｒにスムーズに搬出移載することができ、段差による衝撃もなく、荷搬出台Ｒやロール体Ｍが損傷することもない。 According to the above embodiment, the unmanned transport cart 1 that rolls the roll body M and transfers it to the loading platform 2, and supports the unloading portion 2 b of the loading platform 2 to be transferred to the loading / unloading platform R with the elastic support 13. The positioning projection 15 provided in the unloading part 2b of the loading platform 2 and the positioning recess 16 provided in the unloading table R can make the height of the loading unit 2b coincide with the height of the receiving surface of the loading table R. Therefore, the roll body M can be rolled and smoothly transferred from the unloading portion 2b of the loading platform 2 to the loading / unloading table R, there is no impact due to a step, and the loading table R and the roll body M are not damaged. .

また位置決め凸部１５にカムローラ１５ｂを設けるとともに、位置決め凹部１６にカム溝１６ａ設け、さらにカム溝１６ａの開口部を拡開させるテーパ部１６ｄに形成したので、テーパ部１６ｄによりカムローラ１５ｂをカム溝１６ａに案内して、荷渡部２ｂと搬出台Ｓの受け面の高さをスムーズに一致させることができる。 In addition, the cam roller 15b is provided in the positioning convex portion 15, the cam groove 16a is provided in the positioning concave portion 16, and the tapered portion 16d is formed to expand the opening of the cam groove 16a. The height of the receiving surface of the unloading part 2b and the carry-out stand S can be made to correspond smoothly.

［実施の形態２］
実施の形態１の荷台支持装置１１では、ロール体Ｍによる荷重変動による荷渡部２ｂの上下変位に従って、弾性係数の異なる弾性支持具１３と交換するように構成としたが、本発明に係る実施の形態２では、荷渡部２ｂの高さを自動的に適正範囲に保持する高さ調整装置２１を設けたものである。図９〜図１２を参照して説明する。 [Embodiment 2]
In the loading platform support device 11 of the first embodiment, the configuration is such that the elastic support 13 having a different elastic coefficient is exchanged in accordance with the vertical displacement of the unloading portion 2b due to the load fluctuation caused by the roll body M. In the second embodiment, a height adjusting device 21 that automatically maintains the height of the unloading portion 2b in an appropriate range is provided. This will be described with reference to FIGS.

図９に示すように、高さ調整装置２１は、伸縮具１４を前後方向に移動自在に支持する支持具ガイド機構２２と、荷渡部２ｂの高さを検出可能なたとえばレーザ式や電磁式などからなる高さ検出器２３と、弾性支持具１３を固定端支持具１２に対して接近離間移動可能な油圧式の調整シリンダ（調整駆動装置）２４と、高さ検出器２３の検出データに基づいて調整シリンダ２４を操作する高さ制御装置２５とを具備している。 As shown in FIG. 9, the height adjusting device 21 includes a support tool guide mechanism 22 that supports the extendable tool 14 so as to be movable in the front-rear direction, and can detect the height of the unloading portion 2 b, such as a laser type or an electromagnetic type. Based on the detection data of the height detector 23, the hydraulic adjustment cylinder (adjustment drive device) 24 that can move the elastic support 13 toward and away from the fixed end support 12, and the height detector 23. And a height control device 25 for operating the adjusting cylinder 24.

弾性支持具１３には、複数本（図では４本）の伸縮具１４が上支持板３３Ｄと下支持板３３Ｕとの間に左右方向に所定間隔をあけて連結配置されている。支持具ガイド機構２２は、支持フレーム３ａの上面に左右一対の下部スライドレール３１Ｄが前後方向に配設され、これら下部スライドレール３１Ｄにスラストベアリング３２Ｄを介して下支持板３３Ｄの両端部が前後方向にスライド自在に支持されている。一方、荷台２の底面には、左右一対の上部スライドレール３１Ｕが前後方向に配設され、これら上部スライドレール３１Ｕに上支持板３３Ｕがスラストベアリング３２Ｕを介して前後方向にスライド自在に案内されている。また前記上支持板３３Ｕと下支持板３３Ｄは、両端部に配設された昇降ガイド部３４を介して互いに接近離間自在に連結されている。 A plurality of (four in the figure) extenders 14 are connected and arranged on the elastic support 13 at a predetermined interval in the left-right direction between the upper support plate 33D and the lower support plate 33U. In the support tool guide mechanism 22, a pair of left and right lower slide rails 31D are disposed in the front-rear direction on the upper surface of the support frame 3a, and both end portions of the lower support plate 33D are disposed in the front-rear direction via thrust bearings 32D on the lower slide rail 31D. Is slidably supported. On the other hand, a pair of left and right upper slide rails 31U are arranged in the front-rear direction on the bottom surface of the loading platform 2, and an upper support plate 33U is guided by these upper slide rails 31U through a thrust bearing 32U so as to be slidable in the front-rear direction. Yes. Further, the upper support plate 33U and the lower support plate 33D are connected to each other so as to be able to approach and separate from each other via an elevating guide portion 34 disposed at both ends.

