Trolley

Abstract

To provide a technique of approaching an unmanned carrier to a truck from multiple directions to allow a towing pin to engage with the truck, and engaging the towing pin with the truck reliably.SOLUTION: A striker 20 having four passages that can guide a towing pin 12 to a recess 42, the recess 42 arranged at a crossing part of the four passages, and anti-back blocks 50a, 50b, 50c, 50d arranged so as to be able to swing just before the recess 42 of the passages is arranged on the truck 1. As a result, it is possible to engage the front towing pin 12 with the recess 42 from four directions. Also, the anti-back block arranged at the passage through which the front towing pin 12 advances is pressed by the front towing pin 12, a tip thereof swings in the direction toward the back side of the recess 42, and for the anti-back blocks arranged at other passages, the tips thereof swing in the direction away from the back side of the recess 42 by its own weight. As a result, it is possible to effectively prevent the front towing pin 12 from entering other passages beyond the recess 42.SELECTED DRAWING: Figure 21

Description

[Technical field]

[0001] The present invention relates to a carriage to be towed by an automated guided vehicle having a towing pin. [Background technology]

[0002] JP 2014-162399 A (Patent Document 1) describes a carriage towed by an automated guided vehicle having a towing pin. The carriage includes a coupler with which the towing pin can engage. The coupler includes an insertion portion with which the towing pin can engage, a guide portion extending in a first direction so as to guide the towing pin into the insertion portion, a swing shaft extending in a direction perpendicular to both the depth direction of the insertion portion and the first direction, and a weight arranged on the opposite side of the insertion portion to the side on which the swing shaft is arranged. The coupler is supported on the carriage so as to be swingable around the swing shaft as a fulcrum.

[0003] According to this bogie, the coupler supported on the bogie so as to be able to swing is configured to include an insertion portion and a guide portion, so that the towing pin can be reliably engaged with the insertion portion. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2014-162399 A Summary of the Invention [Problem to be solved by the invention]

[0005] In a limited space such as a production line in a factory, it may be desirable to have a configuration in which an unmanned guided vehicle can approach the cart from multiple directions and engage a towing pin with an insertion part when towing a cart. In this case, it is necessary to configure the guide part to extend in multiple directions. However, in the cart described in the above publication, the coupler supported on the cart so as to be able to swing includes an insertion part and a guide part, so that the guide part cannot be configured to extend in multiple directions.

[0006] The present invention has been made in consideration of the above, and has as an object to provide a technology that can allow an unmanned guided vehicle to approach a traction pin from multiple directions to engage with the traction pin, and can reliably engage the traction pin with the traction pin. [Means for solving the problem]

[0007] In order to achieve the above object, the bogie of the present invention employs the following means.

[0008] According to a preferred embodiment of the present invention, the bogie is towed by an unmanned guided vehicle having a towing pin. The bogie includes a vehicle frame, an engagement portion arranged on the vehicle frame and having a recess with which the towing pin can be engaged, a first guide portion arranged on the vehicle frame and having a first path extending in a first direction to guide the towing pin to the recess, a second guide portion arranged on the vehicle frame and having a second path extending in a second direction to guide the towing pin to the recess, a first bridge member arranged on the first path and adjacent to the recess, a second bridge member arranged on the second path and adjacent to the recess, and first and second stoppers capable of restricting the swinging of the first and second bridge members. The first bridge member has a first swing shaft extending in a direction perpendicular to both the depth direction of the recess and the first direction. The first piece member has a center of gravity at a position closer to the recess on the first virtual projection plane with respect to the center of the first swing shaft on the first virtual projection plane when viewed from one side in the axial direction of the first swing shaft. The second piece member has a second swing shaft extending in a direction perpendicular to both the depth direction of the recess and the second direction. The second piece member has a center of gravity at a position closer to the recess on the second virtual projection plane with respect to the center of the second swing shaft on the second virtual projection plane when viewed from one side in the axial direction of the second swing shaft. The first stopper is disposed on the swing trajectory of the first piece member, on the opposite side of the recess on the first virtual projection plane with respect to the first swing shaft on the first virtual projection plane, so as to restrict the swing of the first piece member. The second stopper is disposed on the swing trajectory of the second piece member, on the opposite side of the recess on the second virtual projection plane with respect to the second swing axis on the second virtual projection plane, so as to restrict the swing of the second piece member. Here, "disposed on the vehicle frame" in the present invention preferably includes a mode in which the second piece member is directly disposed on the vehicle frame, as well as a mode in which the second piece member is indirectly disposed on the vehicle frame. Note that an example of a mode in which the second piece member is indirectly disposed on the vehicle frame is a mode in which the second piece member is disposed on the vehicle frame via a separate member. In addition, the "recess" in the present invention preferably includes not only a bottomed hole having a bottom surface, but also a through hole that penetrates in the depth direction (open on both sides in the depth direction).

[0009] According to the present invention, the automatic guided vehicle can be brought close to the carriage from a first direction to engage the towing pin with the recess, and the automatic guided vehicle can be brought close to the carriage from a second direction to engage the towing pin with the recess. Here, the towing pin engages with the recess in a state where it is biased in a protruding direction by a spring force. More specifically, when the towing pin is on the first path or the second path, it is in a state where it is pressed in a retracting direction against the spring force, and when it reaches the recess, it protrudes and engages with the recess by the spring force. Therefore, when the towing pin is guided to the recess by the first guide portion, the first piece member is pressed by the towing pin biased in the protruding direction, and the tip of the first piece member swings in a direction toward the back side of the recess. This allows the towing pin to be smoothly engaged with the recess from the first direction. On the other hand, the tip of the second piece member is swung in a direction away from the back side of the recess by its own weight, so that the towing pin heading toward the recess from the first direction can be effectively prevented from passing over the recess and deviating in the second direction. When the towing pin is guided to the recess by the second guide portion, the second piece member is pressed by the towing pin biased in the protruding direction, so that the tip of the second piece member swings in a direction toward the back side of the recess. This allows the towing pin to smoothly engage with the recess from the second direction. On the other hand, the tip of the first piece member is swung in a direction away from the back side of the recess by its own weight, so that the towing pin heading toward the recess from the second direction can be effectively prevented from passing over the recess and deviating in the first direction. Here, the back side of the recess is the side to which the tip of the towing pin faces when the towing pin engages with the recess, and corresponds to the bottom side when the recess has a bottom.

[0010] According to a further embodiment of the bogie of the present invention, the first guide portion has a first abutment surface against which the towing pin can abut. The second guide portion has a second abutment surface against which the towing pin can abut. The first and second abutment surfaces have an inclination in a direction away from the recess in the depth direction of the recess as they approach the recess. The first piece member has a third abutment surface against which the towing pin can abut. The second piece member has a fourth abutment surface against which the towing pin can abut. The first stopper can restrict the swinging of the first piece member in a state in which the third abutment surface has substantially the same inclination as the first abutment surface. The second stopper can restrict the swinging of the second piece member in a state in which the fourth abutment surface has substantially the same inclination as the second abutment surface. Here, the "direction away from the recess" in the present invention corresponds to a direction away from the back side of the recess. The back side of the recess is the side to which the tip of the towing pin faces when the towing pin engages with the recess, and in the case where the recess has a bottom, this corresponds to the bottom side.

[0011] According to this embodiment, the first, second, third and fourth abutment surfaces have an inclination in the depth direction of the recess as they approach the recess, so that the pulling pin can be guided to the recess while gradually increasing the degree of retraction of the pulling pin against the spring force (while pushing the pulling pin toward the automatic guided vehicle). This makes it possible to increase the biasing force (the restoring force of the spring) in the protruding direction of the pulling pin when the pulling pin reaches the recess. As a result, the engagement of the pulling pin with the recess can be made more reliable. Note that the third and fourth abutment surfaces can be made to have approximately the same inclination as the first and second abutment surfaces with a simple configuration in which only the swinging of the first and second piece members is restricted by the first and second stoppers.

