Automated guided vehicle
The AGV's split support shaft design with a movable upper shaft and locking mechanism enables accurate and simple alignment with the device-side shaft, addressing precision and stability issues in roll transfer, ensuring reliable and stable roll transfer operations.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- MURATA MASCH LTD
- Filing Date
- 2026-01-19
- Publication Date
- 2026-07-23
AI Technical Summary
Existing automated guided vehicles (AGVs) face challenges in accurately and simply aligning the device-side shaft of a roll receiving device with the support shaft due to complex sensor-based control and precision issues, particularly when transferring rolls with narrow shaft gaps and cantilevered shafts that are affected by weight deflection and wheel unevenness.
The AGV features a support shaft with a split structure comprising a lower and upper shaft, where the upper shaft is movable relative to the lower shaft, equipped with a fitting portion that aligns with the device-side shaft, and includes a locking mechanism, biasing means, and an extrusion device to ensure accurate alignment and prevent detachment during transfer.
This configuration allows for precise and easy alignment of the roll with the device-side shaft, preventing misalignment and detachment, ensuring reliable transfer of rolls by allowing the upper shaft to follow the device-side shaft and utilizing biasing means to maintain stability during transport.
Smart Images
Figure JP2026001441_23072026_PF_FP_ABST
Abstract
Description
Automated Guided Vehicle
[0001] The present invention relates to an automated guided vehicle, and more particularly to an automated guided vehicle that transfers a roll to a roll receiving device.
[0002] In an automated warehouse, a factory, or the like, an automated guided vehicle (AGV) is used. As an example of such an automated guided vehicle, Patent Document 1 describes a transport vehicle system for transporting a roll-shaped member. This transport vehicle system includes a transport vehicle and a transfer mechanism for transferring a roll-shaped member to a station. The transfer mechanism includes a support member on which an article is supported and a moving mechanism for moving the support member. The transfer mechanism moves the support member that supports the roll-shaped member in the horizontal turning direction (θ) based on the detection results from a pair of distance measuring sensors that detect the distance and inclination in a state where the transport vehicle has stopped at a position facing the station, and also performs a correction operation of moving the support member in the vertical direction (Z) and the horizontal direction (Y) based on the detection results from a mark detection sensor that detects a reference mark attached to the support member, thereby enhancing the positioning accuracy between the article and the station.
[0003] Japanese Patent Application Laid-Open No. 2012-206787
[0004] However, in the automated guided vehicle of Patent Document 1, since the transfer mechanism determines the horizontal turning direction (θ), the vertical direction (Z), and the horizontal direction (Y) of the support member based on the detection results of a plurality of sensors in a state where the transport vehicle has stopped at a position facing the station, there is an advantage that the positioning accuracy between the roll-shaped member and the station can be enhanced. On the other hand, there is a problem that the control of the moving mechanism of the transfer mechanism becomes complicated.
[0005] Furthermore, generally, when transferring a roll from the shaft holding the roll of an automated guided vehicle (AGV) to the shaft receiving the roll at the station, the gap between the outer diameter of the station's shaft and the inner diameter of the roll's hole is very narrow, requiring high precision in positioning the AGV's shaft. In addition, since the AGV's shaft holds the roll in a cantilevered position, it is affected by the deflection of the shaft tip due to the weight of the roll, and is also affected by differences in the diameter of the AGV's wheels and unevenness of the floor.
[0006] Therefore, the inventors of this invention diligently conducted research on how to improve the positioning accuracy between the roll-shaped member and the station with a simpler configuration for the transfer device of an automated guided vehicle, and were able to create this invention.
[0007] The present invention was made to solve the problems of the prior art, and aims to provide an automated guided vehicle that can accurately and easily align the device-side shaft of the roll receiving device with the support shaft of the lifting device when transferring rolls.
[0008] To achieve the above objective, the present invention provides an automated guided vehicle for transporting rolls, comprising: a guided vehicle body that travels unmanned; a support shaft mounted on the guided vehicle body and supporting the rolls; a lifting mechanism for raising and lowering the support shaft; and an extrusion device for pushing the rolls along the support shaft. The support shaft comprises a lower shaft attached to the lifting mechanism and an upper shaft provided on the upper part of the lower shaft so as to be movable relative to the lower shaft. The lower shaft comprises a support portion that movably supports the upper shaft and an engagement portion that engages with the upper shaft. The upper shaft comprises a supported portion that is movable relative to the lower shaft, an engaged portion that engages with a lower shut, and a fitting portion that fits with the device-side shaft of the roll receiving device. In the present invention configured as described above, the support shaft that supports the roll is divided into a lower shaft attached to a lifting mechanism and an upper shaft provided on the upper part of the lower shaft so as to be movable relative to the lower shaft. When the upper shaft is fitted with the device-side shaft of the roll receiving device at the fitting portion, the upper shaft moves slightly to follow the device-side shaft, and the upper shaft aligns (centers) the device-side shaft with the device-side shaft. This makes it possible to accurately and easily transfer the roll from the support shaft of the automated guided vehicle to the device side.
