Unmanned carrier

Abstract

To provide an unmanned carrier capable of traveling toward a facility well and handing over a pallet well to a facility not provided with a motor for drawing the pallet.SOLUTION: An unmanned carrier 1 comprises an engaging chain mechanism 30. First and second zip chains 31 and 32 of the engaging chain mechanism 30 are wound inside a case 35. Engaging members 47 are provided at the tips of the first and second zip chains 31 and 32. The engaging members 47 are detachably engaged with a pallet. The pallet is transferred between the unmanned carrier 1 and the facility by sending out the first and second zip chains 31 and 32 toward the facility by a motor.SELECTED DRAWING: Figure 10A

Description

[Technical field]

[0001] The present invention relates to an automated guided vehicle that automatically travels toward equipment and delivers pallets to and from the equipment. [Background technology]

[0002] Conventionally, automated guided vehicles that automatically transport cargo between multiple pieces of equipment have been used in factories and the like. The automated guided vehicle travels toward the equipment and automatically stops when it reaches a position in front of the equipment. After stopping in front of the equipment, the automated guided vehicle delivers a pallet carrying cargo to the equipment or receives a pallet carrying cargo from the equipment.

[0003] Patent Document 1 discloses a technique for delivering a part placement box (i.e., a pallet) from an automated guided vehicle to a jig cart on an assembly line using a supply device. The automated guided vehicle is equipped with a number of rotatable collars (hereinafter referred to as rollers) on which the pallet is placed, and a motor for driving the rollers. The supply device is also equipped with a number of rotatable rollers on which the pallet is placed, and a motor for driving the rollers. After the automated guided vehicle stops in front of the supply device, the motors of the automated guided vehicle and the supply device are driven, and the rollers of the automated guided vehicle and the supply device rotate. As a result, the pallet with the parts placed thereon is carried from the automated guided vehicle to the supply device by those rollers. More specifically, the pallet is carried to the outside of the automated guided vehicle by the rollers of the automated guided vehicle. The pallet is carried to the inside of the supply device by the rollers of the supply device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2002-66849 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the technology disclosed in Patent Document 1, a motor is required in the supply device to transport the pallet inside the supply device. The supply device and assembly line described above are a type of equipment that receives packages from an automated guided vehicle and processes them. The technology disclosed in Patent Document 1 requires a motor that generates a driving force to receive the pallet from the automated guided vehicle, and such a motor must be installed in the equipment.

[0006] Here, it is possible to remove the motor from the equipment in order to reduce the cost or size of the equipment. However, in that case, the rollers of the equipment are not driven by the motor, so the equipment cannot carry the pallet into the equipment. Instead of the equipment, an automatic guided vehicle must carry the pallet into the equipment.

[0007] It is conceivable to arrange the rollers of the automated guided vehicle so that they overhang from the vehicle body toward the facility so that the automated guided vehicle can carry the pallet into the facility. However, for example, there may be an obstacle (e.g., another automated guided vehicle that is stopped) on the travel path of the automated guided vehicle. If the automated guided vehicle has an overhanging portion, there is a possibility that the overhanging portion may come into contact with the obstacle while traveling. It is preferable that the automated guided vehicle does not have an overhanging portion so that the automated guided vehicle can travel smoothly toward the facility.

[0008] The present invention has been made in consideration of these points, and its object is to provide an unmanned guided vehicle that can travel smoothly toward equipment and can smoothly transfer pallets to equipment that is not equipped with a motor to pull in the pallet. [Means for solving the problem]

[0009] The automated guided vehicle disclosed herein is an automated guided vehicle that automatically travels toward equipment and transfers pallets between the equipment and the equipment. The automated guided vehicle includes a vehicle body, a loading platform, an interlocking chain mechanism, and an engagement member. The vehicle body includes a driving source for traveling that generates a driving force, and a drive wheel that rotates by receiving the driving force of the driving source for traveling. The loading platform is supported by the vehicle body, and the pallet is placed on the loading platform. The interlocking chain mechanism includes a case supported by the vehicle body, first and second zip chains having tip portions and wound within the case, and a motor that sends out the first and second zip chains in a direction in which the tip portions move away from the case, and interlocks the first and second zip chains with each other. The engagement member is connected to the tip portions of the first and second zip chains, and detachably engages with the pallet. The interlocking chain mechanism is configured to move the engaging member between a first position in which the engaging member overlaps with the cargo bed or the vehicle body when viewed from above the vehicle, and a second position in which the engaging member is positioned outside the cargo bed and the vehicle body when viewed from above the vehicle.

[0010] According to the above-mentioned automated guided vehicle, when the engaging member is in the first position, the engaging member is in a position overlapping with the loading platform or the vehicle body in a plan view of the vehicle. Therefore, the engaging member is prevented from protruding from the loading platform or the vehicle body. If the engaging member is held in the first position while traveling, the possibility that the automated guided vehicle will come into contact with surrounding obstacles can be reduced. Therefore, the automated guided vehicle can travel smoothly toward the facility. When the motor delivers the first and second zip chains, the engaging member moves from the first position to the second position, and the engaging member moves to the outside of the loading platform and the vehicle body in a plan view of the vehicle. Since the pallet is engaged with the engaging member, the pallet can be brought to the outside of the loading platform. Therefore, even if the facility does not have a motor for pulling in the pallet, the pallet can be brought into the facility by the motor provided in the automated guided vehicle.

