JP5492611B2

JP5492611B2 - Automatic transfer system

Info

Publication number: JP5492611B2
Application number: JP2010055232A
Authority: JP
Inventors: 章大島; 健次郎山本; 祐司細田; 良三正木
Original assignee: Hitachi Industrial Equipment Systems Co Ltd
Current assignee: Hitachi Industrial Equipment Systems Co Ltd
Priority date: 2010-03-12
Filing date: 2010-03-12
Publication date: 2014-05-14
Anticipated expiration: 2030-03-12
Also published as: JP2011189769A

Description

本発明は、例えば生産工場や物流センタにおいて、物品搬送のための台車を自動搬送車と連結し、運搬する自動搬送システムに関する。 The present invention relates to an automatic conveyance system that connects and transports a carriage for article conveyance with an automatic conveyance vehicle, for example, in a production factory or a distribution center.

従来、生産工場や物流センタにおいては、部品や製品などの物品を搬送する方法として台車に物品を載せ、台車を人手で押して搬送することが一般的に行われている。そして、人件費削減，搬送効率向上のため、自動搬送車に台車を連結して牽引搬送する方法も実現されている。自動搬送車と台車の連結を安価に実現する方法としては、台車にピンを設け、自動搬送車に引掛金具を設け、自動搬送車の引掛金具を台車のピンに引っ掛ける方法が一般的に行われている。 2. Description of the Related Art Conventionally, in a production factory or a distribution center, as a method of transporting articles such as parts and products, it is generally performed by placing an article on a cart and pushing the cart manually. In order to reduce the labor cost and improve the conveyance efficiency, a method of traction conveyance by connecting a cart to an automatic conveyance vehicle has also been realized. As a method for realizing an inexpensive connection between the automatic transport vehicle and the cart, a method is generally used in which a pin is provided on the cart, a hook is provided on the automatic transport vehicle, and the hook of the automatic transport vehicle is hooked on the pin of the cart. ing.

例えば、〔特許文献１〕には、自動搬送車の下部にＶ字状の部材を設け、台車にピンを設け、台車を自動搬送車の下部に潜り込ませて台車のピンを自動搬送車のＶ字状部材の開放部側からＶ字状部材の内側に進入させて連結する方法が開示されている。 For example, in [Patent Document 1], a V-shaped member is provided in the lower part of the automatic conveyance vehicle, a pin is provided in the carriage, the carriage is submerged in the lower part of the automatic conveyance vehicle, and the pin of the carriage is connected to the V of the automatic conveyance vehicle. There is disclosed a method of connecting by entering the inside of the V-shaped member from the open portion side of the character-shaped member.

また、〔特許文献２〕では、走行中に自動搬送車と台車の連結が外れないように、開口部の無いリング状の部材をピンに引っ掛ける方法が開示されている。 [Patent Document 2] discloses a method of hooking a ring-shaped member having no opening to a pin so that the automatic conveyance vehicle and the carriage are not disconnected during traveling.

〔特許文献３〕では、台車を連結しないときに引掛金具を自動搬送車から突出しない形式で収納可能で、かつ、ピンの回りを側板で囲って引掛金具の可動範囲を制限することで引掛金具とピンの衝撃力の大きな接触を防止する構成が開示されている。 In [Patent Document 3], when the carriage is not connected, the hook metal can be stored in a form that does not protrude from the automatic transport vehicle, and the hook is surrounded by a side plate to limit the movable range of the hook metal. The structure which prevents the contact with the large impact force of a pin and a pin is disclosed.

特開２００８−２３９０８０号公報JP 2008-239080 A 特開平８−２９０７１１号公報JP-A-8-290711 特開２０００−１１７１号公報JP 2000-1171 A

しかしながら、近年増加しているセル生産方式の工場で作業台の間の狭い通路を走行したり、人などの障害物を避けたりする場合、自動搬送車と台車の連結角度が大きくなり、加減速も生じて、〔特許文献１〕の方法ではＶ字状の部材からピンが外れる危険性があった。 However, when traveling in a narrow passage between work benches or avoiding obstacles such as people in a cell production system factory that has been increasing in recent years, the connection angle between the automated guided vehicle and the carriage becomes large, and acceleration / deceleration In the method of [Patent Document 1], there is a risk that the pin is detached from the V-shaped member.

〔特許文献２〕の方法では、ピンに引っ掛ける部材を開口部の無いリング状にすることでその問題を解決している。しかしながら、リング状部材は自動搬送車から突出した形状をしており、台車を連結しない状態のときに周囲の作業員がつまずいて怪我をする危険性があった。また、リング状部材のリング内径に対してピンが小さいため、自動搬送車の加減速により台車と自動搬送車の相対距離が変わりピンがリング内側から離れて再度リングに接触する現象が発生するときに、ピンがリングから離れる距離が長くなり、ピンがリングから離れる距離が長いほど再接触時の衝撃力が大きくなる可能性が高まり、重量物の搬送時には特に衝撃力が大きくなるので危険であった。 In the method of [Patent Document 2], the problem is solved by making the member hooked on the pin into a ring shape having no opening. However, the ring-shaped member has a shape protruding from the automatic conveyance vehicle, and there is a risk of injury by surrounding workers tripping when the cart is not connected. In addition, when the pin is smaller than the ring inner diameter of the ring-shaped member, the relative distance between the carriage and the automatic transport vehicle changes due to the acceleration / deceleration of the automatic transport vehicle, causing the pin to move away from the inside of the ring and contact the ring again In addition, the longer the distance that the pin moves away from the ring and the longer the distance that the pin moves away from the ring, the greater the possibility that the impact force at the time of re-contacting will increase. It was.

それに対して〔特許文献３〕の方法では、引掛金具を自動搬送車から突出しない形式で収納可能な構成とし、引掛金具の可動範囲を制限することで衝撃力を防止して問題を解決している。しかしながら、本方式では、連結の際にピンと側板の間の狭い空間に引掛金具のリングを通す必要があった。そのため、台車に対して自動搬送車を高精度に停止させる必要があった。また、省力化のため連結を自動化する場合、本構成では引掛金具を下ろす動作と、ピンを下ろす動作が必要なため、自動搬送車及び台車の両方に駆動機構を設ける必要があり、システムが高価になる。また、人手で連結をする場合は、連結されたかどうかを目で確認するが、自動化する場合は、自動的な連結検出手段も必要である。しかし、上記文献では連結検出手段が実現されていない。 On the other hand, the method of [Patent Document 3] solves the problem by preventing the impact force by limiting the movable range of the hook metal fitting so that the hook metal fitting can be stored in a form that does not protrude from the automatic transport vehicle. Yes. However, in this method, it is necessary to pass the ring of the hook metal fitting in the narrow space between the pin and the side plate at the time of connection. Therefore, it has been necessary to stop the automatic conveyance vehicle with respect to the carriage with high accuracy. Also, when automating the connection for labor saving, this configuration requires the operation to lower the hook and the pin, so it is necessary to provide a drive mechanism for both the automatic transport vehicle and the cart, and the system is expensive. become. In addition, when connecting manually, it is visually confirmed whether or not the connection is made. However, in the case of automation, automatic connection detecting means is also necessary. However, in the above document, the connection detection means is not realized.

本発明は、これらの問題を解決して多様化する物流現場に適用することを目指し、レイアウト変更が多く、多様な搬送重量がある物流現場で安全で効率的に牽引型物品搬送を行う自動搬送システムを実現することを目的としている。 The present invention aims to solve these problems and apply to diversified logistics sites, and automatic conveyance that performs towed article conveyance safely and efficiently at logistics sites with many layout changes and various conveyance weights. The purpose is to realize the system.

