Connection and separation mechanism

Abstract

To provide a connection / separation mechanism which makes connection and separation between a carrier and a truck possible with a relatively simple constitution, and is excellent in versatility.SOLUTION: A connection / separation mechanism, as the connection / separation mechanism which connects and separates a truck and a carrier includes an arm support member which is extended in a first horizontal direction from the carrier, an arm which is extended further in the first horizontal direction from the arm support member and is supported so as to permit tilting in a vertical direction by the arm support member and an arm energizing means which energizes the arm tilted downward or upward in the direction opposite to a tilting direction. Therein, the arm has a hook part engaging a part to be engaged provided on a lateral part or a lower part of the truck, on a tip part thereof.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a coupling / separation mechanism. [Background technology]

[0002] The following Patent Document 1 discloses a technology relating to a coupling and separation mechanism between a trolley and a transport vehicle, in which a pair of plate-shaped, tiltable hook members are provided at both ends of a support member, and the pair of hook members are hooked onto the bars of the trolley to pull it, and when the trolley arrives at its transport destination, the inclination of the detachment members of the coupling and separation mechanism is brought into contact with a detachment mechanism installed on the floor, thereby moving the pair of hook members downward and detaching them.

[0003] Furthermore, Patent Document 2 below discloses a technology in which a transport vehicle slips under a cart, a towing hook installed on the top surface of the transport vehicle holds the cart's casing, the transport vehicle automatically tows the cart, and when the transport vehicle arrives at its destination, the transport vehicle automatically detaches from the cart. Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology of Patent Document 1 requires the installation of a detachment mechanism on the floor surface for each destination, which has problems such as the high installation costs of the detachment mechanism. Also, the technology of Patent Document 2 has a risk that if the height of the cart is low, the transport vehicle may not be able to get under the cart. [Means for solving the problem]

[0005] A coupling / separation mechanism according to one embodiment is a coupling / separation mechanism for coupling and separating a trolley and a transport vehicle, and comprises an arm support member extending in a first horizontal direction from the transport vehicle, an arm extending further in the first horizontal direction from the arm support member and supported by the arm support member so as to be tiltable in the vertical direction, and an arm biasing means for biasing the arm tilted downward or upward in the direction opposite to the tilting direction, and the arm has a hook portion at its tip that engages with an engageable portion provided on the side or bottom of the trolley. [Effects of the Invention]

[0006] According to the coupling / separation mechanism of one embodiment, it is possible to provide a coupling / separation mechanism that is capable of coupling and separating the transport vehicle and the carriage with a relatively simple configuration and is highly versatile. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is an external perspective view of a transport vehicle according to an embodiment; [Figure 2] FIG. 1 is an external perspective view of a carriage according to an embodiment; [Figure 3] 1 is a top view of a coupling / decoupling mechanism according to an embodiment; [Figure 4] 1 is a side view of a coupling / detachment mechanism according to an embodiment; [Figure 5] Enlarged view of the arm shown in Figure 4 [Figure 6] FIG. 10 is a partially enlarged cross-sectional view of a coupling / separation mechanism and a carriage (in a state where the hook portion abuts on the horizontal protrusion portion) according to an embodiment; [Figure 7] FIG. 10 is a partially enlarged cross-sectional view of a coupling / separation mechanism and a carriage (in a state where the hook portion is pressed down by the horizontal protrusion portion) according to an embodiment; [Figure 8] FIG. 10 is a partially enlarged cross-sectional view of a coupling / separation mechanism and a carriage (in a state where the hook portion is engaged with the horizontal protrusion portion) according to an embodiment; [Figure 9] 1 is a top view of a coupling / separation mechanism and a carriage according to an embodiment; [Figure 10] FIG. 1 is a top view of a coupling / separation mechanism and a bogie (when traveling on a curve) according to an embodiment; [Figure 11] 1 is a side view of a coupling / separation mechanism and a carriage (during a separation operation) according to an embodiment; [Figure 12] A flowchart showing a control procedure by a guided vehicle according to an embodiment. [Figure 13] 10A and 10B are diagrams illustrating modified examples of a coupling / separation mechanism according to an embodiment; [Figure 14] 10A and 10B are diagrams illustrating modified examples of a coupling / separation mechanism according to an embodiment; [Figure 15] 10 is a bottom side view of a dolly according to another embodiment; [Figure 16] FIG. 10 is a partially enlarged top view of a coupling / separation mechanism according to another embodiment; [Figure 17] FIG. 10 is a partially enlarged side view of a coupling / separation mechanism according to another embodiment. [Figure 18] FIG. 10 is a partially enlarged cross-sectional view of a coupling / separation mechanism and a carriage (in a state immediately before the rollers come into contact with the lower corners of the carriage) according to another embodiment; [Figure 19] FIG. 10 is a partially enlarged cross-sectional view of a coupling / separation mechanism and a carriage according to another embodiment (in a state where the roller is tracing the lower corner of the carriage); [Figure 20] FIG. 10 is a partially enlarged cross-sectional view of a coupling / separation mechanism and a carriage (in a state where the rollers and the hooks are engaged with the bottom surface of the carriage) according to another embodiment; [Figure 21] FIG. 10 is a partially enlarged top view of a coupling / separation mechanism and a carriage according to another embodiment; [Figure 22] FIG. 10 is a partially enlarged perspective view of a coupling / separation mechanism and a carriage according to another embodiment; [Figure 23] 10 is a partially enlarged side view of a coupling / separation mechanism and a carriage according to yet another embodiment (in a state where the rollers are tracing the lower corners of the carriage); [Figure 24] 10 is a partially enlarged side view of a coupling / separation mechanism and a carriage (in a state where the rollers and the hook portions are engaged with the bottom surface portion of the carriage) according to still another embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0009] (Schematic configuration of the transport vehicle 10) FIG. 1 is an external perspective view of a transport vehicle 10 according to one embodiment. The transport vehicle 10 shown in FIG. 1 can move forward in direction A (positive direction of the X-axis) and backward in direction B (negative direction of the X-axis). As shown in FIG. 1, the transport vehicle 10 is provided with a coupling / separation mechanism 100 on a rear side surface 10A (side surface on the negative side of the X-axis). The coupling / separation mechanism 100 is for coupling and separating a carriage 20 (see FIG. 2) to and from the transport vehicle 10. The transport vehicle 10 can tow the carriage 20 by being coupled to the carriage 20 by the coupling / separation mechanism 100.