[0011] The automated guided vehicle may include a control device that controls the driving source for traveling and the motor. The control device may have a traveling control unit that rotates the driving wheels and holds the engaging member at the first position, and a delivery control unit that stops the driving wheels and moves the engaging member from the first position to the second position.

[0012] As a result, when the automated guided vehicle is traveling toward the facility, the engaging member is held in the first position by the travel control unit. Therefore, the engaging member is automatically prevented from protruding while the automated guided vehicle is traveling. The automated guided vehicle is less likely to come into contact with obstacles while traveling, and can travel smoothly toward the facility. After the automated guided vehicle stops in front of the facility, the delivery control unit drives the motor to move the engaging member from the first position to the second position. Therefore, the pallet can be automatically carried into the interior of the facility by the motor provided in the automated guided vehicle.

[0013] The automated guided vehicle may include a locking mechanism connected to the interlocking chain mechanism to prevent the pallet from falling off the platform. The locking mechanism may include a locking member that stands when the engaging member is in the first position and tilts when the engaging member moves from the first position toward the second position.

[0014] In this way, the locking member prevents the pallet from falling off the platform while the automatic guided vehicle is traveling.

[0015] The automated guided vehicle may include a first guide rod fixed to the platform and extending horizontally, a first slider slidably engaged with the first guide rod, a second guide rod fixed to the first slider and disposed parallel to the first guide rod, and a second slider slidably engaged with the second guide rod. The engagement member may be fixed to the second slider.

[0016] The engaging member moves from the first position to the second position by being sent out to the first and second zip chains. According to the above, the engaging member is guided by the first guide rod via the first slider, and is guided by the second guide rod via the second slider. Therefore, the engaging member can move stably from the first position to the second position without shaking. Also, since the first guide rod and the second guide rod are configured in two stages, the overall length of the guide mechanism that guides the engaging member can be shortened.

[0017] The first guide rod may overlap the loading platform or the vehicle body in a plan view of the vehicle. When the engaging member is in the first position, the second guide rod may overlap the loading platform or the vehicle body in a plan view of the vehicle. When the engaging member is in the second position, at least a portion of the second guide rod may be located outside the loading platform and the vehicle body in a plan view of the vehicle.

[0018] As a result, when the engaging member is in the first position, both the first guide rod and the second guide rod overlap with the cargo bed or the vehicle body in a plan view of the vehicle. This prevents the first guide rod and the second guide rod from protruding from the cargo bed or the vehicle body. When the engaging member is in the second position, at least a portion of the second guide rod is located outside the cargo bed and the vehicle body in a plan view of the vehicle. This allows the engaging member to be well guided toward the second position.

[0019] The automated guided vehicle may include a lock mechanism connected to the interlocking chain mechanism and configured to prevent the pallet from falling off the platform. When a direction in which the engaging member moves from the first position to the second position is defined as a first direction and a direction in which the engaging member moves from the second position to the first position is defined as a second direction, the second slider may be disposed on the first direction side of the first slider. The locking mechanism may include a locking member connected to the platform so as to be swingable in the first direction and the second direction, a swinging member disposed on the second direction side of the locking member and connected to the platform so as to be swingable in the first direction and the second direction, an arm member having a root portion connected to the swinging member so as to be swingable in the first direction and the second direction and a tip portion connected to the locking member so as to be swingable in the first direction and the second direction, and a contact member fixed to the second slider, contacting the swinging member when the engaging member moves from the second position to the first position to swing the swinging member, and moving away from the swinging member when the engaging member moves from the first position to the second position. The locking member may be configured to stand up by being pulled by the arm member in accordance with the swing of the swinging member when the engaging member moves from the second position to the first position, and to tilt when the engaging member moves from the first position to the second position.

[0020] As a result, the locking member stands up and tilts in conjunction with the second slider. The locking mechanism is turned on and off in conjunction with the second slider. This type of locking mechanism prevents the pallet from falling off the platform while the automatic guided vehicle is traveling.

[0021] When a direction in which the engaging member moves from the first position to the second position is defined as a first direction, a direction in which the engaging member moves from the second position to the first position is defined as a second direction, a direction perpendicular to the first direction is defined as a third direction, and a direction opposite to the third direction is defined as a fourth direction, the loading platform may have roller groups arranged on the third direction side and the fourth direction side of the engaging member. Each of the roller groups may have a plurality of rollers aligned in the first direction.

[0022] With this, when the engaging member moves from the first position to the second position while engaging with the pallet, the rollers rotate while supporting the pallet, thereby enabling the pallet to be moved stably.

[0023] The automated guided vehicle may include a trolley supporting the platform, the interlocking chain mechanism, and the engaging member, and a coupling device connecting the vehicle body and the trolley so that the trolley can move at least horizontally relative to the vehicle body.

[0024] As a result, the dolly can move horizontally relative to the vehicle body, so after the vehicle body is stopped, the dolly can be moved horizontally to position the loading platform relative to the equipment. The positions of the loading platform and the equipment can be aligned with high precision, allowing for smooth transfer of the pallet.

