Unmanned carrier

Abstract

To provide an unmanned carrier capable of transferring a pallet between the carrier and a facility not provided with a motor for drawing the pallet and making difficult deterioration or damaging of a pallet engaging member.SOLUTION: An unmanned carrier 1 comprises an engaging chain mechanism 30. An engaging member 48 is provided in a pallet 80, and engaging members 47 are provided at the tips of first and second zip chains 31 and 32 of the engaging chain mechanism 30. The engaging member 48 is composed of a first ball catching member provided with a first ball 71, a second ball 72, a first spring 73, and a second spring 74. Each engaging member 47 is composed of a second ball catching member having a reception seat 75.SELECTED DRAWING: Figure 15

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, the pallet is transferred from the rollers of the automated guided vehicle to the rollers of a supplying device, and is transported inside the supplying device. In order to transport the pallet inside the supplying device, a motor is required for the supplying device. The above-mentioned supplying device and assembly line are a type of equipment that receives a pallet carrying parts from an automated guided vehicle and processes it into parts. 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 provide an extendable arm member for pushing out the pallet so that the pallet can be carried into the interior of the facility by the AGV. When the arm member extends toward the interior of the facility, the pallet is pushed out by the arm member and carried from the AGV into the interior of the facility. By providing the AGV with the arm member, a motor is not required for the facility.

[0008] By providing a pair of detachable engaging members on the tip of the arm member and on the pallet, the arm member can be extended with the pallet engaged with the tip of the arm member. The arm member allows the pallet to be transported stably into the interior of the facility. In addition, by engaging the arm member with the pallet inside the facility and contracting the arm member, the pallet can be pulled from inside the facility into the automated guided vehicle. Depending on the facility, the interior of the facility may be in a harsh environment with high temperature or humidity. There is a concern that the engaging member of the pallet may deteriorate or break when exposed to a harsh environment. If the engaging member deteriorates or breaks, the pallet cannot be transferred smoothly between the automated guided vehicle and the facility.

[0009] The present invention has been made in consideration of these points, and its object is to provide an unmanned guided vehicle that can transfer pallets to and from equipment that is not equipped with a motor to retract the pallet, and in which the pallet's engaging members are less likely to deteriorate or be damaged. [Means for solving the problem]

[0010] 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 having a driving source for driving the vehicle and drive wheels that rotate by receiving the driving force of the driving source for driving the vehicle, a loading platform supported by the vehicle body, a pallet placed on the loading platform, an arm member supported by the vehicle body and capable of extending and retracting in the horizontal direction, an actuator that extends and retracts the arm member, a first engagement member provided on the pallet, and a second engagement member provided on the arm member and detachably engaged with the first engagement member. The first engagement member and the second engagement member are constituted by ball catches.

[0011] According to the above-mentioned automated guided vehicle, the pallet can be brought into the inside of the facility by extending the arm member. The pallet can be delivered to and from the facility that is not provided with a motor for retracting the pallet. Since the arm member and the pallet are engaged with each other by the first engagement member and the second engagement member, the pallet will not come off the arm member and can be stably transported into the facility. In addition, the first engagement member and the second engagement member are constituted by a ball catch. Since the ball catch has excellent durability, the first engagement member is not easily deteriorated or damaged even if the pallet is exposed to the harsh environment inside the facility.

[0012] The ball catch may include a first ball catch member having first and second balls spaced apart and facing each other, a first spring for urging the first ball toward the second ball, and a second spring for urging the second ball toward the first ball. The ball catch may include a second ball catch member having a receiving seat that protrudes toward the gap between the first ball and the second ball. The first engagement member may be the first ball catch member, and the second engagement member may be the second ball catch member.

[0013] Because of this, the second ball catch member is lighter than the first ball catch member, and therefore bending of the arm member can be suppressed when the arm member extends or contracts.

[0014] The automated guided vehicle may include an interlocking chain mechanism having a case supported by the vehicle body, 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 and interlocks the first and second zip chains with each other. The arm member may be made of the first and second zip chains. The actuator may be made of the motor. The second engagement member may be fixed to the tip portions of the first and second zip chains.

