JPH0450073A - Unmanned conveying vehicle - Google Patents
Unmanned conveying vehicleInfo
- Publication number
- JPH0450073A JPH0450073A JP16009890A JP16009890A JPH0450073A JP H0450073 A JPH0450073 A JP H0450073A JP 16009890 A JP16009890 A JP 16009890A JP 16009890 A JP16009890 A JP 16009890A JP H0450073 A JPH0450073 A JP H0450073A
- Authority
- JP
- Japan
- Prior art keywords
- frame
- article storage
- robot hand
- article
- storage space
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Load-Engaging Elements For Cranes (AREA)
- Warehouses Or Storage Devices (AREA)
- Intermediate Stations On Conveyors (AREA)
Abstract
Description
【発明の詳細な説明】 （＆楽土の利用分野） この発明は物品移載装置を有する無人搬送車に関する。[Detailed description of the invention] (& fields of use of Rakudo) The present invention relates to an automatic guided vehicle having an article transfer device.
（発明の目的）
この発明は、物品を吊持移載することが出来る物品移載
装置を有する無人搬送車を提供することを目的とするも
のである。(Object of the Invention) An object of the present invention is to provide an automatic guided vehicle having an article transfer device capable of lifting and transferring articles.
（実施例）
以下にこの発明を図面に示す実施例に基づいて説明する
。なお、この明細書において、前とは第１図裏側を、後
とは同表側をいい、左とは第１図左側を、右とは同図右
側をいう。(Example) The present invention will be described below based on an example shown in the drawings. In this specification, the front refers to the back side in Figure 1, the rear refers to the front side, the left refers to the left side in Figure 1, and the right refers to the right side in Figure 1.
前後・左右に走行自在な無人搬送車１の車体２上面には
、左右側方に開口する物品収納空間４を形成するように
して、左右側面から見て門形の固定枠３が設けられ、こ
の固定枠３の上部に特開平１−１７２，１２１号公報・
特開昭５９−２３ ７６２号公報等において公知の進退
機構によって、水平摺動枠６が前記物品収納空間４から
左右いずれの方向にも突出するように水平摺動自在に設
けられ、この水平摺動枠６にＡ降枠７が吊持ベル）９−
その巻き取りトラム１０等を有する昇降装Ｍ８によって
昇降自在に設けられている。前記昇降枠７にロボットハ
ンド１２が設けられている。このロボットハンド１２は
、駆動装置１６（第３図参照）によって相互に同期して
近寄ったり、離れたりする左右一対の垂下片１３と、こ
れら垂下片１３の下端に設けられた水中物品支承片１４
と、これら水平物品支承片１４に立設された突起１５と
を有している。このロボットハンド１２によって保持さ
れる物品収納ケース１７は、水平物品支承片１４よって
支承されるフランジ１８を有しており、このフランジ１
８には前記突起１５が嵌まる貫通孔１９か形成されてい
る。A gate-shaped fixed frame 3 is provided on the upper surface of the vehicle body 2 of the automatic guided vehicle 1, which can freely travel forward and backward and left and right, so as to form an article storage space 4 that opens on the left and right sides when viewed from the left and right sides. At the top of this fixed frame 3, there is a
A horizontal sliding frame 6 is horizontally slidably provided so as to protrude from the article storage space 4 in either the right or left direction by a known advancing/retracting mechanism as disclosed in Japanese Patent Application Laid-Open No. 59-23-762. A lowering frame 7 is suspended from the moving frame 6) 9-
It is provided so that it can be raised and lowered by an elevator M8 having a winding tram 10 and the like. A robot hand 12 is provided on the elevating frame 7. This robot hand 12 includes a pair of left and right hanging pieces 13 that move toward and away from each other in synchronization with each other by a drive device 16 (see FIG. 3), and an underwater article supporting piece 14 provided at the lower end of these hanging pieces 13.
and protrusions 15 erected on these horizontal article supporting pieces 14. The article storage case 17 held by the robot hand 12 has a flange 18 supported by the horizontal article support piece 14.
8 is formed with a through hole 19 into which the projection 15 is fitted.
前記１１．１ｌｆｌ枠７には位置決め孔２２を有する２
つの水平片２１が設けられ、これら位置決め孔２２に嵌
まる位置決め突起２３が水平摺動枠６に設けられている
。また、ステーション２５にも位置決め孔２２に嵌まる
位置決め突起２６が立設されている。The 11.1lfl frame 7 has a positioning hole 22.
