Truck coupling device

Abstract

To provide a truck coupling device that can suppress a truck from moving backward when coupling the truck to a tow car.SOLUTION: A truck coupling device 21 is provided with: a coupling pin 23 configured to drop along a guide 28 toward an insertion position S into which a connection part 3a of a truck 3 is inserted; a stopper 26 that is energized to move toward the insertion position S to support the coupling pin 23 above the insertion position S while moving toward the insertion position S and to allow the coupling pin 23 to drop toward the insertion position S when retreating from the insertion position S; a drop detecting sensor 41 that detects drop of the coupling pin 23 toward the insertion position S; and a coupling control part 17 that when the drop detecting sensor 41 detects the drop of the coupling pin 23 toward the insertion position S, outputs, to a running control part 15 of a tow car 2, information for instructing the running control part to stop the toe car 2 from moving backward.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a bogie coupling device. [Background technology]

[0002] As a technology relating to a bogie coupling device for coupling a bogie to a towing vehicle, for example, there is a coupling device described in Patent Document 1. This conventional coupling device is a device installed at the rear of the towing vehicle. The coupling device includes a pair of flanges spaced apart from each other above and below, a U-shaped cross-section stopper rotatably supported between the flanges, and a coupling pin that can be inserted into holes that open opposite each other above and below the pair of flanges. In the coupling device of Patent Document 1, by pushing the connection part on the bogie into the stopper between the flanges, the stopper is released and the coupling pin falls. This allows the coupling pin to pass through the connection part, connecting the towing vehicle and the bogie. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Utility Model Application Publication No. 63-54501 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, it is anticipated that autonomous vehicles will be used as towing vehicles. When the towing vehicle is an autonomous vehicle, for example, it is necessary to take into account the positional error of a bogie placed in a predetermined location when coupling. In this case, if the positional error of the bogie in the towing vehicle's direction of travel is, for example, ±X mm, the towing vehicle's travel is controlled so that the bogie moves backward to the farthest position from the towing vehicle (a position -X mm from the reference) in order to more reliably insert the coupling pin into the connection part of the bogie.

[0005] However, under such control, if the carriage is located closest to the towing vehicle (+X mm from the reference position), the carriage will be coupled to the towing vehicle at the +X mm position and then pushed by the towing vehicle by (2 x X) mm, causing it to move backward. If the carriage is pushed by the towing vehicle, the driven wheels of the carriage will not be controlled, and the carriage may move backward while deviating in the width direction. For this reason, it is necessary to set a no-entry area for people and objects, taking into account the range in which the carriage will deviate and move, which may limit the layout of a transport system using the towing vehicle and carriage.

[0006] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a bogie coupling device that can suppress the bogie from moving backward when coupling the bogie to a towing vehicle. [Means for solving the problem]

[0007] The gist of the present disclosure is as follows.

[0008] [1] A bogie coupling device for coupling a bogie to a towing vehicle, comprising: a connecting pin configured to be able to fall along a guide toward an insertion position where a connection part of the bogie is inserted; a stopper that is biased to advance toward the insertion position, supports the connecting pin above the insertion position when advanced to the insertion position, and allows the connecting pin to fall into the insertion position when the stopper is retracted from the insertion position; a drop detection sensor that detects the connecting pin falling into the insertion position; and a control unit that, when the drop detection sensor detects that the connecting pin has fallen into the insertion position, outputs instruction information to a travel control device of the towing vehicle to stop reverse movement of the towing vehicle.

[0009] In this bogie coupling device, when the connection portion of the bogie is inserted into the insertion position, the stopper pressed against the connection portion retracts from the insertion position. When the stopper retracts from the insertion position, the connecting pin drops to the insertion position and engages with the connecting portion, coupling the towing vehicle and the bogie. Furthermore, in this bogie coupling device, when the drop of the connecting pin into the insertion position is detected, instruction information to stop the towing vehicle's travel control device is output. As a result, even if the towing vehicle's travel is controlled taking into account errors in the bogie's position during coupling, the towing vehicle stops when the connecting pin drops, preventing the bogie from moving backward due to being pushed by the towing vehicle. This makes it possible to set no-entry areas for people and objects without taking into account the bogie's widthwise deviation when reversing, thereby increasing the degree of freedom in the layout of a transport system using the towing vehicle and the bogie.

[0010] [2] The bogie coupling device according to [1], wherein the drop detection sensor is a sensor that detects the position of the upper end of the connecting pin when the connecting pin drops to the insertion position. In this case, the drop of the connecting pin to the insertion position can be detected with high accuracy.

[0011] [3] The drop detection sensor is a sensor that detects the position of the upper end of the connecting pin when the connecting pin is supported by a stopper. In this case, the drop of the connecting pin to the insertion position can be detected with high accuracy.