さらに支持フレーム３ａ上には、弾性支持具１３を固定端支持具１２に対して接近離間する方向にスライドさせる油圧式の調整シリンダ２４が設けられ、ピストンロッド２４ａが下支持板３３Ｄに連結されている。 Further, on the support frame 3a, a hydraulic adjustment cylinder 24 is provided for sliding the elastic support 13 in a direction approaching and separating from the fixed end support 12. The piston rod 24a is connected to the lower support plate 33D. Yes.

したがって、大重量のロール体Ｍが荷台２に移載されて荷渡部２ｂが下降し、高さ検出器２３により荷渡部２ｂの高さｈが適正範囲より低くなったのが検出されると、高さ制御装置２４により切換弁２６が操作されて油圧ユニットやアキュムレータなどの油圧源２７から所定量の圧油が調整シリンダ２４の収縮室に供給されるとともに伸展室の圧油が排出され、ピストンロッド２４ａが収縮される。これにより弾性支持具１３が固定端支持具１２に所定距離接近され、伸縮具１４に対する固定端支持具１２を中心とするモーメントが減少されることにより、伸縮具１４が伸展されて荷渡部２ｂの高さｈが適正範囲に保持される。 Therefore, when the heavy roll body M is transferred to the loading platform 2, the unloading portion 2b is lowered, and the height detector 23 detects that the height h of the unloading portion 2b is lower than the appropriate range. The switching valve 26 is operated by the height control device 24 so that a predetermined amount of pressure oil is supplied from the hydraulic source 27 such as a hydraulic unit or an accumulator to the contraction chamber of the adjustment cylinder 24 and the pressure oil in the extension chamber is discharged. The rod 24a is contracted. As a result, the elastic support 13 is moved closer to the fixed end support 12 by a predetermined distance, and the moment around the fixed end support 12 with respect to the expansion / contraction tool 14 is reduced, so that the expansion / contraction tool 14 is extended and the unloading part 2b The height h is maintained within an appropriate range.

また小重量のロール体Ｍが荷台２に移載されて荷渡部２ｂが上昇し、高さ検出器２３により荷渡部２ｂの高さｈが適正範囲より高くなったのが検出されると、高さ制御装置２４により切換弁２６が操作されて油圧源２７から所定量の圧油が調整シリンダ２４の伸展室に供給されるとともに収縮室の圧油が排出され、調整シリンダ２４が伸展される。これにより弾性支持具１３が固定端支持具１２から所定距離離間され、伸縮具１４に対する固定端支持具１２を中心とするモーメントが増大されることにより伸縮具１４が収縮され、荷渡部２ｂの高さｈが減少されて荷渡部２ｂの高さｈが適正範囲内に保持される。したがって、荷渡部２ｂの高さｈが適正範囲内に保持されることにより、カムローラ１５ｂが位置決め凹部１６のテーパ部１６ｄからカム溝１６ａにスムーズに嵌合されて、ロール体Ｍによる荷重変動に自動的に対応することができる。 Further, when the small weight roll body M is transferred to the loading platform 2 and the unloading portion 2b rises, and the height detector 23 detects that the height h of the unloading portion 2b is higher than the appropriate range, The control valve 24 is operated by the control device 24 so that a predetermined amount of pressure oil is supplied from the hydraulic source 27 to the extension chamber of the adjustment cylinder 24 and the pressure oil in the contraction chamber is discharged, and the adjustment cylinder 24 is extended. As a result, the elastic support 13 is separated from the fixed-end support 12 by a predetermined distance, and the moment about the fixed-end support 12 with respect to the stretchable tool 14 is increased, whereby the stretchable tool 14 is contracted, and the height of the unloading portion 2b is increased. The length h is reduced, and the height h of the unloading portion 2b is maintained within an appropriate range. Therefore, when the height h of the unloading portion 2b is maintained within an appropriate range, the cam roller 15b is smoothly fitted into the cam groove 16a from the taper portion 16d of the positioning recess 16, and the load variation due to the roll body M is automatically adjusted. Can respond.

