WO2009031707A1 - 自動搬送装置 - Google Patents
自動搬送装置 Download PDFInfo
- Publication number
- WO2009031707A1 WO2009031707A1 PCT/JP2008/066485 JP2008066485W WO2009031707A1 WO 2009031707 A1 WO2009031707 A1 WO 2009031707A1 JP 2008066485 W JP2008066485 W JP 2008066485W WO 2009031707 A1 WO2009031707 A1 WO 2009031707A1
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- WO
- WIPO (PCT)
- Prior art keywords
- carriage
- truck
- self
- cart
- automatic transfer
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61J—SHIFTING OR SHUNTING OF RAIL VEHICLES
- B61J1/00—Turntables; Traversers; Transporting rail vehicles on other rail vehicles or dollies
- B61J1/10—Traversers
Definitions
- the present invention relates to an automatic transfer device having a connecting portion with a cart loaded with workpieces and luggage, etc., and having a self-propelling vehicle for self-propelling along a predetermined route.
- a tow-type self-propelled vehicle (hereinafter referred to as a trolley-towed vehicle), or a trolley on which workpieces and luggage are placed, are integrated via a connecting portion, and is guided by a guide means such as magnetic information laid on the floor.
- An automatic transfer device equipped with a self-propelled vehicle for transportation such as a load-type self-propelled vehicle that self-propels along the road is known.
- the cart tow truck 50 employed in the conventional automatic transfer device is always integrally connected to the cart 4 near its center.
- the cart tow truck 50 is provided with two units (2 WD + 2 WS) which are separated from each other in the front-rear direction by driving wheel units 7 and 7 having a pair of left and right wheels 8 and 8 that rotate independently.
- driven wheels 25 a to 25 d are respectively provided at the four corners of the bottom of the carriage 4.
- each drive wheel unit 7, 7 is separately provided with a steering control motor or a steering angle sensor. Etc., and the structure becomes complicated and cannot be miniaturized.
- the truck wheel 7 is configured with one drive wheel 7 in order to reduce the size of the truck trailer 50, the truck 4 truck will pull the truck 4 and travel in the transverse direction.
- Dependent wheels 2 5 a to 2 5 d convert from forward / backward direction to transverse direction When this happens, the cart 4 will sway in the direction of travel and travel in an oblique direction. Therefore, in order to regulate the lateral deflection of the carriage 4 in the traveling direction, the driving force of the carriage trailer 50 that exceeds the deflection force of the carriage 4 is required, and the driving wheel unit 7 is extremely large, Or, it is necessary to increase it to at least 2 units, and it becomes difficult to reduce the size of the cart tow truck 50.
- Patent Document 1 in an automatic guided vehicle capable of switching between traveling and traversing, the steering angle is controlled independently for each of four traveling wheels provided on the lower surface of the guided vehicle.
- the steering means that can be used, and by providing a traveling drive motor on two traveling wheels arranged on the diagonal line of the transport vehicle to enable traveling Z traverse, the balance of the driving force to the transport vehicle is maintained.
- a four-wheel-steered automatic guided vehicle has been disclosed that is capable of running and providing stability.
- Patent Document 1 Japanese Patent Application Laid-Open No. 8-1 2 3 5 50
- the present invention has been made in view of the above points, and after simplifying and downsizing the structure of a transporting self-propelled vehicle such as a truck towing vehicle, the forward / backward and transverse directions of the transporting self-propelled vehicle
- the purpose is to provide an automatic transfer device that enables the vehicle to run.
- the automatic transfer device is a shake control unit that controls a lateral swing of the transporting self-propelled vehicle or the carriage with respect to a traveling direction when the transporting self-propelled vehicle travels in a transverse direction. It is characterized by having.
- the structure of the self-propelled vehicle for conveyance can be simplified and miniaturized, and the self-propelled vehicle for conveyance can be allowed to travel in the forward / backward direction and the transverse direction.
- An automatic transfer device provided with a self-propelled vehicle for transportation having a connecting portion with a carriage, which travels in the forward / backward direction and the transverse direction along the predetermined route by guide means arranged on the predetermined route.