[0012] [4] The drop detection sensor is a sensor that detects when the stopper is retracted from the insertion position. In this case, the drop of the connecting pin to the insertion position can be detected with high accuracy.

[0013] [5] The bogie coupling device according to any one of [1] to [4], wherein the drop detection sensor is configured by combining at least two of a sensor that detects the position of the upper end of the connecting pin when the connecting pin has dropped to the insertion position, a sensor that detects the position of the upper end of the connecting pin when the connecting pin is supported by a stopper, and a sensor that detects when the stopper has retracted from the insertion position. In this case, the drop of the connecting pin to the insertion position can be detected with greater accuracy. Furthermore, if there is a problem with the dropping operation of the connecting pin, it becomes easier to detect an abnormality and identify the cause of the abnormality.

[0014] [6] The bogie coupling device according to any one of [1] to [5], comprising a holding unit that holds the connecting pin so that it can move up and down, and a drive unit that automatically switches the connecting pin between a holding state and a non-holding state by the holding unit. This eliminates the need for an operator to manually perform the coupling and uncoupling operations of the connection parts of the bogies, thereby improving the efficiency of work using the towing vehicle and the bogies.

[0015] [7] A bogie coupling device according to any one of [1] to [6], comprising a pair of upper and lower plate-shaped parts each having a hole through which the connecting pin can be inserted, the upper of the plate-shaped parts has a cylindrical guide protruding around the hole, and the connecting pin has a flange that abuts against the guide when dropped to the insertion position. In this case, the hole in the plate-shaped part, the cylindrical guide, and the flange abutting against the guide stabilize the dropping action of the connecting pin. [Effects of the Invention]

[0016] According to the present disclosure, it is possible to prevent the bogie from moving backward when the bogie is coupled to the towing vehicle. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a diagram showing an example of a travel route in a transport system using a towing vehicle and a dolly; [Figure 2] 1 is a block diagram showing the configuration of a towing vehicle to which the bogie coupling device according to the present embodiment is applied. [Figure 3] 1 is a perspective view showing a configuration of a bogie coupling device according to an embodiment of the present invention. [Figure 4] 4 is a side view showing a movement operation in the carriage coupling device shown in FIG. 3. FIG. [Figure 5] 4 is a side view showing a coupling preparation operation in the bogie coupling device shown in FIG. 3. FIG. [Figure 6] 4 is a side view showing a coupling operation in the bogie coupling device shown in FIG. 3. FIG. [Figure 7] 7 is a side view showing the operation subsequent to that of FIG. 6. FIG. [Figure 8] 4 is a side view showing a disconnecting operation in the bogie coupling device shown in FIG. 3. FIG. [Figure 9] FIG. 2 is an enlarged perspective view of a main part showing a drop detection sensor. [Figure 10] FIG. 10 is an enlarged perspective view of a main part showing a modified example of the drop detection sensor. [Figure 11] FIG. 10 is an enlarged perspective view of a main part showing another modified example of the drop detection sensor. [Figure 12] FIG. 10 is a side view showing yet another modified example of the drop detection sensor. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, a preferred embodiment of a bogie coupling device according to one aspect of the present disclosure will be described in detail with reference to the drawings.

[0019] FIG. 1 is a diagram showing an example of a travel route in a conveyance system using a towing vehicle and a dolly. The conveyance system 1 shown in FIG. 1 is a system used to transport baggage W in large warehouses such as airports and factories, and is configured to include a plurality of towing vehicles 2 and a plurality of dollies 3. The towing vehicle 2 automatically travels along a predetermined travel route K, and transports the baggage W by connecting one or more dollies 3 as needed. In the example of FIG. 1, the conveyance system 1 alternates between a first turn and a second turn, which will be described later, and the towing vehicle 2 and the dolly 3 continuously transport the baggage W.

[0020] The towing vehicle 2 is equipped with a bogie coupling device 21, which will be described later. The bogie 3 is provided with a connection portion 3a (see FIG. 6, etc.) that is connected to the bogie coupling device 21. The connection portion 3a is configured, for example, by an annular protrusion that protrudes forward from the front of the bogie 3. The bogie 3 is coupled to the towing vehicle 2 by a coupling pin 23 (see FIG. 4, etc.) of the bogie coupling device 21 engaging with the annular protrusion. Furthermore, the bogie 3 is released from coupling to the towing vehicle 2 by disengaging the coupling pin 23 of the bogie coupling device 21 from the annular protrusion.

[0021] The travel route K is a circular route that includes a loading position P where the luggage W is loaded, an unloading position Q where the luggage W is unloaded, a coupling position C where the dolly 3 is coupled to the towing vehicle 2, and a decoupling position D where the dolly 3 is detached from the towing vehicle 2. The travel route K has an overall circular route Kr that connects the loading position P and the unloading position Q, a branch route Ka set around the loading position P, and a branch route Kb set around the unloading position Q.