なお、実施の形態１，２において、荷台２の荷渡部２ｂに位置決め凸部１５を設け、荷搬入台Ｒに位置決め凹部１６を設けたが、荷台２の荷渡部２ｂに位置決め凹部１６を設け、荷搬入台Ｒに位置決め凸部１５を設けてもよい。また位置決め凸部１５のカムローラ１５ｂと、位置決め凹部１６のカム溝１６ａとを３個以上設けることもできる。 In the first and second embodiments, the positioning convex portion 15 is provided in the unloading portion 2b of the loading platform 2, and the positioning recess 16 is provided in the loading platform R. However, the positioning concave portion 16 is provided in the loading portion 2b of the loading platform 2, The positioning projection 15 may be provided on the loading table R. Further, three or more cam rollers 15b of the positioning convex portion 15 and cam grooves 16a of the positioning concave portion 16 can be provided.

また荷台２の後部を荷受部２ａ、前部を荷渡部２ｂとしたが、荷受、荷渡に関わることなく、荷搬入台Ｓから荷台２の前部にロール体Ｍを搬入移載してもよいし、荷台２の前部から荷搬出台Ｒにロール体Ｍを搬出移載してもよい。 Further, although the rear part of the loading platform 2 is the cargo receiving part 2a and the front part is the loading part 2b, the roll body M can be carried from the loading stage S to the front part of the loading platform 2 without being involved in the receiving and delivery. Alternatively, the roll body M may be unloaded from the front part of the loading platform 2 to the loading table R.

さらに、荷台２の受け面２ｄや荷搬入台Ｓ、荷搬出台Ｒの受け面に搬送ローラなどの荷搬送具を設けてもよい。
さらにまた、調整駆動装置を油圧式の調整シリンダ２４により構成したが、電動ジャッキや電動アクチュエータ、ボールねじ式駆動装置などの直線駆動装置を使用することもできる。 Furthermore, a load conveying tool such as a conveyance roller may be provided on the receiving surface 2d of the loading platform 2, the loading table S, and the receiving surface of the loading table R.
Furthermore, although the adjustment drive unit is configured by the hydraulic adjustment cylinder 24, a linear drive unit such as an electric jack, an electric actuator, or a ball screw type drive unit may be used.

［実施の形態３］
上記実施の形態１，２では、台車本体３の前部の荷渡部２ｂを上下レベル調整部としたが、図１３，図１４に示す本発明に係る実施の形態３の荷台支持装置４１は、荷台２の前部と後部とをそれぞれ上下レベル調整部とし、これら荷台２の前部と後部の受け面２ｄの高さを、荷搬入台Ｓおよび荷搬出台Ｒの受け面の高さに一致させて、荷の搬入移載と搬出移載とを行うことができるものである。なお、上記実施の形態１と同一部材には同一符号を付して説明を省略する。 [Embodiment 3]
In the first and second embodiments, the unloading portion 2b at the front portion of the cart body 3 is the vertical level adjusting portion. However, the loading platform support device 41 according to the third embodiment of the present invention shown in FIGS. The front part and the rear part of the loading platform 2 are respectively set as the vertical level adjustment sections, and the heights of the receiving surfaces 2d of the front and rear parts of the loading platform 2 coincide with the heights of the receiving surfaces of the loading table S and the loading table R. Thus, loading and unloading of loads can be performed. Note that the same members as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

ここで、荷はロール体Ｍに限るものではない。もちろん、荷台２や荷搬入台Ｓ、荷搬出台Ｒの受け面にローラコンベヤなどの荷搬送具を設けて荷を搬入出してもよい。
荷台支持装置４１は、荷台２の前部と後部に対応して、複数の伸縮具１４を有する弾性支持具１３がそれぞれ配置されている。また荷台２の前部と後部にそれぞれカムローラ１５ｂを有する位置決め凸部１５（または位置決め凹部１６）が設けられ、荷搬入台Ｓおよび荷搬出台Ｒにそれぞれカム溝１６ａを有する位置決め凹部１６（または位置決め凸部１５）が設けられている。 Here, the load is not limited to the roll body M. Of course, a load carrying tool such as a roller conveyor may be provided on the receiving surface of the loading platform 2, loading / unloading platform S, or loading / unloading platform R to load / unload the load.
In the carrier support device 41, the elastic supports 13 having a plurality of extenders 14 are respectively arranged corresponding to the front part and the rear part of the carrier 2. In addition, positioning convex portions 15 (or positioning concave portions 16) each having a cam roller 15b are provided at the front portion and the rear portion of the loading platform 2, and positioning concave portions 16 (or positioning portions) each having a cam groove 16a at the loading table S and the loading table R. Protrusions 15) are provided.