Two horizontal pieces 21 are provided, and positioning protrusions 23 that fit into these positioning holes 22 are provided on the horizontal sliding frame 6. Further, a positioning protrusion 26 that fits into the positioning hole 22 is also provided upright at the station 25 .
前記水平摺動枠６に搭載された電気機器に電気を供給す
るためのケーブル２Ｂのガイド装置２９について説明す
る。カイト装置２９は固定枠３に昇降自在に設けられた
プーリー３０と、このプーリー３０の上方において、上
側の包絡面が滑らかな凸円弧状となるようにして固定枠
３に設けられた左右一対のガイドローラー３１の群と、
水平摺ｔｊＪ枠６に設けられた、下側面が滑らかな凸円
弧状である左右一対のカイト板３２とをイ１している。The guide device 29 for the cable 2B for supplying electricity to the electrical equipment mounted on the horizontal sliding frame 6 will be explained. The kite device 29 includes a pulley 30 provided on a fixed frame 3 so as to be movable up and down, and a pair of left and right pulleys provided on the fixed frame 3 so that the upper envelope surface forms a smooth convex arc shape above the pulley 30. a group of guide rollers 31;
A pair of left and right kite plates 32, which are provided on the horizontal sliding frame 6 and have smooth convex arcuate lower surfaces, are provided.
そして、一端が固定枠３に固定されたケーブル２８は、
プーリー３０の下側を回ってからカイトローラー３１の
群の間及びカイト板３２の間を通って、水平摺動枠６に
固定されている。このような＃！成によって、水平摺動
＃６の左右摺動によって、プーリー３０が自動的に具陳
してケーブル２８が弛まないように保持され、また、ケ
ーブル２８がガイドローラー３１やガイＦ板３２に案内
されることによってケーブル２８が変な形に折曲される
のを防止することが出来る。The cable 28 whose one end is fixed to the fixed frame 3 is
After going around the underside of the pulley 30, it passes between a group of kite rollers 31 and between kite plates 32, and is fixed to the horizontal sliding frame 6. like this#! Due to the horizontal sliding movement #6, the pulley 30 is automatically moved to hold the cable 28 so that it does not loosen, and the cable 28 is guided by the guide roller 31 and the guy F plate 32. By doing so, it is possible to prevent the cable 28 from being bent into an odd shape.
（実施例の作用） 次に実施例の作用を説明する。(Effect of Example) Next, the operation of the embodiment will be explained.
ステーション２５に、物品収納ケース１７が搬入される
と、邑該ステーション２５の左側方に空の無人搬送車１
が横付は停止する。なお、その際、水平摺動枠６は物品
収納空間４に納まった状態にあり、また、昇降枠７は上
封した位置にあり、水平物品支承片１４は相互に層れた
位置にある。その後、昇降枠７が物品収納ケースＩ７の
上方番ご位ｌするように、水平摺動枠６が物品収納ケー
ス１７の−１一方に突出すると、昇降枠７は突起１５が
フランジ１８の下方に位置するところまで下降する。そ
の動作によって、ステーション２５の位置決め突起２６
は位置決め孔２２に嵌まり込む、その後、水平物品支承
片１４は突起１５をフランジ１８の貫通孔１９の下方に
臨ませる位置まで相互に近寄り、その後、昇降枠７が上
昇すると、突起１５が貫通孔１９に嵌まると共に水平物
品支承片１４によってフランジ１８を支承して、物品収
納ケース１７は持ち上げられる。そして昇降枠７が最上
位置に至ると水平摺動枠６は物品収納空間４に入り込む
、そして２ｓ人搬送車１は所定のステーション２５に向
かって走行して、前記と逆の作動によって物品収納ケー
ス１７を降ろす。When the article storage case 17 is carried into the station 25, an empty automatic guided vehicle 1 is placed on the left side of the station 25.