[0012] According to a further embodiment of the bogie of the present invention, the first bridge member further has a fifth abutment surface against which the towing pin can abut. The second bridge member further has a sixth abutment surface against which the towing pin can abut. The fifth abutment surface is disposed closer to the recess than the third abutment surface in the first direction, and is disposed closer to the recess in the depth direction of the recess than the third abutment surface. The sixth abutment surface is disposed closer to the recess than the fourth abutment surface in the second direction, and is disposed closer to the recess in the depth direction of the recess than the fourth abutment surface. The fifth and sixth abutment surfaces may be parallel to the third and fourth abutment surfaces, respectively.

[0013] According to this embodiment, when the towing pin abuts against the fifth and sixth abutment surfaces, i.e., immediately before the towing pin engages with the recess, the protrusion amount of the towing pin can be increased slightly more than in the state in which the towing pin abuts against the third and fourth abutment surfaces. In other words, the towing pin can be protruded in two stages. This allows the towing pin to be more smoothly engaged with the recess.

[0014] According to a further embodiment of the bogie of the present invention, the bogie further includes a third guide portion capable of guiding the towing pin to the recess, a fourth guide portion capable of guiding the towing pin to the recess, a third bridge member arranged on the third path and adjacent to the recess, a fourth bridge member arranged on the fourth path and adjacent to the recess, and third and fourth stoppers capable of restricting the swinging of the third and fourth bridge members. The third path is arranged on the opposite side of the recess from the first path and extends in the first direction. The fourth path is arranged on the opposite side of the recess from the second path and extends in the second direction. The third bridge member has a third swing shaft extending in a direction perpendicular to both the depth direction of the recess and the first direction, and has a center of gravity at a position closer to the recess on the third virtual projection plane with respect to the center of the third swing shaft on the third virtual projection plane when viewed from one side of the axial direction of the third swing shaft. The fourth piece member has a fourth swing axis extending in a direction perpendicular to both the depth direction of the recess and the second direction, and has a center of gravity at a position closer to the recess on the fourth virtual projection plane with respect to the center of the fourth swing axis on the fourth virtual projection plane when viewed from one side of the axial direction of the fourth swing axis. The third stopper is disposed on the swing locus of the third piece member and on the opposite side of the recess on the third virtual projection plane with respect to the third swing axis on the third virtual projection plane so as to be able to restrict the swing of the third piece member. The fourth stopper is disposed on the swing locus of the fourth piece member and on the opposite side of the recess on the fourth virtual projection plane with respect to the fourth swing axis on the fourth virtual projection plane so as to be able to restrict the swing of the fourth piece member. The first direction and the second direction intersect.

[0015] According to this embodiment, the automatic guided vehicle is approached from two intersecting directions with respect to the carriage, and the towing pin can be engaged with the recess. Moreover, when the towing pin is guided to the recess by any one of the first, second, third, and fourth guide parts, the piece member (hereinafter referred to as the "towing piece member") arranged in the guide part (hereinafter referred to as the "towing guide part") that guides the towing pin is pressed by the towing pin biased in the protruding direction, and the tip of the towing piece member swings in a direction toward the back side of the recess, so that the towing guide part can smoothly engage the towing pin with the recess. On the other hand, the piece member (hereinafter referred to as the "non-towing guide part") arranged in the guide part other than the towing guide part (hereinafter referred to as the "non-towing guide part") is in a state in which the tip of the non-towing piece member swings in a direction away from the back side of the recess due to its own weight, so that the towing pin guided to the recess by the towing guide part can be effectively prevented from going beyond the recess and deviating into the path of the non-towing guide part.

[0016] According to a further embodiment of the bogie of the present invention, the third guide portion has a seventh abutment surface against which the towing pin can abut. The fourth guide portion has an eighth abutment surface against which the towing pin can abut. The seventh and eighth abutment surfaces are each inclined in a direction away from the recess in the depth direction of the recess as they approach the recess. The third bridge member has a ninth abutment surface against which the towing pin can abut. The fourth bridge member has a tenth abutment surface against which the towing pin can abut. The third stopper can restrict the swinging of the third bridge member in a state in which the ninth abutment surface has substantially the same inclination as the seventh abutment surface. The fourth stopper can restrict the swinging of the fourth bridge member in a state in which the tenth abutment surface has substantially the same inclination as the eighth abutment surface.

[0017] According to this embodiment, the seventh, eighth, ninth and tenth abutment surfaces have an inclination in the depth direction of the recess as they approach the recess, so that the pulling pin can be guided to the recess while gradually increasing the degree of retraction of the pulling pin against the spring force (while pushing the pulling pin toward the automatic guided vehicle). This makes it possible to increase the biasing force (the restoring force of the spring) in the protruding direction of the pulling pin when the pulling pin reaches the recess. As a result, the engagement of the pulling pin with the recess can be made more reliable. Note that the ninth and tenth abutment surfaces can be made to have substantially the same inclination as the seventh and eighth abutment surfaces with a simple configuration in which only the swinging of the third and fourth block members is restricted by the third and fourth stoppers.

[0018] According to a further embodiment of the bogie of the present invention, the third bridge member further has an eleventh abutment surface against which the towing pin can abut. The fourth bridge member further has a twelfth abutment surface against which the towing pin can abut. The eleventh abutment surface is disposed closer to the recess than the ninth abutment surface in the twelfth direction, and is disposed closer to the recess than the ninth abutment surface in the depth direction of the recess. The twelfth abutment surface is disposed closer to the recess than the tenth abutment surface in the second direction, and is disposed closer to the recess than the tenth abutment surface in the depth direction of the recess. The eleventh and twelfth abutment surfaces may be parallel to the ninth and tenth abutment surfaces, respectively.

[0019] According to this embodiment, when the towing pin abuts against the eleventh and twelfth abutment surfaces, i.e., immediately before the towing pin engages with the recessed portion, the protrusion amount of the towing pin can be increased slightly more than in the state in which the towing pin abuts against the ninth and tenth abutment surfaces. In other words, the towing pin can be protruded in two stages. This allows the towing pin to be more smoothly engaged with the recessed portion. Effect of the Invention

[0020] According to the present invention, the automated guided vehicle can be made to approach the carriage from a plurality of directions to engage the towing pin with the carriage, and the engagement of the towing pin with the carriage can be reliably achieved. [Brief description of the drawings]