上記構成によれば、荷台２の前部および後部を上下レベル調整部とし、荷台支持装置４１に上下レベル調整部に対応して弾性支持具１３を配置し、荷台２の前部または後部を選択的に荷搬入台Ｓまたは荷搬出台Ｒに接近させ、荷台支持装置４１と、位置決め凸部１５および位置決め凹部１６とにより、荷台２の上下レベル調整部の高さと荷搬入台Ｓまたは荷搬出台Ｒの受け面の高さとを一致させることができるので、荷の搬入移載および搬出移載をスムーズに行うことができる。また荷の移載のための無人搬送車１の移載姿勢を荷台２の前部と後部から任意に選択することができ、移載姿勢の選択の自由度を向上させることができる。 According to the above configuration, the front part and the rear part of the loading platform 2 are used as the upper and lower level adjustment units, the elastic support tool 13 is disposed in the loading platform support device 41 corresponding to the upper and lower level adjustment units, and the front part or the rear part of the loading platform 2 is selected. Accordingly, the height of the upper and lower level adjustment unit of the loading platform 2 and the loading platform S or the loading platform are determined by the loading platform support device 41, the positioning convex portion 15 and the positioning concave portion 16, respectively. Since the height of the receiving surface of R can be made to coincide, the loading and unloading of the load can be carried out smoothly. Moreover, the transfer posture of the automatic guided vehicle 1 for transferring the load can be arbitrarily selected from the front and rear portions of the loading platform 2, and the degree of freedom in selecting the transfer posture can be improved.

図１４は、本発明に係る実施の形態３の変形例で、荷台支持装置５１は、荷台２の前部と後部の上下レベル調整部に対応して配置された弾性支持具１３の間に、ヒンジ部材に左右方向の水平ピン１２ａを介して荷台２を揺動自在に支持する固定端支持具１２を設けたものである。なお、上記実施の形態１と同一部材には同一符号を付して説明を省略する。 FIG. 14 is a modification of the third embodiment according to the present invention, in which the cargo bed support device 51 is disposed between the elastic supports 13 arranged corresponding to the upper and lower level adjustment portions of the front and rear of the cargo bed 2. The hinge member is provided with a fixed end support 12 for swingably supporting the loading platform 2 via a horizontal pin 12a in the left-right direction. Note that the same members as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

上記構成によれば、荷台支持装置５１に、荷台２の前部および後部の上下レベル調整部に対応して設けられた弾性支持具１３の中間位置に、固定端支持具１２を設けたので、荷台２の中間部が昇降されることがなく大重量の荷を確実に支持することができ、また弾性支持具１３のみで支持される荷台に比較して、荷台２の振動を軽減して安定して支持することができる。 According to the above configuration, the fixed end support 12 is provided in the intermediate position of the elastic support 13 provided corresponding to the upper and lower level adjustment portions of the front and rear of the load carrier 2 in the load carrier support device 51. The middle part of the loading platform 2 is not lifted or lowered, so that a heavy load can be reliably supported, and compared with a loading platform that is supported only by the elastic support 13, vibration of the loading platform 2 is reduced and stable. Can be supported.

［実施の形態４］
図１５，図１６は、本発明に係る実施の形態４で、この荷台支持装置６１は、荷台２の前後と左右の四辺部をそれぞれ上下レベル調整部とし、これら荷台２の四辺部の受け面２ｄの高さを、荷搬入台Ｓおよび荷搬出台Ｒの受け面の高さに一致させて、荷の搬入移載と搬出移載とを行うことができるものである。なお、実施の形態１と同一部材には同一符号を付して説明を省略する。 [Embodiment 4]
FIGS. 15 and 16 are Embodiments 4 according to the present invention, and this carrier support device 61 uses the front and rear and left and right four sides of the carrier 2 as upper and lower level adjusting parts, respectively, and the receiving surfaces of these four sides of the carrier 2. The height of 2d can be matched with the height of the receiving surfaces of the loading / unloading table S and the loading / unloading table R, so that loading and unloading of loads can be performed. The same members as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

ここで、荷はロール体Ｍに限るものではない。もちろん、荷台２の受け面２ｄや荷搬入台Ｓ、荷搬出台Ｒの受け面に多数の球体ローラなどの荷搬送具を設けてもよい。
無人搬送車１は、台車本体３の底部四隅位置に、走行駆動および換向兼用の車輪装置５２ａを有する走行装置５２が設けられ、走行装置５２により前後方向と左右方向への走行が可能に構成されている。 Here, the load is not limited to the roll body M. Of course, a load carrier such as a large number of spherical rollers may be provided on the receiving surface 2d of the loading platform 2, the loading platform S, or the receiving surface of the loading platform R.
The automatic guided vehicle 1 is provided with a traveling device 52 having wheel devices 52a for both driving and turning at the four corners of the bottom of the carriage body 3, and the traveling device 52 can travel in the front-rear direction and the left-right direction. Has been.