[0009] In the present invention, preferably, the fitting portion of the upper shaft is attached to the tip of the upper shaft and has a shape that opens downward. In the present invention configured in this way, since the fitting portion of the upper shaft is attached to the tip of the upper shaft and has a shape that opens downward, the alignment (centering) with the device-side shaft can be accurately and easily performed when transferring the roll simply by moving the shaft downward.
[0010] In the present invention, preferably, the lower shaft is pin-supported and fixed to the lifting mechanism so as to be able to swing vertically, and the lifting mechanism stops the lower shaft from descending when it detects that the lower shaft has tilted while it is descending. In the present invention configured in this way, the lower shaft is pin-supported and fixed to the lifting mechanism so as to be able to swing vertically, and the lifting mechanism stops the lower shaft from descending when it detects that the lower shaft has tilted while it is descending, so it is possible to prevent vertical misalignment between the support shaft that supports the roll of the automated guided vehicle and the device-side shaft of the roll receiving device when the roll is being transferred.
[0011] In the present invention, preferably, the engaging portion of the lower shaft is inserted into the engaged portion of the upper shaft, and the engaging portion of the lower shaft is configured so as not to disengage from the engaged portion of the upper shaft. In the present invention configured in this way, since the engaging portion of the lower shaft is inserted into the engaged portion of the upper shaft and the engaging portion of the lower shaft is configured so as not to disengage from the engaged portion of the upper shaft, the upper shaft does not detach from the lower shaft, and therefore the lower shaft can reliably support the upper shaft.
[0012] In the present invention, preferably, the engaging portion of the lower shaft comprises a lower projection that protrudes toward the upper shaft and an upper projection that is above the lower projection and has a wider horizontal width than the lower projection, and the engaged portion of the upper shaft comprises an upper hole and a lower hole that is below the upper hole and has a narrower horizontal width than the upper hole, the width of the lower hole of the upper shaft is greater than the width of the lower projection of the lower shaft, the width of the upper hole of the upper shaft is greater than the width of the upper projection of the lower shaft, and furthermore, the horizontal width of the upper projection of the lower shaft is greater than the horizontal width of the lower hole of the upper shaft. In the present invention configured in this way, since the width of the lower hole of the upper shaft is greater than the width of the lower projection of the lower shaft, and the width of the upper hole of the upper shaft is greater than the width of the upper projection of the lower shaft, the upper shaft can move (minute movement) relative to the lower shaft, and the lower shaft can reliably support the upper shaft so that the upper shaft does not come off the lower shaft.
[0013] Preferably, the present invention further includes a biasing means for moving the upper shaft to an initial position along the longitudinal and width directions relative to the lower shaft. In this configuration, since the support shaft is equipped with a biasing means for moving the upper shaft to an initial position along the longitudinal and width directions relative to the lower shaft, it is possible to prevent the roll from falling off the support shaft when the roll is being conveyed by the support shaft.
[0014] Preferably, the present invention further includes a locking mechanism that restricts the movement of the upper shaft. In the present invention configured in this way, since there is a locking mechanism that restricts the movement of the upper shaft, it is possible to prevent the upper shaft from coming off the lower shaft.
[0015] According to the automated guided vehicle of the present invention, when transferring rolls, the alignment of the device-side shaft of the roll receiving device and the support shaft of the lifting device can be performed accurately and easily.
[0016] This is a perspective view showing an automated guided vehicle (AGV) according to an embodiment of the present invention. This is a side view showing an AGV and roll receiving device according to an embodiment of the present invention. This is a longitudinal cross-sectional view showing an AGV according to an embodiment of the present invention. This is a perspective view showing the support shaft of an AGV according to an embodiment of the present invention. This is a cross-sectional view taken along the line V-V in Figure 4. This is a cross-sectional perspective view taken along the line VI-VI in Figure 4. This is a perspective cross-sectional view showing a biasing means acting in the width direction provided on the support shaft of an AGV according to an embodiment of the present invention. This is a perspective cross-sectional view showing a biasing means acting in the longitudinal direction provided on the support shaft of an AGV according to an embodiment of the present invention. This is a perspective view showing the back side of a box for explaining the lifting mechanism, extrusion device, etc. of an AGV according to an embodiment of the present invention. This is a diagram for explaining the roll transfer operation by an AGV according to an embodiment of the present invention.