- An automatic transport apparatus comprising: a swing restricting means for restricting a lateral swing with respect to a traveling direction of the transporting self-propelled vehicle or the carriage when the transporting self-propelled vehicle travels in a transverse direction.
- the horizontal deflection in the traveling direction of the self-propelled vehicle for conveyance and the carriage can be regulated by the shake regulating means. It is not necessary to increase the driving force of the self-propelled vehicle for conveyance by increasing the number of drive wheels, etc., and the structure of the self-propelled vehicle for conveyance can be simplified.
- a detection sensor for detecting the guide means is incorporated in the front or rear part of the driving wheel provided in the self-propelled vehicle for conveyance, and based on detection of the guide means by the detection sensor.
- the direction of the drive wheel is changed to either the forward / backward direction or the transverse direction.
- the direction of the drive wheel is converted to either the forward / reverse direction or the transverse direction based on the detection of the drafting means by the detection sensor. Or, it is not necessary to provide a new component for controlling the direction of the drive wheel such as a steering angle sensor, and the structure of the truck can be simplified.
- the run-out restricting means includes a pair of carriage posture holding guides that hold the posture of the carriage on a transverse guideway along which the conveyance self-propelled vehicle travels in the transverse direction.
- the shake restricting means is configured to include a pair of cart posture holding guides that hold the posture of the cart on the traverse guide path along which the transporting self-propelled vehicle travels in the traverse direction. Therefore, when the self-propelled vehicle for transportation travels in the traversing direction, the lateral vibration of the self-propelled vehicle for transportation and the carriage with respect to the traveling direction can be easily regulated with a simple configuration.
- the drive wheel is composed of a drive wheel unit having a pair of left and right wheels that rotate independently of each other, and the drive wheel unit converts its direction by making the number of rotations of each wheel different.
- a traveling motor is connected to each of the pair of left and right wheels, and the direction of the driving wheel unit is changed by making the rotational speed of each traveling motor different. Is done.
- the structure of the self-propelled vehicle for conveyance can be further simplified because the self-propelled vehicle for conveyance has only one drive wheel unit.
- the transporting self-propelled vehicle is a cart towing vehicle that is detachably connected to the cart, and pulls the cart.
- the automatic transfer device according to any one of items (1) to (5), characterized in that a connecting portion connected in the vicinity is provided.
- the cart towing vehicle when the transporting self-propelled vehicle is a cart towing cart that pulls the cart, the cart towing vehicle is located near the center of the bottom of the cart via the connecting portion with the cart. As a result, it is possible to minimize the lateral deflection of the carriage towing vehicle and the traveling direction of the carriage when the carriage towing vehicle travels in the transverse direction.
- the self-propelled vehicle for conveyance follows the traveling magnetic tape Along with self-propelled, it self-propels according to the traveling instructions of each traveling instruction marker arranged at a predetermined interval along the traveling magnetic tape.
- the structure of a self-propelled vehicle for conveyance such as a truck towing vehicle is simplified and miniaturized, and the automatic conveyance that enables the conveyance self-propelled vehicle to travel in the forward and backward direction and the transverse direction is enabled.
- Equipment can be provided.
- FIG. 1 is a schematic diagram showing an automatic transfer device according to an embodiment of the present invention.
- FIG. 2 is a view showing a state in which the direction of the drive wheel unit of the cart towing vehicle of the automatic transfer device is changed.
- FIG. 3 is a front view of a pin drive mechanism that constitutes a connecting portion of a cart towing vehicle of the automatic conveyance device.
- FIG. 4 is a three-side view of a pin engaging member constituting a connecting portion of a carriage of the automatic transfer device. '
- FIG. 5 is a schematic view showing an embodiment different from FIG. 1 of a pair of cart posture holding guides provided in the automatic transfer device.
- FIG. 6 is a schematic view showing an embodiment different from FIG. 1 in a connection form of a truck tow truck and a truck.
- FIG. 7 is a schematic view showing an embodiment different from FIGS. 1 and 6 in a connection form of a truck tow truck and a truck.