[0021] [Figure 1] 1 is a schematic diagram showing an outline of the configuration of a truck 1 according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a plan view of a cart 1 according to an embodiment of the present invention, viewed from above. [Diagram 3] FIG. 1 is an explanatory diagram showing a state in which an automated guided vehicle AGV pulls a cart 1 according to an embodiment of the present invention. [Figure 4] FIG. 2 is a perspective view of the striker 20 as seen obliquely from above. [Diagram 5] 2 is a perspective view of the striker 20 as seen obliquely from below. FIG. [Figure 6] FIG. 2 is a plan view of the striker 20 seen from above. [Figure 7] FIG. 2 is a rear view of the striker 20 as seen from below. [Figure 8] 2 is a perspective view of the striker body 30 as seen obliquely from below. FIG. [Figure 9] FIG. 2 is a plan view of the striker body 30 seen from above. [Figure 10] 1 is a perspective view of the striker body 30 excluding the anti-back blocks 50a, 50b, 50c, and 50d, as viewed obliquely from below. [Figure 11] 1 is a bottom view of the striker body 30 excluding the anti-back blocks 50a, 50b, 50c, and 50d. FIG. [Figure 12] FIG. 12 is a cross-sectional view showing the cross section BB of FIG. [Figure 13] FIG. 2 is a perspective view showing the appearance of anti-back blocks 50a, 50b, 50c, and 50d. [Figure 14] FIG. 13 is a side view of the anti-back blocks 50a, 50b, 50c, and 50d as viewed from one side in the axial direction of the swing shafts 57a, 57b, 57c, and 57d. [Figure 15] 13 is a side view of the striker body 30 as viewed from one side in the axial direction of the swing shafts 57a, 57b, 57c, and 57d. FIG. [Figure 16] 16 is a cross-sectional view showing the CC section of FIG. 15. [Figure 17] 1 is a perspective view of the striker introduction portion 60 as seen obliquely from below. FIG. [Figure 18] 1 is a perspective view of the striker introduction portion 60 as seen obliquely from above. [Figure 19] FIG. 7 is a cross-sectional view showing the section AA in FIG. [Figure 20] 1 is an explanatory diagram showing how the striker 20 is assembled to the bogie 1. FIG. [Figure 21] 12 is a cross-sectional view of the striker 20 taken along a line corresponding to the line BB in FIG. 11. [Figure 22] 22 is an enlarged view of a main part of part D in FIG. 21. FIG. [Figure 23] FIG. 2 is an external view showing the appearance of an automated guided vehicle AGV. [Figure 24] 1 is an explanatory diagram showing an example of a state in which an automated guided vehicle AGV approaches a cart 1 in order to tow the cart 1. FIG. [Diagram 25] 1 is an explanatory diagram showing a state in which an automated guided vehicle AGV has reached a position where preparations for towing a carriage 1 are to be started, as viewed from the rear. [Figure 26] 13 is an explanatory diagram showing a state in which the front traction pin 12 has reached the inclined plate 70d, as viewed from the rear. FIG. [Figure 27] 8 is a cross-sectional view taken along a section corresponding to section EE in FIG. 7, showing a state in which the front traction pin 12 has reached an inclined plate 70d. [Figure 28] 13 is an explanatory diagram showing a state in which the front traction pin 12 has reached the inclined plate 36d, as viewed from the back side. FIG. [Figure 29] 8 is a cross-sectional view taken along a section corresponding to section EE in FIG. 7, showing a state in which the front traction pin 12 has reached an inclined plate 36d. [Diagram 30] 13 is an explanatory diagram showing a state in which the front traction pin 12 has reached the anti-back block 50d, as viewed from the rear side. FIG. [Diagram 31]8 is a cross-sectional view taken along a section corresponding to section EE in FIG. 7, showing a state in which the front traction pin 12 has reached the anti-back block 50d. FIG. [Diagram 32] 8 is a cross-sectional view taken along a section corresponding to section EE in FIG. 7, showing a state in which an anti-back block 50d has swung until it abuts against a recess-forming wall 40d. FIG. [Diagram 33] 8 is a cross-sectional view taken along a section corresponding to the section EE of FIG. 7, showing a state immediately before the front traction pin 12 engages with the recess 42. FIG. [Diagram 34] 8 is a cross-sectional view taken along a section corresponding to the EE section of FIG. 7, showing a state in which the front traction pin 12 is engaged with the recess 42. FIG. [Diagram 35] 8 is a cross-sectional view showing how anti-backflow block 50d is prevented from entering passage 35b (passages 35a, 35c) by anti-backflow block 50b (anti-backflow blocks 50a, 50c), as viewed in a cross section corresponding to cross section EE in FIG. [Diagram 36] 13 is an explanatory diagram showing a state in which the front traction pin 12 is engaged with the recess 42, as viewed from the back side. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Next, the best mode for carrying out the present invention will be described with reference to examples. EXAMPLES

[0023] 1 and 2, the cart 1 according to this embodiment includes a vehicle frame 2 having a rectangular shape in plan view and a ladder frame structure, four casters 4, 4, 4, 4 arranged at the four corners on the underside of the vehicle frame 2, and a striker 20 arranged in the center on the underside of the vehicle frame 2. The cart 1 is pulled by an automated guided vehicle AGV (see FIG. 3) that is placed under the cart 1, as shown in FIG.

[0024] As shown in FIGS. 4 to 7, the striker 20 includes a striker body 30 and a striker introduction portion 60 disposed on the outer periphery of the striker body 30.

[0025] As shown in FIG. 8, the striker body 30 has a top plate 32, a traction pin guide 34 integrated with the top plate 32, four anti-back blocks 50a, 50b, 50c, and 50d arranged on the traction pin guide 34, and stopper rods SR1, SR2, SR3, and SR4 capable of regulating the swinging of each of the anti-back blocks 50a, 50b, 50c, and 50d.

[0026] The top plate 32 has a square shape in a plan view, as shown in Fig. 9. The top plate 32 has an opening 32a in the center.

[0027] As shown in Figures 10 and 11, the towing pin guide 34 has four passage walls 34a, 34b, 34c, and 34d, four inclined plates 36a, 36b, 36c, and 36d integrated with the passage walls 34a, 34b, 34c, and 34d, and four recess-forming walls 40a, 40b, 40c, and 40d integrated with the passage walls 34a, 34b, 34c, and 34d.

[0028] As shown in Fig. 10 and Fig. 11, the passage walls 34a, 34b, 34c, and 34d form a passage that is cross-shaped in plan view. Specifically, the passage walls 34a and 34d form a passage 35a, the passage walls 34a and 34b form a passage 35b, the passage walls 34b and 34c form a passage 35c, and the passage walls 34c and 34d form a passage 35d, and the passages 35a and 35c are arranged to be on the same straight line, the passages 35b and 35d are arranged to be on the same straight line, and the passages 35a, 35c and the passages 35b and 35d cross each other. The passage widths of the passages 35a, 35b, 35c, and 35d are the same size and are set to a value slightly larger than the diameters of the front traction pin 12 and the rear traction pin 14 of the automated guided vehicle AGV, which will be described later. Passage 35d corresponds to the "first path" in the present invention, passage 35a corresponds to the "second path" in the present invention, passage 35b corresponds to the "third path" in the present invention, and passage 35c corresponds to the "fourth path" in the present invention.

[0029] 10 and 11, the passage walls 34a, 34b, 34c, and 34d have inclined portions 340a, 341a, 340b, 341b, 340c, 341c, 340d, and 341d at one end (the end located on the outer edge side of the top plate 32) in the longitudinal direction (the extension direction of the passages 35a, 35b, 35c, and 35d). The inclined portions 340a and 341d, the inclined portions 341a and 340b, the inclined portions 341b and 340c, and the inclined portions 341c and 340d have inclinations in directions away from each other, in other words, in the direction in which the passage width increases.

[0030] The inclined plates 36a, 36b, 36c, and 36d are disposed in the passages 35a, 35b, 35c, and 35d, respectively, as shown in Figures 10 and 11. More specifically, the inclined plate 36a is disposed between the passage wall 34a and the passage wall 34d, the inclined plate 36b is disposed between the passage wall 34a and the passage wall 34b, the inclined plate 36c is disposed between the passage wall 34b and the passage wall 34c, and the inclined plate 36d is disposed between the passage wall 34c and the passage wall 34d. The inclined plates 36a, 36b, 36c, and 36d extend from the outer edge of the top plate 32 (near the position where the inclined portions 340a, 341a, 340b, 341b, 340c, 341c, 340d, and 341d are arranged) toward the intersection (recess-forming walls 40a, 40b, 40c, and 40d) where the passages 35a, 35b, 35c, and 35d intersect, approximately half the passage length of the passages 35a, 35b, 35c, and 35d (just before the stopper rods SR1, SR2, SR3, and SR4). 10 and 12, the inclined plates 36a, 36b, 36c, and 36d are inclined in a direction away from the top plate 32 as they approach the intersections (recess-forming walls 40a, 40b, 40c, and 40d) where the passages 35a, 35b, 35c, and 35d intersect. A tip end surface of a front traction pin 12 of the automated guided vehicle AGV, which will be described later, abuts against the surfaces of the inclined plates 36a, 36b, 36c, and 36d opposite to the side facing the top plate 32. In other words, it can be said that the surfaces of the inclined plates 36a, 36b, 36c, and 36d opposite to the side facing the top plate 32 constitute a traction pin abutment surface. Passage walls 34c, 34d and inclined plate 36d that constitute passage 35d correspond to the "first guide section" in the present invention, passage walls 34a, 34d and inclined plate 36a that constitute passage 35a correspond to the "second guide section" in the present invention, passage walls 34a, 34b and inclined plate 36b that constitute passage 35b correspond to the "third guide section" in the present invention, and passage walls 34b, 34c and inclined plate 36c that constitute passage 35c are an example of an embodiment that corresponds to the "fourth guide section" in the present invention.