荷台支持装置５１は、荷台２の四辺部に対応して、複数の伸縮具１４を有する弾性支持具１３がそれぞれ配置されている。また荷台２の四辺部にそれぞれカムローラ１５ｂを有する位置決め凸部１５（または位置決め凹部１６）が配設され、荷搬入台Ｓおよび荷搬出台Ｒにそれぞれカム溝１６ａを有する位置決め凹部１６（または位置決め凸部１５）が配設されている。 In the carrier support device 51, the elastic supports 13 having a plurality of extenders 14 are respectively arranged corresponding to the four sides of the carrier 2. Further, positioning convex portions 15 (or positioning concave portions 16) each having a cam roller 15b are disposed on four sides of the loading platform 2, and positioning concave portions 16 (or positioning convex portions having cam grooves 16a on the loading table S and the loading / unloading table R, respectively). Part 15) is provided.

したがって、荷台２の四辺部を上下レベル調整部として、複数の伸縮具１４を有する弾性支持具１３を設けたので、選択的に荷台２の四辺部を荷搬入台Ｓまたは荷搬出台Ｒに接近させて位置決め凸部１５と位置決め凹部１６とを嵌合させることにより、荷台２の四辺部の上下レベル調整部の高さと、荷搬入台Ｓおよび荷搬出台Ｒの受け面の高さとを一致させることができ、荷の搬入移載および搬出移載をそれぞれスムーズに行うことができる。また荷移載のための無人搬送車１の移載姿勢を荷台２の四辺部から選択することができ、移載姿勢の選択の自由度を向上させることができる。 Therefore, since the elastic support 13 having the plurality of extenders 14 is provided using the four sides of the loading platform 2 as the upper and lower level adjustment units, the four sides of the loading platform 2 are selectively approached to the loading / unloading table S or the loading / unloading table R. By fitting the positioning convex portion 15 and the positioning concave portion 16 to each other, the heights of the upper and lower level adjusting portions on the four sides of the loading platform 2 and the heights of the receiving surfaces of the loading table S and the loading table R are matched. In addition, it is possible to smoothly carry in and out the load. Moreover, the transfer attitude | position of the automatic guided vehicle 1 for load transfer can be selected from the four sides of the loading platform 2, and the freedom degree of selection of a transfer attitude | position can be improved.

図１７，図１８は、本発明に係る実施の形態３の変形例で、荷台支持装置７１に、前後の弾性支持具１３と左右の弾性支持具１３の中央部に、荷台２を前後方向および左右方向に揺動自在に支持する固定端支持具６２を設けたものである。なお、上記実施の形態３と同一部材には同一符号を付して説明を省略する。 17 and 18 show a modification of the third embodiment according to the present invention. In the carrier support device 71, the carrier 2 is placed in the front and rear direction in the center of the front and rear elastic supports 13 and the left and right elastic supports 13. A fixed-end support 62 that is supported so as to be swingable in the left-right direction is provided. Note that the same members as those in the third embodiment are denoted by the same reference numerals and description thereof is omitted.

固定端支持具７２は、球面凸状の球面座７２ａに摺動自在に配置される受け座７２ｂを有する球面軸受により構成される。
上記構成によれば、荷台支持装置７１では、荷台２の四辺部に対応して配置された弾性支持具１３の中央位置に、前後方向および左右方向に揺動自在な固定端支持具７２を設けたので、固定端支持具７２に支持された荷台２の中央部が昇降することなく、大重量の荷を確実に支持することができ、また弾性支持具１３のみで支持される荷台に比較して、荷台２の振動を軽減して安定して荷を支持することができる。 The fixed end support 72 is constituted by a spherical bearing having a receiving seat 72b slidably disposed on a spherical convex spherical seat 72a.
According to the above configuration, the loading platform support device 71 is provided with the fixed end support 72 that can swing in the front-rear direction and the left-right direction at the center position of the elastic support 13 disposed corresponding to the four sides of the loading platform 2. Therefore, it is possible to reliably support a heavy load without raising and lowering the central portion of the loading platform 2 supported by the fixed end support 72, and compared to a loading platform supported only by the elastic support 13. Thus, the load can be stably supported by reducing the vibration of the loading platform 2.