すなわち、複雑なレイアウトの通路の走行や障害物を回避する走行を行っても連結が外れず、走行中にピンと引掛金具が強く衝突することを抑え、非連結時に周囲の作業員の怪我を防止する。また、その連結の自動化を確実に行うために、高精度な位置決めが不要で、台車側の駆動機構が不要で、連結状態の自動検出を可能とする、これらを満たす自動台車連結機能を持つ自動搬送システムを実現することを目的としている。 In other words, even when traveling in a complex layout passage or traveling around obstacles, the connection does not come off, preventing the pin and the hook metal from colliding strongly during traveling, preventing injury to surrounding workers when disconnected To do. In addition, in order to reliably automate the connection, there is no need for high-precision positioning, no drive mechanism on the cart side is required, and automatic detection of the connected state is possible. The purpose is to realize a transport system.

本発明によると、上記課題は、次の手段により解決される。 According to the present invention, the above problem is solved by the following means.

（１）自動搬送車と搬送台車は、それぞれ凹凸部を有する連結部材１と連結部材２を具備し、前記連結部材１もしくは前記連結部材２の自重、もしくは駆動手段により、前記連結部材１と前記連結部材２との接触力が加えられ、前記連結の状態は、前記連結部材１と前記連結部材２の前記凹凸部の接触により、前記連結部材１と前記連結部材２との相対可動領域が制限された領域１を有する連結状態１と、前記連結部材１と前記連結部材２との相対可動領域が前記領域１より小さい領域２を有する連結状態２を有し、前記接触力が加えられた状態で、前記連結部材１もしくは前記連結部材２を移動させることにより前記連結状態１から前記連結状態２へと誘導し、前記連結部材１もしくは前記連結部材２が前記接触力の方向へ移動することで前記連結状態１から前記連結状態２へと遷移するガイド手段を有することを特徴とする。 (1) Each of the automatic conveyance vehicle and the conveyance carriage includes a connection member 1 and a connection member 2 each having a concavo-convex portion, and the connection member 1 and the connection member 2 are driven by the weight of the connection member 1 or the connection member 2 or by driving means. The contact force with the connection member 2 is applied, and the state of the connection is limited by the contact between the connection member 1 and the concavo-convex portion of the connection member 2 and the relative movable region between the connection member 1 and the connection member 2 is limited. A state in which the contact force is applied, and a connection state 1 having a connected region 1 and a connection state 2 in which a relative movable region between the connection member 1 and the connection member 2 has a region 2 smaller than the region 1. Then, the connecting member 1 or the connecting member 2 is moved to guide the connecting state 1 from the connecting state 1 and the connecting member 1 or the connecting member 2 moves in the direction of the contact force. Characterized in that the serial connection state 1 has guide means for transition to the connected state 2.

これにより、領域１を大きく設定することで高精度な位置決めが不要な連結機構が実現できる。また、ガイド手段により容易に領域２へ移行し、領域２は領域１より可動領域が小さいため、重量物品の搬送時の衝撃力を抑制することができる。さらに、これらは簡単な形状の部材で構成できるため、部材の厚みや幅を大きくするだけで容易に頑強な連結部が実現でき重量搬送物の搬送が実現可能となる。
（２）更に、前記連結部材１もしくは前記連結部材２の前記接触力方向の位置を検出する位置検出手段を具備することを特徴とする。 Thereby, the connection mechanism which does not require highly accurate positioning is realizable by setting the area | region 1 large. Further, the region is easily moved to the region 2 by the guide means, and the region 2 is smaller in the movable region than the region 1, so that it is possible to suppress the impact force when the heavy article is conveyed. Furthermore, since these can be constituted by members having a simple shape, it is possible to easily realize a robust connecting portion simply by increasing the thickness and width of the member, and it is possible to carry heavy materials.
(2) Further, it is characterized by further comprising position detecting means for detecting the position of the connecting member 1 or the connecting member 2 in the contact force direction.

本発明の構成は、連結がされた状態とされていない状態では連結部材の接触方向の位置が異なるため、この位置検出手段によって、連結されている否かを自動検出することができる。これにより、搬送を失敗したことを認識しないまま走行して、搬送計画を乱し、搬送効率を低下させるということを防止することができる。
（３）更に、前記駆動手段は、前記連結部材１もしくは前記連結部材２に回転力を付与する回転手段と、前記回転の位置を検出する前記位置検出手段とを備えることを特徴とする。 In the configuration of the present invention, since the position of the connecting member in the contact direction differs between the connected state and the unconnected state, it is possible to automatically detect whether or not they are connected by this position detecting means. Accordingly, it is possible to prevent the vehicle from traveling without recognizing that the conveyance has failed, disturbing the conveyance plan, and lowering the conveyance efficiency.
(3) Further, the driving means includes a rotating means for applying a rotational force to the connecting member 1 or the connecting member 2, and the position detecting means for detecting the position of the rotation.

これにより、連結部材を回転することにより自動連結を実現し、逆方向に回転することにより自動連結解除を実現し、回転後の連結部材の位置を垂直にすることで、自動搬送車から突出することなく収納できるので、非連結時の安全性を確保できる。そして、一方の連結部材に回転手段と位置検出手段の両方を備えることにより、他方の連結部材には回転手段も位置検出手段も設ける必要が無いため、他方の連結部材に関する構成を簡易にすることができる。
（４）更に、前記ガイド手段の前記凹凸部の凹形状は、円弧および／または直線状に先端部へ向かって狭くなる空間を持ち、前記空間により誘導される前記凹凸部の凸形状は、円柱状の連結ピンを備えることを特徴とする。 Thereby, automatic connection is realized by rotating the connecting member, automatic connection release is realized by rotating in the reverse direction, and the position of the connecting member after rotation is made vertical to project from the automatic conveyance vehicle. Since it can be stored without safety, it is possible to ensure safety when not connected. Further, by providing both of the rotating means and the position detecting means on one connecting member, it is not necessary to provide the rotating means and the position detecting means on the other connecting member, so that the configuration relating to the other connecting member is simplified. Can do.
(4) Furthermore, the concave shape of the concave and convex portion of the guide means has a space that narrows toward the tip in a circular arc and / or linear shape, and the convex shape of the concave and convex portion guided by the space is a circle. A columnar connecting pin is provided.

この構成は、ピンが円柱状なのでガイドの形状に滑らかに沿って移動しやすく、ガイドが先端部へ向かって狭くなる空間を持つので、ピンをガイドの先端へ誘導し易く、連結状態１からより小さい領域２を有する連結状態２へ、滑らかに遷移させることが可能である。しかも、円柱状のピンと、円弧および／または直線状に先端部へ向かって狭くなる空間を持つガイドは製作しやすい簡易な形状で実現することが可能である。
（５）更に、前記凹形状は、先端に向かって直線的に狭くなり先端が前記連結ピンの外形と一致して同心円状に丸めた形状とすることを特徴とする。 In this configuration, since the pin is cylindrical, it is easy to move smoothly along the shape of the guide, and since the guide has a space that narrows toward the tip, it is easy to guide the pin to the tip of the guide. It is possible to smoothly transition to the connected state 2 having the small region 2. Moreover, the cylindrical pin and the guide having a space narrowing toward the tip in a circular arc and / or linear shape can be realized in a simple shape that is easy to manufacture.
(5) Further, the concave shape is characterized in that it is linearly narrowed toward the tip, and the tip is rounded concentrically so as to coincide with the outer shape of the connecting pin.