[0031] As shown in Figs. 9 to 11, the recessed portion forming walls 40a, 40b, 40c, and 40d are disposed at the intersections where the passages 35a, 35b, 35c, and 35d intersect. The recessed portion forming wall 40a is disposed between the passage wall 34a and the passage wall 34d, the recessed portion forming wall 40b is disposed between the passage wall 34a and the passage wall 34b, the recessed portion forming wall 40c is disposed between the passage wall 34b and the passage wall 34c, and the recessed portion forming wall 40d is disposed between the passage wall 34c and the passage wall 34d. This forms a recess 42 at the intersection. In other words, it can be said that the area surrounded by the recessed portion forming walls 40a, 40b, 40c, and 40d is the recess 42. The recessed portion forming walls 40a, 40b, 40c, and 40d protrude less from the top plate 32 than the passage walls 34a, 34b, 34c, and 34d (see Fig. 12). In other words, the recessed portion walls 40a, 40b, 40c, and 40d are lower in height than the passage walls 34a, 34b, 34c, and 34d. The ends of the recessed portion walls 40a, 40b, 40c, and 40d (the ends opposite to the ends connected to the top plate 32) function as regulating portions that regulate the amount of swing of the anti-back blocks 50a, 50b, 50c, and 50d toward the recessed portion 42, as will be described in detail later (see Figs. 12 and 14). The recessed portion walls 40a, 40b, 40c, and 40d that constitute the recessed portion 42 are an example of an embodiment corresponding to the "engagement portion" in the present invention.

[0032] As shown in Figures 13 and 14, the anti-back blocks 50a, 50b, 50c, and 50d respectively have first regulating surfaces 51a, 51b, 51c, and 51d, second regulating surfaces 52a, 52b, 52c, and 52d, first abutment surfaces 53a, 53b, 53c, and 53d, second abutment surfaces 54a, 54b, 54c, and 54d, and shaft insertion holes 56a, 56b, 56c, and 56d. As shown in Fig. 14, when viewed from one side in the axial direction of the shaft insertion holes 56a, 56b, 56c, 56d, the anti-back blocks 50a, 50b, 50c, 50d can be said to be composed of a first portion on the side (left side in Fig. 14) where the first contact surfaces 53a, 53b, 53c, 53d are arranged with respect to the shaft insertion holes 56a, 56b, 56c, 56d, and a second portion on the side (right side in Fig. 14) where the second contact surfaces 54a, 54b, 54c, 54d are arranged with respect to the shaft insertion holes 56a, 56b, 56c, 56d. The anti-back blocks 50a, 50b, 50c, 50d have their centers of gravity Grv in the second portions. The anti-back block 50d corresponds to the "first bridge member" in the present invention, and the anti-back blocks 50a, 50b, and 50c are examples of the embodiment corresponding to the "second bridge member," "third bridge member," and "fourth bridge member" in the present invention, respectively. The first abutment surface 53d corresponds to the "third abutment surface" in the present invention, the first abutment surfaces 53a, 53b, and 53c correspond to the "fourth abutment surface," "ninth abutment surface," and "tenth abutment surface" in the present invention, respectively. The second abutment surface 54d corresponds to the "fifth abutment surface" in the present invention, and the second abutment surfaces 54a, 54b, and 54c are examples of the embodiment corresponding to the "sixth abutment surface," "eleventh abutment surface," and "twelfth abutment surface" in the present invention, respectively.

[0033] The first restriction surfaces 51a, 51b, 51c, and 51d are flat surfaces that can come into contact with the stopper rods SR1, SR2, SR3, and SR4, respectively, as shown in Fig. 14. The second restriction surfaces 52a, 52b, 52c, and 52d are flat surfaces that can come into contact with the recess-forming walls 40a, 40b, 40c, and 40d, respectively. The second restriction surfaces 52a, 52b, 52c, and 52d have a downward inclination (a downward inclination toward the right side in Fig. 14) with respect to the first restriction surfaces 51a, 51b, 51c, and 51d.

[0034] As shown in Fig. 14, the first contact surfaces 53a, 53b, 53c, 53d and the second contact surfaces 54a, 54b, 54c, 54d are connected on the steps via step surfaces 55a, 55b, 55c, 55d. More specifically, the second contact surfaces 54a, 54b, 54c, 54d are disposed closer to the first restriction surfaces 51a, 51b, 51c, 51d and the second restriction surfaces 52a, 52b, 52c, 52d than the first contact surfaces 53a, 53b, 53c, 53d. In other words, it can be said that the second contact surfaces 54a, 54b, 54c, 54d are closer to the shaft insertion holes 56a, 56b, 56c, 56d than the first contact surfaces 53a, 53b, 53c, 53d.

[0035] The first abutment surfaces 53a, 53b, 53c, 53d and the second abutment surfaces 54a, 54b, 54c, 54d are planes with which a tip end surface of a front traction pin 12 (described later) of the automated guided vehicle AGV can abut, and are parallel to each other as shown in Fig. 14. In addition, the first abutment surfaces 53a, 53b, 53c, 53d and the second abutment surfaces 54a, 54b, 54c, 54d are inclined with respect to the first restriction surfaces 51a, 51b, 51c, 51d. In other words, the first abutment surfaces 53a, 53b, 53c, 53d and the second abutment surfaces 54a, 54b, 54c, 54d have a slope relative to the first control surfaces 51a, 51b, 51c, 51d in the same direction as the second control surfaces 52a, 52b, 52c, 52d (a slope that slopes downward as it moves toward the right in Figure 14).

[0036] The anti-back blocks 50a, 50b, 50c, and 50d thus constructed are swingably supported by the passage walls 34a, 34b, 34c, and 34d by the swing shafts 57a, 57b, 57c, and 57d, respectively, as shown in Figures 14 and 16. More specifically, the anti-back block 50a is swingably supported by the passage walls 34a and 34d by the swing shaft 57a, the anti-back block 50b is swingably supported by the passage walls 34a and 34b by the swing shaft 57b, the anti-back block 50c is swingably supported by the passage walls 34b and 34c by the swing shaft 57c, and the anti-back block 50d is swingably supported by the passage walls 34c and 34d by the swing shaft 57d. As shown in Fig. 14, the swing shafts 57a, 57b, 57c, and 57d extend in a direction (direction perpendicular to the paper surface of Fig. 14) perpendicular to both the extension direction of the passages 35a, 35b, 35c, and 35d (left-right direction in Fig. 14) and the depth direction of the recess 42 (up-down direction in Fig. 14). The swing shafts 57a, 57b, 57c, and 57d are disposed in regions between the inclined plates 36a, 36b, 36c, and 36d and the recess forming walls 40a, 40b, 40c, and 40d on a virtual projection plane when viewed from one side in the axial direction of the swing shafts 57a, 57b, 57c, and 57d, respectively. As a result, the anti-back blocks 50a, 50b, 50c, and 50d are disposed on the passages 35a, 35b, 35c, and 35d, respectively, between the inclined plates 36a, 36b, 36c, and 36d and the recess-forming walls 40a, 40b, 40c, and 40d in a swingable state. Here, the anti-back blocks 50a, 50b, 50c, 50d have a first portion (including the first regulating surfaces 51a, 51b, 51c, 51d and the first abutment surfaces 53a, 53b, 53c, 53d) arranged on the inclined plate 36a, 36b, 36c, 36d side, and a second portion (including the second regulating surfaces 52a, 52b, 52c, 52d and the second abutment surfaces 54a, 54b, 54c, 54d) arranged on the recess forming wall 40a, 40b, 40c, 40d side. The oscillation axis 57d corresponds to the "first oscillation axis" in the present invention, and the oscillation axes 57a, 57b, 57c correspond to the "second oscillation axis", "third oscillation axis" and "third abutment surface" in the present invention, respectively. This is an example of an embodiment corresponding to the "4 oscillation axes."