[0017] Hereinafter, an automated guided vehicle (AGV) according to an embodiment of the present invention will be described with reference to the drawings. First, the basic structure of the AGV according to an embodiment of the present invention will be described with reference to Figures 1 to 3. Figure 1 is a perspective view showing the AGV according to an embodiment of the present invention, Figure 2 is a side view showing the AGV and roll receiving device according to an embodiment of the present invention, and Figure 3 is a longitudinal cross-sectional view showing the AGV according to an embodiment of the present invention.
[0018] As shown in Figures 1 to 3, the automated guided vehicle 1 according to an embodiment of the present invention has an automated guided vehicle body 2 that travels unmanned and a support shaft 6 mounted on the automated guided vehicle body 2 that supports a roll 4. In this embodiment, the roll 4 supported by the support shaft 6 is an electrode material for a secondary battery (a thin metal plate wound up), and is a cylindrical article with a hole formed in the center. Furthermore, the automated guided vehicle 1 is equipped with a box body 8, and inside this box body 8 is provided a lifting mechanism 10 that moves the support shaft 6 up and down, and an extrusion device 12 which is a pusher that pushes the roll 4 in the transfer direction. In addition, a lifting space for the support shaft 6 is formed on the surface 8a of the box body 8 on which the support shaft 6 is provided, and a cover 9 such as a roll screen is attached to this lifting space, and this cover 9 expands and contracts in accordance with the lifting movement of the support shaft 6.
[0019] Furthermore, a roll receiving device 14 (hereinafter referred to as "device 14") is provided for receiving the rolls 4 transported by the automated guided vehicle 1 from the automated guided vehicle 1. This device 14 is equipped with a device-side shaft 16 for receiving the rolls 4. This device 14 is fixedly positioned, and the automated guided vehicle 1 travels to this device 14 with the rolls 4 loaded on it. The rolls 4 are supported by the support shaft 6 of the automated guided vehicle 1 and pushed out by the extrusion device 12 described above, thereby being transferred to the device-side shaft 16 provided on the device 14.
[0020] Here, the roll 4 comprises a roll body 4a made of the thin metal plate described above, and a cylindrical core material 4b that is inserted into a hole formed in the center of the roll body 4a (see Figure 2). For example, the diameter of the roll body 4a is 600 mm to 1100 mm, and the width is 70 mm to 300 mm, while the inner diameter of the core material 4b is about 150 mm, the outer diameter is 170 mm to 300 mm, and the width is 130 mm to 600 mm.
[0021] Next, the specific structure of the support shaft 6 of the automated guided vehicle 1 will be described with reference to Figures 4 to 6. Figure 4 is a perspective view showing the support shaft of an automated guided vehicle according to an embodiment of the present invention, Figure 5 is a cross-sectional view taken along the line V-V in Figure 4, and Figure 6 is a cross-sectional perspective view taken along the line VI-VI in Figure 4.
[0022] As shown in Figure 4, the support shaft 6 of the automated guided vehicle 1 comprises a lower shaft 20 and an upper shaft 22 provided above the lower shaft 20, forming a split structure of two shafts. A fitting member 24 is attached to the tip of the upper shaft 22. This fitting member 24 is a semicircular shape with an opening facing downwards. On the other hand, as shown in Figure 2, a fitted member 26 is attached to the tip of the device-side shaft 16, and the fitted member 26 is cylindrical in shape so that it can be easily fitted with the fitting member 24 of the upper shaft 22 to connect the two shafts. Alternatively, the fitting member at the tip of the upper shaft 22 may be a tapered hole, and the fitted member at the tip of the device-side shaft may be a cone, with these tapered holes and cones connected.
[0023] Here, as shown in Figure 3, a locking mechanism 27 is attached to the fitting member 24 at the tip of the upper shaft 22, which locks the fitting member 24 to the fitted member 26 of the device-side shaft 16, thereby restricting the movement of the fitting member 24 of the upper shaft 22 relative to the device-side shaft 16. This locking mechanism 27 comprises a pin 27a attached to the fitting member 24, an L-shaped main body member 27b rotatably attached to the pin 27a, a roller 27c provided on the upper end side of the main body member 27b, and a roll stopper 27d provided on the lower end side of the main body member 27b. Before the fitting member 24 of the upper shaft 22 is locked onto the fitted member 26 of the device-side shaft 16, the roller 27c of the locking mechanism 27 contacts the tip of the fitted member 26 of the device-side shaft 16. When the upper shaft 22 is advanced in this state, the roll stopper 27d rotates to grip the lower side of the fitted member 26 of the device-side shaft 16 (clockwise in Figure 3). As a result, the fitting member 24 of the upper shaft 22 is fitted onto the fitted member 26 of the device-side shaft 16, and the two shafts are connected.
