JPH0741983B2 - Guide system for conveyed goods in automatic guided vehicles - Google Patents

Description

Description: BACKGROUND OF THE INVENTION [Industrial field of use] The present invention relates to a guide device for a conveyed product on the vehicle side when a conveyed product is transferred between an unmanned guided vehicle and an external transfer device.

[Prior Art] In a production line in a factory, an unmanned cart carries a work, travels on a predetermined traveling path, conveys the work to a predetermined position, and delivers it to another line.

That is, as shown in FIGS. 5 and 6, two rows of conveying rollers 32 are arranged in the width direction on the mounting portion 31 on the upper surface of the carriage, and when the carriage reaches the transfer point, it is driven by the controller. The transport roller 32 is rotated by an electric motor inside the vehicle, and the movable stopper 34 is opened. At the same time, the external conveyor also operates, and the work W conveyed from the placing section 31 to the conveyor by the rotation of the roller 32 is recovered at a predetermined position through the conveyor.

When the work W is transferred to and from the conveyor, the unmanned carriage covers the entire width of the mounting portion 31 so as to cover the outer end of each row of rollers 32 so that the position and orientation of the work W do not shift. The work W is guided by a pair of extending guide rails 33, and when the work W abuts on a fixed stopper 35 provided in the width direction of the vehicle, the movable stopper 34 is erected to restrict the movement of the work W in the width direction. Dolly is designed to run.

[Problems to be Solved by the Invention] However, since the guide rails 33 are separated from each other by a certain distance, it is possible to guide only the work W having a front-back width corresponding thereto. Therefore, it is necessary to prepare another trolley to carry the work having different front and rear widths, and there is room for improvement in versatility.

The present invention has been made to solve the above-mentioned problems, and an object thereof is to provide a transfer device for a conveyed object in an automatic guided vehicle which can be used for conveying conveyed objects having different sizes and is excellent in versatility. It is in.

[Means for Solving the Problems] In order to achieve the above-mentioned object, in the invention according to claim 1, the vehicle and an external transfer device are provided on the upper surface of an unmanned guided vehicle that can carry a transported object and can travel on a production line. When a transported object is transferred between the two, the transported object in the automatic guided vehicle is provided with a pair of guide means for guiding both sides of the transported object so as to regulate the movement of the transported object in the direction intersecting with the transfer direction. In the guide device, a plurality of pairs of the guide means are provided, and the guide means are arranged so that the distance between the guide means forming the pair becomes different depending on the width of the conveyed product, and the guide means forming the pair. The guide means with a small distance between the pair of guide means is arranged inside the guide means with a large distance between them, and the guide means arranged inside moves the article to be guided to the guide means arranged outside. When placed, it does not interfere with the transported items. I set it up.

Further, in the invention according to claim 2, in addition to the above-mentioned means, it is arranged on the transfer side of the automatic guided vehicle at a position higher than the guide means provided at the highest position when a conveyed object is mounted. A movable stopper is provided which moves to a position lower than the guide means provided at the lowest position when transferring the transported object.

[Operation] Differently sized conveyed objects transferred between the vehicle and the external transfer device are provided on the upper surface of the vehicle by a plurality of pairs of guide means having different distances according to the sizes of the conveyed objects. You will be guided so as not to interfere with the guide means. Further, when the movable stopper is provided, it becomes possible to prevent the conveyed product from falling to the transfer side during the conveyance regardless of the size of the conveyed product.

[Embodiment] A first embodiment of the present invention embodied in an unmanned vehicle will be described below.
The details will be described with reference to FIGS.

In Fig. 3, in the production line installed in the factory,
After the work W1 (W2) is transferred to the unmanned trolley V by the belt conveyor provided at the work starting point, the unmanned trolley V traveling by detecting the electromagnetic induction line laid on the floor surface is the work W1 (W2).
At the collection point, the product is transferred from the carriage V to the belt conveyor and collected at a predetermined place.

As shown in FIGS. 1 and 2, a mounting plate 2 is fixedly mounted on a base 1 of the unmanned vehicle V, and protective members 3 are formed on the front and rear ends of the mounting plate 2, respectively, in a side channel shape. They are connected via a mounting member 4. In the mounting member 4, a large number of transfer rollers 5 axially supported by the inner and outer walls 6a, 6b are arranged in a row in the width direction of the carriage V.
Is exposed from the upper opening of the mounting member 4. A row of a large number of transfer rollers 5 arranged side by side constitutes a first roller row 7 for supporting and transferring the work W1.