[0025] The loading platform may be disposed above the vehicle body. The coupling device may be disposed below the loading platform and above the vehicle body.

[0026] As a result, since the loading platform and the vehicle body are vertically overlapped, the dimensions of the automated guided vehicle in the front-rear and left-right directions can be reduced, making the automated guided vehicle more compact. Also, the coupling device can be prevented from protruding laterally from the vehicle body. Effect of the Invention

[0027] According to the present invention, it is possible to provide an automated guided vehicle that can smoothly travel toward equipment and smoothly deliver a pallet to equipment that is not provided with a motor for pulling in the pallet. [Brief description of the drawings]

[0028] [Figure 1] FIG. 2 is a plan view of equipment and an unmanned transport vehicle in a factory or the like. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. 2 is a perspective view of an automated guided vehicle with the pallet removed. [Figure 6] FIG. 2 is a front view of the vehicle body and the coupling device. [Figure 7] FIG. 2 is a right side view of the vehicle body and the coupling device. [Figure 8] FIG. [Figure 9] FIG. [Figure 10A] FIG. 13 is a plan view of the transport mechanism when the interlocking chain mechanism is retracted. [Figure 10B] FIG. 13 is a plan view of the transport mechanism with the interlocking chain mechanism extending. [Figure 10C] FIG. 13 is a plan view of the transport mechanism when the interlocking chain mechanism is extended. [Figure 11A] 11 is a vertical sectional view of the transport mechanism when the locking mechanism is locked. FIG. [Figure 11B] 11 is a vertical cross-sectional view of the transport mechanism when the lock mechanism is released. FIG. [Figure 12] 4 is a perspective view of a first guide rod, a second guide rod, a first slider, and a second slider of the transport mechanism. FIG. [Figure 13] FIG. 2 is a block diagram of a control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, an automated guided vehicle 1 according to this embodiment is a vehicle that automatically transports a load 200 between a plurality of facilities 100 in a factory or the like. The automated guided vehicle 1 travels toward the facility 100, and automatically stops when it reaches a position 100P in front of the facility 100. In addition, the automated guided vehicle 1 automatically delivers the load 200 to and from the facility 100. Note that the delivery of the load 200 refers to the receipt and delivery of the load 200. In the following embodiment, the load 200 transported by the automated guided vehicle 1 is a processed part that is processed by the facility 100, and the facility 100 is a processing device that processes the processed part.

[0030] In the following description, unless otherwise specified, the front, rear, left, and right of the automated guided vehicle 1 are respectively referred to as the front, rear, left, and right. Arrows F, Rr, L, and R in the figure represent the front, rear, left, and right, respectively. When the automated guided vehicle 1 moves between multiple facilities 100, it travels toward the front.

[0031] Fig. 2 is a perspective view of the automated guided vehicle 1. Fig. 3 is a front view of the automated guided vehicle 1. Fig. 4 is a right side view of the automated guided vehicle 1. The automated guided vehicle 1 comprises a vehicle body 2, a dolly 3, a coupling device 20 that couples the vehicle body 2 and the dolly 3, and a pallet 80 on which cargo 200 is placed. Fig. 5 is a perspective view of the automated guided vehicle 1 with the pallet 80 removed.

[0032] Fig. 6 is a front view of the vehicle body 2 and the coupling device 20. Fig. 7 is a right side view of the vehicle body 2 and the coupling device 20. The vehicle body 2 is configured to be capable of automatic running. The vehicle body 2 includes a chassis 2A, left and right electric motors (hereinafter simply referred to as motors) 4 fixed to the chassis 2A, left and right drive wheels 5 attached to the chassis 2A, left and right front wheels 5F attached to the chassis 2A, and left and right rear wheels 5B attached to the chassis 2A. The vehicle body 2 also includes a front bumper 9 fixed to the chassis 2A.

[0033] The motor 4 is an example of a "driving source for driving" that generates a driving force for driving. In this embodiment, the left driving wheel 5 is connected to the left motor 4, and the right driving wheel 5 is connected to the right motor 4. However, the number of motors that drive the left and right driving wheels 5 is not limited to two. For example, the vehicle body 2 may be provided with a single motor as a driving source for driving, and the left and right driving wheels 5 may be connected to a single motor. The front wheels 5F and the rear wheels 5B are driven wheels and are not connected to the motor 4. In this embodiment, the driving wheels 5 are arranged behind the front wheels 5F and in front of the rear wheels 5B. However, the position of the driving wheels 5 is not particularly limited.

[0034] The dolly 3 is a vehicle towed by the vehicle body 2. The dolly 3 is loaded with luggage 200 (see FIG. 1). As shown in FIG. 2, the dolly 3 according to this embodiment is arranged so as to cover the vehicle body 2. In a plan view of the vehicle, at least a portion of the dolly 3 overlaps with the vehicle body 2. As shown in FIG. 5, the dolly 3 includes a loading platform 8 and a transport mechanism 30A that transports a pallet 80 (see FIG. 2).

[0035] Fig. 8 is a front view of the dolly 3. Fig. 9 is a right side view of the dolly 3. The dolly 3 is equipped with a right front support 7FR, a right rear support 7BR, a left front support 7FL, and a left rear support 7BL that support the loading platform 8. In Fig. 9, the left rear support 7BL is located behind the right rear support 7BR and overlaps with the right rear support 7BR. The right rear support 7BR is disposed rearward of the right front support 7FR. The left front support 7FL is disposed to the left of the right front support 7FR. The left rear support 7BL is disposed to the left of the right rear support 7BR and rearward of the left front support 7FL.