[0037] The anti-back blocks 50a, 50b, 50c, 50d thus supported for pivotal movement on the passage walls 34a, 34b, 34c, 34d via the pivot shafts 57a, 57b, 57c, 57d have their center of gravity Grv in the second portion, so that, as shown in FIG. 14, the first regulating surfaces 51a, 51b, 51c, 51d are normally in contact with the stopper rods SR1, SR2, SR3, SR4, respectively (solid lines in FIG. 14). At this time, the first abutment surfaces 53a, 53b, 53c, 53d and the second abutment surfaces 54a, 54b, 54c, 54d have approximately the same inclination as the traction pin abutment surfaces of the inclined plates 36a, 36b, 36c, 36d (the surfaces of the inclined plates 36a, 36b, 36c, 36d opposite the side facing the top plate 32) (see Figures 21 and 22).

[0038] As shown in Figures 10 and 11, the stopper rods SR1, SR2, SR3, and SR4 are disposed in the passages 35a, 35b, 35c, and 35d, respectively. More specifically, the stopper rod SR1 is supported by the passage walls 34a and 34d, the stopper rod SR2 is supported by the passage walls 34a and 34b, the stopper rod SR3 is supported by the passage walls 34b and 34c, and the stopper rod SR4 is supported by the passage walls 34c and 34d. The stopper rods SR1, SR2, SR3, and SR4 extend in directions (directions perpendicular to the paper surface of Figure 14) perpendicular to both the extending directions of the passages 35a, 35b, 35c, and 35d (left-right directions in Figure 14) and the depth direction of the recess 42 (up-down directions in Figure 14). That is, the stopper rods SR1, SR2, SR3, and SR4 are parallel to the swing shafts 57a, 57b, 57c, and 57d (see FIG. 16). As shown in FIG. 12, the stopper rods SR1, SR2, SR3, and SR4 are arranged on the swing trajectory of the anti-back blocks 50a, 50b, 50c, and 50d, and on the opposite side of the swing shafts 57a, 57b, 57c, and 57d on a virtual projection plane when viewed from one side of the axial directions (axial directions of the swing shafts 57a, 57b, 57c, and 57d) of the stopper rods SR1, SR2, SR3, and SR4, from the recess-forming walls 40a, 40b, 40c, and 40d on the virtual projection plane. The stopper rod SR4 corresponds to a "first stopper" in the present invention, and the stopper rods SR1, SR2, SR3 are examples of an embodiment corresponding to a "second stopper", a "third stopper", and a "fourth stopper" in the present invention, respectively.

[0039] The striker body 30 thus constructed is positioned so that the protruding direction of the passage walls 34a, 34b, 34c, 34d faces away from the frame 2 of the bogie 1, and the top plate 32 is fixed to the frame 2 of the bogie 1 (see FIG. 20).

[0040] As shown in Figures 17 and 18, the striker introduction section 60 has base plates 62a, 62b, 62c, 62d, passage walls 64a, 65a, 64b, 65b, 64c, 65c, 64d, 65d integrated with the base plates 62a, 62b, 62c, 62d, and inclined plates 70a, 70b, 70c, 70d integrated with the passage walls 64a, 65a, 64b, 65b, 64c, 65c, 64d, 65d.

[0041] As shown in Figures 17 and 18, the base plates 62a, 62b, 62c, and 62d each have a generally L-shape in plan view. This results in the striker introduction portion 60 having an opening 60a in a rectangular shape in a plan view at the center. The opening 60a has a dimension in a plan view that is larger than the outer dimension in a plan view of the striker body 30 (see Figure 7).

[0042] As shown in Fig. 17, the passage walls 64a and 65a are integral with the base plate 62a, the passage walls 64b and 65b are integral with the base plate 62b, the passage walls 64c and 65c are integral with the base plate 62c, and the passage walls 64d and 65d are integral with the base plate 62d. The passage walls 64a and 65d form a passage 68a, the passage walls 65a and 64b form a passage 68b, the passage walls 65b and 64c form a passage 68c, and the passage walls 65c and 64d form a passage 68d. The passages 68a and 68c are arranged to be on the same straight line, and the passages 68b and 68d are arranged to be on the same straight line. Passage 68d corresponds to the "first path" in the present invention, passage 68a corresponds to the "second path" in the present invention, passage 68b corresponds to the "third path" in the present invention, and passage 68c corresponds to the "fourth path" in the present invention.

[0043] 17, the passage walls 64a, 65a, 64b, 65b, 64c, 65c, 64d, 65d have inclined portions 640a, 650a, 640b, 650b, 640c, 650c, 640d, 650d at one end (the end located on the outer edge side of the base plates 62a, 62b, 62c, 62d) in the longitudinal direction (the extension direction of the passages 68a, 68b, 68c, 68d). The inclined portions 640a and 650d, the inclined portions 650a and 640b, the inclined portions 650b and 640c, and the inclined portions 650c and 640d have inclinations in directions away from each other, in other words, in the direction in which the passage width increases. The other ends (the ends disposed on the opening 60a side) of the passage walls 64a, 65a, 64b, 65b, 64c, 65c, 64d, and 65d protrude into the opening 60a.

[0044] The inclined plates 70a, 70b, 70c, and 70d are disposed in the passages 68a, 68b, 68c, and 68d, respectively, as shown in Fig. 17. More specifically, the inclined plate 70a is disposed between the passage walls 64a and 65d at the other ends (ends disposed on the opening 60a side) of the passage walls 64a and 65d, the inclined plate 70b is disposed between the passage walls 65a and 64b at the other ends (ends disposed on the opening 60a side) of the passage walls 65a and 64b, the inclined plate 70c is disposed between the passage walls 65b and 64c at the other ends (ends disposed on the opening 60a side) of the passage walls 65b and 64c, and the inclined plate 70d is disposed between the passage walls 65c and 64d at the other ends (ends disposed on the opening 60a side) of the passage walls 65c and 64d. The passage walls 65c, 64d and inclined plate 70d that constitute passage 68d correspond to the "first guide section" in the present invention, the passage walls 64a, 65d and inclined plate 70a that constitute passage 68a correspond to the "second guide section" in the present invention, the passage walls 65a, 64b and inclined plate 70b that constitute passage 68b correspond to the "third guide section" in the present invention, and the passage walls 65b, 64c and inclined plate 36c that constitute passage 68c are an example of an embodiment corresponding to the "fourth guide section" in the present invention.

[0045] As shown in Fig. 17, the inclined plates 70a, 70b, 70c, and 70d are inclined from the opening 60a toward the outer edge of the base plates 62a, 62b, 62c, and 62d in a direction away from the base plates 62a, 62b, 62c, and 62d. A tip surface of a front towing pin 12 of the automated guided vehicle AGV, which will be described later, abuts against the surface of the inclined plates 70a, 70b, 70c, and 70d opposite to the side facing the base plates 62a, 62b, 62c, and 62d. In other words, it can be said that the surface of the inclined plates 70a, 70b, 70c, and 70d opposite to the side facing the base plates 62a, 62b, 62c, and 62d constitutes a towing pin abutment surface. In addition, among the ends of the inclined plates 70a, 70b, 70c, and 70d, the ends on the outer edge side of the base plates 62a, 62b, 62c, and 62d are arranged so as to be at the same height position as the ends of the inclined plates 36a, 36b, 36c, and 36d on the outer edge side of the top plate 32, as shown in Fig. 19. That is, a traction pin abutment surface that is approximately in the same plane is formed from the inclined plates 70a, 70b, 70c, and 70d through the inclined plates 36a, 36b, 36c, and 36d to the first abutment surfaces 53a, 53b, 53c, and 53d of the anti-back blocks 50a, 50b, 50c, and 50d. The towing pin abutment surfaces of the inclined plates 36d, 70d correspond to the "first abutment surface" in the present invention, the inclined plates 36a, 70a correspond to the "second abutment surface" in the present invention, the towing pin abutment surfaces of the inclined plates 36b, 70b correspond to the "seventh abutment surface" in the present invention, and the towing pin abutment surfaces of the inclined plates 36c, 70c correspond to the "eighth abutment surface" in the present invention, which are examples of an embodiment configuration.