[0015] In the interlocking chain mechanism, the first and second Zip Chains serving as the arm members are wound inside the case when contracted and are stored inside the case. This allows the arm members to be stored compactly. This allows the automated guided vehicle to be made smaller when not transferring pallets.

[0016] The automated guided vehicle may include a control device that controls the driving source for traveling and the motor. The interlocking chain mechanism may be configured to move the second engagement member between a first position where the second engagement member overlaps with the platform or the vehicle body in a plan view of the vehicle, and a second position where the second engagement member is located outside the platform and the vehicle body in a plan view of the vehicle. The control device may have a travel control unit that rotates the drive wheels and holds the second engagement member at the first position, and a delivery control unit that stops the drive wheels and moves the second engagement member from the first position to the second position.

[0017] As a result, when the automated guided vehicle is traveling toward the facility, the second engagement member is held at the first position by the travel control unit. When the second engagement member is in the first position, the second engagement member is in a position overlapping the loading platform or the vehicle body in a plan view of the vehicle. Therefore, the second engagement member is prevented from protruding from the loading platform or the vehicle body. The possibility that the automated guided vehicle will come into contact with surrounding obstacles while traveling can be reduced. Therefore, the automated guided vehicle 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 second engagement member from the first position to the second position. The motor provided in the automated guided vehicle can automatically carry the pallet into the interior of the facility.

[0018] When the direction in which the arm member extends is defined as a first direction, the direction in which the arm member retracts 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 platform may have roller groups arranged on the third direction side and the fourth direction side of the arm member when extended. Each of the roller groups may have a plurality of rollers aligned in the first direction.

[0019] With this, when the arm member pushes out the pallet, the rollers rotate while supporting the pallet, thereby enabling the pallet to be moved stably.

[0020] The automated guided vehicle may include a trolley supporting the platform, the arm member, and the actuator, and a coupling device coupling the vehicle body and the trolley so that the trolley can move at least horizontally relative to the vehicle body.

[0021] 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.

[0022] 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.

[0023] As a result, the loading platform and the vehicle body are vertically stacked, so that the dimensions of the automatic guided vehicle in the front-rear and left-right directions can be reduced, and the automatic guided vehicle can be made compact. Effect of the Invention

[0024] According to the present invention, it is possible to provide an automated guided vehicle that can transfer pallets to and from equipment that is not equipped with a motor for pulling in the pallets, and in which the engaging members of the pallet are less likely to deteriorate or be damaged. [Brief description of the drawings]

[0025] [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 10] FIG. 13 is a plan view of the transport mechanism when the interlocking chain mechanism is retracted. [Figure 11] FIG. 13 is a plan view of the transport mechanism with the interlocking chain mechanism extending. [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. 13 is a plan view of the transport mechanism and pallets when the interlocking chain mechanism is retracted. [Figure 14] FIG. 13 is a plan view of the transport mechanism and pallets when the interlocking chain mechanism is extended. [Figure 15] 1 is a plan view of the ball catch when the engaging members are not engaged with each other. FIG. [Figure 16] 1 is a plan view of the ball catch when the engagement members are engaged. FIG. [Figure 17] FIG. 2 is a block diagram of a control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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).

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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 configured to move 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.

[0037] 10 and 11 are schematic plan views of the transport mechanism 30A. Fig. 10 shows the interlocking chain mechanism 30 in a contracted state. Fig. 10B shows the interlocking chain mechanism 30 in the middle of being extended. In this embodiment, the right, left, front, and rear correspond to the "first direction," "second direction," "third direction," and "fourth direction," respectively.

[0038] As shown in FIG. 10, the interlocking chain mechanism 30 includes a case 35, a first zip chain 31, a second zip chain 32, a motor 33, 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 interlocked with the first zip chain 31. The motor 33 is attached to the bottom surface of the case 35. The motor 33 is connected to the sprocket 34 and rotates the sprocket 34. The engagement member 47 is connected to the tip of the first zip chain 31 and the second zip chain 32 via a second slider 43 described later.