- FIG. 8 is a diagram showing an embodiment of a travel path on which a cart tow can travel.
- FIG. 9 is a schematic side view of a wheel switching unit for each driven wheel of a truck tow truck.
- FIG. 10 is a schematic plan view of a wheel switching unit of each driven wheel of a truck tow truck.
- FIG. 11 is a schematic cross-sectional view of a wheel switching unit for each driven wheel of a truck tow truck.
- FIG. 12 is a schematic diagram showing a conventional automatic transfer device. Explanation of symbols
- 1 Automatic transfer device 2 Traveling magnetic tape (guide means), 2 a Forward / reverse guideway, 2 b Traverse guideway, 3 Dolly towing vehicle (Self-propelled vehicle for transfer), 4 Dolly, 7 Drive wheel unit (Driving wheel) , 8 wheels (drive wheel), 1 2 Magnetic detection sensor unit, 1 3 a to 1 3 c Magnetic detection sensor, 1 5 connection part, 1 6 a, 16 b connection part, 1 9 connection pin, 18 pin drive Mechanism, 3 0 Pin engagement hole, 3 1 Pin engagement member 3 5 Swing restricting means, 3 6 Dolly posture holding guide, 3 6 a guide plate, 3 6 b Rotating roller
- FIG. 1 is a schematic diagram of an automatic conveyance device 1 according to an embodiment of the present invention.
- a cart towing vehicle (transportation self-propelled vehicle) 3 pulls the cart 4 and moves forward and backward along the traveling magnetic tape 2. It is the figure which showed a mode that it drive
- the cart tow truck 3 that is detachably connected to the cart 4 and pulls the cart 4 is adopted as the self-propelled vehicle for transport.
- the present invention can also be applied to a self-propelled vehicle that is integrated with the carriage 4 through a connecting portion.
- an automatic transfer apparatus 1 includes a traveling magnetic tape 2 and a traveling instruction marker (guide means) laid on the floor surface of a predetermined route, and the traveling magnetic tape 2.
- Trolley tow truck 3 that can travel in the forward and backward direction and the transverse direction
- trolley 4 that is detachably connected to the trolley truck 3 and on which workpieces and luggage are placed, and trolley traction
- the run-out restricting means 3 that regulates the lateral run-out of the carriage towing truck 3 or the carriage 4 (the carriage 4 in this embodiment) with respect to the traveling direction. It is roughly composed of 5.
- front and rear used to describe the arrangement of each component are used to mean the direction of travel of the cart towing vehicle 3 in the forward / backward direction. Yes.
- horizontal is used to mean a direction that intersects the traveling direction of the truck 3.
- the traveling magnetic tape 2 forms the crank-shaped guideway of the truck 3 It is laid on the floor surface, and each forward / backward guideway 2a for moving the truck tow truck 3 in the forward / backward direction, and substantially perpendicular to each forward / backward guide path 2a, It forms a transverse taxiway 2b that travels from the advancing direction to the transverse direction.
- a plurality of travel instruction markers are arranged at intervals along the travel magnetic tape 2, and the travel instruction marker system uses an absolute address having a plurality of travel instructions in the marker itself.
- the travel instruction marker system uses an absolute address having a plurality of travel instructions in the marker itself.
- the trolley 3 has a traveling magnetic tape 2 and a traveling instruction by means of a magnetic detection sensor unit 1 2 and a traveling instruction marker detection sensor (not shown) arranged at the front or rear of the driving wheel unit 7 in the forward direction. It is self-propelled along the marker, and has one drive wheel unit 7 at the approximate center of the bottom of the truck trailer body 6.
- the drive wheel unit 7 is configured such that a traveling motor (not shown) is connected to each of a pair of left and right wheels 8 and 8 so that the wheels 8 and 8 rotate independently.
- the truck 3 is capable of traveling in the forward / reverse direction by forward / reverse rotation of the travel motors and fixed / universal switching control of the driven wheels 10 a to l 0 d.
- the truck tow truck 3 is provided with driven wheels 10 a to l 0 d at the four corners at the bottom of the truck tow truck body 6.