[0046] The striker introduction section 60 thus constructed is arranged so that the protruding direction of the passage walls 64a, 65a, 64b, 65b, 64c, 65c, 64d, and 65d faces the vehicle frame 2 side of the bogie 1, and is fixed to the vehicle frame 2 via brackets (not shown) integrated with the base plates 62a, 62b, 62c, and 62d (see FIG. 20). At this time, the striker body 30 is arranged in the opening 60a. This completes the attachment of the striker 20 to the vehicle frame 2 of the bogie 1. Then, the passage 68a and the passage 35a form one passage to the recess 42, the passage 68b and the passage 35b form one passage to the recess 42, the passage 68c and the passage 35c form one passage to the recess 42, and the passage 68d and the passage 35d form one passage to the recess 42 (see FIG. 7). That is, the passages 35a, 35c, 68a, 68c and the passages 35b, 35d, 68b, 68c cross each other to form a passage having a cross shape in plan view. This allows the automated guided vehicle AGV to approach the carriage 1 from four directions (cross directions) and engage the front traction pin 12 with the recess 42 (see FIG. 6). The extension direction of the passages 35b, 35d, 68b, 68d corresponds to the "first direction" in the present invention, and the extension direction of the passages 35a, 35c, 68a, 68c corresponds to the "second direction" in the present invention.

[0047] The automated guided vehicle AGV is configured as a guided vehicle that moves by itself along a preset travel route by detecting a guide band (e.g., a magnetic tape, etc., not shown) installed on the floor surface along the travel route. As shown in FIG. 23, the automated guided vehicle AGV includes a vehicle body 6, a drive unit 8 and fixed wheels 10 supported by the vehicle body 6, a front traction pin 12 and a rear traction pin 14 arranged on the vehicle body 6, and a control device (not shown) that controls the automated guided vehicle AGV as a whole. For convenience of explanation, the upward direction in FIG. 23 is hereinafter defined as "upward direction", "upper" or "upper side", and the downward direction in FIG. 23 is hereinafter defined as "downward direction", "downward" or "lower side". In addition, the left-right direction in FIG. 23 is referred to as "travel direction". In particular, the left direction in FIG. 4 is referred to as "forward travel direction", and the right direction in FIG. 23 is referred to as "reverse travel direction". The front traction pin 12 is an example of an embodiment corresponding to the "traction pin" in the present invention.

[0048] As shown in FIG. 4, the front traction pin 12 is disposed at the upper part of the car body 6 (upper part of FIG. 23) and is disposed approximately in the center in the traveling direction. The rear traction pin 14 is disposed at the upper part of the car body 6 (upper part of FIG. 23) and is disposed at the rear end part in the forward traveling direction (front end part in the backward traveling direction). The front traction pin 12 and the rear traction pin 14 are biased upward (in the direction in which the front traction pin 12 and the rear traction pin 14 protrude from the upper surface of the car body 6 (the surface facing upward of the car body 6)) by a spring (not shown). In a "non-traction state" in which the bogie 1 is not being pulled, the front traction pin 12 and the rear traction pin 14 are pushed down against the spring force by an actuator (not shown) so as not to protrude from the upper surface of the car body 6 (the surface facing upward of the car body 6) (solid line in FIG. 23). On the other hand, in the "traction state" in which the bogie 1 is towed, the actuator (not shown) is released from pushing down the front traction pin 12 and the rear traction pin 14, and the spring force causes the front traction pin 12 and the rear traction pin 14 to protrude from the top surface of the car body 6 (the surface facing upwards of the car body 6).

[0049] Next, an explanation will be given of the operation when the cart 1 thus configured is towed by the automated guided vehicle AGV, in particular, the operation when the front towing pin 12 engages with the recess 42 of the striker 20. Note that the following will be given by taking as an example a case where the automated guided vehicle AGV travels to the right, that is, from the side of the passage walls 65c, 64d of the striker 20, as shown in Fig. 24, and tows the cart 1.

[0050] When the automated guided vehicle AGV starts traveling, a control device (not shown) reads detection signals from a travel sensor (not shown) and command signals from a marker sensor, and executes a process of driving and controlling the drive unit 8 so that the automated guided vehicle AGV travels along the guide belt. Then, as shown in FIG. 25, when the automated guided vehicle AGV reaches a position where preparation for towing the carriage 1 should begin, the marker sensor detects the marker in which a push-down release command (a command to release the push-down of the front traction pin 12 and the rear traction pin 14 by the actuator (not shown)) is stored, and outputs the push-down release command signal. At this time, the front traction pin 12 is disposed in the inner area of ​​the inclined parts 640d, 650c of the striker 20.

[0051] Next, when a push-down release command signal is input from the marker sensor, the control device (not shown) drives and controls the actuator (not shown) to release the push-down of the front towing pin 12 and the rear towing pin 14. As a result, the front towing pin 12 and the rear towing pin 14 change from a "non-towing state" to a "towing state." That is, the front towing pin 12 and the rear towing pin 14 change from a state in which they do not protrude from the top surface of the vehicle body 6 (the surface facing upward of the vehicle body 6) to a state in which they protrude from the top surface of the vehicle body 6 (the surface facing upward of the vehicle body 6).

[0052] When the automated guided vehicle AGV continues traveling in the "towing state", the front towing pin 12 is guided to the passage 68d by the inclined portions 640d and 650c. Here, since the striker 20 has the inclined portions 650c and 640d, the front towing pin 12 can be smoothly guided to the passage 68d.

[0053] As the automatic guided vehicle AGV travels, the front pulling pin 12 advances through the passage 68d and the passage 35d in this order, as shown in Figs. 26, 28, and 30, and reaches the anti-back block 50d. Here, the pulling pin abutment surface of the inclined plate 70d, the pulling pin abutment surface of the inclined plate 36d, and the first abutment surface 53d of the anti-back block 50d have a downward inclination toward the recess 42, so that the front pulling pin 12 is gradually pushed down against the spring force while advancing while abutting against the pulling pin abutment surface of the inclined plate 70d, the pulling pin abutment surface of the inclined plate 36d, and the first abutment surface 53d, as shown in Figs. 27, 29, and 31. Here, the first regulating surface 51d of the anti-back block 50d abuts against the stopper rod SR4, so that the counterclockwise swing of the anti-back block 50d (counterclockwise in Fig. 27) is regulated. As a result, when the front towing pin 12 abuts against the first abutment surface 53d, the anti-back block 50d does not swing counterclockwise (counterclockwise in FIG. 27), and the anti-back block 50d reliably pushes down the front towing pin 12. Note that, since the towing pin abutment surface of the inclined plate 70d, the towing pin abutment surface of the inclined plate 36d, and the first abutment surface 53d are substantially on the same plane, the front towing pin 12 can be smoothly pushed down and guided to the recess 42.

[0054] Then, as the automatic guided vehicle AGV travels, the front traction pin 12 advances further along the passage 35d and reaches the second abutment surface 54d of the anti-back block 50d from the first abutment surface 53d as shown in Figs. 32 and 33. As a result, the spring force acting in the direction of protruding the front traction pin 12 can no longer be suppressed by the anti-back block 50d and the stopper rod SR4, so the front traction pin 12 moves in the protruding direction and the anti-back block 50d swings clockwise (clockwise in Fig. 32) until it abuts against the recess-forming wall 40d. At this time, the front traction pin 12 can be smoothly guided into the recess 42 while abutting against the second abutment surface 54d of the anti-back block 50d as shown in Figs. 32 to 34.