[0022] Two loading positions P1, P2 and a standby position T1 for the towing vehicle 2 are set on the branch route Ka. During the first turn of the conveying system 1, the loading position P1 becomes the coupling position C, and the loading position P2 becomes the uncoupling position D. During the second turn of the conveying system 1, the loading position P1 becomes the uncoupling position D, and the loading position P2 becomes the uncoupling position D. Two unloading positions Q1, Q2 and a standby position T2 for the towing vehicle 2 are set on the branch route Kb. During the first turn of the conveying system 1, the unloading position Q1 becomes the uncoupling position D, and the unloading position Q2 becomes the coupling position C. During the second turn of the conveying system 1, the unloading position Q1 becomes the coupling position C, and the unloading position Q2 becomes the uncoupling position D.

[0023] In the first turn of the conveyance system 1, the towing vehicle 2 moves backward from a standby position T1 connected to the branch route Ka to a loading position P1, and the dolly 3 on which the baggage W is placed is coupled to the towing vehicle 2 at the loading position P1. The towing vehicle 2 tows the dolly 3 on which the baggage W is placed and travels toward a loading unloading position Q1. At the loading unloading position Q1, the baggage W is unloaded from the dolly 3, and then the dolly 3 is detached from the towing vehicle 2. After the dolly 3 is detached, the towing vehicle 2 travels to a standby position T2 connected to the branch route Kb and waits at the standby position T2.

[0024] Next, the towing vehicle 2 moves backward from the standby position T2 to the unloading position Q2, and the dolly 3 on which no baggage W is placed is coupled at the unloading position Q2. The towing vehicle 2 tows the dolly 3 on which no baggage W is placed and travels toward the loading position P2. At the loading position P2, the dolly 3 is detached from the towing vehicle 2, and then the baggage W is loaded onto the dolly. After the dolly 3 is detached, the towing vehicle 2 travels to the standby position T1 connected to the branch route Ka and waits at the standby position T1.

[0025] In the second turn of the conveyance system 1, the towing vehicle 2 moves backward from the standby position T1 to the loading position P2, and the dolly 3 on which the baggage W is placed is coupled to the towing vehicle 2 at the loading position P2. The towing vehicle 2 tows the dolly 3 on which the baggage W is placed and travels toward the unloading position Q2. At the unloading position Q2, the baggage W is unloaded from the dolly 3, and then the dolly 3 is detached from the towing vehicle 2. After the dolly 3 is detached, the towing vehicle 2 travels to the standby position T2 connected to the branch route Kb and waits at the standby position T2.

[0026] Next, the towing vehicle 2 moves backward from the standby position T2 to the unloading position Q1, and the dolly 3 on which no baggage W is placed is coupled to the towing vehicle 2 at the unloading position Q1. The towing vehicle 2 tows the dolly 3 on which no baggage W is placed and travels toward the loading position P1. At the loading position P1, the dolly 3 is detached from the towing vehicle 2, and then the baggage W is loaded onto the dolly. After the dolly 3 is detached, the towing vehicle 2 travels to the standby position T1 connected to the branch route Ka and waits at the standby position T1.

[0027] Next, the configuration of the towing vehicle 2 will be described.

[0028] FIG. 2 is a block diagram showing the configuration of a towing vehicle to which the bogie coupling device according to this embodiment is applied. As shown in FIG. 2, the towing vehicle 2 includes a self-position estimation sensor 11, a map information storage unit 12, a self-position estimation unit 13, a route information storage unit 14, a travel control unit 15, a traveling device 16, a coupling control unit (control unit) 17, and a bogie coupling device 21. Of these components, the map information storage unit 12, the self-position estimation unit 13, the route information storage unit 14, the travel control unit 15, and the coupling control unit 17 are physically configured by a computer system including storage devices such as RAM and ROM, a processor such as a CPU, a communication interface, etc. In FIG. 2, for convenience of explanation, the coupling control unit 17 and the bogie coupling device 21 are shown as separate blocks, but the coupling control unit 17 is a component of the bogie coupling device 21.

[0029] The self-position estimation sensor 11 is a sensor used to estimate the self-position of the towing vehicle 2. The self-position estimation sensor 11 detects objects present around the towing vehicle 2. For example, a laser sensor such as a LiDAR (Light Detection And Ranging) or a laser range finder is used as the self-position estimation sensor 11. The self-position estimation sensor 11 detects the distance from the self-position estimation sensor 11 to objects present around the towing vehicle 2 by emitting laser light to the surroundings of the towing vehicle 2 and receiving reflected light of the laser light. The self-position estimation sensor 11 outputs detection result information indicating the detection result to the self-position estimation unit 13.

[0030] The map information storage unit 12 stores map information of the locations where the towing vehicle 2 will travel, i.e., the locations where the travel route K will be set. The map information includes information indicating, for example, buildings, pillars, walls, and other obstacles. The map information may be input in advance by the user of the towing vehicle 2, or may be received from a server or the like via a network.