[0010] (Schematic configuration of the bogie 20) FIG. 2 is an external perspective view of a dolly 20 according to one embodiment. The dolly 20 in FIG. 2 is a roll box dolly that is commonly used in warehouses and the like. As shown in FIG. 2, the dolly 20 has a generally rectangular parallelepiped shape. The dolly 20 is configured to include a rectangular bottom plate portion 22 and three side frame portions 21 that are erected above the bottom plate portion 22 in three directions (forward (positive direction of the X-axis), rightward (positive direction of the Y-axis), and backward (negative direction of the X-axis)). The dolly 20 can move forward in direction A in the figure (positive direction of the X-axis) by being pulled by the transport vehicle 10 (see FIG. 1).

[0011] 2, the dolly 20 has four wheels 23 on the bottom surface of the bottom plate portion 22. Also, as shown in Fig. 2, the dolly 20 has a horizontal protrusion 24 on the front edge (the edge on the positive side of the X-axis) of the bottom plate portion 22, which extends linearly along the front edge and protrudes downward. The horizontal protrusion 24 is an example of an "engaged portion," and is used to couple the dolly 20 to the transporting vehicle 10 by engaging with the tip of a coupling / separation mechanism 100 (see Fig. 1) provided on the transporting vehicle 10.

[0012] The configuration of the carriage 20 is not limited to the configuration shown in Fig. 2. For example, one or both of the wheels 23 and the horizontal protrusions 24 may be provided at the lower end of the side frame portions 21. Furthermore, for example, the carriage 20 is not limited to a roll box carriage, and may be other carriages (for example, a dolly carriage, a six-wheel carriage, a pipe carriage, etc.).

[0013] (Configuration of the coupling / separation mechanism 100) Fig. 3 is a top view of a coupling / separation mechanism 100 according to one embodiment. Fig. 4 is a side view of the coupling / separation mechanism 100 according to one embodiment. Fig. 5 is a partial enlarged view of the arm 120 shown in Fig. 4. As shown in Figs. 3 and 4, the coupling / separation mechanism 100 includes, in order from the transport vehicle 10 side (positive side of the X-axis), a coupling / separation mechanism mounting member 130, an arm support member 110, an arm mounting member 140, and an arm 120.

[0014] The connection / separation mechanism mounting member 130 is a flat, metal member. The connection / separation mechanism mounting member 130 is fixedly attached parallel to the rear side surface 10A (the surface on the negative side of the X-axis) of the transport vehicle 10 via a pair of left and right vertical connection frames 151, a pair of upper and lower horizontal connection frames 152, and multiple shock absorbing members 153. The horizontal connection frames 152 can be attached at any height position in the vertical direction (Z-axis direction) relative to the vertical connection frames 151. In the connection / separation mechanism 100 according to one embodiment, the height position of the hook portion 121 of the arm 120 can be adjusted by adjusting the height position of the horizontal connection frame 152 relative to the vertical connection frame 151. The shock absorbing members 153 can absorb shocks applied to the connection / separation mechanism mounting member 130. The shock absorbing members 153 can be, for example, any shock absorbing material (e.g., rubber, gel, sponge, etc.) or any shock absorbing mechanism (e.g., shock absorbers, etc.).

[0015] The arm support member 110 is a long, thin, plate-like member made of metal that extends linearly in a first horizontal direction (X-axis direction). The arm support member 110 is pivotally supported at its distal end (the end on the positive side of the X-axis) by a shaft member 131 provided on the connection / separation mechanism mounting member 130, and is thereby attached to the connection / separation mechanism mounting member 130 so as to be tiltable in the vertical direction (Z-axis direction) around the shaft member 131 as the center of rotation.

[0016] The arm attachment member 140 is a long, thin, metallic, plate-like member extending linearly in a first horizontal direction (X-axis direction). The distal end (end on the X-axis positive side) of the arm attachment member 140 is attached to the distal end (end on the X-axis negative side) of the arm support member 110 by a rotating member 143. This allows the arm attachment member 140 to swing in a second horizontal direction (Y-axis direction) around the rotating member 143. A support member 142 and a tilting arm detection mechanism 144 are provided at the distal end (end on the X-axis negative side) of the arm attachment member 140. The support member 142 supports the upper end (end on the Z-axis positive side) of the arm biasing means 161. The support member 142 is preferably separate from the arm attachment member 140, but may be integrated with the arm attachment member 140. The tilting arm detection mechanism 144 can detect the arm 120 through an opening formed in the arm attachment member 140. The tilt arm detection mechanism 144 is ON when the arm 120 is in a horizontal position, and is OFF when the arm 120 is tilted downward. The tilt arm detection mechanism 144 may be, for example, a microswitch that performs physical detection, or a proximity sensor, transmission sensor, reflective sensor, or the like that performs electrical detection. The tilt arm detection mechanism 144 may be provided in a location other than the arm attachment member 140, as long as it can detect the tilt of the arm 120.

[0017] The arm 120 is a long, thin, plate-like member made of metal that extends linearly in a first horizontal direction (X-axis direction). The distal end (the end on the positive side of the X-axis) of the arm 120 is attached to the middle portion (the middle portion in the X-axis direction) of the arm attachment member 140 by an axis member 141 provided on the arm attachment member 140. This allows the arm 120 to tilt in the vertical direction (Z-axis direction) around the axis member 141 as the center of rotation. A hook portion 121 and an arm auxiliary member 122 are provided at the distal end of the arm 120.