[0036] The right front wheel 6FR, the left front wheel 6FL, the right rear wheel 6BR, and the left rear wheel 6BL are rotatably connected to the lower ends of the right front support pillar 7FR, the left front support pillar 7FL, the right rear support pillar 7BR, and the left rear support pillar 7BL, respectively. Note that in Fig. 9, the left rear wheel 6BL is located behind the right rear wheel 6BR and overlaps with the right rear wheel 6BR.

[0037] As described above, the bogie 3 is disposed so as to cover the vehicle body 2. As shown in FIG. 6, the coupling device 20 is connected to the upper part of the vehicle body 2. As shown in FIG. 8, the coupling device 20 is disposed below the loading platform 8. In a plan view of the vehicle, the coupling device 20 overlaps with the bogie 3 and the vehicle body 2. The coupling device 20 couples the vehicle body 2 and the bogie 3 so that the bogie 3 can move in the left-right direction and the up-down direction of the vehicle relative to the vehicle body 2. The bogie 3 and the vehicle body 2 cannot move relative to each other in the front-rear direction of the vehicle. The coupling device 20 also couples the vehicle body 2 and the bogie 3 so that the bogie 3 can rotate left-right and forward-rear relative to the vehicle body 2. However, the movement range and rotation range of the bogie 3 relative to the vehicle body 2 are limited in advance so that the position of the bogie 3 relative to the vehicle body 2 does not shift significantly.

[0038] The transfer mechanism 30A is configured to be capable of transferring the pallet 80 from the platform 8 to the facility 100. The transfer mechanism 30A is also configured to be capable of transferring the pallet 80 from the facility 100 to the platform 8. The automated guided vehicle 1 includes a motor 4 for travel and a control device 17 for controlling the transfer mechanism 30A. Next, the transfer mechanism 30A will be described in detail.

[0039] As shown in Fig. 5, the conveying mechanism 30A includes an engaging member 47 that detachably engages with a pallet 80, an interlocking chain mechanism 30, and a plurality of rotatable rollers 60 that support the pallet 80. The interlocking chain mechanism 30 is an actuator that moves the engaging member 47 left and right. When the interlocking chain mechanism 30 moves the engaging member 47 to the right, the pallet 80 engaged with the engaging member 47 can be sent out from the loading platform 8 to the equipment 100. When the interlocking chain mechanism moves the engaging member 47 to the left, the pallet 80 engaged with the engaging member 47 can be pulled from the equipment 100 to the loading platform 8.

[0040] 10A, 10B, and 10C are plan views showing the transport mechanism 30A in a schematic manner. FIG. 10A shows the state in which the interlocking chain mechanism 30 is contracted. FIG. 10B shows the state in which the interlocking chain mechanism 30 is in the middle of being extended. FIG. 10C shows the state in which the interlocking chain mechanism 30 is extended. FIG. 11A and FIG. 11B are vertical cross-sectional views showing the transport mechanism 30A in a schematic manner. FIG. 11A is a cross-sectional view taken along line XIA-XIA in FIG. 10A, showing the state in which the lock mechanism 50 described below is locked. FIG. 11B shows the state in which the lock mechanism 50 is unlocked. In this embodiment, the right, left, front, and rear correspond to the "first direction", "second direction", "third direction", and "fourth direction", respectively.

[0041] As shown in FIG. 10A, the interlocking chain mechanism 30 includes a case 35, a first zip chain 31, a second zip chain 32, a motor 33 (see FIG. 11A), and a sprocket 34. The case 35 is directly or indirectly supported by the loading platform 8. When the interlocking chain mechanism 30 is contracted, the first zip chain 31 and the second zip chain 32 are wound inside the case 35. The sprocket 34 is provided inside the case 35 and is engaged with the first zip chain 31. The motor 33 is connected to the sprocket 34 and rotates the sprocket 34. The engagement member 47 is connected to the tip end of the first zip chain 31 and the second zip chain 32.

[0042] When motor 33 is driven, sprocket 34 rotates, and first zip chain 31 is sent out to the outside of case 35 by sprocket 34. At this time, second zip chain 32 is sent out to the outside of case 35 while meshing with first zip chain 31. As a result, first zip chain 31 and second zip chain 32 stretch, and engaging member 47 moves to the right. Note that in order to protect first zip chain 31 and second zip chain 32, a bellows-shaped cover (not shown) that covers the parts of first zip chain 31 and second zip chain 32 that are outside case 35 may be attached to case 35.

[0043] When motor 33 is driven in the reverse direction, sprocket 34 rotates in the reverse direction, and first zip chain 31 is pulled into case 35 by sprocket 34. At this time, second zip chain 32 is pulled into case 35 together with first zip chain 31. As a result, first zip chain 31 and second zip chain 32 contract, and engaging member 47 moves to the left.