[0031] The route information storage unit 14 is a section that stores route information related to the travel route K of the towing vehicle 2. In addition to information indicating the travel route K, the route information includes information related to a loading position P where cargo is loaded and an unloading position Q where cargo is unloaded. In other words, the route information includes a coupling position C of the dolly 3 to the towing vehicle 2 and a decoupling position D of the dolly 3 to the towing vehicle 2. Like the map information, the route information may be input in advance by the user of the towing vehicle 2, or may be received from a server or the like via a network.

[0032] The self-position estimation unit 13 is a unit that acquires position information of the towing vehicle 2. The self-position estimation unit 13 estimates the self-position of the towing vehicle 2 based on the detection result information from the self-position estimation sensor 11 and the map information stored in the map information storage unit 12. Specifically, the self-position estimation unit 13 matches the detection result information from the self-position estimation sensor 11 with map information, for example, using a SLAM (Simultaneous Localization And Mapping) technique, to estimate the self-position of the towing vehicle 2. SLAM is a self-position estimation technology that estimates the self-position using sensor data and map data. The self-position estimation unit 13 outputs estimation result information (position information) indicating the estimation result of the self-position of the towing vehicle 2 to the driving control unit 15 and the coupling control unit 17, respectively.

[0033] The traveling control unit 15 is a part that controls the operation of the traveling device 16. Based on the estimation result information output from the self-position estimation unit 13, the traveling control unit 15 references the route information stored in the route information storage unit 14 and controls the traveling device 16 so that the towing vehicle 2 travels along the travel route K. When the traveling control unit 15 detects the presence of an obstacle near the towing vehicle 2 by an obstacle detection sensor (not shown) or the like, it controls the traveling device 16 so that the towing vehicle 2 slows down or stops.

[0034] The traveling device 16 is a device related to the traveling of the towing vehicle 2. For example, it includes a vehicle body, a pair of front wheels arranged at the front of the vehicle body, and a pair of rear wheels arranged at the rear of the vehicle body. In the traveling device 16, for example, the front wheels are drive wheels and the rear wheels are steered wheels. The traveling device 16 drives the front wheels and rear wheels based on control from the traveling control unit 15, and causes the towing vehicle 2 to travel along the traveling route K.

[0035] The coupling control unit 17 is a part that controls the operation of the bogie coupling device 21. The coupling control unit 17 controls the coupling operation and decoupling operation of the connection unit 3a of the bogie 3. Specifically, the coupling control unit 17 refers to the route information stored in the route information storage unit 14 based on the estimation result information output from the self-position estimation unit 13. When the coupling control unit 17 determines that the towing vehicle 2 is moving from decoupling position D of the bogie 3 to coupling position C, it causes the bogie coupling device 21 to perform a movement operation. When the coupling control unit 17 determines that the towing vehicle 2 is located at coupling position C of the bogie 3, it causes the bogie coupling device 21 to perform a coupling preparation operation and a coupling operation, and when it determines that the towing vehicle 2 is located at decoupling position D of the bogie 3, it causes the bogie coupling device 21 to perform a decoupling operation. The movement operation, coupling preparation operation, coupling operation, and decoupling operation will be described in detail below.

[0036] Next, the configuration of the bogie coupling device 21 will be described.

[0037] Fig. 3 is a perspective view showing the configuration of the bogie coupling device according to this embodiment. As shown in Fig. 3, the bogie coupling device 21 is provided at the rear of the towing vehicle 2. The bogie coupling device 21 includes a base plate 22, a coupling pin 23, a holding portion 24, a drive portion 25, a stopper 26, and a drop detection sensor 41.

[0038] The base plate 22 is a portion that serves as the base of the bogie coupling device 21. The base plate 22 has, for example, a rectangular shape, and is disposed in the center portion in the width direction at the rear of the towing vehicle 2 so that its main surface faces rearward of the towing vehicle 2. A pair of upper and lower plate-shaped portions 27A, 27B are provided on the lower portion of the base plate 22. When viewed from the height direction of the towing vehicle 2, the plate-shaped portions 27A, 27B have, for example, an isosceles trapezoid shape with the base plate 22 side as the base.

[0039] The plate-shaped portions 27A, 27B are arranged parallel to each other and spaced apart at a predetermined interval in the height direction of the towing vehicle 2, and protrude from the base plate 22 toward the rear of the towing vehicle 2. The space between the plate-shaped portions 27A, 27B forms an insertion position S into which the connection portion 3a of the bogie 3 to be connected is inserted. The plate-shaped portions 27A, 27B are provided with coaxial holes 27a (see FIG. 4, etc.) through which the connecting pin 23 can be inserted. The plate-shaped portion 27A is provided with a cylindrical guide 28 that protrudes upward around the hole 27a. A guide member (not shown) that guides the connection portion 3a of the bogie 3 toward the insertion position S may be attached to the plate-shaped portion 27B.