[0018] The hook portion 121 has an upwardly pointed shape due to being formed by bending the arm 120 (see FIG. 4). Specifically, as shown in FIG. 5, the hook portion 121 has a first wall surface portion 121A formed by bending the arm 120 upward at an angle θ1 (90° in the example shown in FIG. 5), and a second wall surface portion 121B formed by bending the upper end of the first wall surface portion 121A diagonally downward at an angle θ2 (45° in the example shown in FIG. 5). The hook portion 121 is engageable with the horizontal protrusion 24 of the dolly 20.

[0019] The arm auxiliary member 122 is provided on the X-axis positive side of the hook portion 121 and faces the hook portion 121. Specifically, as shown in Fig. 5, the arm auxiliary member 122 has a flat plate portion 122A that is fixed to the upper surface of the arm 120 while overlapping the upper surface of the arm 120, and a wall surface portion 122B that is formed by bending the tip end (the end on the X-axis negative side) of the flat plate portion 122A upward at an angle θ3 (90° in the example shown in Fig. 5). As a result, a space that can accommodate the horizontal protrusion 24 of the carriage 20 is formed between the wall surface portion 122B of the arm auxiliary member 122 and the first wall surface portion 121A of the hook portion 121. When the coupling / separation mechanism 100 provided on the transport vehicle 10 is towing the carriage 20 and the transport vehicle 10 decelerates or stops, causing the carriage 20 to move in the direction of arrow A due to inertia, the arm auxiliary member 122 can receive the carriage 20 with the wall surface portion 122B. The position of the arm auxiliary member 122 is adjustable in the first horizontal direction (X-axis direction). This allows the arm auxiliary member 122 to change the distance between the wall surface portion 122B and the first wall surface portion 121A of the hook portion 121. The arm auxiliary member 122 may be slidable in the first horizontal direction (X-axis direction), or may be integrated with the arm 120.

[0020] The angle θ1 and angle θ2 of the hook portion 121, the angle θ3 of the arm auxiliary member 122, and the distance between the hook portion 121 and the arm auxiliary member 122 can be appropriately set according to the shape of the horizontal protrusion 24 of the cart 20.

[0021] The arm biasing means 161 is provided between the arm 120 and a support member 142 provided at the tip end (end on the negative side of the X-axis) of the arm mounting member 140. The upper end (end on the positive side of the Z-axis) of the arm biasing means 161 is supported by the support member 142, and the lower end (end on the negative side of the Z-axis) of the arm biasing means 161 is supported by the arm 120 via an opening formed in the arm mounting member 140. The arm biasing means 161 biases the arm 120 upward (in the positive direction of the Z-axis). This allows the arm biasing means 161 to return the arm 120 to its original horizontal state when the arm 120 tilts downward (in the negative direction of the Z-axis). The arm biasing means 161 may be, for example, a spring, an elastic body such as rubber, a magnetic body, an electromagnet, or the like.

[0022] The drive mechanism 162 is provided between the arm support member 110 and the connection / separation mechanism mounting member 130. One end (the end on the X-axis positive side) of the drive mechanism 162 is pivotally supported by the connection / separation mechanism mounting member 130, and the other end (the end on the X-axis negative side) is pivotally supported by the arm support member 110. The drive mechanism 162 can tilt the arm support member 110 in the vertical direction (Z-axis direction) around the shaft member 131 as the center of rotation by extending and contracting. Note that the drive mechanism 162 may be a cylinder, actuator, etc. that operates to perform linear motion using any drive source (for example, electric, pneumatic, hydraulic, etc.), or may be a cylinder, actuator, etc. that performs rotational motion using any drive source.

[0023] A pair of extension / contraction means 163 are provided on each of the left and right side portions of the arm attachment member 140, with the rotating member 143 sandwiched therebetween. The extension / contraction means 163 expands and contracts in accordance with the swinging of the arm attachment member 140 in the second horizontal direction (Y-axis direction). As a result, the extension / contraction means 163 can, for example, urge the arm attachment member 140 that has swung in the second horizontal direction (Y-axis direction) to return the arm attachment member 140 to a non-swinging state (i.e., a state in line with the arm support member 110). One end (the end on the X-axis positive side) of the extension / contraction means 163 is held by an extension / contraction means holding member 164 provided on the arm support member 110. The other end (the end on the X-axis negative side) of the extension / contraction means 163 is held by an extension / contraction means holding member 164 provided on the arm attachment member 140. When the arm mounting member 140 is not swinging in the second horizontal direction (Y-axis direction), the pair of extension / contraction means 163 are substantially linear and have the same length. When the arm mounting member 140 swings in the second horizontal direction (Y-axis direction), one extension / contraction means 163 bends and extends, and the other extension / contraction means 163 bends and contracts. As a result, the pair of extension / contraction means 163 urge the arm mounting member 140 that has swung in the second horizontal direction (Y-axis direction) to return it to its original state when it is not swinging in the second horizontal direction (Y-axis direction). The extension / contraction means 163 may be made of, for example, a spring, an elastic body such as rubber, a magnetic body, an electromagnet, or the like. The extension / contraction means 163 may be provided integrally with either the arm mounting member 140 or the arm support member 110. An extension / contraction means holding member 164 that holds one end (the end on the positive side of the X-axis) of the extension / contraction means 163 may be provided on the connection / separation mechanism mounting member 130. Further, an expansion / contraction means holding member 164 that holds the other end (the end on the positive side of the X-axis) of the expansion / contraction means 163 may be provided on the arm 120.

