JPH0713632U - Unmanned guided vehicle trolley - Google Patents
Unmanned guided vehicle trolleyInfo
- Publication number
- JPH0713632U JPH0713632U JP4546593U JP4546593U JPH0713632U JP H0713632 U JPH0713632 U JP H0713632U JP 4546593 U JP4546593 U JP 4546593U JP 4546593 U JP4546593 U JP 4546593U JP H0713632 U JPH0713632 U JP H0713632U
- Authority
- JP
- Japan
- Prior art keywords
- guided vehicle
- positioning
- receiving member
- unmanned guided
- automatic guided
- 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
- 230000003028 elevating effect Effects 0.000 description 8
- 230000005856 abnormality Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Landscapes
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
(57)【要約】
【目的】 工場等の敷地内で設定された床面上を走行す
る無人搬送車を、故障等の場合に簡単な構成の移動台車
に載せて移動できるようにする。
【構成】 走行路に配置した位置決め部材５に対応する
よう、停止位置決め用の受部材６を昇降可能に無人搬送
車Ａに配置し、この無人搬送車Ａを人手によって移動す
るための台車であって、枠体１２下部にキャスター車輪
１３を配置し、該枠体１２上に前記受部材５と対応する
位置に位置決め部材１４を設けた。
(57) [Summary] [Purpose] To enable an unmanned guided vehicle that travels on the floor set on the premises of a factory or the like to be mounted on a moving carriage having a simple structure in the case of a failure or the like. [Structure] A receiving member 6 for stop positioning is arranged on an unmanned guided vehicle A so as to be able to move up and down so as to correspond to a positioning member 5 arranged on a traveling path, and is a dolly for manually moving the unmanned guided vehicle A. Then, the caster wheels 13 are arranged below the frame 12, and the positioning member 14 is provided on the frame 12 at a position corresponding to the receiving member 5.
Description
【０００１】[0001]
本考案は、工場等の敷地内で設定された床面上を走行する無人搬送車を、故障 等の場合に台上に載せて移動するための台車の構成に関する。 The present invention relates to a trolley structure for moving an automated guided vehicle traveling on a floor set in a site such as a factory on a table in case of a failure or the like.
【０００２】[0002]
従来から工場や倉庫等で、部品やワーク等を無人搬送車にのせて搬送するため に、無人搬送車を走行させたい床上に感知テープや白線等を引き、荷物の搬入・ 搬出等を行う停止位置には、停止させるための感知片を床上に設け、更に、無人 搬送車の停止位置を正確に位置決めさせるために、凹状の受部材を無人搬送車の 下方へ昇降可能に配置し、この受部材に対応した床上の位置に凸状の位置決め部 材（センタリングコーン）を配置して、無人搬送車を所定位置で停止させる場合 には、無人搬送車が感知片の位置で停止し、凹状の受部材を下降させて、床上の センタリングコーンに嵌合させて、無人搬送車の位置決めを行っていたのである 。 In the past, in factories and warehouses, in order to carry parts and workpieces on an automated guided vehicle, a sensing tape or white line is drawn on the floor where the automated guided vehicle is to run, and loading and unloading of luggage is stopped. At that position, a sensing piece for stopping is provided on the floor, and in order to accurately position the stop position of the automatic guided vehicle, a concave receiving member is arranged so that it can be raised and lowered below the automatic guided vehicle. If a convex positioning member (centering cone) is placed at a position on the floor corresponding to the member and the automated guided vehicle is stopped at a predetermined position, the automated guided vehicle will stop at the position of the sensing piece, and The receiving member was lowered and fitted to the centering cone on the floor to position the automated guided vehicle.
【０００３】[0003]
このような従来の無人搬送車は、異常がないかぎりプログラムに従って走行す るのであるが、異常が生じた場合、あらぬ方向へ走行しないように、通常走行用 のモーターに付設されているブレーキを作動させる。ところが、ブレーキの解除 は簡単にできないので人手で押しても移動させることができず、その他の無人搬 送車は後から走行してくるので走行の邪魔となってしまい、作業が続行できなく なる。このような場合フォークリフト等で持ち上げて移動させるが、故障時に近 くにあるものとは限らないし、その他の機器や配置等の関係でフォークリフトが 進入できない場合もあり、簡単に移動できないのが現状である。そこで、本考案 は無人搬送車を移動させるために、移動台車を簡単な構成として、位置決めの際 に使用する昇降可能な受部材を利用して無人搬送車を持ち上げ、移動台車に載せ て移動できるようにしようとする。 Such a conventional automated guided vehicle travels according to the program as long as there is no abnormality.However, if an abnormality occurs, the brake attached to the motor for normal traveling should be used to prevent traveling in any direction. Activate. However, since the brakes cannot be released easily, they cannot be moved even if they are pushed manually, and other unmanned vehicles will run later, which will hinder the running and make it impossible to continue the work. In such a case, it is lifted and moved by a forklift, etc., but it is not always close to the time of failure, and there are cases where the forklift can not enter due to other equipment and arrangement etc., so it is currently impossible to move. . Therefore, in order to move the automatic guided vehicle according to the present invention, the movable cart has a simple structure and can be lifted by using the liftable receiving member used for positioning and mounted on the movable cart. Try to do so.