- Each driven wheel 10 a to l 0 d is set as a driven wheel that can rotate around the vertical axis at an appropriate timing, or is fixed so that its direction is directed in the forward and backward direction. Set as a driven fixed wheel.
- the driven wheels 1 0 a to 1 0 d of the bogie tow truck 3 are based on a free wheel, and a positioning roller 6 3 is attached to a wheel holding portion 6 4.
- wheel switching units are installed before and after the truck tow 3 and each wheel is fixed by controlling the wheel switching plate 60.
- . 9 to 11 is a vertical axis that freely supports the directions of the driven wheels 10 a to l 0 d.
- Symbol W shown in Figs. 9 to 11 indicates a wheel.
- driven wheels 1 0 a and 1 0 b are set as fixed wheels.
- the wheel switching plate 60 moves in the front-rear direction (vertical direction in the figure) of the cart towing vehicle 3 while being regulated by the guide roller 6 7 and the guide 6 8. Then, when the wheel switching plate 60 moves in the front-rear direction, the positioning roller 63 contacts the U-shaped groove 61 of the wheel switching plate 60 and moves along the U-shaped groove 61 so that the direction of the wheel W is reached. Is directed forward and backward. After that, when the positioning port 63 finally engages with the positioning notch 62 provided on the wheel switching plate 60, the direction of the wheel W is fixed in the front-rear direction. Thereafter, the driven wheels 1 0 a and 1 0 b function as fixed wheels.
- the wheel switching plate 6 ⁇ is moved in a direction away from the positioning roller 6 3 of the wheel holding portion 6 4 (downward in the drawing). The restraint as the fixed wheel is released, and then the driven wheels 10 a and 10 b function as the free wheels.
- a magnetic detection sensor unit 12 for detecting the traveling magnetic tape 2 is disposed in the forward direction of the drive wheel unit 7.
- This magnetic detection sensor unit 1 2 includes a plurality (three in this embodiment) of magnetic detection sensors 1 3 a to 1 3 c force along a direction substantially perpendicular to the direction in which the traveling magnetic tape 2 extends. It is arranged and configured.
- the magnetic detection sensor unit 12 may be disposed at the rear of the drive wheel nut 7 in the forward direction.
- the three magnetic detection sensors 1 3 a to l 3 c are turned OFF-ON-OFF in order.
- the traveling magnetic tape 2 is detected so that the detected state is as follows, and the rotational speeds of the traveling motors of the vehicles 8 and 8 are controlled.
- the truck towing vehicle 3 is formed with a coupling portion 15 with the carriage 4 on the rear side of the drive wheel boot 7.
- the connecting portion 15 is configured such that a pin driving mechanism 18 is built in a bogie tow truck body 6.
- the pin drive mechanism 1 8 includes a connecting pin 19 that can be moved in and out of the trolley main body 6, a spring push-up mechanism 19 located at the lower end of the connecting pin 19, and a bogie whose axis is rotatable in the horizontal direction.
- the cart 4 is provided with driven wheels 25a to 25d at the four corners of the bottom of the cart body 24.
- These driven wheels 25a to 25d are All are set to followable wheels that can rotate around the vertical axis.
- connection portions 16 a and 16 b to the cart towing vehicle 3 are formed in the front-rear direction near the center of the bottom of the cart body 24.
- each connecting portion 16a, 16b is provided with a pin engaging member 31 having a pin engaging hole 30 and the pin engaging member 31 is rectangular.
- An introduction member 33 is provided on the lower surface of the plate 32.
- the introduction member 3 3 includes a pair of side wall portions 3 3 a and 3 3 b whose separation width gradually increases from the front edge to the rear edge of the rectangular plate 3 2, and the pair of side wall portions 3 3 a and 3 3 b
- a circular pin engagement hole 30 is formed in the cylindrical portion 3 3 d at the junction of the pair of side wall portions 3 3 a, 3 3 b and the ceiling wall portion 3 3 c on the rectangular plate 3 2. It is formed.
- this automatic transfer device 1 regulates the lateral swing of the carriage 4 in the traveling direction when the carriage towing vehicle 3 pulls the carriage 4 and travels from the forward / reverse direction to the transverse direction.