これにより、前記領域２を小さくかつ前記自動搬送車と搬送台車が成す連結角度を任意の角度に制限できるので、走行中の連結部材１と連結部材２の接触衝撃力を小さくすることができ、特に重量物搬送時の危険性を減少させることができる。
（６）更に、前記連結部材２は前記搬送台車の外周から突出しない位置に配置することを特徴とする。 Thereby, since the area 2 can be made small and the connection angle formed by the automatic conveyance vehicle and the conveyance carriage can be limited to an arbitrary angle, the contact impact force between the connection member 1 and the connection member 2 can be reduced. In particular, the danger at the time of carrying heavy objects can be reduced.
(6) Further, the connecting member 2 is arranged at a position that does not protrude from the outer periphery of the transport carriage.

これにより、周囲の作業員が部材につまずく危険性が減少し安全性を向上できる。
（７）更に、前記連結部材２の前記凹凸部は、少なくとも前記連結ピンを有することを特徴とする。 Thereby, the danger that the surrounding worker stumbles on the member is reduced, and safety can be improved.
(7) Furthermore, the uneven portion of the connecting member 2 has at least the connecting pin.

連結ピンは、搬送時に負荷が集中するため、特に重量物搬送では頑強な部材、形状で実現する必要がある。前記連結部材２に連結ピンを設けることにより、自動搬送車側の連結部材１は連結ピンほど頑強に構成する必要が無いため重量軽減することができる。
（８）更に、前記連結状態１から前記連結状態２への前記誘導は、前記自動搬送車の移動によって実施することを特徴とする。これにより、新たに駆動手段を設けることなく、自動連結が可能となる。
（９）更に、前記回転手段により前記接触力とは反対方向に回転力を付与すると同時に、前記自動搬送車が移動することで、連結を解除することを特徴とする。 Since the load is concentrated on the connection pin during transportation, it is necessary to realize the connection pin with a robust member and shape particularly in transportation of heavy objects. By providing a connecting pin on the connecting member 2, the connecting member 1 on the automatic conveyance vehicle side does not need to be configured as robustly as the connecting pin, so that the weight can be reduced.
(8) Further, the guidance from the connected state 1 to the connected state 2 is performed by movement of the automatic transport vehicle. Thereby, automatic connection becomes possible without newly providing a drive means.
(9) Furthermore, the rotation is applied in the direction opposite to the contact force by the rotation means, and at the same time, the connection is released by the movement of the automatic conveyance vehicle.

これにより、自動搬送車が移動することで前記凹凸部の凹形状部と凸形状部が非接触状態となり、その状態で連結部材２を回転させるために部材同士が擦れることなく容易に連結解除することができる。
（１０）更に、前記自動搬送車が前記搬送台車を連結した状態で牽引走行をする際に、前記駆動手段は、前記接触力を付与することを特徴とする。これにより、路面の凹凸や傾斜などで生じる外力によって連結が外れることを防げる。
（１１）更に、前記位置検出手段により、すくなくとも前記連結状態１、前記連結状態２、前記連結の解除、前記収納のいずれかの状態を検出し、予定外の位置であった場合に、少なくとも、前記自動搬送車が連結および／または移動動作の再試行または中断、もしくは前記自動搬送車から前記自動搬送車の外部に設けられた管理システムへの異常の報告および前記自動搬送車が前記管理システムから次の指示を受け取る。これにより、異常時に、動作の再実施や作業者による早急な対応、適切なメンテナンスが可能となる。 As a result, the concave and convex portions of the concavo-convex portion are brought into a non-contact state due to the movement of the automatic conveyance vehicle, and the connection member 2 is easily disconnected without being rubbed to rotate the connection member 2 in this state. be able to.
(10) Furthermore, when the automatic transport vehicle performs towing travel in a state where the transport cart is connected, the driving means applies the contact force. As a result, the connection can be prevented from being disconnected by an external force generated by unevenness or inclination of the road surface.
(11) Further, when the position detection means detects at least one of the connection state 1, the connection state 2, the release of the connection, and the storage state, and at least an unscheduled position, Retry or interruption of connection and / or movement operation of the automated guided vehicle, or report of abnormality from the automated guided vehicle to a management system provided outside the automated guided vehicle and the automated guided vehicle from the managed system Receive the following instructions: As a result, when an abnormality occurs, re-execution of the operation, immediate response by the operator, and appropriate maintenance can be performed.

本発明によれば、凹凸部を有する連結部材１と連結部材２という簡単な構成でありながら、高精度な位置決めが不要な自動連結が実現できる。それらの部材は簡単な形状のため安価で、また、容易に強固に製作することができるので重量物の搬送も可能である。さらに、高精度な位置決めを不要とする連結状態１から、可動領域を制限して搬送時に受ける衝撃力を抑えるための連結状態２への移行は、自動搬送車の移動によって行う場合、従来のような新たな駆動手段を設ける必要がなく安価である。加えて、位置検出手段を設けた場合は、この位置検出手段の動作させることで連結がされているかどうかを自動検出でき、連結失敗時は再度連結動作を実施して確実に連結をすることができるという、従来にない効果が得られる。また、連結部材２は前記搬送台車の外周から突出しない位置に配置することが可能なので、安全性が高まり、接触力を付与しながら走行した場合、連結が外れにくく搬送の確実性が高まる。 According to the present invention, automatic connection that does not require high-precision positioning can be realized with a simple configuration of the connecting member 1 and the connecting member 2 having an uneven portion. Since these members have a simple shape, they are inexpensive and can be easily and firmly manufactured, so that heavy objects can be conveyed. Furthermore, the transition from the connected state 1 that does not require high-accuracy positioning to the connected state 2 that limits the movable region and suppresses the impact force that is received during transport is performed by the movement of the automatic transport vehicle as in the conventional case. It is not necessary to provide a new driving means and is inexpensive. In addition, when the position detection means is provided, it is possible to automatically detect whether or not the connection is established by operating the position detection means, and when the connection fails, the connection operation is performed again to ensure the connection. An unprecedented effect can be obtained. Further, since the connecting member 2 can be disposed at a position that does not protrude from the outer periphery of the transport carriage, safety is improved, and when traveling while applying contact force, the connection is difficult to be disconnected, and transport reliability is increased.

これらにより、加減速が生じる複雑なレイアウトの現場でも搬送物に与える衝撃力が少なく安全で、非連結時も周囲の人に対して安全で、また、強固で重量物搬送も実現して、確実に自動的に連結を行える効率的な、物品の自動搬送システムを提供することができる。 As a result, even on a complex layout site where acceleration / deceleration occurs, the impact force on the transported object is small and safe, and it is safe for surrounding people even when not connected, and it is robust and can transport heavy objects. It is possible to provide an efficient automatic conveyance system for articles that can be automatically connected to each other.