[0040] The connecting pin 23 is a portion that engages with the connection portion 3a when the bogies 3 are connected. The connecting pin 23 is configured to be able to drop along the guide 28 toward the insertion position S where the connection portion 3a of the bogie 3 is inserted. Specifically, the connecting pin 23 is cylindrical in shape with a diameter that allows it to pass through the hole 27a of the plate-shaped portions 27A and 27B and the guide 28. A circular flange 23a, for example, is provided at the upper end of the connecting pin 23. The drop of the connecting pin 23 is restricted at a position where the flange 23a abuts against the upper end of the guide 28. When the connecting pin 23 drops and the flange 23a abuts against the upper end of the guide 28, the connecting pin 23 passes through the hole 27a of the plate-shaped portions 27A and 27B and advances to the insertion position S between the plate-shaped portions 27A and 27B.

[0041] In this embodiment, connecting pin 23 is provided with handle portion 29 that protrudes above flange portion 23a. Handle portion 29 is composed of, for example, a rod-shaped portion with a smaller diameter than the main body of connecting pin 23 and a plate-shaped grip portion provided at the tip of the rod-shaped portion. By providing handle portion 29, if connecting pin 23 falls out of position, for example, the position of connecting pin 23 can be easily corrected by manually pulling up handle portion 29.

[0042] The holding portion 24 is a portion that holds the connecting pin 23 so that it can move up and down. In this embodiment, the holding portion 24 is configured as a linear motion table 30 that moves up and down by the drive unit 25. The linear motion table 30 has a table portion 30a that engages with the connecting pin 23 and an engagement portion 30b that engages with the linear motion guide 32. The table portion 30a has a frame shape through which the connecting pin 23 and guide 28 can be inserted, and is mechanically connected to the drive unit 25. The table portion 30a allows the connecting pin 23 to pass through, while also abutting against the underside of the flange portion 23a of the connecting pin 23. The engagement portion 30b protrudes upward from the edge of the table portion 30a on the towing vehicle 2 side, and engages with the linear motion guide 32 provided on the base plate 22.

[0043] The drive unit 25 is a part that automatically switches between a held state and an unheld state of the connecting pin 23 by the holder 24. The drive unit 25 is configured with an actuator such as an electric cylinder. In this embodiment, the drive unit 25 smoothly moves the linear motion table 30 up and down in the vertical direction between an upper end position and a lower end position along the linear motion guide 32. When the connecting pin 23 is positioned upward (a position retracted from the insertion position S) and the table portion 30a of the holder 24 is at the upper end position and abuts against the underside of the flange portion 23a, the connecting pin 23 is in a held state, and the dropping of the connecting pin 23 is restricted.

[0044] When the connecting pin 23 is in an upper position (a position retracted from the insertion position S) and the table portion 30a of the holder 24 is in the lower end position and is not in contact with the underside of the flange portion 23a, the connecting pin 23 is in an unheld state, and the connecting pin 23 is allowed to fall. When the linear motion table 30 rises after the connecting pin 23 falls, the linear motion table 30 and the connecting pin 23 rise together due to the engagement between the table portion 30a and the flange portion 23a.

[0045] Stopper 26 is a part that prevents connecting pin 23 from falling. In this embodiment, the lower end of stopper 26 is rotatably supported at the lower end of base plate 22, and the upper end of stopper 26 is connected to spring 31 attached to the side surface of plate-shaped portion 27A. Stopper 26 is biased by spring 31 to advance toward insertion position S. When stopper 26 has advanced to insertion position S, the upper end of stopper 26 supports the lower end of connecting pin 23 above insertion position S before it falls.

[0046] Stopper 26 is pushed in the opposite direction to the biasing direction of spring 31 by connection portion 3a of carriage 3 that has entered insertion position S, causing stopper 26 to retreat from insertion position S. In the state where stopper 26 has retreated from insertion position S, support for the lower end of connecting pin 23 by the upper end of stopper 26 is released, allowing connecting pin 23 to fall to insertion position S.

[0047] The drop detection sensor 41 is a sensor that detects the drop of the connecting pin 23 into the insertion position S. In this embodiment, the drop detection sensor 41 detects the position of the upper end of the connecting pin 23 when the connecting pin 23 drops into the insertion position. Here, the drop detection sensor 41 is configured, for example, with a proximity sensor 42. The proximity sensor 42 generates an electric field using a coil in the head and detects a change in the electric field due to the approach of metal. The proximity sensor 42 is arranged facing the position of the flange 23a when the connecting pin 23 drops, i.e., the position where the flange 23a hits the upper end of the guide 28. Based on the difference in diameter between the main body and flange 23a of the connecting pin 23, when the proximity sensor 42 detects that the flange 23a hits the upper end of the guide 28, the proximity sensor 42 outputs detection information indicating that the dropping of the connecting pin 23 into the insertion position S has been detected to the connection control unit 17.