- the run-out regulating means 3 5 is provided.
- the swing restricting means 3 5 includes a pair of carriages that abut on both lateral sides of the carriage body 2 4 of the carriage 4 on the transverse guideway 2 b in which the carriage tow truck 3 pulls the carriage 4 and travels in the transverse direction.
- the posture holding guides 3 6 and 3 6 are provided.
- Each carriage posture holding guide 3 6 is erected from the floor surface of the transverse guiding path 2 b and extends in the same direction as the traveling magnetic tape 2 (transverse guiding path 2 b), and the guide plate 3 6
- a plurality of rotatable rollers 36 b are provided on the surface of a along the direction in which the traveling magnetic tape 2 extends, and abut on the short side surfaces of the carriage body 24 of the carriage 4.
- the truck 4 is attached to the truck tow truck 3 and the connecting parts 15 1 6 a is engaged and connected, and trolley pulling * 3 pulls trolley 4 and travels on traveling magnetic tape 2 that extends in the forward / backward direction (forward / backward guiding path 2 a) and on each traveling instruction marker. That is, the cam follower 2 2 and the connecting member can be obtained by rotating the connecting pin 19 of the pin drive mechanism 1 8, which is the connecting portion 15 provided on the trolley 3, by the motor 2 0.
- the two driven wheels 1 0 a, 1 0 b on the front side of the truck 3 are set as driven wheels, and the two driven wheels 1 0 on the rear side of the truck 3 1 c and 10 0 d are set to driven fixed wheels fixed so that their directions are directed in the forward and backward direction.
- the cart towing vehicle 3 pulls the cart 4 and travels on the traveling magnetic tape 2
- the cart towing vehicle 3 is connected to the magnetic detection sensor unit provided at the front of the drive unit 7 in the forward direction.
- 1 3 three magnetic detection sensors 1 3 a to l 3 c (See Fig.
- the truck trailer 3 detects a plurality of travel instruction markers arranged at intervals along the travel magnetic tape 2 and travels according to the travel instruction.
- the traveling tow truck 3 is input with a travel program in which a travel instruction is input for each address No of each travel instruction marker.
- the address No of the travel instruction marker is counted up, and it corresponds to the address No of the passed travel instruction marker.
- the trolley tow truck 3 starts to travel according to the travel instruction.
- Fig. 1 (a) First, the connecting pin 19 of the truck tow truck 3 is removed from the pin engaging hole 30 of the front connecting part 16a of the truck 4 and is immersed in the truck towing truck body 6 to make the truck tow truck 3 and the truck 4 Disconnect from the link. Subsequently, the two driven wheels 10a, 10b on the front side of the truck 3 are switched to driven fixed wheels whose direction is fixed in the forward and backward direction, and all the driven wheels 10a of the truck 3 are 10a.
- each of the wheels 8 and 8 of the drive wheel unit 7 facing in the forward / backward direction is made different, and each of the wheels 8 and 8 is replaced by three magnetic detection sensors 13 a to l 3 c, From the detection state of OFF — ON— OFF in order, all the magnetic detection sensors 13 a to l 3 c go through the process of becoming the detection state of OF F, and again three magnetic detection sensors 13 a to l 3 c force Rotate around the vertical axis until the OFF-ON-OFF detection state is reached in order, and change the direction of the drive wheel unit 7 from the forward-reverse direction to the transverse direction by approximately 90 °.
- the wheels 8 and 8 of the drive wheel unit 7 of the truck tow truck 3 are driven to drive the truck tow truck 3 along with the truck 4 from the position shown in Fig. 1 (c) to the position shown in Fig. 1 (d).
- all the driven wheels 10 a to l 0 d and all of the driven free wheels of the truck 3 All driven wheels set on the free wheel of dolly 4 5 a to 2 5 d force
- the dolly tow dolly 3 pulls dolly 4 while pointing in the same direction as the drive wheel unit 7 (transverse direction). Drive in the traverse direction.
- the trolley 3 and the trolley 4 are subject to sideways motion with respect to the traveling direction, but a pair of trolley posture holding guides 3 6, 3 6.