本発明の一実施形態の自動搬送車と搬送台車との連結状態を説明する側面図である。It is a side view explaining the connection state of the automatic conveyance vehicle and conveyance cart of one Embodiment of this invention. 本発明の一実施形態の自動搬送車と搬送台車との連結状態を説明する平面図である。It is a top view explaining the connection state of the automatic conveyance vehicle and conveyance cart of one Embodiment of this invention. 本発明の一実施形態の連結機構を拡大した図である。It is the figure which expanded the connection mechanism of one Embodiment of this invention. 本発明の一実施形態の連結から連結解除までの動作を示す図である。It is a figure which shows the operation | movement from connection to connection cancellation | release of one Embodiment of this invention. 本発明の一実施形態の２つの連結状態を拡大した図である。It is the figure which expanded two connection states of one Embodiment of this invention. 本発明の一実施形態の連結に失敗した場合を説明する側面図である。It is a side view explaining the case where connection of one embodiment of the present invention fails. 本発明の一実施形態の連結部材の一例を拡大した図である。It is the figure which expanded an example of the connection member of one Embodiment of this invention. 本発明の一実施形態の連結部材の別の形態を説明した図である。It is the figure explaining another form of the connection member of one Embodiment of this invention. 本発明の一実施形態の連結部材のさらに別の形態を説明した図である。It is the figure explaining another form of the connection member of one embodiment of the present invention. 本発明の一実施形態のガイド手段の別の形態を説明した図である。It is the figure explaining another form of the guide means of one Embodiment of this invention. 本発明の凹凸部の別の実施形態例を説明する図である。It is a figure explaining another example of an embodiment of the uneven part of the present invention. 本発明の搬送システム全体の実施形態例の構成を説明する図である。It is a figure explaining the structure of the embodiment of the whole conveyance system of this invention. 本発明の一実施形態の自動搬送車の動作環境における、台車の搬送の概要を説明する図である。It is a figure explaining the outline | summary of conveyance of the trolley | bogie in the operating environment of the automatic conveyance vehicle of one Embodiment of this invention. 本発明の一実施形態の自動搬送車による台車の連結動作を説明するフローチャートである。It is a flowchart explaining the connection operation | movement of the trolley | bogie by the automatic conveyance vehicle of one Embodiment of this invention. 本発明の一実施形態の自動搬送車による台車の連結解除動作を説明するフローチャートである。It is a flowchart explaining the connection cancellation | release operation | movement of the trolley | bogie by the automatic conveyance vehicle of one Embodiment of this invention.

本発明の好ましい実施形態の一例を添付図面に基づいて詳細に説明する。 An example of a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

図１，図２を用いて、本発明の一実施形態の連結装置を備えた自動搬送車と被牽引台車（搬送台車）の概要を説明する。 An outline of an automatic conveyance vehicle and a towed carriage (conveyance carriage) provided with the coupling device of one embodiment of the present invention will be described with reference to FIGS.

自動搬送車１００にはその下部に４つの駆動車輪１０２を取り付けるとともに、自動搬送車１００の後部には、回転部（駆動部）１０４を設ける。回転部１０４は、例えば回転機構としてギア付きモータ等を備えることにより自動搬送車からの制御を可能とし、駆動装置としてモータドライバを備える。また、回転部１０４は、回転角検知（位置検出）機能としてロータリーエンコーダやポテンショメータやスイッチを備えるのが望ましい。前述した回転機構，駆動装置，回転角検知機能を持たずに、人の手で回転部を操作することも可能であるが実現できる自動機能が限定される。なお、以降の説明ではこれらすべてを回転部１０４が備えるものとする。回転部１０４には本発明の連結装置を構成する連結部材である回転部材１０６を備えている。回転部材１０６の先端部には先端へ向かって狭くなる空間を持つ円形リング状のガイド１０８を備えている。自動搬送車１００は、制御コンピュータ，バッテリー，走行機構とその駆動装置，外界センサ，回転部１０４として回転機構とその駆動装置を備えた制御装置１１０を有し、自己位置推定方式により自動的な経路走行が可能となっている。回転部１０４は回転部材１０６を立てた状態から倒す状態への回転を可能とし、これにより自動搬送車１００と被牽引台車２００の連結を行う。 The automatic transport vehicle 100 has four drive wheels 102 attached to the lower portion thereof, and a rotating portion (drive portion) 104 is provided at the rear of the automatic transport vehicle 100. For example, the rotation unit 104 includes a geared motor as a rotation mechanism, thereby enabling control from the automatic conveyance vehicle, and includes a motor driver as a drive device. The rotating unit 104 preferably includes a rotary encoder, a potentiometer, and a switch as a rotation angle detection (position detection) function. Although it is possible to operate the rotating unit with a human hand without having the rotation mechanism, the driving device, and the rotation angle detection function, the automatic functions that can be realized are limited. In the following description, it is assumed that the rotating unit 104 includes all of these. The rotating unit 104 includes a rotating member 106 that is a connecting member constituting the connecting device of the present invention. A circular ring-shaped guide 108 having a space that narrows toward the tip is provided at the tip of the rotating member 106. The automatic transport vehicle 100 includes a control computer, a battery, a traveling mechanism and its driving device, an external sensor, and a control device 110 having a rotating mechanism and its driving device as a rotating unit 104, and an automatic route by a self-position estimation method. Driving is possible. The rotating unit 104 can rotate from a state where the rotating member 106 is raised to a state where the rotating member 106 is tilted, thereby connecting the automatic conveyance vehicle 100 and the towed cart 200.

自動搬送車１００に連結される被牽引台車２００は、円柱状の４つの支柱２０２と荷台２０４によって構成され、前部の下面には左右１対の水平方向の回転が自由な従輪２０６と、後部の下面には左右１対の水平方向の回転が固定された従輪２０８を備えることにより移動が可能な一般的に販売される台車である。被牽引台車２００の前部２つの支柱２０２には、本発明の連結装置を構成する連結部材である、高さの調整をして取り付け外しが可能な固定部材２１０を設ける。固定部材２１０には、２つの支柱２０２の間に円柱形状をした上向きのピン２１２を設ける。ピン２１２の先端部はガイド１０８との連結をし易くするために、テーパを設けても良い。ピン２１２の周囲には、回転部材１０６が固定部材２１０に２段階の高さで噛み合うための凹凸部２１４を備えている。なお、本実施形態では、役割を説明するために回転部材１０６と固定部材２１０の備える凹凸形状について、ガイド１０８と、ピン２１２と凹凸部２１４として、名称を明確に分けているが、後述するようにその配置や形状は様々な実施形態を採用することが可能である。 A towed truck 200 connected to the automatic transport vehicle 100 is composed of four columnar columns 202 and a loading platform 204, and a lower pair of left and right horizontal wheels 206 on the lower surface of the front part and a rear part. It is a generally sold cart that can move by having a pair of left and right horizontal wheels 208 fixed to the lower surface of the wheel. The two struts 202 in the front part of the towed carriage 200 are provided with a fixing member 210 that is a connecting member constituting the connecting device of the present invention and can be attached and detached by adjusting the height. The fixing member 210 is provided with an upward pin 212 having a cylindrical shape between the two columns 202. The tip of the pin 212 may be tapered to facilitate connection with the guide 108. Around the pin 212, an uneven portion 214 is provided for the rotating member 106 to engage with the fixed member 210 at two levels. In the present embodiment, in order to explain the roles, the names of the concave and convex shapes provided in the rotating member 106 and the fixing member 210 are clearly divided as the guide 108, the pin 212, and the concave and convex portion 214, but will be described later. In addition, various embodiments can be adopted as the arrangement and shape.

図３を用いて、図１，図２における連結のための部材の役割の詳細を拡大図により説明する。図３の（Ａ）（Ｃ）は側面図、図３の（Ｂ）（Ｄ）は平面図である。ガイド１０８の内側形状は、自動搬送車１００の被牽引台車２００に対する停止位置誤差の想定値の２倍とピン２１２の外径を合わせたよりも大きくするのが良い。凹凸部２１４は、ガイド１０８とピン２１２が浅い高さで連結するために、ピン２１２をよりも低くガイド１０８の内側の横幅よりも左右に広い幅で凸形状を持つ。また、凹凸部２１４は、ガイド１０８とピン２１２が深い高さで連結するために、ピン２１２の周囲にガイド１０８の部材厚さ形状より深い深さの凹形状を持つ。これにより、ガイド１０８がピン２１２に被さりガイド１０８が凹凸部２１４の上に乗る１段目の連結状態と、ガイド１０８がピン２１２と凹凸部２１４の間に噛み合う２段目の連結状態が作られる。 The details of the role of the connecting member in FIGS. 1 and 2 will be described with reference to FIG. 3A and 3C are side views, and FIGS. 3B and 3D are plan views. The inner shape of the guide 108 is preferably larger than the sum of the estimated value of the stop position error of the automatic guided vehicle 100 with respect to the towed carriage 200 and the outer diameter of the pin 212. In order to connect the guide 108 and the pin 212 at a shallow height, the concavo-convex portion 214 has a convex shape with a width that is lower than the pin 212 and wider to the left and right than the lateral width inside the guide 108. Further, the concave-convex portion 214 has a concave shape deeper than the thickness of the member of the guide 108 around the pin 212 so that the guide 108 and the pin 212 are connected at a deep height. As a result, a first-stage connection state in which the guide 108 covers the pin 212 and the guide 108 rides on the uneven portion 214 and a second-stage connection state in which the guide 108 meshes between the pin 212 and the uneven portion 214 are created. .