[0024] The swing restricting member 165 is inserted into both a hole formed in the arm attachment member 140 and a hole formed in the arm support member 110, thereby restricting swing of the arm attachment member 140 in the second horizontal direction (Y-axis direction) relative to the arm support member 110. The swing restricting member 165 may be a cylindrical member such as a pin or screw that is inserted into both the hole in the arm attachment member 140 and the hole in the arm support member 110, or may be a plate-shaped fixing member that fixes the arm attachment member 140 and the arm support member 110 together.

[0025] The arm 120 swings in the second horizontal direction (Y-axis direction) together with the arm attachment member 140. For this reason, it can be said that the extension / contraction means 163 returns the arm attachment member 140 to a non-swinging state, that is, returns the arm 120 to a non-swinging state. It can also be said that the swing restriction member 165 restricts the swing of the arm attachment member 140, that is, restricts the swing of the arm 120.

[0026] (Tilt Operation of the Connection / Separation Mechanism 100 According to an Embodiment) Next, the tilting operation of the coupling and separating mechanism 100 according to one embodiment will be described with reference to Figures 6 to 8. Note that Figures 6 to 8 show the cross section of the coupling and separating mechanism 100 taken along the AA cross section line shown in Figure 3.

[0027] 6 is a partially enlarged cross-sectional view of the coupling / separation mechanism 100 according to one embodiment and the bogie 20 (in a state where the hook portion 121 is in contact with the horizontal protrusion portion 24). The two wheels on the front side (positive side of the X axis) of the bogie 20 are swivel wheels, and the two wheels on the rear side (negative side of the X axis) of the bogie 20 are fixed wheels.

[0028] 6, when the arm 120 is not engaged with the horizontal protrusion 24 of the carriage 20, it is pulled upward (in the positive direction of the Z axis) by the arm biasing means 161 and maintains a horizontal state. At this time, the distance between the arm 120 and the arm attachment member 140 is shortened, and therefore the tilting arm detection mechanism 144 is in a state in which it detects the arm 120 (ON state).

[0029] 6, when the transport vehicle 10 to which the coupling / separation mechanism 100 is attached moves backward (in the negative direction of the X-axis (the direction of arrow B in the figure)) relative to the stationary carriage 20, the hook portion 121 (second wall surface portion 121B) of the arm 120 comes into contact with the horizontal protrusion 24 of the carriage 20. The height position of the arm 120 is adjusted in advance to match the height position of the horizontal protrusion 24 so that the hook portion 121 (second wall surface portion 121B) comes into contact with the horizontal protrusion 24.

[0030] FIG. 7 is a partially enlarged cross-sectional view of the coupling / separation mechanism 100 and the carriage 20 (in a state where the hook portion 121 is pressed down by the horizontal protrusion portion 24) according to one embodiment.

[0031] As shown in FIG. 7, when the transport vehicle 10 to which the coupling / separation mechanism 100 is attached moves further backward (in the negative direction of the X-axis (the direction of arrow B in the figure)) from the position shown in FIG. 6 relative to the stationary carriage 20, the horizontal protrusion 24 of the carriage 20 slides on the slope of the hook portion 121 (second wall surface portion 121B) of the arm 120 and presses the arm 120 downward (in the negative direction of the Z-axis). As a result, when the force with which the horizontal protrusion 24 presses the arm 120 downward exceeds the upward biasing force of the arm biasing means 161, the arm 120 tilts downward around the shaft member 141 as the center of rotation. At this time, the distance between the arm 120 and the arm mounting member 140 becomes longer, and therefore the tilting arm detection mechanism 144 is in a state in which it is not detecting the arm 120 (OFF state).

[0032] FIG. 8 is a partially enlarged cross-sectional view of the coupling / separation mechanism 100 and the carriage 20 (in a state where the hook portion 121 is engaged with the horizontal protrusion portion 24) according to one embodiment.

[0033] As shown in Figure 8, when the transport vehicle 10 to which the coupling / separation mechanism 100 is attached moves further backward (in the negative direction of the X-axis (direction of arrow B in the figure)) from the position shown in Figure 7 relative to the stationary cart 20, the hook portion 121 of the arm 120 climbs over the horizontal protrusion portion 24 of the cart 20.

[0034] 8, the horizontal protrusion 24 is accommodated between the hook portion 121 and the arm auxiliary member 122. Furthermore, the arm 120 tilts upward around the shaft member 141 as the center of rotation due to the upward biasing force of the arm biasing means 161, and returns to its original horizontal state.

[0035] At this time, the distance between the arm 120 and the arm attachment member 140 becomes shorter, and the tilting arm detection mechanism 144 is in a state (ON state) in which it detects the arm 120. As a result, the transport vehicle 10 can determine that the coupling of the carriage 20 has been performed normally. Then, the transport vehicle 10 can tow the carriage 20 by moving forward (in the positive direction of the X-axis (in the direction of arrow A in the figure)).

[0036] (Swinging Operation of the Connection / Separation Mechanism 100 According to an Embodiment) Next, the swinging operation of the coupling and separation mechanism 100 according to one embodiment will be described with reference to Fig. 9. Fig. 9 is a top view of the coupling and separation mechanism 100 and the carriage 20 according to one embodiment.

[0037] In the example shown in FIG. 9(a), the center line of the carriage 20 is inclined at an angle θ4 in the Y-axis direction with respect to the center line (parallel to the X-axis) of the coupling / separation mechanism 100 attached to the transport vehicle 10. Also, in the example shown in FIG. 9(b), the arm 120 and the arm attachment member 140 do not swing in the negative direction of the Y-axis with respect to the arm support member 110. That is, the arm 120 and the arm attachment member 140 are in a linear state with the arm support member 110. At this time, the extension / contraction means holding member 164a on the Y-axis positive side and the extension / contraction means holding member 164b on the Y-axis negative side are equal in length and exert equal biasing forces. This keeps the arm 120 and the arm attachment member 140 parallel to the X-axis (linear with the arm support member 110).