[0039] When motor 33 is driven, sprocket 34 rotates, and first zip chain 31 is sent out of case 35 by sprocket 34. At this time, second zip chain 32 is sent out 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 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. First zip chain 31 and second zip chain 32 are examples of "arm members" that are horizontally extendable and retractable.

[0040] 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.

[0041] 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. 10). 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. 10). 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.

[0042] Although not shown in Fig. 12, an engagement member 47 is attached to the second slider 43. The engagement member 47 is connected to the tip ends 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 fully contracted is referred to as a first position, and the position of the engagement member 47 when the interlocking chain mechanism 30 is fully extended is referred to as a second position.

[0043] Fig. 13 is a plan view of the conveying mechanism 30A and the pallet 80 when the engaging member 47 is in the first position. Fig. 14 is a plan view of the conveying mechanism 30A and the pallet 80 when the engaging member 47 is in the second position. The first position is a position where the engaging 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 engaging member 47 is located 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 engaging member 47 between the first position and the second position.

[0044] 15 and 16, the pallet 80 is provided with an engagement member 48 that is detachably engaged with the engagement member 47. The engagement member 47 and the engagement member 48 are each formed of a ball catch 70.

[0045] The engagement member 48 is a first ball catch member having a first ball 71 and a second ball 72 that are spaced apart and face each other, a first spring 73 that urges the first ball 71 toward the second ball 72, and a second spring 74 that urges the second ball 72 toward the first ball 71. Here, the second ball 72 is disposed behind the first ball 71. The first spring 73 urges the first ball 71 rearward, and the second spring 74 urges the second ball 72 forward.

[0046] The engagement member 47 is a second ball catch member having a receiving seat 75 that protrudes toward the gap between the first ball 71 and the second ball 72. Both side surfaces of the receiving seat 75 are curved to fit the shapes of the first ball 71 and the second ball 72. The width of the receiving seat 75 (here, the dimension in the front-to-rear direction) changes so that it first becomes smaller and then becomes larger toward the tip.

[0047] When the receiving seat 75 moves rightward toward the gap between the first ball 71 and the second ball 72, the receiving seat 75 pushes the first ball 71 forward and pushes the second ball 72 backward. The receiving seat 75 is inserted between the first ball 71 and the second ball 72 and is held by the first ball 71 and the second ball 72 (see FIG. 16). This causes the engaging member 47 and the engaging member 48 to engage with each other. The pallet 80 becomes movable together with the second slider 43.

[0048] When the receiving seat 75 moves leftward while the pallet 80 is held by the equipment 100, the first ball 71 is pushed forward by the receiving seat 75, and the second ball 72 is pushed backward by the receiving seat 75. The receiving seat 75 moves out of the gap between the first ball 71 and the second ball 72 against the biasing forces of the first spring 73 and the second spring 74. This releases the engagement between the engaging member 47 and the engaging member 48, and the engaging member 47 moves away from the engaging member 48 (see FIG. 15).

[0049] 10, the loading platform 8 is provided with roller groups 60G arranged in front of and behind the engaging member 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.

[0050] 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. 17 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.

[0051] The above is the configuration of the automatic guided vehicle 1. Next, the operation of the automatic guided vehicle 1 will be described.

[0052] 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. 13). The engagement member 47 is engaged with the engagement member 48 of the pallet 80.

[0053] 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.

[0054] To transport pallet 80 to facility 100, control device 17 drives transport mechanism 30A. Control device 17 drives motor 33 to rotate sprocket 34. Then, first zip chain 31 and second zip chain 32 are sent out from case 35. The tip ends of first zip chain 31 and second zip chain 32 are sent out in a direction away from case 35. Since second slider 43 is connected to the tip ends of first zip chain 31 and second zip chain 32, the first zip chain 31 and second zip chain 32 are stretched, and therefore second slider 43 moves to the right. As engagement member 47 moves to the right, pallet 80 is pushed out from platform 8 toward facility 100.

[0055] When the second slider 43 moves to the right along the second guide rod 41, as shown in Fig. 11, 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.