図４，図５を用いて、自動搬送車による被牽引台車の連結から連結解除までの動作を説明する。図４（Ａ）は連結前の状態であり、回転部材１０６は立てた状態にあり、自動搬送車１００は外界センサを含む制御装置１１０により被牽引台車２００の前方に後ろ向きで接岸位置決めを行う。 The operation from the connection of the towed carriage to the connection release by the automatic guided vehicle will be described with reference to FIGS. FIG. 4A shows a state before the connection, the rotating member 106 is in a standing state, and the automatic guided vehicle 100 performs a berthing positioning in a backward direction in front of the towed cart 200 by a control device 110 including an external sensor.

図４（Ｂ）は１段目の連結状態を示しており、回転部材１０６を倒すことで、ガイド１０８の内側にピン２１２が位置することとなり、凹凸部２１４は、ガイド１０８とピン２１２が浅い高さで連結するために、ピン２１２よりも低くガイド１０８の内側の開いたリング空間の横幅よりも左右に広い幅で凸形状を持つので、凹凸部２１４の上部に回転部材１０６が乗る状態になり、ガイド１０８とピン２１２は浅い高さで連結する。 FIG. 4B shows the connection state of the first stage. When the rotating member 106 is tilted, the pin 212 is positioned inside the guide 108, and the uneven portion 214 is shallow in the guide 108 and the pin 212. In order to connect at a height, it has a convex shape with a width that is lower than the pin 212 and wider to the left and right than the lateral width of the open ring space inside the guide 108, so that the rotating member 106 is placed on top of the uneven portion 214. Thus, the guide 108 and the pin 212 are connected at a shallow height.

図４（Ｃ）は２段目の連結状態であり、自動搬送車１００が前進することで、ガイド１０８に沿ってピン２１２がガイド１０８の先端へ誘導される。その際に部材の自重を利用しても良いが、回転部材１０６に下向きの力を加えておくことで、ガイド１０８がピン２１２と凹凸部２１４の間へ深い高さで連結し、少なくとも前後方向の動きが制限される連結状態へと遷移する。 FIG. 4C shows the second-stage connected state, and the pin 212 is guided to the tip of the guide 108 along the guide 108 when the automatic guided vehicle 100 moves forward. In this case, the weight of the member may be used. However, by applying a downward force to the rotating member 106, the guide 108 is connected at a deep height between the pin 212 and the concavo-convex portion 214, and at least in the front-rear direction. Transition to a connected state in which the movement of is restricted.

図４（Ｄ）は連結解除の状態であり、回転部材１０６を立てることで連結が解除される。図５は２つの連結状態について連結装置を拡大した側面図であり、図５（Ａ）は図４（Ｂ）に対応し、図５（Ｂ）は図４（Ｃ）に対応する。 FIG. 4D shows a state in which the connection is released, and the connection is released by raising the rotating member 106. FIG. 5 is an enlarged side view of the connecting device in two connected states. FIG. 5 (A) corresponds to FIG. 4 (B), and FIG. 5 (B) corresponds to FIG.

図６を用いて、連結に失敗した場合の様子を説明する。連結が前述に示したように実施されなかった場合に、回転部材１０６は連結がされた時よりも深く倒れた角度まで回転する。自動搬送車１００は回転部１０４の備える回転角検知機能により、回転部材１０６を立てて収納している状態，浅い連結の状態，深い連結の状態，連結の失敗を判定する。 A state when the connection fails will be described with reference to FIG. If the connection is not performed as described above, the rotating member 106 rotates to an angle that is deeper than when the connection is made. The automatic conveyance vehicle 100 determines a state in which the rotating member 106 is stood and stored, a shallow connection state, a deep connection state, and a connection failure by the rotation angle detection function of the rotation unit 104.

図７を用いて、図３と異なる配置の実施形態例を説明する。図３に対して、凹凸部２１４を固定部材２１０に備える代わりに回転部材１０６に備える実施形態例である。凹凸部２１４として、ガイド１０８を全体が切り抜かれた形状では無く、ピン２１２がガイド１０８の先端へ誘導された位置に切り抜きを備えることで、ガイド１０８がピン２１２に被さり凹凸部２１４がピン２１２の上に乗る浅い連結状態と、ピン２１２が凹凸部２１４の切り抜きに刺さる深い連結状態が作られる。この場合でも、図３の実施形態と本質的に同様な仕組みになる。 An embodiment example having an arrangement different from that in FIG. 3 will be described with reference to FIG. In contrast to FIG. 3, in the embodiment, the uneven member 214 is provided in the rotating member 106 instead of the fixing member 210. As the uneven portion 214, the guide 108 does not have a shape that is cut out as a whole, but the guide 212 covers the pin 212 so that the uneven portion 214 has the pin 212. A shallow connection state that rides on the top and a deep connection state in which the pin 212 pierces the cutout of the concavo-convex portion 214 are created. Even in this case, the mechanism is essentially the same as that of the embodiment of FIG.

図８を用いて、図３と異なる配置の実施形態例を説明する。図３に対して、回転部材１０６に備えるガイド１０８と固定部材２１０に備えるピン２１２を入れ替えた実施形態例である。凹凸部２１４の形態は図７でガイド１０８が備えたものと同様な機能を果たす。この場合でも、図３の実施形態と本質的に同様な仕組みになる。 An embodiment example having an arrangement different from that in FIG. 3 will be described with reference to FIG. 3 is an embodiment in which the guide 108 provided in the rotating member 106 and the pin 212 provided in the fixing member 210 are replaced. The form of the concavo-convex portion 214 performs the same function as that of the guide 108 shown in FIG. Even in this case, the mechanism is essentially the same as that of the embodiment of FIG.

図９を用いて、図３と異なる配置の実施形態例を説明する。図３に対して、回転部材１０６に備えるガイド１０８と固定部材２１０に備えるピン２１２を入れ替えて、凹凸部２１４を回転部材１０６に備える実施形態例である。凹凸部２１４の形態は図３でピン２１２の周囲に備えたものと同様な機能を果たし、固定部材２１０の上に凹凸部２１４が載って浅い高さでピン２１２は浅い高さでガイド１０８と連結し、その後、自動搬送車１００が前進することで、ピン２１２は深い高さでガイド１０８と連結する。この場合でも、図３の実施形態と本質的に同様な仕組みになる。凹凸部２１４とピン２１２の間の距離は、固定部材２１０の辺とガイド１０８との間の距離よりも広くする。 An embodiment example having an arrangement different from that in FIG. 3 will be described with reference to FIG. FIG. 3 is an embodiment in which the guide 108 provided in the rotating member 106 and the pin 212 provided in the fixing member 210 are replaced, and the uneven portion 214 is provided in the rotating member 106. The shape of the concavo-convex portion 214 performs the same function as that provided around the pin 212 in FIG. 3. The concavo-convex portion 214 is placed on the fixing member 210 and is shallow, and the pin 212 is shallow and the guide 108. After the connection, the automatic guided vehicle 100 moves forward so that the pin 212 is connected to the guide 108 at a deep height. Even in this case, the mechanism is essentially the same as that of the embodiment of FIG. The distance between the concavo-convex portion 214 and the pin 212 is made larger than the distance between the side of the fixing member 210 and the guide 108.