[0038] (Operation of the coupling / separation mechanism 100 according to one embodiment when traveling along a curve) Next, with reference to Fig. 10, the operation of the coupling and separation mechanism 100 according to one embodiment when traveling around a curve will be described. Fig. 10 is a top view of the coupling and separation mechanism 100 according to one embodiment and the bogie 20 (when traveling around a curve). As shown in Fig. 10, when the transport vehicle 10 travels around a curve in the direction of arrow C while towing the bogie 20, the arm 120 and the arm mounting member 140 swing in the negative direction of the Y axis around the rotating member 143 as the center of rotation. As a result, the bogie 20, whose horizontal protrusion 24 is connected by the hook portion 121 of the arm 120, can travel around the curve with a small turning radius.

[0039] (Separation Operation of the Connection / Separation Mechanism 100 According to an Embodiment) Next, the separation operation of the coupling and separation mechanism 100 according to one embodiment will be described with reference to Fig. 11. Fig. 11 is a side view of the coupling and separation mechanism 100 according to one embodiment and the carriage 20 (during separation operation). As shown in Fig. 11, when the transport vehicle 10 arrives at the destination while towing the carriage 20, the coupling and separation mechanism 100 can release the engagement of the horizontal protrusion 24 of the carriage 20 from the hook portion 121 of the arm 120, thereby separating the carriage 20.

[0040] Specifically, the coupling / separation mechanism 100 extends the drive mechanism 162 in response to a control signal transmitted from the transport vehicle 10, as shown in Fig. 11. This allows the coupling / separation mechanism 100 to push the arm 120 downward together with the arm support member 110 and the arm attachment member 140. The arm support member 110, the arm attachment member 140, and the arm 120 can then tilt downward (in the negative direction of the Z axis) around the shaft member 131 as the center of rotation. As a result, the coupling / separation mechanism 100 allows the hook portion 121 of the arm 120 to disengage downward (in the negative direction of the Z axis) from the horizontal protrusion 24 of the carriage 20, as shown in Fig. 11.

[0041] At this time, for example, the transport vehicle 10 can detect that the carriage 20 has been released normally by detecting the extension state of the drive mechanism 162 using various sensors (not shown) provided in the coupling / separation mechanism 100.

[0042] In addition, if all of the wheels 23 on the cart 20 are swivel wheels, the swinging of the arm mounting member 140 and the arm 120 in the Y-axis direction can be restricted by the swinging restriction member 165 (see Figure 3), allowing the transport vehicle 10 to tow the cart 20 without causing it to snake.

[0043] (Control procedure by the transport vehicle 10) Fig. 12 is a flowchart showing the control procedure by the transport vehicle 10 according to one embodiment. The flowchart shown in Fig. 12 shows a series of control procedures by the transport vehicle 10 from coupling the carriages 20 to separating the carriages 20. By executing the series of processes shown in Fig. 12, the transport vehicle 10 according to one embodiment can ensure the reliability and safety of various operations with a relatively simple sensor configuration (a tilt arm detection mechanism 144 and a sensor that detects the extension state of the drive mechanism 162).

[0044] First, the transport vehicle 10 starts moving backward at a position in front of the carriage 20 (step S201).

[0045] Next, the transport vehicle 10 determines whether the detection of the arm 120 by the tilt arm detection mechanism 144 has been switched to OFF (step S202).

[0046] In step S202, if it is determined that the detection of the arm 120 by the tilting arm detection mechanism 144 has not been switched to OFF (step S202: No), the transport vehicle 10 executes the determination process of step S202 again.

[0047] On the other hand, if it is determined in step S202 that the detection of the arm 120 by the tilting arm detection mechanism 144 has switched to OFF (step S202: Yes), the transport vehicle 10 assumes that the arm 120 has been pushed downward when the hook portion 121 of the arm 120 abuts against the horizontal protrusion portion 24 of the cart 20, and determines whether the detection of the arm 120 by the tilting arm detection mechanism 144 has switched to ON (step S203).

[0048] In step S203, if it is determined that the detection of the arm 120 by the tilting arm detection mechanism 144 has not been switched to ON (step S203: No), the transport vehicle 10 executes the determination process of step S203 again.

[0049] On the other hand, in step S203, if it is determined that the detection of the arm 120 by the tilting arm detection mechanism 144 has switched to ON (step S203: Yes), the transport vehicle 10 determines that the arm 120 has returned to its original horizontal state as a result of the hook portion 121 of the arm 120 engaging with the horizontal protrusion portion 24 of the cart 20, and stops moving backward (step S204).

[0050] Then, the transfer vehicle 10 starts moving forward (that is, towing the carriage 20) (step S205).

[0051] Next, the transportation vehicle 10 determines whether or not it has arrived at the predetermined destination (step S206).

[0052] If it is determined in step S206 that the predetermined destination has not been reached (step S206: No), the transportation vehicle 10 executes the determination process of step S206 again.

[0053] On the other hand, if it is determined in step S206 that the guided vehicle 10 has arrived at the predetermined destination (step S206: No), the guided vehicle 10 stops moving forward (step S207).

[0054] Then, the transfer vehicle 10 extends the drive mechanism 162 to tilt the arm 120 downward (step S208).

[0055] Furthermore, the transportation vehicle 10 determines whether the drive mechanism 162 has been extended to a predetermined length based on the output value of a sensor that detects the extension state of the drive mechanism 162 (step S209).

[0056] In step S209, if it is determined that the drive mechanism 162 has not extended to the predetermined length (step S209: No), the transport vehicle 10 determines that the arm 120 is not tilting downward normally and makes an abnormal stop (step S210).

[0057] On the other hand, if it is determined in step S209 that the drive mechanism 162 has extended to the predetermined length (step S209: Yes), the transport vehicle 10 determines that the arm 120 has tilted downward normally and that the engagement of the hook portion 121 of the arm 120 with the horizontal protrusion portion 24 of the cart 20 has been released, and starts moving forward (step S211). This allows the transport vehicle 10 to separate the cart 20.