[0056] As the first slider 42 moves rightward along the first guide bar 40, it 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 (see FIG. 14). The pallet 80 is carried into the facility 100.

[0057] After the automated guided vehicle 1 delivers the pallet 80 to the facility 100, the reverse operation to the above is performed. First, 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 drawn into the case 35. The engagement member 47 and the engagement member 48 are disengaged, and the engagement member 47 moves away from the engagement member 48. The engagement member 47 returns from the second position to the first position. At this time, first, only the second slider 43 moves leftward. After that, 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 engagement member 47 moves to the first position, the motor 33 is stopped.

[0058] In this way, the pallet 80 can be delivered from the loading platform 8 to the equipment 100 by engaging the engaging member 47 with the engaging member 48 of the pallet 80 and moving it from the first position to the second position. Thereafter, the engagement between the engaging member 47 and the engaging member 48 can be released by pulling the engaging member 47 to the left. The conveying mechanism 30A can be returned to the initial state by moving the engaging member 47 from the second position to the first position.

[0059] The above-mentioned operation is an operation in which the automated guided vehicle 1 delivers the pallet 80 to the facility 100. Next, an operation in which the automated guided vehicle 1 receives the pallet 80 from the facility 100 will be described.

[0060] First, by driving motor 33, first zip chain 31 and second zip chain 32 are sent out from case 35, and engaging member 47 is moved from the first position to the second position. When engaging member 47 reaches the second position, it engages with engaging member 48 of pallet 80 (see FIG. 14). Next, by driving motor 33 in the reverse direction, first zip chain 31 and second zip chain 32 are pulled into case 35, and engaging member 47 is moved from the second position to the first position. As a result, pallet 80 is pulled by second slider 43 and transported from equipment 100 to loading platform 8 (see FIG. 13).

[0061] Next, various effects brought about by this embodiment will be described.

[0062] In the present embodiment, the automated guided vehicle 1 can carry the pallet 80 into the facility 100 by the motor 33 extending the first zip chain 31 and the second zip chain 32. The pallet 80 can be delivered to and from the facility 100 that is not provided with a motor for pulling in the pallet 80. When the pallet 80 is transported, the first zip chain 31 and the second zip chain 32 engage with the pallet 80 by the engaging member 47 and the engaging member 48. Therefore, the pallet 80 can be transported stably into the facility 100. In addition, according to the present embodiment, the engaging member 47 and the engaging member 48 are configured by the ball catch 70. Since the ball catch 70 has excellent durability, the engaging member 48 is not easily deteriorated or damaged even if the pallet 80 is exposed to the harsh environment inside the facility 100.

[0063] The ball catch 70 includes a first ball catch member having a first ball 71, a second ball 72, a first spring 73, and a second spring 74, and a second ball catch member having a receiving seat 75 (see FIG. 15). The configuration of the second ball catch member is simpler than that of the first ball catch member, and the second ball catch member is lighter than the first ball catch member. In this embodiment, the engaging member 48 provided on the pallet 80 is made of the first ball catch member, and the engaging members 47 provided on the first zip chain 31 and the second zip chain 32 are made of the second ball catch member. Since the engaging member 47 is lighter than the engaging member 48, it is possible to prevent the first zip chain 31 and the second zip chain 32 from bending when the first zip chain 31 and the second zip chain 32 expand and contract.

[0064] In the interlocking chain mechanism 30, the first zip chain 31 and the second zip chain 32 serving as arm members are wound inside the case 35 when contracted, and are stored compactly inside the case 35. Therefore, the automated guided vehicle 1 can be made compact when the pallet 80 is not being transferred.

[0065] The automated guided vehicle 1 according to this embodiment includes a control device 17 that controls the motor 4 for travel and the motor 33 of the transport mechanism 30A. The control device 17 holds the engagement member 47 in a first position when the automated guided vehicle 1 travels toward the facility 100. When the engagement member 47 is in the first position, the engagement 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. 13). This prevents the engagement member 47 from protruding from the platform 8 or the vehicle body 2. This reduces the possibility that the automated guided vehicle 1 will come into contact with surrounding obstacles while traveling, and the automated guided vehicle 1 can travel smoothly toward the facility 100. After the automated guided vehicle 1 stops in front of the facility 100, the control device 17 drives the motor 33, so that the engagement member 47 moves from the first position to the second position. The motor 33 provided in the automated guided vehicle 1 can automatically carry the pallet 80 into the facility 100.