図１０を用いて、図３と異なるガイド１０８の実施形態例を説明する。図１０に示すように、ガイド１０８の形状は円形に限る必要はない。ガイド１０８とピン２１２の浅い連結状態から、自動搬送車１００が前進することでガイド１０８の先端へピン２１２が誘導されれば良いため、図１０のように、ガイド１０８が直線状で先端へ向かって狭くなる形状でも良い。ただし、ガイド１０８の先端形状は、ピン２１２との水平方向の回転を可能とするように、ピン２１２の外形と一致して同心円状に丸める構成とする。図３に示すガイドが円形状の構造では、自動搬送車と被牽引台車の旋回走行における相対角を広くできるのに対し、図１０に示す例では、相対角を制限できる構造となる。これらは、用途に応じて設計を選択することができる。 An example embodiment of the guide 108 different from FIG. 3 will be described with reference to FIG. As shown in FIG. 10, the shape of the guide 108 need not be limited to a circle. As the automatic guided vehicle 100 moves forward from the shallow connection state of the guide 108 and the pin 212, the pin 212 only needs to be guided to the tip of the guide 108. Therefore, as shown in FIG. And narrow shape. However, the tip shape of the guide 108 is configured to be concentrically rounded so as to coincide with the outer shape of the pin 212 so that the pin 108 can rotate in the horizontal direction. While the guide shown in FIG. 3 has a circular structure, the relative angle in turning of the automatic guided vehicle and the towed carriage can be widened, whereas in the example shown in FIG. 10, the relative angle can be limited. These can be selected according to the application.

図１１を用いて、図３と異なる凹凸部２１４の実施形態例を説明する。図１１に示すように、凹凸部２１４は必ずしも図３に示すようなピン２１２の後方から左右に伸びる凸形状に限られることはない。上記で示した２段階の連結状態を実現するために、凹凸部２１４は、ガイド１０８の幅だけピン２１２から離れた位置にピン２１２より低い凸形状による垂直面を持つ。また凸形状は、回転部材１０６を倒してガイド１０８をピン２１２に被せた際に、自動搬送車１００の停止位置に誤差があった場合にも、凸形状の全体がガイド１０８の内側に含まれないだけの大きさを持つ。また凹凸部２１４は、少なくともピン２１２の周囲にガイド１０８の形状が収まる大きさの凹形状を持つ構成とする。このため、すべてを記載しきれないが、例えば図１１の（Ａ）〜（Ｃ）に示すように、図３に対して左右の片側のみの凹凸部２１４や、被牽引台車２００の後方へ伸びる凸形状からなる凹凸部２１４や、矩形状に限らず円形や分割された形状からなる凹凸部２１４であっても、本質的に同様の機能を果たすことが可能である。 An embodiment example of the uneven portion 214 different from that in FIG. 3 will be described with reference to FIG. As shown in FIG. 11, the concavo-convex portion 214 is not necessarily limited to a convex shape extending left and right from the rear of the pin 212 as shown in FIG. 3. In order to realize the two-stage connection state shown above, the concavo-convex portion 214 has a vertical surface with a convex shape lower than the pin 212 at a position separated from the pin 212 by the width of the guide 108. Further, the convex shape includes the entire convex shape inside the guide 108 even when there is an error in the stop position of the automatic guided vehicle 100 when the rotation member 106 is tilted and the guide 108 is put on the pin 212. It has no size. Further, the uneven portion 214 is configured to have a concave shape large enough to fit the shape of the guide 108 around the pin 212. For this reason, although not all can be described, for example, as shown in FIGS. 11A to 11C, the uneven portion 214 on only one of the left and right sides with respect to FIG. Even the uneven portion 214 having a convex shape or the uneven portion 214 having not only a rectangular shape but also a circular shape or a divided shape can perform essentially the same function.

図１２を用いて、自動搬送システムの構成を説明する。システムは大きく２種類から構成される。一つ目は、自動搬送車１００の搭載装置として、制御コンピュータ３０４，バッテリー３０６，走行機構３０８とその駆動装置３１０、外界センサとして自己位置認識と台車位置認識のための走査型レーザ距離センサ３１２、回転部１０４として回転機構３１４とその駆動装置３１６を最低限の装置として持つ。 The configuration of the automatic conveyance system will be described with reference to FIG. The system is mainly composed of two types. The first is a control computer 304, a battery 306, a travel mechanism 308 and its driving device 310 as a mounting device of the automatic guided vehicle 100, and a scanning laser distance sensor 312 for self-position recognition and cart position recognition as an external sensor. The rotating unit 104 includes a rotating mechanism 314 and a driving device 316 as a minimum device.

二つ目は、自動搬送車１００の外部に設置される管理システム３００からなる。管理システム３００は、自動搬送車１００の制御用コンピュータ３０４と無線通信３０２により接続される。管理システム３００のモニタには、自動搬送車１００の位置，被牽引台車２００の位置，走行予定の経路が表示される。 The second is composed of a management system 300 installed outside the automated guided vehicle 100. The management system 300 is connected to the control computer 304 of the automated guided vehicle 100 by wireless communication 302. On the monitor of the management system 300, the position of the automated guided vehicle 100, the position of the towed carriage 200, and the planned travel route are displayed.

図１３を用いて、自動搬送車１００による被牽引台車２００の搬送動作の流れを説明する。まず、管理システム３００から自動搬送車１００へ、これから搬送する台車の現在位置，搬送の経路，搬送の目的位置，被牽引台車２００の形状と重量が送信される。次に、自動搬送車１００は搬送の指示をされた被牽引台車２００の前へ移動し、連結する。次に、自動搬送車１００は指示された経路を移動し、搬送の目的位置へ到着する。次に、自動搬送車１００は被牽引台車２００の連結解除を行い、作業の成功を管理システム３００へ報告した後は、次の作業へと移行する。搬送作業の途中で異常を検知し、搬送が正常に続行できない場合には、動作を停止し、作業の失敗を管理システム３００へ報告して次の指示を待つ。なお、搬送路の段差や傾斜，凹凸から生じる振動等により、連結状態の解除を防止するために、回転部１０４は回転部材１０６がより深く倒れる方向へ回転する力を加えておいても良い。この場合、連結が外れた状況になると、予定外に回転部材１０６が下方に移動するため、その回転状態がある所定状態より下方にあることを回転角検知機能で検出することで連結状態の検出が可能となる。 The flow of the transport operation of the towed carriage 200 by the automatic transport vehicle 100 will be described with reference to FIG. First, the current position of the carriage to be transported, the route of transport, the target position of transport, and the shape and weight of the towed truck 200 are transmitted from the management system 300 to the automatic transport vehicle 100. Next, the automatic transport vehicle 100 moves to the front of the towed cart 200 instructed to transport and connects. Next, the automatic transport vehicle 100 moves along the instructed route and arrives at the target position for transport. Next, after the automatic guided vehicle 100 releases the connection of the towed cart 200 and reports the success of the operation to the management system 300, the automatic transfer vehicle 100 proceeds to the next operation. If an abnormality is detected during the transfer operation and the transfer cannot be continued normally, the operation is stopped, the failure of the operation is reported to the management system 300, and the next instruction is awaited. Note that the rotating unit 104 may apply a force that rotates the rotating member 106 in a direction in which the rotating member 106 falls more deeply in order to prevent the connection state from being released due to a step, inclination, or vibration generated from the unevenness of the conveyance path. In this case, when the connection is released, the rotation member 106 moves downward unscheduled, and therefore the rotation state detection function detects that the rotation state is below a predetermined state, thereby detecting the connection state. Is possible.