なお、上記実施の形態１〜４の搬送台車を、無人搬送車１としたが、手押台車や運転者が操縦する自走式搬送台車であってもよい。
また、実施の形態３および４の荷台支持装置４１，５１，６１，７１の各弾性支持具１３に、実施の形態２の高さ調整装置２１を設けることもできる。 In addition, although the conveyance trolley | bogie of the said Embodiment 1-4 was made into the automatic guided vehicle 1, the self-propelled conveyance trolley which a handcart and a driver | operator steer may be sufficient.
Further, the height adjusting device 21 of the second embodiment can be provided on each elastic support 13 of the loading platform support devices 41, 51, 61, 71 of the third and fourth embodiments.

本発明に係る無人搬送車の実施の形態１を示す平面図である。It is a top view which shows Embodiment 1 of the automatic guided vehicle which concerns on this invention. 無人搬送車の側面図である。It is a side view of an automatic guided vehicle. 無人搬送車設備を示す概略斜視図で、（ａ）は無人搬送車と荷搬入台を示し、（ｂ）は位置決め凹部を示す。It is a schematic perspective view which shows an automatic guided vehicle equipment, (a) shows an automatic guided vehicle and a loading platform, (b) shows a positioning recessed part. 無人搬送車設備を示す概略平面図である。It is a schematic plan view which shows automatic guided vehicle equipment. 無人搬送車の正面視の断面図である。It is sectional drawing of a front view of an automatic guided vehicle. 図５に示すＡ部の拡大部分断面図である。FIG. 6 is an enlarged partial sectional view of a part A shown in FIG. 5. 無人搬送車の側面視の部分断面図である。It is a fragmentary sectional view of the automatic guided vehicle in a side view. 伸縮具と可動ストッパーの説明図で、（ａ）は荷渡部の側面図、（ｂ）は側面視の断面図、（ｃ）は一部を切欠いた部分平面図である。It is explanatory drawing of an expansion-contraction tool and a movable stopper, (a) is a side view of a delivery part, (b) is sectional drawing of a side view, (c) is the partial top view which notched one part. 本発明に係る無人搬送車の実施の形態２を示す側面視の断面図である。It is sectional drawing of the side view which shows Embodiment 2 of the automatic guided vehicle which concerns on this invention. 弾性支持具の正面視の半断面図である。It is a half sectional view of the elastic support in front view. 弾性支持具の構成を示す斜視図である。It is a perspective view which shows the structure of an elastic support tool. 本発明に係る無人搬送車の実施の形態３を示す平面図である。It is a top view which shows Embodiment 3 of the automatic guided vehicle which concerns on this invention. 無人搬送車の側面視の断面図である。It is sectional drawing of the side view of an automatic guided vehicle. 無人搬送車の実施の形態３の変形例を示す側面視の断面図である。It is sectional drawing of the side view which shows the modification of Embodiment 3 of an automatic guided vehicle. 本発明に係る無人搬送車の実施の形態４を示す平面図である。It is a top view which shows Embodiment 4 of the automatic guided vehicle which concerns on this invention. 無人搬送車の側面視の断面図である。It is sectional drawing of the side view of an automatic guided vehicle. 実施の形態４の変形例を示す無人搬送車の平面図である。FIG. 10 is a plan view of an automatic guided vehicle showing a modification of the fourth embodiment. 無人搬送車の側面視の断面図である。It is sectional drawing of the side view of an automatic guided vehicle.

符号の説明Explanation of symbols

Ｓ荷搬出台
Ｒ荷搬入台
Ｍロール体
１無人搬送車
２荷台
２ａ荷受部
２ｂ荷渡部
３台車本体
４走行装置
１１荷台支持装置
１２固定端支持具
１２ａ水平ピン
１３弾性支持具
１４伸縮具
１４ａ伸縮筒
１４ｂコイルばね
１５位置決め凸部
１５ｂカムローラ
１６位置決め凹部
１６ａカム溝
１７Ｆ，１７Ｒ可動ストッパー
２１高さ調整装置
２２支持具ガイド機構
２３高さ検出器
２４調整シリンダ
２５高さ制御装置
４１荷台支持装置
５１荷台支持装置
５２走行装置
６１荷台支持装置
７１荷台支持装置
７２固定端支持具 S loading / unloading table R loading / unloading table M roll body 1 automatic guided vehicle 2 loading platform 2a loading receiving section 2b loading section 3 carriage main body 4 travel device 11 loading platform support device 12 fixed end support tool 12a horizontal pin 13 elastic support device 14 elastic device 14a expansion and contraction Cylinder 14b Coil spring 15 Positioning convex part 15b Cam roller 16 Positioning concave part 16a Cam groove 17F, 17R Movable stopper 21 Height adjustment device 22 Support tool guide mechanism 23 Height detector 24 Adjustment cylinder 25 Height control device 41 Loading platform support device 51 Loading platform Support device 52 Traveling device 61 Cargo support device 71 Cargo support device 72 Fixed end support