[0044] As shown in FIG. 12, the transport mechanism 30A includes a first guide rod 40, a second guide rod 41, a first slider 42, and a second slider 43. The first guide rod 40 is fixed to the loading platform 8 and extends to the right (see FIG. 10A). The first guide rod 40 overlaps with the loading platform 8 or the vehicle body 2 in a plan view of the vehicle. The first slider 42 slidably engages with the first guide rod 40. The second guide rod 41 is disposed above the first guide rod 40 and extends to the right in parallel with the first guide rod 40. The left end of the second guide rod 41 is fixed to the first slider 42. The second guide rod 41 is movable together with the first slider 42. The second slider 43 is disposed to the right of the first slider 42. The second slider 43 slidably engages with the second guide rod 41. The tip portions of the first zip chain 31 and the second zip chain 32 are connected to the second slider 43 (see FIG. 10A). A first stopper 44 is provided at the tip of the first guide rod 40 to prevent the first slider 42 from coming off the first guide rod 40. A second stopper 45 is provided at the tip of the second guide rod 41 to prevent the second slider 43 from coming off the second guide rod 41.

[0045] As shown in FIG. 10A, the engagement member 47 is attached to the second slider 43. The engagement member 47 is connected to the tip of the first zip chain 31 and the second zip chain 32 via the second slider 43. The engagement member 47 moves left and right together with the second slider 43. In the following description, the position of the engagement member 47 when the interlocking chain mechanism 30 is most contracted is referred to as the first position, and the position of the engagement member 47 when the interlocking chain mechanism 30 is most extended is referred to as the second position. FIG. 10A is a diagram of the engagement member 47 in the first position, and FIG. 10C is a diagram of the engagement member 47 in the second position. The first position is a position where the engagement member 47 overlaps with the loading platform 8 or the vehicle body 2 in a plan view of the vehicle. The second position is a position where the engagement member 47 is outside the loading platform 8 and the vehicle body 2 in a plan view of the vehicle. The interlocking chain mechanism 30 is configured to move the engagement member 47 between the first position and the second position.

[0046] The automatic guided vehicle 1 is provided with a locking mechanism 50. The locking mechanism 50 prevents the pallet 80 from falling off the platform 8 while the automatic guided vehicle 1 is traveling. As shown in FIG. 11A, the locking mechanism 50 has a locking member 51, an arm member 52, and a swinging member 53. The locking member 51 is connected to the platform 8 by an axis 51a. The locking member 51 is swingable around the axis 51a and can swing left and right. The swinging member 53 is connected to the platform 8 by an axis 53a. The swinging member 53 is swingable around the axis 53a and can swing left and right. The arm member 52 connects the locking member 51 and the swinging member 53. The arm member 52 has a root portion 52b and a tip portion 52a. The root portion 52b of the arm member 52 is connected to the swinging member 53 so as to be swingable left and right. A tip end 52a of the arm member 52 is connected to the lock member 51 so as to be swingable left and right.

[0047] The swinging member 53 has a roller 53b. The second slider 43 is provided with a contact member 46 that can come into contact with the roller 53b when the engagement member 47 is in the first position. The contact member 46 is configured to press down the roller 53b by contacting the roller 53b when the second slider 43 moves to the left. When the roller 53b is pressed down, the swinging member 53 rotates clockwise in FIG. 11A around the shaft 53a, and the arm member 52 is pulled leftward by the swinging member 53. Then, the locking member 51 is pulled leftward by the arm member 52 and stands up by rotating clockwise in FIG. 11A around the shaft 51a. This locks the locking mechanism 50, and prevents the pallet 80 from falling off the loading platform 8. Although not shown, the swinging member 53 is provided with a spring that urges the swinging member 53 in a direction that raises the roller 53b. As shown in FIG. 11B, when the second slider 43 moves to the right, the contact member 46 separates from the roller 53b. The swing member 53 rotates counterclockwise in FIG. 11B about the shaft 53a by receiving the force of the spring, and the roller 53b rises. As the swing member 53 rotates, the arm member 52 is pushed to the right by the swing member 53. As a result, the lock member 51 is pushed to the right by the arm member 52 and rotates counterclockwise in FIG. 11B about the shaft 51a, thereby tilting. This releases the lock of the lock mechanism 50, and the pallet 80 can be transferred between the automatic guided vehicle 1 and the facility 100.

[0048] 10A, the loading platform 8 is provided with roller groups 60G arranged in front of and behind the engagement members 47. Each roller group 60G has a plurality of rollers 60 arranged side by side. The rollers 60 support the pallet 80, enabling the pallet 80 to be transported smoothly from side to side.

[0049] As described above, the automated guided vehicle 1 includes the control device 17 (see FIG. 2). The control device 17 controls the traveling of the automated guided vehicle 1. The control device 17 also controls the transport mechanism 30A to automatically transfer the pallet 80 between the automated guided vehicle 1 and the facility 100. More specifically, the control device 17 controls the motor 4 for traveling and the motor 33 of the meshing chain mechanism 30. The control device 17 is configured by a microcomputer. FIG. 13 is a functional block diagram of the control device 17. The control device 17 functions as a traveling control unit 17A and a transfer control unit 17B by executing a computer program. The control device 17 has the traveling control unit 17A and the transfer control unit 17B. The traveling control unit 17A rotates the drive wheels 5 while holding the engagement member 47 at the first position, thereby causing the automated guided vehicle 1 to travel. When transporting the pallet 80 from the automated guided vehicle 1 to the facility 100, the delivery control unit 17B moves the engagement member 47 from the first position to the second position by controlling the motor 33 while stopping the drive wheels 5. When transporting the pallet 80 from the automated guided vehicle 1 to the facility 100, the delivery control unit 17B moves the engagement member 47 from the second position to the first position by controlling the motor 33 while stopping the drive wheels 5.