図１４を用いて、自動搬送車１００による被牽引台車２００の連結動作の詳細な制御をフローチャートで説明する。まず、ステップ１（以下、Ｓ１と称す）で自動搬送車１００は管理システム３００からの指示を受ける。次に、Ｓ２で搬送前の台車置き場へ移動する。次に、Ｓ３で搬送を指示された任意の被牽引台車２００の前方に、後ろ向きで停止する。次に、Ｓ４で外界センサ３１２により被牽引台車２００を検知しながら接岸位置決めの動作を行い、自動搬送車１００と被牽引台車２００が連結可能な位置へ移動する。次に、Ｓ５で回転部材１０６を倒してガイド１０８をピン２１２に被せ、１段目の浅い連結状態を作る。ここで、Ｓ６として回転部１０４の備える回転角検知機能により、ガイド１０８の高さが１段目もしくは２段目の連結状態では無い場合を異常として判断し、Ｓ１０として動作を停止した後に、Ｓ１１として管理システム３００に異常を報告する。異常ではない場合には、Ｓ７で自動搬送車１００は前方へ少し移動し、その際に回転部材１０６に下向きの力を加えておくことで、ガイド１０８とピン２１２が深い高さで連結し、２段目の連結状態を作る。ここで、Ｓ８として回転部１０４の備える回転角検知機能により、ガイド１０８の高さが２段目の連結状態では無い場合を異常として判断し、Ｓ１２として動作を停止した後に、Ｓ１３として管理システム３００に異常を報告する。異常ではない場合には、Ｓ９として管理システム３００に連結の成功を報告する。 Detailed control of the connecting operation of the towed carriage 200 by the automatic guided vehicle 100 will be described with reference to the flowchart in FIG. First, in step 1 (hereinafter referred to as S1), the automatic guided vehicle 100 receives an instruction from the management system 300. Next, in S2, the vehicle is moved to the cart storage area before conveyance. Next, it stops in front of any towed carriage 200 instructed to transport in S3. Next, in S4, the pier-side positioning operation is performed while the towed cart 200 is detected by the external sensor 312 and the automatic transport vehicle 100 and the towed cart 200 are moved to a connectable position. Next, in step S5, the rotation member 106 is tilted and the guide 108 is put on the pin 212 to create a shallow first-stage connection state. Here, the rotation angle detection function provided in the rotation unit 104 as S6 determines that the height of the guide 108 is not in the connected state of the first stage or the second stage as an abnormality, and after stopping the operation as S10, S11 The abnormality is reported to the management system 300 as follows. If it is not abnormal, the automated guided vehicle 100 moves slightly forward in S7, and by applying a downward force to the rotating member 106 at that time, the guide 108 and the pin 212 are connected at a deep height, Create a second stage connection. Here, when the height of the guide 108 is not in the second-stage connected state by the rotation angle detection function provided in the rotation unit 104 as S8, it is determined as abnormal, and the operation is stopped as S12, and then the management system 300 as S13. Report any abnormalities. If not abnormal, the success of the connection is reported to the management system 300 as S9.

次に、図１５を用いて、自動搬送車１００による被牽引台車２００の牽引から連結解除動作までの詳細な制御をフローチャートで説明する。まず、Ｓ１４で管理システム３００から指示された経路を移動し、搬送後の台車置き場へ移動する。Ｓ１５で自動搬送車１００は被牽引台車２００が搬送目的位置となる地点へ停止し、回転部材１０６に上向きの力を加えた状態とすることで連結の解除を試みる。ここで、Ｓ１６として回転部１０４の備える回転角検知機能により、回転部材１０６が立った状態では無いと判定した場合には、Ｓ１８として自動搬送車１００は後ろへ少し移動することで連結解除の補助をする。ここでも同様に、Ｓ１９として回転部材１０６が立った状態では無いと判定した場合には、Ｓ２０として自動搬送車１００は左右へ少し回転することで連結解除の補助をする。Ｓ１６，Ｓ１９，Ｓ２１の判定において、回転部材１０６が立った状態と判定した場合には、Ｓ１７で自動搬送車１００は次の作業へと移行する。あるいはＳ２１で、回転部材１０６が立った状態とならない場合は異常として判断し、Ｓ２２として動作を停止した後に、Ｓ２３として管理システム３００に異常を報告する。異常時には、動作の再実施や作業者による早急な対応、適切なメンテナンスが可能となる。 Next, detailed control from the pulling of the towed carriage 200 by the automatic guided vehicle 100 to the connection releasing operation will be described with reference to FIG. First, in S14, the route instructed from the management system 300 is moved and moved to the carriage storage place after the transfer. In S <b> 15, the automatic transport vehicle 100 stops at a point where the towed carriage 200 becomes the transport target position, and attempts to release the connection by applying an upward force to the rotating member 106. Here, when it is determined in S16 that the rotation member 106 is not in a standing state by the rotation angle detection function provided in the rotation unit 104, in S18, the automatic guided vehicle 100 slightly moves backward to assist the connection release. do. Similarly, if it is determined in S19 that the rotating member 106 is not in a standing state, the automatic guided vehicle 100 assists the connection release by slightly rotating left and right in S20. If it is determined in S16, S19, S21 that the rotating member 106 is standing, the automatic guided vehicle 100 moves to the next operation in S17. Alternatively, if the rotating member 106 does not stand in S21, it is determined as an abnormality, and after the operation is stopped as S22, the abnormality is reported to the management system 300 as S23. In the event of an abnormality, re-execution of the operation, immediate response by the operator, and appropriate maintenance become possible.

以上の搬送動作において、自動搬送車１００は被牽引台車２００を牽引していない時は走査型レーザ距離センサ３１２による危険検知領域は自動搬送車１００の周囲のみとするが、牽引時には危険検知領域に被牽引台車２００の周囲も含むことによって、牽引走行中の安全性を高める。 In the above transporting operation, when the automatic guided vehicle 100 is not towing the towed carriage 200, the danger detection area by the scanning laser distance sensor 312 is only around the automatic conveyance vehicle 100. By including the periphery of the towed carriage 200, the safety during towing is increased.

１００自動搬送車
１０２駆動車輪
１０４回転部（回転機構とその駆動装置，回転角検知機能を備えても良い）
１０６回転部材
１０８ガイド
１１０自動搬送車の制御装置
２００被牽引台車
２０２支柱
２０４荷台
２０６前部の従輪（水平方向の回転が自由）
２０８後部の従輪（水平方向の回転が固定）
２１０固定部材
２１２ピン
２１４凹凸部
３００搬送全体の管理用コンピュータ（管理システム）
３０２管理システムと自動搬送車との無線通信
３０４自動搬送車の制御コンピュータ
３０６自動搬送車のバッテリー
３０８自動搬送車の走行機構
３１０自動搬送車の走行機構の駆動装置
３１２自動搬送車の外界センサ（走査型レーザ距離センサ）
３１４自動搬送車の回転部に備えた回転機構
３１６自動搬送車の回転部に備えた回転機構の駆動装置 DESCRIPTION OF SYMBOLS 100 Automatic conveyance vehicle 102 Drive wheel 104 Rotation part (A rotation mechanism, its drive device, and a rotation angle detection function may be provided.)
106 Rotating member 108 Guide 110 Control device 200 of automatic guided vehicle 200 Towed truck 202 Post 204 Loading platform 206 Follower wheel in front (free to rotate in the horizontal direction)
208 Rear follower wheel (horizontal rotation is fixed)
210 Fixing member 212 Pin 214 Concavity and convexity 300 Computer for overall conveyance management (management system)
302 Wireless communication between management system and automated guided vehicle 304 Automated transport vehicle control computer 306 Automated guided vehicle battery 308 Automated guided vehicle travel mechanism 310 Driving mechanism drive mechanism 312 Automated guided vehicle external sensor (scanning) Type laser distance sensor)
314 Rotation mechanism provided in rotation part of automatic conveyance vehicle 316 Rotation mechanism drive device provided in rotation part of automatic conveyance vehicle