[0058] Then, the transfer vehicle 10 retracts the drive mechanism 162 to return the arm 120 to its original horizontal position (step S212).

[0059] Furthermore, the transportation vehicle 10 determines whether the drive mechanism 162 has contracted to a predetermined length based on the output value of a sensor that detects the extension state of the drive mechanism 162 (step S213).

[0060] In step S213, if it is determined that the drive mechanism 162 has not contracted to the predetermined length (step S213: No), the transport vehicle 10 determines that the arm 120 has not returned normally to its original horizontal state, and makes an abnormal stop (step S214).

[0061] On the other hand, if it is determined in step S213 that the drive mechanism 162 has contracted to a predetermined length (step S213: Yes), the transport vehicle 10 determines that the arm 120 has returned normally to its original horizontal state, and terminates the series of processes shown in Figure 12.

[0062] 12 can be realized, for example, by a computer executing a program in the transport vehicle 10. Also, the series of processes shown in Fig. 12 can be realized, for example, by one or more processing circuits in the transport vehicle 10. Here, the term "processing circuit" in this specification includes a processor programmed to execute each function by software, such as a processor implemented by an electronic circuit, as well as devices such as an ASIC (Application Specific Integrated Circuit), DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), and conventional circuit modules designed to execute each function of the transport vehicle 10.

[0063] (Variation) Next, a modified example of the coupling and separation mechanism 100 according to one embodiment will be described with reference to Figures 13 and 14. Figures 13 and 14 are diagrams showing a modified example of the coupling and separation mechanism 100 according to one embodiment. The configuration for engaging the hook portion 121 of the arm 120 with the carriage 20 is not limited to the configuration described in the above embodiment.

[0064] For example, as shown in Figure 13(a), the hook portion 121 of the arm 120 may be able to engage with the horizontal portion (another example of the "engaged portion") of the side frame portion 21 of the cart 20 from below (negative Z-axis direction).

[0065] 13(b), the arm 120 may be turned upside down so that the hook portion 121 of the arm 120 can engage with the horizontal portion of the side frame portion 21 of the carriage 20 from above (positive direction of the Z axis).

[0066] Furthermore, the shape of the horizontal protrusion 24 of the carriage 20 is not limited to the configuration described in the above embodiment, as long as it is a shape that can at least engage with the hook portion 121 of the arm 120.

[0067] For example, as shown in FIG. 14(a), the horizontal protrusion 24 of the carriage 20 may have an L-shaped cross section.

[0068] Also, for example, as shown in FIG. 14(b), the horizontal protrusion 24 of the carriage 20 may have a vertical flat plate shape.

[0069] Furthermore, for example, as shown in FIG. 14(c), the horizontal protrusion 24 of the carriage 20 may have a circular cross-sectional shape (that is, a cylindrical or round bar shape).

[0070] Furthermore, for example, as shown in FIG. 14(d), the horizontal protrusion 24 of the carriage 20 may have a rectangular cross section (that is, a square rod shape or a square tube shape).

[0071] As described above, the coupling / separation mechanism 100 according to one embodiment is a coupling / separation mechanism 100 that couples and separates the trolley 20 and the transport vehicle 10, and comprises an arm support member 110 extending in a first horizontal direction from the transport vehicle 10, an arm 120 that extends further in the first horizontal direction from the arm support member 110 and is supported by the arm support member 110 so as to be tiltable in the vertical direction, and an arm biasing means 161 that biases the arm 120 tilted downward upward, and the arm 120 has a hook portion 121 at its tip that engages with an engaged portion provided on the side or bottom of the trolley 20.

[0072] As a result, in one embodiment of the coupling / separation mechanism 100, when the transport vehicle 10 equipped with the coupling / separation mechanism 100 moves backward toward the trolley 20, the hooking portion 121 of the arm 120 abuts against the engaged portion of the trolley 20, pushing the arm 120 downward, and after the hooking portion 121 overcomes the engaged portion of the trolley 20, the arm 120 returns upward due to the biasing force from the arm biasing means 161, thereby automatically engaging the hooking portion 121 of the arm 120 with the engaged portion of the trolley 20.

[0073] Furthermore, in the coupling / separation mechanism 100 according to one embodiment, the arm 120 is pushed upward by the arm biasing means 161 while the bogie 20 is coupled, thereby preventing the arm 120 from moving downward due to an impact or the like during towing, which would otherwise cause the bogie 20 to detach.

[0074] Therefore, according to the coupling / separation mechanism 100 of one embodiment, it is possible to provide a coupling / separation mechanism 100 that is capable of coupling and separating the transport vehicle 10 and the carriage 20 with a relatively simple configuration and that is highly versatile.

[0075] In the connection / separation mechanism 100 according to one embodiment, the arm 120 is provided opposite the hook portion 121 and includes an arm auxiliary member 122 whose distance from the hook portion 121 is changeable.

[0076] As a result, the connection / separation mechanism 100 of one embodiment can accommodate the engaged portion of the trolley 20 between the hook portion 121 and the arm auxiliary member 122, and can further adjust the distance between the hook portion 121 and the arm auxiliary member 122 according to the first horizontal width of the engaged portion of the trolley 20.

[0077] Furthermore, in the connection / separation mechanism 100 according to one embodiment, the arm support member 110 supports the arm 120 so that the arm 120 can swing in a second horizontal direction that is perpendicular to the first horizontal direction.

[0078] As a result, in the coupling and separation mechanism 100 according to one embodiment, when the transport vehicle 10 travels around a curve while towing the bogie 20, the arm 120 swings in the second horizontal direction, thereby making it possible to reduce the turning radius of the bogie 20 and suppress the width of the towing path. Furthermore, in the coupling and separation mechanism 100 according to one embodiment, even if the bogie 20 is inclined in the second horizontal direction with respect to the arm 120, the arm 120 swings in the second horizontal direction, thereby making it possible to couple the bogie 20 to the hook portion 121 of the arm 120.