- a plurality of rotatable rollers 3 6 b, 36 b provided along the direction of the transverse guide path 2 b abut on the surface of the pair of guide plates 3 6 a, 3 6 a.
- the trolley 4 travels in the transverse direction without swinging in the direction of travel.
- each wheel 8 has three magnetic detection sensors 1 3 a to l 3 c in the order of the force OF F—ON—OFF, all the magnetic detection sensors 1 3 a to l 3 c are O
- the three magnetic detection sensors 1 3 a to l 3 c rotate around the vertical axis in turn until they are in the OFF-ON-OFF detection state. Change the direction of wheel unit 7 by 90 ° from the transverse direction to the forward / backward direction.
- the connecting pin 19 of the truck tow truck 3 is pulled out of the pin engaging hole 30 of the rear connecting part 1 6 b of the truck 4 and is immersed in the truck tow truck body 6 Then, the connection between the truck 4 and the truck 4 is released. Subsequently, for example, as shown in FIG. 6, the guide plates 4 1 and 4 1 provided inside the carriage 4 and the rotatable rollers 40 and 40 provided on the carriage tow truck 3 are provided. In this case, the driving wheel unit 7 is driven to move the cart towing vehicle 3 slightly along the guide plates 4 1 and 4 1 (to the inside of the cart 4), and all the driven wheels of the cart towing vehicle 3 are driven.
- the cart towing vehicle 3 drives the drive wheel unit 7 to pull the cart 4 to extend in the forward / rearward direction (the forward / backward guide path 2 a). Start driving along Loop 2.
- connecting pin 1 9 connecting portion 1 connected to the bogie 4 in the vicinity of the approximate center of the bottom of the bogie 4.
- the cart 4 is provided with a pin engaging hole 30 (connecting portion 16 b) connected to the cart towing vehicle 3 in the vicinity of the substantially center of the bottom portion thereof.
- the lateral guideway 2 b for traveling the tow truck 3 in the transverse direction regulates the lateral deflection of the carriage 4 in the traveling direction when the tow truck 3 pulls the carriage 4 and travels in the transverse direction.
- a pair of bogie posture holding guides 3 6 and 3 6 (runout restricting means 3 5) are provided.
- cart towing vehicle 3 and cart 4 are controlled to move laterally in the direction of travel, and the cart towing vehicle 3 is simplified and downsized without complicating the structure of the cart towing cart 3 It is possible to travel in the forward / backward direction and the transverse direction.
- the pair of bogie posture holding guides 3 6 and 3 6 constituting the shake restricting means 3 5 are
- the traveling magnetic tape 2 extends on the surface of a pair of guide plates 3 6 a, 3 6 a and the respective guide plates 3 6 a, 3 6 a, which are erected from the floor surface and extend in the same direction as the traveling magnetic tape 2. It is composed of a plurality of rotatable rollers 3 6 b that are provided along the direction and abut on both short side surfaces of the carriage 4, and a pair of carriage attitude holding guides 3 6 and 3 6 are shown in FIG. As shown, rampant taxiway
- a pair of guide plates 3 6 a, 3 6 a which extend in the same direction as the traveling magnetic tape 2 extending from the floors on both sides via the traveling magnetic tape 2, and the carriage 4
- the pair of trolley posture holding guides 3 6 and 3 6 are configured to be in contact with both side surfaces of the trolley 4 so that the posture of the trolley 4 is maintained. It may be configured to be in contact with both side surfaces of the cart towing vehicle 3 so as to hold the vehicle.
- the pin drive mechanism provided in the cart towing vehicle 1 8 When the cart towing vehicle 3 trails the cart 4 and travels in the traverse direction, the pin drive mechanism provided in the cart towing vehicle 1 8 The connecting pin 1 9 is engaged with the pin engaging hole 3 0 of the pin engaging member 3 1 provided near the center of the bottom of the carriage 4, and the carriage towing truck 3 and the carriage 4 are
- the engagement means between the carriage towing vehicle 3 and the carriage 4 two forms as shown in FIG. 6 or FIG. 7 can be adopted.