[0066] The automated guided vehicle 1 according to this embodiment includes roller groups 60G arranged in front of and behind the first zip chain 31 and the second zip chain 32 when extended. This allows the pallet 80 to move stably when the engaging members 47 move while engaging with the engaging members 48 of the pallet 80.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] In the above embodiment, the interlocking chain mechanism 30 having the first zip chain 31 and the second zip chain 32 was used as the mechanism for moving the pallet 80. However, the mechanism for moving the pallet 80 is not limited to this. The extendable arm member is not limited to the first zip chain 31 and the second zip chain 32, and may be a cylinder rod or the like. The actuator for extending and retracting the arm member is not limited to the motor 33, and may be an air cylinder or the like.

[0071] The engaging member 47 may comprise a first ball-catching member, and the engaging member 48 may comprise a second ball-catching member.

[0072] As long as the pallet 80 can be transported between the loading platform 8 and the equipment 100, the rollers 60 may be omitted.

[0073] 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.

[0074] 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.

[0075] 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]

[0076] 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 First zip chain (arm member) 32 Second zip chain (arm member) 33 Motor (actuator) 35 cases 47 Engagement member (second engagement member) 48 Engagement member (first engagement member) 60 Lola 60G Roller Group 70 Ball Catch 71 First Ball 72 2nd ball 73 First Spring 74 2nd Spring 75 Receiving seat 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 on the vehicle body; A pallet placed on the loading platform; an arm member supported by the vehicle body and horizontally extendable and contractible; An actuator that extends and contracts the arm member; A first engagement member provided on the pallet; a second engaging member provided on the arm member and releasably engaging with the first engaging member; The first engagement member and the second engagement member are constituted by ball catches.

2. The ball catch is a first ball catch member having first and second balls spaced apart and facing each other, a first spring for biasing the first ball toward the second ball, and a second spring for biasing the second ball toward the first ball; a second ball catch member having a receiving seat protruding toward a gap between the first ball and the second ball, 2. The automated guided vehicle according to claim 1, wherein the first engagement member comprises the first ball catch member, and the second engagement member comprises the second ball catch member.

3. a meshing chain mechanism including a case supported by the vehicle body, first and second Zip Chains having tip ends and wound within the case, and a motor that feeds out the first and second Zip Chains in a direction in which the tip ends move away from the case, and meshes the first and second Zip Chains with each other; the arm member is made up of the first and second zip chains, The actuator comprises the motor, The automated guided vehicle according to claim 1 , wherein the second engagement member is fixed to the tip end portions of the first and second zip chains.

4. a control device for controlling the driving source and the motor, The interlocking chain mechanism is configured to move the second engagement member between a first position where the second engagement member overlaps with the loading platform or the vehicle body in a plan view of the vehicle, and a second position where the second engagement member is positioned outside the loading platform and the vehicle body in a plan view of the vehicle, The control device includes: a travel control unit that rotates the drive wheels and holds the second engagement member at the first position; 4. The automated guided vehicle according to claim 3, further comprising: a transfer control unit that stops the drive wheels and moves the second engagement member from the first position to the second position.

5. When the direction in which the arm member extends is a first direction, the direction in which the arm member contracts is a second direction, a direction perpendicular to the first direction is a third direction, and a direction opposite to the third direction is a fourth direction, the loading platform has roller groups arranged on the third direction side and the fourth direction side of the arm member when extended, The automated guided vehicle according to claim 1 , wherein each of the roller groups includes a plurality of rollers aligned in the first direction.

6. a dolly supporting the platform, the arm member, and the actuator; 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 .

7. The loading platform is disposed above the vehicle body, The automated guided vehicle according to claim 6 , wherein the coupling device is disposed below the platform and above the vehicle body.

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