[0079] Furthermore, the connection / separation mechanism 100 according to one embodiment includes, on each of both side portions of the arm 120 in the second horizontal direction, an extension / contraction unit 163 that extends and contracts as the arm 120 swings in the second horizontal direction.

[0080] As a result, in one embodiment of the connection / separation mechanism 100, the extension / contraction means 163 is extended and contracted, thereby allowing the arm 120 to swing in the second horizontal direction, while the biasing force of the extension / contraction means 163 allows the arm 120 to return to and maintain a non-swinging state.

[0081] Moreover, the connection / separation mechanism 100 according to one embodiment includes a swing restricting member 165 that restricts the swing of the arm 120 in the second horizontal direction.

[0082] As a result, the coupling and separation mechanism 100 of one embodiment uses the swing restriction member 165 to restrict the swing of the arm 120 in the second horizontal direction, so that the bogie 20 can be towed without snake-like movement even if all of the multiple wheels attached to the underside of the bogie 20 are swivel wheels.

[0083] Furthermore, the connection / separation mechanism 100 according to one embodiment includes a connection / separation mechanism mounting member 130 that is fixed to the transport vehicle 10 and supports the arm support member 110 so that the arm support member 110 can tilt in the vertical direction, and a drive mechanism 162 that tilts the arm support member 110 downward.

[0084] As a result, in one embodiment of the coupling / separation mechanism 100, when the transport vehicle 10 arrives at its destination, the drive mechanism 162 tilts the arm support member 110 and the arm 120 downward in response to a control signal from the transport vehicle 10, thereby disengaging the hook portion 121 of the arm 120 from the engaged portion of the cart 20.

[0085] Moreover, the coupling / separation mechanism 100 according to one embodiment includes a shock absorbing member 153 between the transport vehicle 10 and the coupling / separation mechanism mounting member 130 .

[0086] As a result, the coupling / separation mechanism 100 of one embodiment can absorb the impact force that occurs between the coupling / separation mechanism 100 and the bogie 20 when the coupling / separation mechanism 100 is coupled, when starting, when accelerating or decelerating while traveling, etc., using the shock absorbing member 153.

[0087] (Other embodiments) Fig. 15 is a bottom side view of a carriage 20-2 according to another embodiment. Fig. 16 is a partially enlarged top view of a coupling / separation mechanism 100-2 according to another embodiment. Fig. 17 is a partially enlarged side view of a coupling / separation mechanism 100-2 according to another embodiment.

[0088] The bogie 20-2 (roll box bogie) shown in Fig. 15 differs from the bogie 20 in the structure of its bottom surface. As shown in Fig. 15, the bogie 20-2 does not have a horizontal protrusion 24, which is a downward protrusion, on its bottom surface. The coupling / separation mechanism 100-2 according to another embodiment shown in Figs. 16 and 17 can also be coupled to the bogie 20-2 configured in this way.

[0089] Specifically, the coupling / separation mechanism 100-2 has a roller 123 (an example of a "tracing means") and a hook portion 124 at the tip of the arm 120. A shaft 123A extending in the Y-axis direction passes through the center of the roller 123. The roller 123 is provided rotatably about the shaft 123A. The roller 123 is also provided movably in the left-right direction (the Y-axis direction) along the shaft 123A. The hook portion 124 has a generally vertical plate shape that protrudes above the upper surface of the arm 120. The hook portion 124 is provided on the X-axis positive side relative to the roller 123. On the other hand, the carriage 20-2 has a recessed portion 25 and a gap 26 on its bottom surface. The gap 26 is provided on the X-axis positive side relative to the recessed portion 25.

[0090] The coupling / separation mechanism 100-2 can couple the carriage 20-2 to the tip of the arm 120 by fitting the roller 123 into the recess 25 and the hook 124 into the gap 26.

[0091] Next, the coupling operation of a coupling / separation mechanism 100-2 according to another embodiment will be described with reference to Figs. 18 to 20. Fig. 18 is a partially enlarged cross-sectional view of a coupling / separation mechanism 100-2 according to another embodiment and a carriage 20-2 (in a state immediately before the rollers 123 come into contact with the lower corners of the carriage 20-2). Fig. 19 is a partially enlarged cross-sectional view of a coupling / separation mechanism 100-2 according to another embodiment and a carriage 20-2 (in a state in which the rollers 123 are tracing the lower corners of the carriage 20-2). Fig. 20 is a partially enlarged cross-sectional view of a coupling / separation mechanism 100-2 according to another embodiment and a carriage 20-2 (in a state in which the rollers 123 and the hook portions 124 are engaged with the bottom surface of the carriage 20-2).

[0092] In another embodiment, as shown in FIG. 19, when a transport vehicle 10 equipped with a coupling / separation mechanism 100-2 moves backward (negative direction of the X-axis) relative to a stationary carriage 20-2, the arm 120 tilts downward and the roller 123 of the arm 120 traces the lower corner of the carriage 20-2 backward (negative direction of the X-axis).

[0093] 20, when the roller 123 moves rearward (in the negative direction of the X-axis) a predetermined distance relative to the lower corner of the carriage 20-2, the roller 123 fits into the recess 25, and at the same time, the arm 120 tilts upward, and the hook portion 124 fits into the gap 26. This allows the coupling / separation mechanism 100-2 to couple the carriage 20-2 to the tip end of the arm 120.