Transfer rollers 5 are provided inside the both mounting members 4, respectively.
A guide rail 8 is provided as a guide means made of a bar member that extends substantially above the outer end of the carriage V and extends substantially over the entire width of the carriage V. Then, when the work W1 having a front-back width occupying substantially the whole of these two first roller rows 7 is transferred between the conveyor and the conveyor, the work W1 is guided by both guide rails 8 and the work W1 moves in the moving direction. , Which is normally held in the moving posture, and which is the work when the carriage V is traveling.
It prevents rattling of W1 in the front-back direction. The guide rail 8 is bent downward at its transfer side (lower side in FIG. 2) end in the width direction, and its non-transfer end is not deformed inward or outward. , Is simply bent downward and fixed to the mounting member 4.

A second mounting member 9, which is also in the form of a side channel, is fixedly mounted on the mounting plate 2 inside each of the mounting members 4, and the inner and outer walls 10, 10 are located at a position lower than the transfer roller 5. 11
A large number of transfer rollers 12 pivotally supported on the carriage V are arranged in a row in the width direction of the carriage V, and the upper portions of the transfer rollers 12 are exposed from the upper opening of the mounting member 9. A large diameter portion 12a is formed on the outer end of the transfer roller 12, and a tapered diameter enlarged portion 14 is formed between the large diameter portion 12a and the peripheral surface of the same diameter portion 12b of the roller 12. ing. Then, when the row of the transfer rollers 12 arranged on the left and right is lower than the first roller row 7, the work W1
A second roller row 13 for supporting and transferring a smaller work W2 is formed, and when the work W1 is transferred onto the first roller row 7, the second roller row is provided on the bottom surface of the work W1. 13 does not interfere. Further, when the workpiece W2 having the front-rear width that covers the entire same-diameter portion 12b of the roller 12 is transferred between the conveyor 12 and the second roller row 13 on the left and right, the row of the enlarged-diameter portion 14 of the roller 12 is transferred. Thus, guide means for normally maintaining the posture and moving direction of the work W2 is configured. It should be noted that the expanded diameter portion 14 presses the work W2 from the front and the back when the truck V is traveling, and prevents rattling of the work W2.

On the non-transfer side of the second roller row 13, a pair of fixed stoppers 15 projecting upward from the mounting plate 2 are provided on the extension line of the roller row 13 and supported by the roller rows 7 and 13. The workpieces W1 and W2 thus formed are prevented from falling from the base 1 to the non-transfer side. Further, on the transfer side of the second roller row 13, a movable stopper 16 is provided in the middle of the extension line of the roller row 13.
Is rotatably supported on the mounting plate 2 up and down, and a rod of an electric cylinder 17 provided on the mounting plate 2 on the non-transfer side of the stopper 16 is connected to the stopper 16. .
When the electric cylinder 17 is extended, the stopper 16 is held in an upright state to prevent the works W1 and W2 from dropping from the base 1 to the transfer side. Evacuated from the passage of W2.

As shown in FIG. 4, when the carriage V reaches the work starting point and the collecting point of the production line, the host computer 18 of the ground station
A command signal is output to the controller 19 of the vehicle via the optical communicator 30, and the controller 19 drives the electric motor M for rotating the transfer rollers 5 and 12 according to the command signal, and at the same time, the electric motor in the expanded state. Cylinder 17 is contracted. Further, the host computer 18 holds the motion cylinder 17 in an extended state via the controller 19 during traveling of the carriage V.

When the carriage V reaches the work starting point or the collecting point, the belt conveyor starts moving according to a command from the host computer 18. At this time, the movable stopper 16 is rotated by the contraction of the electric cylinder 17, and, for example, when the work W1 is conveyed from the belt conveyor to the carriage V side at the work starting point, the work W1
W1 enters into both guide rails 8 that spread outward, and the guide rails 8 transfer the guide rails 8 onto the first roller row 7 while preventing the movement direction from deviating and preventing the posture from being distorted.
By the rotation of the transfer roller 5, it is moved to the non-transfer side until it comes into contact with the fixed stopper 15. Then, the electric cylinder 17 is extended in response to a command from the host computer 18, the movable stopper 16 is held upright, and the carriage V starts traveling while preventing the workpiece W1 from falling to the transfer side.