[0050] The above is the configuration of the automatic guided vehicle 1. Next, the operation of the automatic guided vehicle 1 will be described.

[0051] The automated guided vehicle 1 carrying the pallet 80 carrying the cargo 200 stops when it reaches a position 100P (see FIG. 1) in front of the facility 100 in order to transfer the pallet 80 to the facility 100. Note that while the automated guided vehicle 1 is traveling toward the facility 100, the engagement member 47 is held in the first position (see FIG. 10A). Also, the lock member 51 is in an upright position (see FIG. 11A), preventing the pallet 80 from falling.

[0052] The coupling device 20 couples the cart 3 to the vehicle body 2 so that it can move left-right and up-down. If the position of the platform 8 is misaligned with respect to the equipment 100 after the automated guided vehicle 1 stops in front of the equipment 100, the cart 3 can be moved left-right or up-down to position the platform 8 with respect to the equipment 100. The position of the platform 8 can be aligned with the position of the equipment 100 with high precision.

[0053] In order to transport the pallet 80 to the facility 100, the control device 17 drives the transport mechanism 30A. The control device 17 drives the motor 33 to rotate the sprocket 34. Then, the first zip chain 31 and the second zip chain 32 are sent out from the case 35. The tip ends of the first zip chain 31 and the second zip chain 32 are sent out in a direction away from the case 35. Since the second slider 43 is connected to the tip ends of the first zip chain 31 and the second zip chain 32, the first zip chain 31 and the second zip chain 32 are stretched, and the second slider 43 moves to the right. This tilts the locking member 51, and the locking mechanism 50 is released (see FIG. 11B). The engagement member 47 moves to the right, and the pallet 80 is pushed out from the loading platform 8 toward the facility 100.

[0054] When the second slider 43 moves to the right along the second guide rod 41, as shown in Fig. 10B, the second slider 43 eventually hits the second stopper 45 and pushes the second stopper 45 to the right. The second stopper 45 is connected to the first slider 42 via the second guide rod 41. Therefore, when the second slider 43 pushes the second stopper 45 to the right, the second stopper 45, the second guide rod 41, and the first slider 42 move together with the second slider 43 to the right.

[0055] When the first slider 42 moves rightward along the first guide bar 40, as shown in FIG. 10C, the first slider 42 eventually hits the first stopper 44. This stops the movement of the second slider 43. At this time, at least a portion of the second guide bar 41 is located outside the loading platform 8 and the vehicle body 2, and the engaging member 47 is in the second position. The pallet 80 is carried into the facility 100.

[0056] After the automated guided vehicle 1 delivers the pallet 80 to the facility 100, the reverse operation to the above is performed. That is, the control device 17 drives the motor 33 in the reverse direction to rotate the sprocket 34 in the reverse direction. Then, the first zip chain 31 and the second zip chain 32 are pulled into the case 35, and the engaging member 47 returns from the second position to the first position. First, only the second slider 43 moves leftward. Then, the second slider 43 hits the first slider 42 and pushes the first slider 42 leftward. Then, the first slider 42, the second guide rod 41, and the second stopper 45 move leftward together with the second slider 43 as a unit. Then, when the engaging member 47 moves to the first position, the locking member 51 stands up, and the motor 33 is stopped.

[0057] In this way, by engaging the engaging members 47 with the pallet 80 and moving them from the first position to the second position, the pallet 80 can be delivered from the loading platform 8 to the equipment 100. Thereafter, by moving the engaging members 47 that are not engaged with the pallet 80 from the second position to the first position, the engaging members 47 can be moved above the loading platform 8, and the conveying mechanism 30A can be returned to the initial state.

[0058] The above-mentioned operation is an operation in which the automated guided vehicle 1 delivers the pallet 80 to the facility 100, but the automated guided vehicle 1 can also receive the pallet 80 from the facility 100 in a substantially similar manner. That is, by moving the engagement member 47 that is not engaged with the pallet 80 from the first position to the second position, the engagement member 47 can be moved to the outside of the loading platform 8 and can be moved to the inside of the facility 100. Thereafter, the engagement member 47 can be engaged with the pallet 80 and moved from the second position to the first position, thereby moving the pallet 80 from the facility 100 to the loading platform 8.

[0059] Next, various effects brought about by this embodiment will be described.

[0060] The automated guided vehicle 1 according to this embodiment includes a transport mechanism 30A that transports a pallet 80, and the transport mechanism 30A includes an interlocking chain mechanism 30. An engagement member 47 that detachably engages with the pallet 80 is connected to the tip portions of the first zip chain 31 and the second zip chain 32 of the interlocking chain mechanism 30. By expanding and contracting the first zip chain 31 and the second zip chain 32, the engagement member 47 can be moved between the first position and the second position, and the pallet 80 can be transported.