However, Yokozuki stops. At this time, the horizontal sliding frame 6 is in the article storage space 4, the elevating frame 7 is in the closed position, and the horizontal article supporting pieces 14 are in a layered position. Thereafter, when the horizontal sliding frame 6 protrudes to one side of the article storage case 17 so that the elevating frame 7 is positioned above the article storage case I7, the elevating frame 7 is moved so that the protrusion 15 is positioned below the flange 18. Descend to your position. This action causes the positioning protrusion 26 of the station 25 to
are fitted into the positioning holes 22. Then, the horizontal article supporting pieces 14 approach each other until the protrusions 15 are exposed below the through holes 19 of the flange 18, and then, when the lifting frame 7 rises, the protrusions 15 pass through. The article storage case 17 is lifted by fitting into the hole 19 and supporting the flange 18 by the horizontal article supporting piece 14. When the elevating frame 7 reaches the uppermost position, the horizontal sliding frame 6 enters the article storage space 4, and the 2s people carrier 1 travels toward a predetermined station 25, and the article storage space is moved by the reverse operation to the above. Unload 17.
（発明の効果）
この発明によれば、前記の如き構成によって、以ｒの如
き効果を奏する。(Effects of the Invention) According to the present invention, the following effects can be achieved by the above configuration.
■物品を吊り下げ移載することが出来るので、無人搬送
車の荷台とステーションの荷台との間に段差がある場合
でも、また、複数のステーション同士において、それら
荷台に段差がある場合でも、無人搬送車とステーション
との間においてスムーズに物品を移載することが出来る
。■Items can be transferred by hanging, so even if there is a level difference between the loading platform of the automatic guided vehicle and the loading platform of the station, or even if there is a level difference between the loading platforms of multiple stations, it can be carried out unmanned. Articles can be smoothly transferred between the transport vehicle and the station.
■水平摺動枠が相互に対向するいずれの開口からも突出
自在であるので、ステーションに対する無人搬送車の停
止位置の自由度が大きい。■Since the horizontal sliding frame can freely protrude from any of the openings facing each other, there is a large degree of freedom in the stopping position of the automatic guided vehicle relative to the station.
図面はこの発明の実施例を示すものであって、第１図は
一部破砕背面図、第２図は第１図Ｉｆ −Ｈ線断面図、
第３図は第１図ｍ−■線拡大断面図である。
ｌ・・・無人搬送車、２・・・車体、３・・・固定枠、
６・・・水平摺動枠、７・・・昇降枠、１２・・・ロボ
ットハンドThe drawings show an embodiment of the present invention, in which FIG. 1 is a partially exploded rear view, FIG. 2 is a sectional view taken along line If-H in FIG. 1, and FIG.
FIG. 3 is an enlarged sectional view taken along the line m--■ in FIG. 1. l...Automated guided vehicle, 2...Vehicle body, 3...Fixed frame,
6...Horizontal sliding frame, 7...Elevating frame, 12...Robot hand
Claims (1)
開口する物品収納空間を形成するようにして、門形の固
定枠が設けられ、この固定枠の上部に水平摺動枠が前記
物品収納空間から突出するように水平摺動自在に設けら
れ、この水平摺動枠に昇降枠が昇降自在に設けられ、こ
の昇降枠にロボットハンドが設けられている無人搬送車
。1. A gate-shaped fixed frame is provided on the body of the automatic guided vehicle to form a pair of mutually opposing side-opening article storage spaces, and a horizontal sliding frame is provided on the top of this fixed frame. An automated guided vehicle that is horizontally slidable so as to protrude from the article storage space, that has an elevating frame that is movable up and down on this horizontal sliding frame, and that has a robot hand installed on this elevating frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16009890A JPH0450073A (en) | 1990-06-19 | 1990-06-19 | Unmanned conveying vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16009890A JPH0450073A (en) | 1990-06-19 | 1990-06-19 | Unmanned conveying vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0450073A true JPH0450073A (en) | 1992-02-19 |
Family
ID=15707810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16009890A Pending JPH0450073A (en) | 1990-06-19 | 1990-06-19 | Unmanned conveying vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0450073A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7266421B1 (en) * | 1998-11-10 | 2007-09-04 | Commissariat A L'energie Atomique | System for controlling lifting and remote handling units located in a confined enclosure |
| JP2023077610A (en) * | 2021-11-25 | 2023-06-06 | 鹿島建設株式会社 | Lifting device |
-
1990
- 1990-06-19 JP JP16009890A patent/JPH0450073A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7266421B1 (en) * | 1998-11-10 | 2007-09-04 | Commissariat A L'energie Atomique | System for controlling lifting and remote handling units located in a confined enclosure |
| JP2023077610A (en) * | 2021-11-25 | 2023-06-06 | 鹿島建設株式会社 | Lifting device |
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