JPH081817Y2 - Automated guided vehicle suspension - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a suspension device for an automated guided vehicle using a storage battery as a driving power source.

[Conventional technology]

The automated guided vehicle used to convey goods that are sensitive to vibration is
As shown in the figure, a spring 3 is interposed between the vehicle body 1 and the wheels 2 to suppress the vibration of the vehicle body 1.

[Problems to be solved by the device]

However, in the case of an automated guided vehicle equipped with the robot hand 4 as a transfer device, if the weight of the robot hand 4 is large, the robot hand 4 turns to the transfer station side as shown in FIG. 6 during handling. In such a case, the center of gravity of the vehicle body 1 largely moves and the vehicle body 1 is tilted. If this inclination θ is large, the handling position of the robot hand 4 may be misaligned and the handling may be disabled. The present invention has been made to solve the above problems, and it is possible to suppress vibration during traveling and prevent a vehicle body from tilting due to movement of the center of gravity during a transfer operation or the like. The purpose is to provide.

[Means for solving the problem]

In order to achieve the above object, this invention has a fixed leg that hangs down from a vehicle body and has a lower end surface as an engaging surface. An elastic member is interposed in the fixed leg so that an upper part is slidably engaged and a wheel is attached at a lower end. A movable leg for supporting, a large-diameter portion formed on the lower part of the movable leg and having an engaging surface facing the engaging surface of the fixed leg, and the two engaging surfaces facing the facing space facing the moving leg. And a reciprocating device laterally supported by a supporting member hanging down from the vehicle body for supporting the spacer member, and the spacer member engaging with the two engaging surfaces. It is configured to have a face.

[Action]

In this invention, when the reciprocating device is operated to move the spacer member into the space defined by the engaging surface of the fixed leg and the engaging surface of the movable leg, the spacer member is caught by the spacer member to prevent the vehicle body from sinking. It

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1, reference numeral 5 denotes a tubular guide fixed leg that hangs down from the bottom 5A of the vehicle body 1, and the upper half of the movable leg 7 is slidably inserted from the lower end into the guide hole 5A. An elastic member (coil spring) 10 is interposed between the bottom surface of the floor and the upper ends of the movable legs 7. As shown in FIG. 3, the lower end surface of the fixed leg 5 has an engagement surface (a truncated conical surface) A whose diameter decreases toward the center.
Has become. At the lower end of the movable leg 7, a large diameter portion 8 having an engaging surface (conical conical surface) A that spreads downward is formed. The engaging surface A of the large diameter portion 8 is engaged with the fixed leg 5. An opposing space G is separated from the surface A, and the axle 11 is supported by a lower end of a support shaft 9 hanging from the large diameter portion 8 via a bearing (not shown). 12A and 12B are semi-annular spacer members, the upper and lower engaging surfaces B of which are the engaging surface A of the fixed leg 5 and the engaging surface A of the large diameter portion 8.
Facing the space G created by the movable leg 7 as shown in FIG.
It is arranged around. The engagement surface B is an engagement surface that can be fitted to the engagement surface A as shown in FIG. 13
A and 13B are reciprocating devices (electromagnetic solenoids, hydraulic cylinders, air cylinders, etc.) for moving the spacer members 12A and 12B to the left and right, and are supported by the support frame 14.
It operates by receiving a command from a control device (not shown) mounted on the vehicle body 1. The suspension device including the fixed leg 15, the movable leg 16 and the coil spring 17 is a suspension device that has been conventionally used.

In this structure, when the automatic guided vehicle is running, the spacer members 12A and 12B are at the positions shown in FIG. The leg 7 moves up and down following the unevenness of the road surface, but this up and down movement is absorbed by the coil spring 10 and the vibration of the vehicle body 1 is suppressed. The same applies to the suspension device including the fixed leg 15, the movable leg 16, and the spring coil 17. The above L is the vehicle body 1
Is larger than the possible vertical vibration width of.
Further, the load is limited so that there is substantially no sinking of the vehicle body 1 due to the weight of the load.

When the automatic guided vehicle reaches the transfer station and stops, the control device (not shown) sends a reciprocating command to the reciprocating device 13.
Give to A and 13B. This causes the plungers or rods of the reciprocating devices 13A, 13B to extend and the spacer members 12A, 12B to
Moves in the direction of the arrow in the figure, and the spacer members 12A and 12B are completely fitted into the space G between the fixed leg 5 and the large diameter portion 8 of the movable leg 7.

Therefore, when the transfer work is started and the robot arm 3 turns to the outside of the vehicle body 1 and the above-described center of gravity movement occurs, the vehicle body 1 is tilted and the guide legs 5 are attached to the upper engagement surfaces B of the spacer members 12A and 12B. Of the spacer members 12A and 12B contact the engagement surface A of the large diameter portion 8, but the facing distance between the engagement surface B and the engagement surface A is small. Since there is a gap or zero, the inclination of the vehicle body 1 due to the movement of the center of gravity is limited to substantially zero. When the transfer operation is completed, the control device sends a return command, the plungers or rods of the reciprocating devices 13A, 13B retract, and the spacer members 12A, 12B retract to the state shown in FIG.

Although the present invention is applied to the suspension device on the robot arm side in the above embodiment, it is obvious that the present invention may be applied to all the suspension devices.

[Effect of device]

As described above, the present invention forms a space between the lower end of the fixed leg and the lower part of the movable leg in which the spacer member can move forward and backward, so that if the spacer member is inserted into this space, the vehicle body sinks. Since it is possible to prevent the vehicle body from tilting even if the center of gravity of the vehicle moves, it is possible to reliably and stably perform the transfer work, and also to allow the relative movement of the both legs when traveling. The vibration damping effect of the elastic member can be obtained.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of the present invention, FIG. 2 is a view showing a planar arrangement of spacer members in the above embodiment, and FIG.
The figure is a view for explaining the engagement surface A in the above embodiment,
FIG. 4 is a view for explaining the engagement surface B in the above embodiment, FIG. 5 is a side view of an automated guided vehicle equipped with a robot hand and having a conventional suspension device, and FIG. 6 is the above-mentioned conventional suspension system. It is a side view for explaining a problem of a device. In the figure, 1 is a vehicle body, 2 ... Wheels, 5 ... Fixed legs, 6
...... Elastic member, 7 ...... Movable leg, 8 ...... Large diameter part, 10 ...... Coil spring, 12A, 12B …… Spacer member, 13A, 13B …… Reciprocating device, 14 …… Support frame, A …… Engagement surface, B ... Engagement surface.

Claims (1)

[Scope of utility model registration request] 1. A fixed leg that hangs down from a vehicle body and has a lower end surface as an engaging surface, a movable leg that is vertically slidably fitted to the fixed leg with an elastic member interposed therebetween to support a wheel at the lower end, A large-diameter portion formed on the lower part of the movable leg and having an engagement surface facing the engagement surface of the fixed leg, and a spacer capable of advancing and retracting with respect to the movable leg facing the facing space where the two engaging surfaces face A member, a reciprocating device which is supported laterally by a supporting member which hangs from the vehicle body and which supports the spacer member, and the spacer member has an engaging surface which engages with the two engaging surfaces. Suspension device for automated guided vehicles characterized by being