[0048] When the above-mentioned connection control unit 17 receives detection information from the drop detection sensor 41 indicating that the connecting pin 23 has dropped to the insertion position S, it outputs instruction information to the travel control unit 15 of the towing vehicle 2 to stop the reverse movement of the towing vehicle 2. When the travel control unit 15 receives instruction information from the connection control unit 17, it controls the travel device 16 so that the towing vehicle 2 stops moving backward.

[0049] Next, the operation of the bogie coupling device 21 will be described.

[0050] As described above, the bogie coupling device 21 performs each of the operations of the movement operation, the coupling preparation operation, the coupling operation, and the coupling release operation based on the control of the coupling control unit 17. The movement operation is an operation that is applied during the period when the towing vehicle 2 is moving from the coupling release position D of the bogie 3 to the coupling position C. In the conveyance system 1 shown in FIG. 1, except when the towing vehicle 2 is stopped at the coupling position C and the coupling release position D, the movement operation is basically applied when the towing vehicle 2 is traveling on the entire circular route Kr, the branch route Kb, and the branch route Kb without coupling the bogie 3.

[0051] In the movement operation, connecting pin 23 supported by stopper 26 is held by holding portion 24. In the movement operation, as shown in Fig. 4, linear motion table 30 is at the upper end position, and connecting pin 23 is held at an upper position retracted from insertion position S. Stopper 26 is biased to advance toward insertion position S, and supports the lower end of connecting pin 23 above insertion position S when advanced to insertion position S.

[0052] The coupling preparation operation and coupling operation are operations that are applied when the towing vehicle 2 is located at the coupling position C of the bogie 3. In the coupling preparation operation, the coupling pin 23 supported by the stopper 26 is released from its holding state by the holding unit. In the coupling preparation operation, as shown in FIG. 5, the linear motion table 30 is lowered from its upper end position to its lower end position by the drive unit 25. This releases the coupling pin 23, allowing it to fall. However, in the coupling preparation operation, the stopper 26 remains in its advanced state to the insertion position S. Therefore, the lower end of the coupling pin 23 remains supported by the stopper 26, and the coupling pin 23 continues to be held in an upper position retracted from the insertion position S.

[0053] In the coupling operation, as shown in Fig. 6, the connection portion 3a of the carriage 3 is inserted into the insertion position S, and the stopper 26, which is pressed by the connection portion 3a, retracts from the insertion position S. As the stopper 26 retracts from the insertion position S, as shown in Fig. 7, the coupling pin 23 drops to the insertion position S and engages with the connection portion 3a at the insertion position S. This completes the coupling of the carriage 3 to the towing vehicle 2.

[0054] The uncoupling operation is an operation that is applied when the towing vehicle 2 is located at the uncoupling position D of the bogie 3. In the uncoupling operation, as shown in FIG. 8, the linear motion table 30 is raised from the lower end position to the upper end position by the drive unit 25. Accordingly, the connecting pin 23 rises to the upper position together with the linear motion table 30 and retracts from the insertion position S. When the connecting pin 23 retracts from the insertion position S, the engagement between the connecting pin 23 and the connection portion 3a is released, and the towing vehicle 2 and the bogie 3 are uncoupled. After the uncoupling, when the connection portion 3a retracts from the insertion position S, the stopper 26 advances to the insertion position S due to the bias of the spring 31. As a result, the lower end of the connecting pin 23, which is in the upper position, is held, and the operation transitions to the moving operation shown in FIG. 4.

[0055] During the coupling preparation operation and coupling operation described above, the travel control unit 15 controls the reverse movement of the towing vehicle 2 by the traveling device 16, taking into account the error in the position of the bogie 3 at the coupling position C. If the error from the reference position of the bogie 3 in the traveling direction of the towing vehicle 2 is, for example, ±X mm, the travel of the towing vehicle 2 is controlled so that the bogie 3 moves backward to the position farthest from the towing vehicle 2 (a position −X mm from the reference) in order to more reliably insert the coupling pin 23 into the connection portion 3a of the bogie 3.

[0056] Meanwhile, in the bogie coupling device 21, when the connection portion 3a of the bogie 3 is inserted into the insertion position S during the coupling operation and the stopper 26 is retracted so that the connecting pin 23 falls to the insertion position S, the drop detection sensor 41 detects the drop of the connecting pin 23 to the insertion position S, as shown in Fig. 9. Here, the proximity sensor 42 detects that the flange portion 23a has hit the upper end of the guide 28 as a result of the drop of the connecting pin 23, thereby detecting the drop of the connecting pin 23.