【０００４】[0004]
本考案の解決すべき課題は以上の如くであり、該課題を解決するために、走行 路に配置した位置決め部材に対応するよう、停止位置決め用の受部材が昇降可能 に配置されている無人搬送車を人手によって移動するための台車であって、枠体 下部にキャスター車輪を配置し、該枠体上に前記受部材と対応する位置に位置決 め部材を設けたものである。 The problem to be solved by the present invention is as described above, and in order to solve the problem, the unmanned conveyance in which the receiving member for stop positioning is arranged so as to be able to move up and down so as to correspond to the positioning member arranged on the traveling path. A trolley for manually moving a vehicle, in which caster wheels are arranged at a lower portion of a frame body, and a positioning member is provided on the frame body at a position corresponding to the receiving member.
【０００５】[0005]
このような手段を用いることによって、無人搬送車Ａが故障した場合には、移 動台車Ｃをその無人搬送車Ａの底部へ配置して、無人搬送車の受部材６・６・・ ・と移動台車の位置決め部材の位置を一致させ、無人搬送車の受部材６を下降さ せると、無人搬送車Ａが持ち上げられて、移動台車Ｃ上に載せられることになり 、移動台車のキャスター車輪によって所望の位置へ移動することができる。 By using such means, when the automatic guided vehicle A fails, the movable carriage C is arranged at the bottom of the automatic guided vehicle A, and the receiving members 6, 6 ... When the positions of the positioning members of the moving carriage are aligned and the receiving member 6 of the automatic guided vehicle is lowered, the automatic guided vehicle A is lifted and placed on the movable carriage C, and the caster wheels of the movable carriage are used. It can be moved to a desired position.
【０００６】[0006]
次に本考案の一実施例を図面に従って説明すると、図１は無人搬送車により製 造装置へワークを供給する様子を示す斜視図、図２は本考案の移動台車側面図、 図３は同じく平面図、図４は移動台車に昇降装置を配置した側面図である。 Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing a state in which a work is supplied to a manufacturing apparatus by an automatic guided vehicle, FIG. 2 is a side view of a movable carriage of the present invention, and FIG. FIG. 4 is a plan view, and FIG. 4 is a side view in which an elevating device is arranged on a moving carriage.
【０００７】 図１、図２において、工場等の敷地内において、予めラックや加工機Ｂ等の間 で所定の順路で設定された床Ｆ上を無人搬送車Ａが走行できるように、床Ｆ上に は線又は磁性体等を付着させた誘導テープ１が引かれており、一方、無人搬送車 Ａの下面には前記誘導テープ１を検知するセンサー３が設けられ、無人搬送車Ａ はその誘導テープ１に沿って操向して走行できるようにしている。１０は走行輪 、１１は車体中央に設けた荷物を搬送するための荷台である。In FIGS. 1 and 2, in an area such as a factory, a floor F is installed so that an automated guided vehicle A can travel on a floor F that is preset with a predetermined route between racks and processing machines B and the like. A guide tape 1 having a wire or a magnetic material attached thereto is drawn on the upper side, while a sensor 3 for detecting the guide tape 1 is provided on the lower surface of the automatic guided vehicle A. The guide tape 1 can be steered to travel. Reference numeral 10 is a traveling wheel, and 11 is a luggage carrier provided at the center of the vehicle body for carrying luggage.
【０００８】 また、加工機Ｂの供給側や排出側には無人搬送車Ａとの間で荷物の受渡しがで きるように、その停止位置に金属板等でできた停止片２が床Ｆ上の誘導テープ１ 側部に配設され、無人搬送車Ａの底部にはこの停止片２を検知するように近接ス イッチ等よりなるセンサー４が停止片２に対応する位置に配設されている。[0008] Further, on the supply side and discharge side of the processing machine B, a stop piece 2 made of a metal plate or the like is placed on the floor F at its stop position so that the luggage can be delivered to and from the automated guided vehicle A. A sensor 4 composed of a proximity switch or the like is arranged at a position corresponding to the stop piece 2 so as to detect the stop piece 2 at the bottom of the automated guided vehicle A. .