[0061] Except when the automated guided vehicle 1 is transferring pallets 80 between the facility 100 and the vehicle, the first zip chain 31 and the second zip chain 32 are wound inside the case 35 (see FIG. 10A). The first zip chain 31 and the second zip chain 32 are stored compactly inside the case 35. Therefore, according to this embodiment, the automated guided vehicle 1 can be made compact when traveling.

[0062] According to this embodiment, when the engaging member 47 is in the first position, the engaging member 47 is in a position overlapping with the platform 8 or the vehicle body 2 in a plan view of the vehicle (see FIG. 10A). The engaging member 47 is prevented from protruding from the platform 8 and the vehicle body 2. This reduces the possibility that the automated guided vehicle 1 will come into contact with surrounding obstacles while traveling. This allows the automated guided vehicle 1 to travel smoothly toward the facility 100.

[0063] When motor 33 sends out first zip chain 31 and second zip chain 32, engagement member 47 moves from the first position to the second position, and engagement member 47 moves to the outside of platform 8 and vehicle body 2 in a plan view of the vehicle (see FIG. 10C). Because pallet 80 is engaged with engagement member 47, it is possible to carry pallet 80 to the outside of platform 8. Therefore, even if equipment 100 is not provided with a motor for pulling in pallet 80, motor 33 provided in automatic guided vehicle 1 can carry pallet 80 into equipment 100.

[0064] The automated guided vehicle 1 according to this embodiment includes a control device 17 that controls the traveling motor 4 and the motor 33 of the transport mechanism 30A. The control device 17 holds the engagement member 47 in the first position when the automated guided vehicle 1 travels toward the facility 100. This automatically prevents the engagement member 47 from protruding while the automated guided vehicle 1 is traveling. After the automated guided vehicle 1 stops in front of the facility 100, the control device 17 drives the motor 33 to move the pallet 80 to the outside of the loading platform 8. This allows the motor 33 provided in the automated guided vehicle 1 to automatically transport the pallet 80 into the facility 100.

[0065] The automated guided vehicle 1 according to this embodiment is equipped with a locking mechanism 50 that prevents the pallet 80 from falling. The locking mechanism 50 is connected to the interlocking chain mechanism 30, and operates in conjunction with the interlocking chain mechanism 30. The locking mechanism 50 can prevent the pallet 80 from falling off the platform 8 while the automated guided vehicle 1 is traveling.

[0066] The automated guided vehicle 1 according to this embodiment includes a first guide rod 40, a first slider 42, a second guide rod 41, and a second slider 43 (see FIG. 12). The engagement member 47 is guided by the first guide rod 40 via the first slider 42, and is guided by the second guide rod 41 via the second slider 43. This allows the engagement member 47 to stably move from the first position to the second position. In addition, since the first guide rod 40 and the second guide rod 41 are configured in two stages, the overall length of the guide mechanism that guides the engagement member 47 can be shortened.

[0067] According to the automated guided vehicle 1 of this embodiment, when the engagement member 47 is in the first position, the first guide rod 40 and the second guide rod 41 overlap with the platform 8 or the vehicle body 2 in a plan view of the vehicle (see FIG. 10A). This makes it possible to prevent the first guide rod 40 and the second guide rod 41 from protruding from the platform 8 or the vehicle body 2 while the automated guided vehicle 1 is traveling. When the engagement member 47 is in the second position, a part of the second guide rod 41 is located outside the platform 8 and the vehicle body 2 in a plan view of the vehicle (see FIG. 10C). This makes it possible to satisfactorily guide the engagement member 47 toward the second position.

[0068] The automated guided vehicle 1 according to this embodiment includes roller groups 60G arranged in front of and behind the engagement member 47. This allows the pallet 80 to move stably when the engagement member 47 moves from the first position to the second position while engaging with the pallet 80.

[0069] The automated guided vehicle 1 according to this embodiment is equipped with a coupling device 20 that couples the cart 3 and the vehicle body 2 so that they can move in the left-right direction. As a result, after the vehicle body 2 stops in front of the facility 100, the cart 3 can be moved in the left-right direction to position the loading platform 8 relative to the facility 100. Since the positions of the loading platform 8 and the facility 100 can be aligned with high precision, the pallet 80 can be smoothly delivered.

[0070] According to this embodiment, the loading platform 8 is disposed above the vehicle body 2. The coupling device 20 is disposed below the loading platform 8 and above the vehicle body 2. Because the loading platform 8 and the vehicle body 2 are vertically stacked, the dimensions of the automated guided vehicle 1 in the front-rear and left-right directions can be reduced. This allows the automated guided vehicle 1 to be made more compact. In addition, the coupling device 20 can be prevented from protruding laterally from the vehicle body 2.

[0071] Although one embodiment of the present invention has been described above, the above embodiment is merely an example, and the present invention can be embodied in various other forms.

[0072] The locking mechanism for preventing the pallet 80 from falling is not limited to the above-mentioned locking mechanism 50. Furthermore, the locking mechanism is not necessarily required and can be omitted.

[0073] As long as the pallet 80 can be transported between the loading platform 8 and the equipment 100, the rollers 60 may be omitted.

[0074] The loading platform 8 does not have to be disposed above the vehicle body 2. For example, the dolly 3 may be disposed behind the vehicle body 2, and the loading platform 8 may be disposed behind the vehicle body 2. The coupling device 20 does not have to be disposed below the loading platform 8, and does not have to be disposed above the vehicle body 2.