[0057] When the dropping of the connecting pin 23 is detected, detection information indicating this is output to the coupling control unit 17, and the coupling control unit 17 outputs instruction information to the travel control unit 15 of the towing vehicle 2 to stop the reverse movement of the towing vehicle 2. The travel control unit 15, which has received the instruction information, controls the towing vehicle 2 to stop the reverse movement. In other words, in the towing vehicle 2 to which this bogie coupling device 21 is applied, when coupling the bogie 3, the travel of the towing vehicle 2 is controlled so that the towing vehicle 2 moves backward to the position where the bogie 3 is furthest from the towing vehicle 2 (a position −X mm from the reference), but even if there is still a remaining travel distance to the position −X mm from the reference, the towing vehicle 2 will stop moving backward when the dropping of the connecting pin 23 is detected.

[0058] As described above, in the bogie coupling device 21, when the connection portion 3a of the bogie 3 is inserted into the insertion position S, the stopper 26 pressed by the connection portion 3a retreats from the insertion position S. When the stopper 26 retreats from the insertion position S, the connecting pin 23 drops to the insertion position S and engages with the connection portion 3a, and the towing vehicle 2 and the bogie 3 are coupled together.

[0059] Furthermore, in the bogie coupling device 21, when the drop detection sensor 41 detects that the connecting pin 23 has dropped to the insertion position S, instruction information to stop the reverse movement of the towing vehicle 2 is output to the travel control unit 15 of the towing vehicle 2. As a result, even if the travel of the towing vehicle 2 is controlled taking into account the positional error of the bogie 3 during coupling, the towing vehicle 2 stops at the timing when the connecting pin 23 drops, and it is possible to prevent the bogie 3 from moving backward due to being pushed by the towing vehicle 2. Therefore, it is possible to set no-entry areas for people and objects without taking into account deviation in the width direction of the bogie when moving backward, and it is possible to increase the degree of freedom in the layout of a conveyance system using towing vehicles and bogies.

[0060] In this embodiment, the drop detection sensor 41 is a sensor that detects the position of the upper end of the connecting pin 23 when the connecting pin 23 drops to the insertion position S. In this embodiment, the drop detection sensor 41 is configured with a proximity sensor 42, which detects the flange 23a provided on the upper end of the connecting pin 23, thereby detecting the drop of the connecting pin 23. With this configuration, the drop of the connecting pin 23 to the insertion position S can be detected with high accuracy.

[0061] In this embodiment, the bogie coupling device 21 includes a holding unit 24 that holds the connecting pin 23 so that it can move up and down, and a drive unit 25 that automatically switches between a holding state and an unholding state of the connecting pin 23 by the holding unit 24. This eliminates the need for an operator to manually perform the coupling operation and the coupling release operation of the connection unit 3a of the bogie 3, thereby improving the efficiency of work using the towing vehicle 2 and the bogie 3.

[0062] In this embodiment, the bogie coupling device 21 includes a pair of upper and lower plate-shaped members 27A, 27B each having a hole 27a through which the connecting pin 23 can be inserted. A cylindrical guide 28 is provided on the upper plate-shaped member 27A of the plate-shaped members 27A, 27B so as to protrude around the hole 27a, and the connecting pin 23 has a flange 23a that abuts against the guide 28 when the connecting pin 23 drops to the insertion position S. This stabilizes the dropping motion of the connecting pin 23 due to the hole 27a of the plate-shaped members 27A, 27B, the cylindrical guide 28, and the flange 23a abutting against the guide 28. Furthermore, because the position of the flange 23a when the connecting pin 23 drops is determined by the guide 28, the accuracy of detection of the drop of the connecting pin 23 by the proximity sensor 42 described above can be sufficiently ensured.

[0063] The present disclosure is not limited to the above-described embodiment. For example, in the above-described embodiment, the drop detection sensor 41 is a sensor that detects the position of the upper end of the connecting pin 23 when the connecting pin 23 has fallen to the insertion position S. However, as shown in FIG. 10 , the drop detection sensor 41 may be a sensor that detects the position of the upper end of the connecting pin 23 when the connecting pin 23 is supported by the stopper 26.

[0064] In the example of FIG. 10 , similarly to the above embodiment, the drop detection sensor 41 is configured with a proximity sensor 42. The proximity sensor 42 is disposed facing the position of the flange 23a when the connecting pin 23 is supported by the stopper 26. When the flange 23a is no longer detected in this position, the proximity sensor 42 outputs detection information indicating that the drop of the connecting pin 23 to the insertion position S has been detected to the connection control unit 17. Even with this configuration, similarly to the above embodiment, the towing vehicle 2 stops when the connecting pin 23 drops, and the bogie 3 can be prevented from moving backward due to being pushed by the towing vehicle 2.