[0094] FIG. 21 is a partially enlarged top view of a coupling / separation mechanism 100-2 and a carriage 20-2 according to another embodiment. As shown in FIG. 21, the coupling / separation mechanism 100-2 has a pivoting structure at the tip of the arm 120 so that the hook portion 124 fits securely into the gap 26. Therefore, when the coupling / separation mechanism 100-2 approaches the carriage 20-2 for coupling, the arm auxiliary member 122 abuts against a lower corner of the carriage 20-2, and the tip of the arm 120 rotates to align with the carriage 20-2. At this time, because the arm auxiliary member 122 is wide in the left-right direction (Y-axis direction), a large moment is generated, allowing the tip of the arm 120 to rotate with a small force. Then, when the tip of the arm 120 is perfectly aligned with the carriage 20-2, the orientation of the hook portion 124 and the orientation of the gap 26 match, so that the hook portion 124 fits securely into the gap 26.

[0095] In this way, even if the center line of the carriage 20-2 is inclined relative to the center line of the coupling / separation mechanism 100-2 (see Figure 9(b)), the coupling / separation mechanism 100-2 of another embodiment can rotate to match the direction of the carriage 20-2, thereby eliminating this inclination and ensuring that the hook portion 124 of the arm 120 engages with the gap portion 26 of the carriage 20.

[0096] FIG. 22 is a partially enlarged perspective view of a coupling / separation mechanism 100-2 and a bogie 20-2 according to another embodiment. As shown in FIG. 22, the bottom surface of the bogie 20-2 is lightweight and strong due to the ribs 27 formed in a lattice pattern. The bottom surface of the bogie 20-2, except for the ribs 27, forms a recessed portion 25. When the coupling / separation mechanism 100-2 is coupled to the bogie 20-2, the roller 123 may interfere with the rib 27. In this case, in the coupling / separation mechanism 100-2, the roller 123 abutting the rib 27 slides in the left-right direction (Y-axis direction) along the shaft 123A, allowing the roller 123 to reliably fit into the recessed portion 25. In this case, the roller 123 having a shape resembling an abacus bead provides a more pronounced effect.

[0097] (Still other embodiments) Fig. 23 is a partially enlarged side view of a coupling / separation mechanism 100-3 and a carriage 20-2 (in a state where the rollers 123 are tracing the lower corners of the carriage 20-2) according to still another embodiment. Fig. 24 is a partially enlarged side view of a coupling / separation mechanism 100-3 and a carriage 20-2 (in a state where the rollers 123 and the hooks 124 are engaged with the bottom surface of the carriage 20-2) according to still another embodiment.

[0098] The method by which the rollers 123 avoid interference between the rollers 123 and the ribs 27 is not limited to the method described with reference to Fig. 22. As shown in Fig. 23 and Fig. 24, the connection / separation mechanism 100-3 may use a link mechanism 125 to store the rollers 123 downward after tracing, thereby avoiding interference between the rollers 123 and the ribs 27.

[0099] Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist of the present invention described in the claims. [Explanation of symbols]

[0100] 10 Transport Vehicle 10A Rear side 20 carts 21 Side frame 22 Bottom plate part 23 wheels 24 Horizontal protrusion 100 Connection and separation mechanism 110 Arm support member 120 Arm 121 Hook 121A 1st wall section 121B 2nd wall section 122 Arm auxiliary member 122A Flat plate part 122B Wall section 130 Connection and separation mechanism mounting member 131 Shaft member 140 Arm mounting member 141 Shaft member 142 Support member 143 Rotating members 144 Tilt arm detection mechanism 151 Vertical connection frame 152 Horizontal connection frame 153 Impact absorbing material 161 Arm biasing means 162 Drive mechanism 163 Expansion means 164, 164a, 164b Expansion means holding member 165 Swing restriction member [Prior art documents] [Patent documents]

[0101] [Patent Document 1] Japanese Patent Application Publication No. 2019-107964 [Patent Document 2] Japanese Patent Application Publication No. 2019-043324

Claims

1. A coupling / separation mechanism that is arranged on a transport vehicle and that couples and separates a carriage and the transport vehicle, a hook portion that engages with the carriage; an arm support member extending in a first horizontal direction from the transport vehicle; an arm extending further in the first horizontal direction from the arm support member and supported by the arm support member so as to be tiltable in an up-down direction; an arm biasing means for biasing the tilted arm in a direction opposite to the tilted direction; Equipped with the hook portion is disposed on an opposite side in the first horizontal direction to a position of the arm where the arm is biased by the arm biasing means, The hook portion has a wall surface portion that faces the carriage side and is inclined with respect to the vertical direction, a tip end of the arm including a swing mechanism that can reliably engage the hook portion with the carriage; When the swing mechanism approaches the cart at an angle, the tip of the arm rotates to follow the direction of the cart, and the direction of the hook portion matches the direction of the gap portion of the cart, thereby ensuring that the hook portion fits securely into the gap portion of the cart. A coupling / separation mechanism characterized by:

2. The arm The hook portion is provided at a tip end thereof and engages with an engaged portion provided on a side or a bottom of the carriage, an arm auxiliary member that is provided opposite the hook portion and is capable of changing the distance between the arm auxiliary member and the hook portion; The coupling / detaching mechanism according to claim 1 .

3. The arm support member is The arm is further supported so as to be swingable in a second horizontal direction perpendicular to the first horizontal direction.

3. The coupling / separation mechanism according to claim 1 or 2.

4. The arm is provided with an extension / contraction means on each of both sides in the second horizontal direction, the extension / contraction means extending and contracting in accordance with the swinging of the arm in the second horizontal direction. The coupling / detaching mechanism according to claim 3 .

5. a swing restricting member that restricts the swing of the arm in the second horizontal direction; 5. The coupling / separation mechanism according to claim 3 or 4.

6. a connection / separation mechanism mounting member that is fixed to the transport vehicle and supports the arm support member so that the arm support member can tilt in the vertical direction; a drive mechanism that tilts the arm support member downward or upward; The coupling / separation mechanism according to any one of claims 1 to 5, further comprising:

7. A shock absorbing member is provided between the transport vehicle and the connection / separation mechanism. The coupling / detachment mechanism according to claim 6 .

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