【０００９】 そして、この停止位置において、無人搬送車Ａが正確な位置で停止するように 、誘導テープ３側部の床Ｆ上に複数（本実施例では４個）の位置決め部材として センタリングコーン５・５・・・が固設され、該センタリングコーン５は円錐状 あるいは角錐、または角柱状に形成され、一方、無人搬送車Ａにもセンタリング コーン５・５・・・に対応した位置に、センタリングコーン５上方より一致して 嵌合できる凹状の受部材６・６・・・が配設され、該受部材６は無人搬送車Ａ内 部に立設したシリンダー７のピストンロッド７ａ先端に固設され、停止位置で無 人搬送車Ａを停止させた時に、シリンダー７を伸長して、受部材６・６・・・を センタリングコーン５・５・・・に嵌合して、車体が浮き上がる程度までシリン ダー７を伸長させることによって、正確な位置決めができるようにしている。At this stop position, the centering cone 5 is used as a plurality of (four in this embodiment) positioning members on the floor F on the side of the guide tape 3 so that the automatic guided vehicle A stops at an accurate position. .. is fixed, and the centering cone 5 is formed in a conical shape, a pyramid shape, or a prismatic shape. On the other hand, the centering cone 5 is also centered in the automatic guided vehicle A. Concave receiving members 6, 6 ... Which can be fitted in conformity with each other from above the cone 5 are provided, and the receiving member 6 is fixed to the tip of the piston rod 7a of the cylinder 7 erected inside the automatic guided vehicle A. When the automated guided vehicle A is stopped at the stop position, the cylinder 7 is extended and the receiving members 6, 6, ... Are fitted to the centering cones 5, 5 ,. Till cylinder By extending -7, accurate positioning is possible.
【００１０】 このように構成した無人搬送システムにおいて、無人搬送車Ａの走行部が故障 した場合等では無人搬送車Ａは走行路上で停止してしまうので、後続の無人搬送 車は追い抜くことができないので、全体の作業が停止してしまう。そこで、本考 案は故障した無人搬送車を容易に撤去できる移動台車Ｃを提供するものであり、 その移動台車Ｃの構成は、図２、図３に示すように、板体またはフレームを枠組 構成した枠体１２を無人搬送車Ａの前後の走行輪１０・１０間より短い長さとし て、車体側方から底部へもぐり込めるようにし、幅は車体の幅と同程度の長さと し、枠体１２下面の四隅にはキャスター車輪１３・１３・・・が配設され、前後 左右に容易に移動できるようにし、該枠体１２上面には無人搬送車Ａに設けた受 部材６・６・・・と一致する位置に前記センタリングコーン５と同一のセンタリ ングコーン（位置決め部材）１４・１４・・・を固設する。但し、移動台車Ｃ上 のセンタリングコーン１４上端の高さは無人搬送車Ａの底部の地上高よりも低く している。In the unmanned transport system configured as described above, when the traveling section of the unmanned transport vehicle A fails, the unmanned transport vehicle A stops on the traveling path, and therefore the succeeding unmanned transport vehicle cannot overtake. Therefore, the whole work is stopped. Therefore, the present proposal provides a moving carriage C that can easily remove a faulty automated guided vehicle. The moving carriage C has a plate body or a frame as shown in FIGS. 2 and 3. The configured frame body 12 has a length shorter than that between the front and rear running wheels 10 and 10 of the automated guided vehicle A so that the frame body 12 can be squeezed into the bottom portion from the side of the vehicle body, and the width is approximately the same as the width of the vehicle body. The caster wheels 13, 13 ... Are arranged at the four corners of the lower surface of the body 12 so that they can be easily moved forward, backward, leftward and rightward. The same centering cones (positioning members) 14, 14, ... As the centering cones 5 are fixed at the positions corresponding to. However, the height of the upper end of the centering cone 14 on the moving carriage C is set lower than the ground height of the bottom of the automatic guided vehicle A.
【００１１】 このように構成することによって、無人搬送車Ａが故障した場合には、移動台 車Ｃをその無人搬送車Ａの走行輪１０・１０間の側方から底部へもぐり込ませて 、受部材６・６・・・とセンタリングコーン１４・１４・・・の位置を一致させ 、シリンダー７を伸長させると、受部材６とセンタリングコーン１４が嵌合して 、無人搬送車Ａは持ち上げられて、移動台車Ｃ上に載せられ、その状態でオペレ ーターが押すとキャスター車輪１３・１３・・・によって任意位置へ移動するこ とができる。With this configuration, when the automatic guided vehicle A fails, the movable carriage C is sunk into the bottom of the automatic guided vehicle A from the side between the traveling wheels 10 and 10. When the positions of the receiving members 6 and 6 and the centering cones 14 and 14 are aligned and the cylinder 7 is extended, the receiving member 6 and the centering cone 14 are fitted and the automated guided vehicle A is lifted. Then, it can be moved to an arbitrary position by the caster wheels 13, 13 ... When it is placed on the moving carriage C and pushed by the operator in that state.