[0075] In the above embodiment, the vehicle body 2 and the bogie 3 are connected to each other so as to be movable with respect to each other by the coupling device 20, but the vehicle body 2 and the bogie 3 may be integrated so as to be immovable with respect to each other. In this case, the coupling device 20 may not be required.

[0076] The driving source for traveling is not limited to the motor 4, but may be an internal combustion engine or the like. [Explanation of symbols]

[0077] 1. Automated guided vehicle 2 Vehicle body 3 Cart 4 Motor (driving source) 5 Drive wheels 8 Cargo Bed 17 Control device 20 Coupling device 30 Interlocking chain mechanism 31 1st Zip Chain 32 2nd Zip Chain 33 Motor 35 cases 40 First guide rod 41 Second guide rod 42 First slider 43 Second Slider 46 Contact member 47 Engagement member 50 Locking mechanism 51 Locking member 52 Arm parts 53 Swinging member 60 Lola 60G Roller Group 80 palettes 100 equipment

Claims

1. An automated guided vehicle that automatically travels toward equipment and transfers pallets between the equipment, A vehicle body having a driving source for running that generates a driving force and a driving wheel that rotates by receiving the driving force of the driving source for running; A loading platform supported by the vehicle body and on which the pallet is placed; an interlocking chain mechanism including a case supported on the platform, first and second zip chains having tip portions wound within the case, and a motor that feeds out the first and second zip chains in a direction in which the tip portions move away from the case, thereby interlocking the first and second zip chains with each other; an engagement member connected to the tip end of the first and second zip chains and removably engaging with the pallet; The interlocking chain mechanism is configured to move the engaging member between a first position in which the engaging member overlaps with the loading platform or the vehicle body when viewed from above, and a second position in which the engaging member is positioned outside the loading platform and the vehicle body when viewed from above, in an automated guided vehicle.

2. a control device for controlling the driving source and the motor, The control device includes: a travel control unit that rotates the drive wheels and holds the engagement member at the first position; 2. The automated guided vehicle according to claim 1, further comprising: a transfer control unit that stops the drive wheels and moves the engagement member from the first position to the second position.

3. a locking mechanism connected to the interlocking chain mechanism for preventing the pallet from falling off the platform; 2. The automated guided vehicle according to claim 1, wherein the locking mechanism includes a locking member that stands when the engaging member is in the first position and tilts when the engaging member moves from the first position toward the second position.

4. A first guide rod fixed to the platform and extending horizontally; a first slider slidably engaged with the first guide rod; a second guide rod fixed to the first slider and disposed parallel to the first guide rod; a second slider slidably engaged with the second guide rod, The automated guided vehicle according to claim 1 , wherein the engagement member is fixed to the second slider.

5. The first guide rod overlaps with the bed or the vehicle body in a plan view of the vehicle, When the engaging member is in the first position, the second guide rod overlaps with the loading platform or the vehicle body in a plan view of the vehicle, The automated guided vehicle according to claim 4 , wherein when the engaging member is in the second position, at least a portion of the second guide rod is located outside the platform and the vehicle body in a plan view of the vehicle.

6. a locking mechanism connected to the interlocking chain mechanism for preventing the pallet from falling off the platform; When a direction in which the engaging member moves from the first position to the second position is defined as a first direction, and a direction in which the engaging member moves from the second position to the first position is defined as a second direction, the second slider is disposed on the first direction side relative to the first slider, The locking mechanism includes: a locking member connected to the platform so as to be swingable in the first direction and the second direction; a swinging member that is disposed on the second direction side of the locking member and is connected to the loading platform so as to be swingable in the first direction and the second direction; an arm member having a root portion connected to the swing member so as to be swingable in the first direction and the second direction, and a tip portion connected to the lock member so as to be swingable in the first direction and the second direction; a contact member fixed to the second slider, the contact member contacting the swinging member when the engaging member moves from the second position to the first position, thereby swinging the swinging member, and the contact member moving away from the swinging member when the engaging member moves from the first position to the second position, 5. The automated guided vehicle according to claim 4, wherein the locking member is configured to stand up by being pulled by the arm member in association with the swinging of the swinging member when the engaging member moves from the second position to the first position, and to tilt when the engaging member moves from the first position to the second position.

7. When a direction in which the engaging member moves from the first position to the second position is defined as a first direction, a direction in which the engaging member moves from the second position to the first position is defined as a second direction, a direction perpendicular to the first direction is defined as a third direction, and a direction opposite to the third direction is defined as a fourth direction, the loading platform has roller groups arranged on the third direction side and the fourth direction side of the engaging member, The automated guided vehicle according to claim 1 , wherein each of the roller groups includes a plurality of rollers aligned in the first direction.

8. a dolly supporting the platform, the interlocking chain mechanism, and the engagement member; a coupling device that couples the vehicle body and the bogie so that the bogie is movable at least in a horizontal direction relative to the vehicle body; The automated guided vehicle according to claim 1 .

9. The loading platform is disposed above the vehicle body, The automated guided vehicle according to claim 8 , wherein the coupling device is disposed below the platform and above the vehicle body.

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