Claims

搬送台車を自動搬送車と連結し、牽引する自動搬送システムにおいて、
前記自動搬送車は、凹凸部形状と回転部を有する連結部材１を、前記搬送台車は、凹凸部形状を有する駆動しない連結部材２を具備し、
前記連結部材１の自重、もしくは前記回転部に備えられた駆動手段により、前記連結部材１と前記連結部材２との、前記自動搬送車が移動する方向とは異なる方向の接触力が加えられ、
前記連結の状態は、前記連結部材１と前記連結部材２の前記凹凸形状の凸部分の接触により、前記接触力の方向へ浅く連結した前記連結部材１と前記連結部材２との相対可動領域が制限された領域１を有する連結状態１と、
前記凹凸形状の凹部分の接触により、前記接触力の方向へ深く連結した前記相対可動領域が前記領域１より小さい領域２を有する連結状態２とを有し、
前記接触力が加えられた状態で、前記自動搬送車の移動する方向に前記連結部材１を移動させることにより前記連結状態１から前記連結状態２へと誘導し、前記連結部材１が前記接触力の方向へ移動することで前記連結状態１から前記連結状態２へと遷移するガイド手段と、
前記回転部の位置を検出する位置検出手段と具備し、
前記駆動手段は、前記回転部に回転力を付与する回転手段と、前記回転の位置を検出する前記位置検出手段とを備え、自動連結もしくは連結の解除もしくは、前記連結部材１もしくは前記連結部材２の収納、を行うことを特徴とする自動搬送システム。 In an automatic transport system that connects and pulls a transport cart with an automatic transport vehicle,
The automatic transport vehicle includes a connecting member 1 having an uneven portion shape and a rotating portion, and the transport carriage includes an undriven connecting member 2 having an uneven portion shape ,
A contact force in a direction different from the direction in which the automatic transport vehicle moves between the connecting member 1 and the connecting member 2 is applied by the weight of the connecting member 1 or the driving means provided in the rotating portion.
The state of the connection is such that the relative movable region between the connection member 1 and the connection member 2 that are shallowly connected in the direction of the contact force due to the contact of the convex and concave portions of the connection member 1 and the connection member 2. A connected state 1 having a restricted region 1;
A contact state 2 in which the relative movable region deeply connected in the direction of the contact force has a region 2 smaller than the region 1 by contact with the concave portion of the concave and convex shape ;
In a state where the contact force is applied, the connection member 1 is moved in the moving direction of the automatic guided vehicle to guide the connection state 1 to the connection state 2, and the connection member 1 is in contact with the contact force. Guide means for transitioning from the connected state 1 to the connected state 2 by moving in the direction of
Comprising position detecting means for detecting the position of the rotating part,
The driving unit includes a rotating unit that applies a rotational force to the rotating unit, and the position detecting unit that detects a position of the rotation, and is configured to automatically connect or release the connection, or the connection member 1 or the connection member 2. An automatic conveyance system characterized by carrying out storage.

請求項１に記載の自動搬送システムにおいて、
前記ガイド手段は、円弧および／または直線状に先端部へ向かって狭くなる凹形状の空間を持ち、前記凹形状の空間により誘導される前記凹凸形状は、凸形状の連結ピンからなることを特徴とする自動搬送システム。 In the automatic conveyance system of Claim 1,
The guide means has a concave space that narrows toward the tip in a circular arc and / or linear shape, and the concave / convex shape guided by the concave space comprises a convex connecting pin. And automatic transfer system.

請求項２に記載の自動搬送システムにおいて、
前記ガイド手段の前記凹形状は、先端に向かって直線的に狭くなり先端が前記連結ピンの外形と一致して同心円状に丸めた形状であることを特徴とする自動搬送システム。 In the automatic conveyance system of Claim 2,
2. The automatic conveying system according to claim 1, wherein the concave shape of the guide means is a shape that linearly narrows toward the tip, and the tip is rounded concentrically to match the outer shape of the connecting pin.

請求項１乃至３のいずれかに記載の自動搬送システムにおいて、
前記連結部材２は前記搬送台車の外周から突出しない位置に配置することを特徴とする自動搬送システム。 In the automatic conveyance system in any one of Claims 1 thru | or 3 ,
The automatic transfer system, wherein the connecting member 2 is arranged at a position that does not protrude from the outer periphery of the transfer carriage.

請求項１乃至４のいずれかに記載の自動搬送システムにおいて、
前記連結部材２の前記凹凸形状は、少なくとも凸形状の連結ピンを有することを特徴とする自動搬送システム。 In the automatic conveyance system in any one of Claims 1 thru | or 4 ,
The automatic conveyance system, wherein the concave-convex shape of the connecting member 2 includes at least a convex connecting pin.

請求項１乃至５のいずれかに記載の自動搬送システムにおいて、
前記連結状態１から前記連結状態２への前記誘導は、前記自動搬送車の移動によって実施することを特徴とする自動搬送システム。 In the automatic conveyance system in any one of Claims 1 thru | or 5 ,
The automatic transfer system according to claim 1, wherein the guidance from the connected state 1 to the connected state 2 is performed by movement of the automatic transfer vehicle.

請求項１乃至６のいずれかに記載の自動搬送システムにおいて、
前記回転手段により前記接触力とは反対方向に回転力を付与すると同時に、前記自動搬送車が移動することで、連結を解除することを特徴とする自動搬送システム。 In the automatic conveyance system in any one of Claims 1 thru | or 6 ,
An automatic conveyance system, wherein a rotation force is applied in a direction opposite to the contact force by the rotation means, and at the same time, the connection is released by the movement of the automatic conveyance vehicle.

請求項１乃至７のいずれかに記載の自動搬送システムにおいて、
前記自動搬送車が前記搬送台車を連結した状態で牽引走行をする際に、前記駆動手段は、前記接触力を付与することを特徴とする自動搬送システム。 In the automatic conveyance system in any one of Claims 1 thru | or 7 ,
The automatic transfer system is characterized in that the driving means applies the contact force when the automatic transfer vehicle performs tow traveling in a state where the transfer cart is connected.

請求項１乃至８のいずれかに記載の自動搬送システムにおいて、
前記位置検出手段により、すくなくとも前記連結状態１，前記連結状態２，前記連結の解除，前記収納のいずれかの状態を検出し、予定外の位置であった場合に、少なくとも、前記自動搬送車が連結および／または移動動作の再試行または中断、もしくは前記自動搬送車から前記自動搬送車の外部に設けられた管理システムへの異常の報告および前記自動搬送車が前記管理システムから次の指示を受け取ることを特徴とする自動搬送システム。 In the automatic conveyance system in any one of Claims 1 thru | or 8 ,
The position detection means detects at least one of the connection state 1, the connection state 2, the release of the connection, and the storage, and if the position is an unscheduled position, at least the automatic conveyance vehicle Retry or interruption of connection and / or movement operation, or report of abnormality from the automated guided vehicle to a management system provided outside the automated guided vehicle, and the automated guided vehicle receives the next instruction from the management system An automatic conveyance system characterized by that.