【００１２】 また、無人搬送車Ａのシリンダー７も同時に故障したり、作動できないような 場合もあるので、移動台車Ｃに昇降機構を付設することも可能であり、この場合 には図４に示すように、枠体１２’に昇降アーム１６を枢支し、該昇降アーム１ ６上面にセンタリングコーン１４’・１４’・・・を受部材６・６・・・と一致 させて配置し、昇降アーム１６の他端にリンク１７、アーム１８を介してシリン ダー１９のピストンロッド１９ａと連結し、該シリンダー１９を伸長させること によって昇降アーム１６を回動してセンタリングコーン１４’・１４’・・・を 上昇させ、無人搬送車Ａを持ち上げるように構成することもできる。但し、セン タリングコーン１４’・１４’・・・それぞれにシリンダー等の昇降部材を配設 することもでき、昇降部材を限定するものではない。In addition, since the cylinder 7 of the automatic guided vehicle A may be broken or may not operate at the same time, it is possible to attach an elevating mechanism to the moving carriage C. In this case, as shown in FIG. As described above, the elevating arm 16 is pivotally supported on the frame body 12 ', and the centering cones 14', 14 '... are arranged on the upper surface of the elevating arm 16 in alignment with the receiving members 6, 6 ,. The other end of the arm 16 is connected to the piston rod 19a of the cylinder 19 via a link 17 and an arm 18, and the elevating arm 16 is rotated by extending the cylinder 19 to rotate the centering cones 14 ', 14' ... -It is also possible to raise and raise the automatic guided vehicle A. However, an elevating member such as a cylinder may be provided in each of the centering cones 14 ', 14', ..., and the elevating member is not limited.
【００１３】[0013]
本考案は以上の如く構成したので、次のような効果を奏するのである。即ち、 キャスター車輪にて支持した枠体上に位置決め部材を設けただけの簡単な構成で 、例えば無人搬送車に設けられる位置決め昇降用のシリンダーを利用して、無人 搬送車を移動台車上に載せることができるようになり、故障時等に無人搬送車の 走行輪において自動的にブレーキが作動する構成であっても、容易に無人搬送車 を移動台車上に載せて人手により移動させることができるようになったのである 。 Since the present invention is configured as described above, it has the following effects. That is, with a simple structure in which a positioning member is provided on a frame supported by caster wheels, for example, an unmanned guided vehicle is mounted on a moving carriage by using a positioning lifting cylinder provided in the unmanned guided vehicle. The automatic guided vehicle can be easily placed on a moving carriage and manually moved even if the brakes are automatically applied to the traveling wheels of the automatic guided vehicle in the event of a failure. It became like this.
【図１】無人搬送車により製造装置へワークを供給する
様子を示す斜視図である。FIG. 1 is a perspective view showing how a work is supplied to a manufacturing apparatus by an automated guided vehicle.
【図２】本考案の移動台車側面図である。FIG. 2 is a side view of the mobile truck of the present invention.
【図３】同じく平面図である。FIG. 3 is a plan view of the same.
【図４】移動台車に昇降装置を配置した側面図である。FIG. 4 is a side view in which an elevating device is arranged on a moving carriage.
Ａ 無人搬送車 Ｃ 移動台車 ５ 位置決め部材 ６ 受部材 １２ 枠体 １３ キャスター車輪 １４ 位置決め部材 A unmanned guided vehicle C moving carriage 5 positioning member 6 receiving member 12 frame body 13 caster wheel 14 positioning member
Claims (1)
るよう、停止位置決め用の受部材が昇降可能に配置され
ている無人搬送車を人手によって移動するための台車で
あって、枠体下部にキャスター車輪を配置し、該枠体上
に前記受部材と対応する位置に位置決め部材を設けたこ
とを特徴とする無人搬送車の移動台車。1. A trolley for manually moving an automated guided vehicle, in which a stop positioning receiving member is arranged so as to be able to move up and down so as to correspond to a positioning member arranged on a traveling path, and a trolley is provided below a frame body. A movable carriage for an automated guided vehicle, comprising caster wheels, and a positioning member provided on the frame at a position corresponding to the receiving member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4546593U JPH0713632U (en) | 1993-08-20 | 1993-08-20 | Unmanned guided vehicle trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4546593U JPH0713632U (en) | 1993-08-20 | 1993-08-20 | Unmanned guided vehicle trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0713632U true JPH0713632U (en) | 1995-03-07 |
Family
ID=12720130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4546593U Pending JPH0713632U (en) | 1993-08-20 | 1993-08-20 | Unmanned guided vehicle trolley |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0713632U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2023125332A (en) * | 2022-02-28 | 2023-09-07 | 大和ハウス工業株式会社 | mobile device |
-
1993
- 1993-08-20 JP JP4546593U patent/JPH0713632U/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2023125332A (en) * | 2022-02-28 | 2023-09-07 | 大和ハウス工業株式会社 | mobile device |
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