Claims

搬送台車の台車本体に、前後方向に走行自在な走行装置を設け、
台車本体上に配置された荷台の前部および後部の一方を、上下レベル調整部とし、
台車本体と荷台との間に、上下レベル調整部に対応して当該上下レベル調整部を昇降自在に支持する弾性支持具を有する荷台支持装置を設け、
荷台の上下レベル調整部と、荷を受渡しする荷搬入出台との一方に、位置決め凸部を設けるとともに、他方に前記位置決め凸部がそれぞれ嵌合されて上下レベル調整部の上下位置を位置決めする位置決め凹部を設けた
ことを特徴とする搬送台車の荷台装置。 A traveling device that can travel in the front-rear direction is provided on the main body of the carriage.
One of the front part and the rear part of the loading platform arranged on the main body of the carriage is used as an upper and lower level adjustment part,
Between the carriage body and the loading platform, a loading platform support device having an elastic support that supports the vertical level adjustment portion so as to be movable up and down corresponding to the vertical level adjustment portion is provided.
Positioning for positioning the vertical position of the vertical level adjustment unit by providing a positioning convex part on one of the upper and lower level adjustment part of the loading platform and the loading / unloading base for delivering the load. A loading platform device for a transport cart, characterized in that a recess is provided.

荷台支持装置は、荷台の前部および後部の他方に対応して、荷台を左右方向の水平軸心周りに揺動自在に支持する固定端支持具が設けられた
ことを特徴とする請求項１記載の搬送台車の荷台装置。 The loading platform support device is provided with a fixed end support that supports the loading platform so as to be swingable around a horizontal axis in the left-right direction, corresponding to the other of the front portion and the rear portion of the loading platform. A loading platform device for the transportation cart as described.

搬送台車の台車本体に、前後方向に走行自在な走行装置を設け、
台車本体上に配置された荷台の前部および後部を、上下レベル調整部とし、
台車本体と荷台との間に、上下レベル調整部に対応して当該上下レベル調整部を昇降自在に支持する弾性支持具を有する荷台支持装置を設け、
荷台の上下レベル調整部と、荷を受渡しする荷搬入出台との一方に、位置決め凸部を設けるとともに、他方に前記位置決め凸部がそれぞれ嵌合されて上下レベル調整部の上下位置を位置決めする位置決め凹部を設けた
ことを特徴とする搬送台車の荷台装置。 A traveling device that can travel in the front-rear direction is provided on the main body of the carriage.
The front part and rear part of the loading platform arranged on the main body of the carriage are the upper and lower level adjustment parts,
Between the carriage body and the loading platform, a loading platform support device having an elastic support that supports the vertical level adjustment portion so as to be movable up and down corresponding to the vertical level adjustment portion is provided.
Positioning for positioning the vertical position of the vertical level adjustment unit by providing a positioning convex part on one of the upper and lower level adjustment part of the loading platform and the loading / unloading base for delivering the load. A loading platform device for a transport cart, characterized in that a recess is provided.

荷台支持装置は、前部および後部の弾性支持具の中間位置に、荷台を左右方向の水平軸心周りに揺動自在に支持する固定端支持具が設けられた
ことを特徴とする請求項３記載の搬送台車の荷台装置。 The loading platform support device is provided with a fixed-end support that supports the loading platform so as to be swingable around a horizontal axis in the left-right direction at an intermediate position between the front and rear elastic supports. A loading platform device for the transportation cart as described.

搬送台車の台車本体に、前後方向および左右方向にそれぞれ走行自在な走行装置を設け、
台車本体上に配置された荷台の前後左右の四辺部を上下レベル調整部とし、
台車本体と荷台との間に、上下レベル調整部に対応して当該上下レベル調整部を昇降自在に支持する弾性支持具を有する荷台支持装置を設け、
荷台の上下レベル調整部と、荷を受渡しする荷搬入出台との一方に、複数の位置決め凸部を設けるとともに、他方に前記位置決め凸部がそれぞれ嵌合されて上下レベル調整部の上下位置を位置決めする位置決め凹部を設けた
ことを特徴とする搬送台車の荷台装置。 The carriage body of the transport carriage is provided with a traveling device that can travel in the front and rear direction and the left and right direction,
The four sides on the front, back, left, and right of the loading platform arranged on the main body of the carriage are the upper and lower level adjustment sections,
Between the carriage body and the loading platform, a loading platform support device having an elastic support that supports the vertical level adjustment portion so as to be movable up and down corresponding to the vertical level adjustment portion is provided.
A plurality of positioning projections are provided on one of the upper and lower level adjustment portions of the loading platform and the loading / unloading platform for delivering the load, and the positioning projections are fitted on the other to position the upper and lower positions of the upper and lower level adjustment portions. A loading platform device for a transport cart, characterized in that a positioning recess is provided.