[0055] The second contact surfaces 54a, 54b, 54c, 54d are disposed closer to the first restriction surfaces 51a, 51b, 51c, 51d and the second restriction surfaces 52a, 52b, 52c, 52d than the first contact surfaces 53a, 53b, 53c, 53d. In other words, the second contact surfaces 54a, 54b, 54c, 54d are disposed closer to the recess 42 in the depth direction of the recess 42 than the first contact surfaces 53a, 53b, 53c, 53d. Therefore, the amount of protrusion of the front traction pin 12 can be increased compared to the state in which the front traction pin 12 is in contact with the first contact surfaces 53a, 53b, 53c, 53d immediately before the front traction pin 12 engages with the recess 42. In other words, the front traction pin 12 can be protruded in two stages. This allows the front traction pin 12 to be engaged with the recess 42 more smoothly.

[0056] Here, as shown in Fig. 35, the anti-back blocks 50a, 50b, and 50c other than the anti-back block 50d against which the front traction pin 12 is in contact are in a state in which the first regulating surfaces 51a, 51b, and 51c are swung until they abut against the stopper rods SR1, SR2, and SR3, respectively, due to the position of the center of gravity Grv, that is, in a state in which the tip (second portion) is swung in a direction away from the recess 42, so that even if the front traction pin 12 proceeding through the passage 35d tries to enter the passage 35a, the passage 35b, or the passage 35c due to its inertia, it is blocked by these anti-back blocks 50a, 50b, and 50c. This ensures that the front traction pin 12 can be engaged with the recess 42. Furthermore, when the front traction pin 12 engages with the recess 42, the rear traction pin 14 enters the passage 68d, so that the trolley 1 can be effectively prevented from swaying left and right (up and down in Figure 36) around the front traction pin 12 in the towing travel direction (leftward in Figure 36).

[0057] In addition, when towing the bogie 1 is to be stopped, the front traction pin 12 and the rear traction pin 14 are pushed down by the actuator to put them in a "non-traction state" so that they do not protrude from the top surface of the car body 6.

[0058] According to the trolley 1 of the present embodiment described above, the striker 20 has four passages (e.g., passages 35a, 68a, passages 35b, 68b, passages 35c, 68c, and passages 35d, 68d) that guide the front traction pin 12 to the recess 42, so that the automated guided vehicle AGV can approach the trolley 1 from four directions to engage the front traction pin 12 with the recess 42. In addition, the anti-back blocks 50a, 50b, 50c, and 50d are arranged to be able to swing just before the recesses 42 of the four passages (passages 35a and 68a, passages 35b and 68b, passages 35c and 68c, and passages 35d and 68d). Therefore, the anti-back block (e.g., the anti-back block 50d) arranged in the passage through which the front traction pin 12 advances (e.g., the passages 35d and 68d) is pressed by the front traction pin 12 that is biased in the protruding direction by the spring force, and the tip (second portion) swings in the direction toward the back side of the recess 42. The anti-back blocks (e.g., anti-back blocks 50a, 50b, 50c) arranged in the outer passages (e.g., passages 35a, 68a, passages 35b, 68b, and passages 35c, 68c) have their tips (second parts) swung by their own weight in a direction away from the back side of the recess 42, so that the front traction pin 12 can be effectively prevented from entering another passage (e.g., passages 35a, 68a, passages 35b, 68b, and passages 35c, 68c) beyond the recess 42 from the passage (e.g., passages 35d, 68d) in which it is proceeding toward the recess 42. This ensures that the front traction pin 12 can be engaged with the bogie 1.

[0059] Further, according to the bogie 1 according to the present embodiment, the inclined plates 36a, 70a, 36b, 70b, 36c, 70c, and 36d, 70d are arranged in the passages 35a, 68a, the passages 35b, 68b, and the passages 35c, 68c, respectively, so that the inclined plates 36a, 70a, 36b, 70b, 36c, 70c, and 36d, 70d are inclined in the depth direction of the recess 42 as they approach the recess 42 (having a downward inclination toward the recess 42). Therefore, the front traction pin 12 can be guided to the recess 42 while gradually pushing down the front traction pin 12 against the spring force (while pushing the front traction pin 12 into the body 6 of the automatic guided vehicle AGV). As a result, when the front traction pin 12 reaches the recess 42, the biasing force (the restoring force of the spring) in the protruding direction of the front traction pin 12 can be made larger, so that the engagement of the front traction pin 12 with the recess 42 can be made more reliable. Furthermore, with a simple configuration in which the stopper rods SR1, SR2, SR3, and SR4 only regulate the oscillation of the anti-back blocks 50a, 50b, 50c, and 50d, respectively, the first abutment surfaces 53a, 53b, 53c, and 53d and the second abutment surfaces 54a, 54b, 54c, and 54d can be made to have approximately the same inclination as the towing pin abutment surfaces of the inclined plates 36a, 36b, 36c, and 36d and the towing pin abutment surfaces of the inclined plates 70a, 70b, 70c, and 70d.

[0060] Furthermore, according to the bogie 1 of this embodiment, the second contact surfaces 54a, 54b, 54c, and 54d are disposed closer to the recess 42 in the depth direction of the recess 42 than the first contact surfaces 53a, 53b, 53c, and 53d, so that the amount of protrusion of the front traction pin 12 can be increased compared to the state in which the front traction pin 12 is in contact with the first contact surfaces 53a, 53b, 53c, and 53d immediately before engaging with the recess 42. In other words, the protrusion of the front traction pin 12 can be performed in two stages. This allows the front traction pin 12 to be engaged with the recess 42 more smoothly.

[0061] In the present embodiment, the striker 20 has a configuration including the striker body 30 and the striker introduction portion 60, but is not limited thereto. For example, the striker 20 may have a configuration including only the striker body 30.

[0062] In the present embodiment, the anti-back blocks 50a, 50b, 50c, and 50d are configured to have two abutment surfaces (first abutment surfaces 53a, 53b, 53c, and 53d and second abutment surfaces 54a, 54b, 54c, and 54d), but are not limited thereto. For example, the anti-back blocks 50a, 50b, 50c, and 50d may be configured to have only one abutment surface (for example, the first abutment surface 53a, 53b, 53c, and 53d). Alternatively, the anti-back blocks 50a, 50b, 50c, and 50d may be configured to have three or more abutment surfaces. In this case, the abutment surface may be arranged to approach the recess 42 in the depth direction of the recess 42 as it approaches the recess 42.

[0063] In this embodiment, the inclined plates 36a, 36b, 36c, 36d and the inclined plates 70a, 70b, 70c, 70d are provided, but the inclined plates 36a, 36b, 36c, 36d and the inclined plates 70a, 70b, 70c, 70d may not be provided. In this case, the first abutment surfaces 53a, 53b, 53c, 53d and the second abutment surfaces 54a, 54b, 54c, 54d of the anti-back blocks 50a, 50b, 50c, 50d may have the same inclination as the towing pin abutment surfaces of the passages 35a, 35b, 35c, 35d and the towing pin abutment surfaces of the passages 68a, 68b, 68c, 68d. In addition, the control device can be configured to drive and control the actuator so as to release the depression of the front traction pin 12 when the front traction pin 12 abuts against the traction pin abutment surfaces of the passages 68a, 68b, 68c, and 68d.

[0064] In the present embodiment, the striker 20 has a configuration having a passage () that is cross-shaped in plan view, but is not limited thereto. For example, the striker 20 may have a passage that is X-shaped in plan view.

[0065] In the present embodiment, the striker 20 has four passages (passages 35a, 68a, passages 35b, 68b, passages 35c, 68c, and passages 35d, 68d), but is not limited thereto. The striker 20 may have any number of passages as long as the number is two or more.