[0065] 11 , the drop detection sensor 41 may be configured with a lower proximity sensor 42A that detects the position of the upper end of the connecting pin 23 when the connecting pin 23 has fallen to the insertion position S, and an upper proximity sensor 42B that detects the position of the upper end of the connecting pin 23 when the connecting pin 23 is supported by the stopper 26. In this case, the output of instruction information from the connection control unit 17 to the travel control unit 15 may be performed based on detection information from the proximity sensor 42 that first detected the drop of the connecting pin 23. Even with this configuration, as in the above embodiment, the reverse movement of the towing vehicle 2 is stopped when the connecting pin 23 falls, and the reverse movement of the bogie 3 due to being pushed by the towing vehicle 2 can be prevented.

[0066] Furthermore, in this configuration, when the connecting pin 23 falls normally, the upper proximity sensor 42 detects the fall of the connecting pin 23, and then the lower proximity sensor 42 detects the fall of the connecting pin 23. Therefore, when there is a problem with the falling operation of the connecting pin 23, checking whether or not each proximity sensor 42 detects something or the timing of detection makes it easy to detect an abnormality and identify the cause of the abnormality.

[0067] Furthermore, as shown in FIG. 12 , the drop detection sensor 41 may be a sensor that detects when the stopper 26 retreats from the insertion position S. In the example of FIG. 12 , the drop detection sensor 41 is configured with a contact sensor 43 that detects when an object comes into contact with a contactor. The contact sensor 43 is attached to the lower part of the base plate 22, for example, and comes into contact with the stopper 26 when the stopper 26 is pushed by the connection portion 3 a and retreats from the insertion position S, and outputs detection information indicating that the drop of the connecting pin 23 to the insertion position S has been detected to the connection control unit 17. Even with this configuration, as in the above embodiment, the towing vehicle 2 stops when the connecting pin 23 retreats, and the bogie 3 can be prevented from moving backward due to being pushed by the towing vehicle 2.

[0068] The drop detection sensor 41 may be configured by combining at least two of a sensor that detects the position of the upper end of the connecting pin 23 when the connecting pin 23 has dropped to the insertion position S, a sensor that detects the position of the upper end of the connecting pin 23 when the connecting pin 23 is supported by the stopper 26, and a sensor that detects that the stopper 26 has retracted from the insertion position S. In this case, the drop of the connecting pin 23 to the insertion position S can be detected with even greater accuracy. Furthermore, if there is a problem with the dropping operation of the connecting pin 23, it becomes easier to detect the abnormality and identify the cause of the abnormality. [Explanation of symbols]

[0069] 1...transport system, 2...tractor, 3...cart, 3a...connection part, 17...coupling control part (control part), 21...cart coupling device, 23...coupling pin, 23a...flange part, 24...holding part, 25...drive part, 26...stopper, 27A, 27B...plate-shaped part, 28...guide, 41...fall detection sensor, S...insertion position.

Claims

1. A bogie coupling device for coupling a bogie to a towing vehicle, a connecting pin configured to be able to drop along a guide toward an insertion position where the connection portion of the carriage is inserted; a stopper that is biased to advance toward the insertion position, supports the connecting pin above the insertion position when advanced to the insertion position, and allows the connecting pin to fall to the insertion position when retracted from the insertion position; a drop detection sensor that detects the drop of the connecting pin to the insertion position; a control unit that, when the drop detection sensor detects that the connecting pin has dropped to the insertion position, outputs instruction information to a travel control device of the towing vehicle to stop reverse movement of the towing vehicle.

2. 2. The bogie coupling device according to claim 1, wherein the drop detection sensor is a sensor that detects the position of an upper end of the connecting pin when the connecting pin drops to the inserted position.

3. 2. The bogie coupling device according to claim 1, wherein the drop detection sensor is a sensor that detects the position of an upper end of the connecting pin when the connecting pin is supported by a stopper.

4. The truck coupling device according to claim 1 , wherein the drop detection sensor is a sensor that detects when the stopper is retracted from the insertion position.

5. 2. The bogie coupling device according to claim 1, wherein the drop detection sensor is configured by combining at least two of a sensor that detects the position of an upper end of the connecting pin when the connecting pin has dropped to the inserted position, a sensor that detects the position of the upper end of the connecting pin when the connecting pin is supported by a stopper, and a sensor that detects that the stopper has retracted from the inserted position.

6. a holding portion that holds the connecting pin so that it can move up and down; The bogie coupling device according to any one of claims 1 to 5, further comprising: a drive unit that automatically switches between a holding state and an unholding state of the connecting pin by the holding unit.

7. a pair of upper and lower plate-shaped portions each having a hole through which the connecting pin can be inserted, the guide is provided in a cylindrical shape on an upper plate-like portion of the plate-like portions so as to protrude around the hole portion, The bogie coupling device according to any one of claims 1 to 5, wherein the coupling pin has a flange that abuts against the guide when dropped to the insertion position.

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