四辺部に対応して設けられた弾性支持具の中央部に、荷台を前後方向および左右方向に揺動自在に支持する固定端支持具を設けた
ことを特徴とする請求項５記載の搬送台車の荷台装置。 6. The transport carriage according to claim 5, wherein a fixed end support is provided at a central portion of the elastic support provided corresponding to the four sides so as to swing the cargo bed in the front-rear direction and the left-right direction. Loading platform equipment.

荷台の前部および後部の一方を、荷搬入台から単数または複数のロール体からなる荷を転がして搬入移載する荷受部とするともに、他方を荷台から荷搬出台に前記ロール体を転がして搬出移載する荷渡部とした搬送台車の荷台装置であって、
前記荷渡部を上下レベル調整部とし、
搬送台車の台車本体と荷台との間に、荷受部に対応して当該荷渡部を水平軸心周りに揺動自在に支持する固定端支持具を有するとともに、上下レベル調整部に対応して当該上下レベル調整部を昇降自在に支持する弾性支持具を有する荷台支持装置を設け、
荷台の上下レベル調整部と荷搬入出台の一方に、複数の位置決め凸部を設けるとともに、他方に前記位置決め凸部がそれぞれ嵌合されて上下レベル調整部の上下位置を位置決めする位置決め凹部を設けた
ことを特徴とする搬送台車の荷台装置。 One of the front part and the rear part of the loading platform is used as a load receiving unit that rolls in and loads a single or a plurality of rolls from the loading / unloading table, and the other is rolled from the loading platform to the loading / unloading table. It is a loading platform device for a transport cart as a loading section for carrying out and transferring,
The unloading part is a vertical level adjustment part,
Between the carriage main body and the loading platform of the transport carriage, there is a fixed end support for swinging around the horizontal axis corresponding to the cargo receiving portion, and corresponding to the vertical level adjusting portion. A loading platform support device having an elastic support for supporting the upper and lower level adjustment unit so as to be movable up and down is provided.
A plurality of positioning convex portions are provided on one of the upper and lower level adjusting portions and the loading / unloading base of the loading platform, and a positioning concave portion for positioning the upper and lower positions of the upper and lower level adjusting portions is provided on the other side. A loading platform device for a transporting carriage.

弾性支持装置に、荷の荷重に対応して荷台の上下レベル調整部の高さを調整可能な高さ調整装置を設け、
前記高さ調整装置は、上下レベル調整部の高さを検出可能な高さ検出器と、弾性支持具を固定端支持具に接近離間移動可能な調整駆動装置と、前記高さ検出器の検出データに基づいて調整駆動装置を駆動し上下レベル調整部の高さを調整可能な高さ制御装置とを具備した
ことを特徴とする請求項２，４，６および７記載の搬送台車の荷台装置。 The elastic support device is provided with a height adjustment device that can adjust the height of the upper and lower level adjustment parts of the cargo bed according to the load of the load,
The height adjustment device includes a height detector capable of detecting the height of the vertical level adjustment unit, an adjustment driving device capable of moving the elastic support member toward and away from the fixed end support member, and detection of the height detector. 8. A loading platform device for a transport carriage according to claim 2, further comprising: a height control device capable of driving the adjustment driving device based on the data to adjust the height of the vertical level adjustment section. .

位置決め凸部は、左右一対の支持部材にそれぞれ水平軸心周りに回転自在に支持されたカムローラからなり、
位置決め凹部は、前記カムローラが嵌合可能なカム溝により構成され、
前記カム溝が開口端ほど広がるテーパ状に拡開された
ことを特徴とする請求項１乃至８のいずれかに記載の搬送台車の荷台装置。 The positioning convex portion is composed of a cam roller supported by a pair of left and right support members so as to be rotatable around a horizontal axis,
The positioning recess is constituted by a cam groove into which the cam roller can be fitted,
The carrier device for a transport carriage according to any one of claims 1 to 8, wherein the cam groove is expanded in a tapered shape that extends toward an opening end.