[0066] This embodiment shows an example of a form for carrying out the present invention. Therefore, the present invention is not limited to the configuration of this embodiment. The correspondence between each component of this embodiment and each component of the present invention is shown below. [Explanation of symbols]

[0067] 1 Trolley (Trolley) 2 Car frame (car frame) 4 Casters 6. Body 8 Drive Unit 10 Fixed wheel 12 Front traction pin 12 (traction pin) 14 Rear traction pin 20 Striker 30 Striker body 32 Tabletop 32a aperture 34 Traction pin guide 34a Passage wall (2nd guide section, 3rd guide section) 34b Passage wall (3rd guide section, 4th guide section) 34c Passage wall (1st guide part, 4th guide part) 34d Passage wall (1st guide section, 2nd guide section) 35a Passage (2nd Route) 35b Passage (3rd Route) 35c Passage (4th Route) 35d Passage (1st Route) 36a Inclined plate (second guide part) 36b Inclined plate (3rd guide part) 36c Inclined plate (4th guide part) 36d Inclined plate (1st guide section) 40a: Recessed wall (engagement portion) 40b Recessed portion forming wall (engagement portion) 40c Recessed wall (engagement portion) 40d Recessed wall (engagement portion) 42 Recess (recess) 50a Anti-back block (second piece) 50b Anti-back block (third piece) 50c Anti-back block (fourth piece) 50d Anti-back block (first piece) 51a First regulatory aspect 51b First regulatory aspect 51c First Regulatory Plane 51d First Regulatory Plane 52a Second Regulatory Plane 52b Second Regulatory Plane 52c Second Regulatory Plane 52d Second Regulatory Plane 53a 1st contact surface (4th contact surface) 53b 1st contact surface (9th contact surface) 53c 1st contact surface (10th contact surface) 53d 1st contact surface (3rd contact surface) 54a 2nd contact surface (6th contact surface) 54b 2nd contact surface (11th contact surface) 54c 2nd contact surface (12th contact surface) 54d 2nd contact surface (5th contact surface) 56a Shaft insertion hole 56b Shaft insertion hole 56c Shaft insertion hole 56d Shaft insertion hole 57a Oscillating shaft (second oscillating shaft) 57b Oscillating shaft (third oscillating shaft) 57c Oscillating shaft (4th oscillating shaft) 57d Oscillating shaft (first oscillating shaft) 60 Striker Introduction 60a Opening 62a Base plate 62b Base plate 62c base plate 62d Base plate 64a Passage wall (second guide section) 64b Passage wall (3rd guide section) 64c Passage wall (4th guide section) 64d Passage wall (1st guide section) 65a Passage wall (3rd guide section) 65b Passage wall (4th guide section) 65c Passage wall (1st guide section) 65d Passage wall (second guide section) 68a Passage (2nd Route) 68b Passage (3rd Route) 68c Passage (4th Route) 68d Passage (1st Route) 70a Inclined plate (second guide part) 70b Inclined plate (3rd guide part) 70c inclined plate (4th guide part) 70d inclined plate (1st guide section) 340a Slope 340b Slope 340c slope section 340d slope section 341a Slope 341b Slope 341c slope section 341d Slope 640a Slope 640b Slope 640c Slope 640d Slope 650a Slope 650b Slope 650c slope section 650d Slope AGV Automated Guided Vehicle (Automated Guided Vehicle) SR1 Stopper rod (second stopper) SR2 stopper rod (third stopper) SR3 stopper rod (4th stopper) SR4 stopper rod (first stopper) Grv Center of gravity (center of gravity)

Claims

1. A cart towed by an automated guided vehicle having a towing pin biased in a protruding direction, The frame and an engagement portion that is disposed on the vehicle frame and has a recess with which the towing pin can be engaged; a first guide portion that is disposed on the vehicle frame and has a first path that extends in a first direction so as to be able to guide the towing pin to the recess; a second guide portion that is disposed on the vehicle frame and has a second path extending in a second direction so as to be able to guide the towing pin to the recess; a first bridge member that is disposed on the first path at a position adjacent to the recess, has a first swing axis that extends in a direction perpendicular to both the depth direction of the recess and the first direction, and has a center of gravity at a position closer to the recess on a first virtual projection plane with respect to a center of the first swing axis on the first virtual projection plane when viewed from one side in the axial direction of the first swing axis; a second bridge member disposed on the second path and adjacent to the recess, having a second swing axis extending in a direction perpendicular to both the depth direction of the recess and the second direction, and having a center of gravity at a position closer to the recess on a second virtual projection plane with respect to a center of the second swing axis on the second virtual projection plane when viewed from one side in the axial direction of the second swing axis; a first stopper disposed on a swing trajectory of the first piece member and on an opposite side to the recess on the first virtual projection plane with respect to the first swing axis on the first virtual projection plane so as to restrict the swing of the first piece member; a second stopper disposed on a swing trajectory of the second piece member and on an opposite side to the recessed portion on the second virtual projection plane with respect to the second swing axis on the second virtual projection plane so as to restrict the swing of the second piece member; A trolley equipped with:

2. The first guide portion has a first abutment surface against which the towing pin can abut, The second guide portion has a second abutment surface against which the towing pin can abut, the first and second contact surfaces each have an inclination in a direction away from the recess in a depth direction of the recess as the first and second contact surfaces approach the recess, The first piece member has a third abutment surface against which the towing pin can abut, The second piece member has a fourth abutment surface with which the towing pin can abut, the first stopper is capable of restricting the swinging of the first bridge member in a state in which the third contact surface has substantially the same inclination as the first contact surface, The second stopper is capable of restricting the rocking of the second bridge member in a state in which the fourth contact surface has substantially the same inclination as the second contact surface. The dolly according to claim 1.

3. A third guide portion having a third path that is arranged on the opposite side of the recess from the first path and extends in the first direction so as to be able to guide the towing pin to the recess; a fourth guide portion having a fourth path that is disposed on an opposite side of the recess from the second path and extends in the second direction so as to be capable of guiding the towing pin to the recess; a third bridge member that is disposed on the third path at a position adjacent to the recess, has a third swing axis that extends in a direction perpendicular to both the depth direction of the recess and the first direction, and has a center of gravity at a position closer to the recess on a third virtual projection plane with respect to a center of the third swing axis on the third virtual projection plane when viewed from one side in the axial direction of the third swing axis; a fourth bridge member disposed on the fourth path and adjacent to the recess, having a fourth swing axis extending in a direction perpendicular to both the depth direction of the recess and the second direction, and having a center of gravity at a position closer to the recess on a fourth imaginary projection plane with respect to a center of the fourth swing axis on the fourth imaginary projection plane when viewed from one side in the axial direction of the fourth swing axis; a third stopper disposed on a swing trajectory of the third piece member and on an opposite side to the recessed portion on the third imaginary projection plane with respect to the third swing axis on the third imaginary projection plane so as to restrict the swing of the third piece member; a fourth stopper disposed on a swing trajectory of the fourth piece member and on an opposite side to the recessed portion on the third imaginary projection plane with respect to the fourth swing axis on the fourth imaginary projection plane so as to restrict the swing of the fourth piece member; Further equipped with The first direction and the second direction intersect with each other.

3. The trolley according to claim 1 or 2.

4. The third guide portion has a seventh abutment surface against which the towing pin can abut, The fourth guide portion has an eighth abutment surface with which the towing pin can abut, the seventh and eighth abutment surfaces each have an inclination in a direction away from the recess in a depth direction of the recess as the seventh and eighth abutment surfaces approach the recess, The third piece member has a ninth abutment surface with which the towing pin can abut, The fourth piece member has a tenth abutment surface with which the towing pin can abut, the third stopper is capable of restricting the swinging of the third bridge member in a state in which the ninth contact surface has substantially the same inclination as the seventh contact surface, The fourth stopper is capable of restricting the swinging of the fourth bridge member in a state in which the tenth contact surface has substantially the same inclination as the eighth contact surface.

4. The trolley according to claim 3.

Images