Further, when a small work W2 is conveyed from the belt conveyor to the carriage V, the work W2 is controlled so that the front and rear ends thereof are directed in a predetermined direction by the enlarged diameter portion 14 of the roller 12 and the posture distortion is also avoided. While being rotated, the rollers 12 are transferred and mounted on the second roller row 13.

At the recovery point, the motor M is rotationally driven in the opposite direction to the above, and the work rollers W1 and W2 are moved above the rotation stopper 16 at the retreat position from the vehicle by the transfer rollers 5 and 12 rotating in reverse. It passes and is sent to the conveyor.

As described above, in this embodiment, the pair of first roller rows 7 which are separated from each other in the left and right directions are provided in the front and rear of the mounting plate 2, and inside the both first roller rows 7, the lower roller position is also lower. A second row of rollers 13 spaced from each other was provided. When the large work W1 is transferred between the carriage V and the conveyor, the second roller row is guided while being guided by the guide rail 8 in which the front-rear width and the separation width of the work W1 are substantially the same.
It was configured to transfer so as not to interfere with 13. Further, when a smaller work W2 is conveyed in place of the work W1, on the second roller row 13 occupying an area substantially equal to the front-back width of the work W2, the rollers 12 forming the same roller row 13 are The expanded portion 14 is configured to guide the work W2.

Therefore, the same carriage V is used and two different sizes are used.
It is possible to transfer one work W1 and W2 to and from the conveyor, and it is not necessary to prepare the carriage V according to the size of the works W1 and W2.

When the carriage V is running, the work W1 supported on the first roller row 7 is guided by the guide rails 8 whose front and rear walls face each other, and the work W2 has rollers 12 at the front and rear ends.
By being pressed by the expanded diameter portion 14, the rattling back and forth is prevented. As a result, workpieces W1 and W2 are both dolly V
It is maintained in a stable state when traveling.

The present invention is not limited to the above-described embodiment, and for example, the expanded diameter portion of the guide rail 8 and the roller 12 described above.
Of course, any change such as providing three or more pairs of guiding means constituted by 14 is possible without departing from the spirit of the present invention.

[Advantages of the Invention] As described in detail above, according to the invention of claim 1, it is possible to transfer the conveyed articles of different sizes and to hold the conveyed articles in a stable state while the vehicle is traveling. .

Further, according to the invention of claim 2, in addition to the above effect, it is possible to prevent the conveyed product from falling to the transfer side during the conveyance regardless of the size of the conveyed product.

[Brief description of drawings]

FIG. 1 is a side view showing an automated guided vehicle according to the present invention, FIG. 2 is a plan view thereof, FIG. 3 is a block circuit diagram showing an electrical configuration, and FIG. 4 shows a state of the automated guided vehicle in a production line. Explanatory drawing, FIG. 5 is a side view showing a conventional automatic guided vehicle, and FIG. 6 is a plan view of FIG. Work pieces W1 and W2 as conveyed objects, a guide rail 8 as guide means, a diameter-expanded portion 14, and a movable stopper 16.

Claims (2)

[Claims] 1. A transfer direction of a conveyed object when the conveyed object is transferred between the vehicle and an external transfer device on an upper surface of an unmanned guided vehicle that can carry the conveyed object on a production line. In a guided object guide device for an unmanned guided vehicle, which is provided with a pair of guide means for guiding both sides of a conveyed object in order to regulate movement in the intersecting direction, a plurality of pairs of the guiding means are provided, and between the pair of guiding means. The guide means are arranged such that the distances between the guide means are different according to the width of the conveyed object, and the guide means between the pair of guide means are arranged inside the guide means having a large distance between the pair of guide means. An unmanned conveyor in which guide means having a small separation distance is arranged, and the guide means arranged inside is provided at a height that does not interfere with the conveyed goods when the conveyed goods are transferred to the guide means arranged outside. Guidance device for conveyed goods in vehicles. 2. The transfer side of the automatic guided vehicle is arranged at a position higher than the guide means provided at the highest position when the transferred object is mounted, and when the transferred object is transferred. 2. The guided object guide device for an automatic guided vehicle according to claim 1, further comprising a movable stopper that moves to a position lower than a guide unit provided at the lowest position.