- the bogie 4 is also provided with two pin engaging holes 1 9 and 19 in the pin engaging members 3 1 and 3 1 at positions corresponding to the connecting pins 19 and 19 respectively.
- the truck tow truck 3 and the truck 4 may be connected at two locations near the center of the bottom of the truck 4.
- the cart towing vehicle 3 has a crank shape as long as the traveling magnetic tape 2 is laid in an H shape on the floor surface. Run on Of course, it can also run in a U-shape, allowing it to travel in a small space.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200880105802.1A CN101795921B (zh) | 2007-09-06 | 2008-09-05 | 自动输送装置 |
US12/676,872 US8613339B2 (en) | 2007-09-06 | 2008-09-05 | Automatic transfer apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007231424A JP4280940B2 (ja) | 2007-09-06 | 2007-09-06 | 自動搬送装置 |
JP2007-231424 | 2007-09-06 |
Publications (1)
Publication Number | Publication Date |
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WO2009031707A1 true WO2009031707A1 (ja) | 2009-03-12 |
Family
ID=40429011
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2008/066485 WO2009031707A1 (ja) | 2007-09-06 | 2008-09-05 | 自動搬送装置 |
Country Status (4)
Country | Link |
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US (1) | US8613339B2 (ja) |
JP (1) | JP4280940B2 (ja) |
CN (1) | CN101795921B (ja) |
WO (1) | WO2009031707A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
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JP5689278B2 (ja) * | 2010-10-22 | 2015-03-25 | 株式会社シンテックホズミ | 自動搬送車の制御方法 |
JP5526390B2 (ja) * | 2010-12-08 | 2014-06-18 | 株式会社ダイフク | 台車式搬送装置とその操向制御方法 |
JP2014186449A (ja) * | 2013-03-22 | 2014-10-02 | Kojima Press Industry Co Ltd | 無人搬送車 |
JP6009010B2 (ja) * | 2015-02-18 | 2016-10-19 | 株式会社シンテックホズミ | 自動搬送車、及び自動搬送車の連結方法 |
JP6009011B2 (ja) * | 2015-02-18 | 2016-10-19 | 株式会社シンテックホズミ | 自動搬送車、及び自動搬送車用の連結部材 |
JP5855296B1 (ja) * | 2015-02-13 | 2016-02-09 | 株式会社シンテックホズミ | 自動搬送車、及び自動搬送車の走行制御方法 |
DK178498B1 (en) | 2015-04-13 | 2016-04-18 | Mobile Ind Robots Aps | ROBOT-BASED VEHICLE TO TOUGH A CAR |
WO2018012285A1 (ja) * | 2016-07-14 | 2018-01-18 | 愛知機械テクノシステム株式会社 | 無人搬送車の牽引装置およびこれを備える無人搬送車 |
CN112340338B (zh) | 2020-10-30 | 2023-05-30 | 北京京东乾石科技有限公司 | 物料车、牵引设备、***及控制物料车双向行驶的方法 |
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JPS58116259A (ja) | 1981-12-28 | 1983-07-11 | 石川島播磨重工業株式会社 | 走行台車の方向転換装置 |
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2007
- 2007-09-06 JP JP2007231424A patent/JP4280940B2/ja active Active
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2008
- 2008-09-05 WO PCT/JP2008/066485 patent/WO2009031707A1/ja active Search and Examination
- 2008-09-05 CN CN200880105802.1A patent/CN101795921B/zh active Active
- 2008-09-05 US US12/676,872 patent/US8613339B2/en active Active
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JPS59195463A (ja) * | 1983-04-21 | 1984-11-06 | トヨタ自動車株式会社 | 車両搬送用無人運搬車 |
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Also Published As
Publication number | Publication date |
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CN101795921A (zh) | 2010-08-04 |
US8613339B2 (en) | 2013-12-24 |
US20100212984A1 (en) | 2010-08-26 |
JP2009061908A (ja) | 2009-03-26 |
JP4280940B2 (ja) | 2009-06-17 |
CN101795921B (zh) | 2014-03-05 |
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