[0024] Figure 5 shows a support shaft 6, comprising a lower shaft 20 and an upper shaft 22, inserted into the core material 4b of the roll 4 and supporting the roll 4. As shown in Figures 4 and 5, free bearings (also called "free ball bearings") 28 are attached to the areas at both ends in the width direction of the upper surface 20a of the lower shaft 20. As shown in Figure 4, multiple free bearings 28 are provided along the longitudinal direction of the upper surface 20a of the lower shaft 20. As shown in Figure 5, these free bearings 28 are in contact with the lower surface 22a of the upper shaft 22, allowing the upper shut 22 to move in all directions along the horizontal plane relative to the lower shaft 20.
[0025] Furthermore, as shown in Figures 4 and 5, the upper surface 22b of the upper shaft 22 is arc-shaped. When the roll 4 is inserted into and held on the support shaft 6, the core material 4b of the roll 4 is pushed out toward the tip by the extrusion device 12. Because the upper surface 22b of the upper shaft 22 is arc-shaped, the extrusion device 12 can push out the roll 4 with a small pushing force.
[0026] Next, as shown in Figures 5 and 6, the lower shaft 20 has a lower projection 20b that protrudes upward from its upper surface 20a toward the upper shaft 22, and an upper projection 20c provided above the lower projection 20b. Here, the horizontal width W1 of the upper projection 20c is greater than the horizontal width W2 of the lower projection 20b (W1 > W2).
[0027] The upper shaft 22 has an upper hole 22c into which the upper projection 20c of the lower shaft 20 described above is housed, and a lower hole 22d below the upper hole 22c, into which the lower projection 20b of the lower shaft 20 described above is housed. Here, the horizontal width W3 of the lower hole 22d is smaller than the horizontal width W4 of the upper hole 22c (W3 < W4).
[0028] As shown in Figure 5, the horizontal width W3 of the lower hole 22d of the upper shaft 24 is greater than the horizontal width W2 of the lower protrusion 20b of the lower shaft 25, and the width W4 of the upper hole 22c of the upper shaft 22 is greater than the horizontal width W1 of the upper protrusion 20c of the lower shaft 20 (W3 > W2, W4 > W1). Furthermore, the horizontal width W1 of the upper protrusion 20c of the lower shaft 20 is greater than the horizontal width W3 of the lower hole 22d of the upper shaft 22 (W1 > W3). As a result, the upper shaft 22 can move slightly horizontally relative to the lower shaft 20, and the upper shaft 22 will not detach from the lower shaft 20.
[0029] As shown in Figure 6, the upper projection 20c of the lower shaft 20 is disc-shaped, and the upper hole 22c of the upper shaft 22 is oval-shaped with arc shapes connected to the ends of two parallel sides. As a result, the upper shaft 22 can move along the width and length directions by means of the free bearing 28.
[0030] Next, as described above, and in particular as shown in Figures 5 and 6, the lower shaft 20 includes a support portion (free bearing 28) that movably supports the upper shaft 22 and an engaging portion (lower projection 20b and upper projection 20c) that engages with the upper shaft 22. On the other hand, the upper shaft 22 includes a supported portion (lower surface 22a) that is movable relative to the lower shaft 20 and an engaged portion (upper hole 22c) that engages with the lower shaft 22. The engaging portion (lower projection 20b and upper projection 20c) of the lower shaft 20 and the engaged portion (upper hole 22c) of the upper shaft shown in Figure 5 are first examples of the engaging portion and the engaged portion.
[0031] In this embodiment, in addition to the first example described above, as a second example, the engaging portion of the lower shaft 20 may be a disc shape similar to that of the first example, and the engaged portion of the upper shaft 22 may be a groove shape extending in the longitudinal direction. Furthermore, as a third example, the engaging portion of the lower shaft 20 may be a shape extending in the longitudinal direction, and the engaged portion of the upper shaft 22 may be a groove shape extending in the longitudinal direction.
[0032] Next, the biasing means provided in this embodiment will be described with reference to Figures 5, 7, and 8. Figure 7 is a perspective cross-sectional view showing a biasing means acting in the width direction provided on the support shaft of an automated guided vehicle according to an embodiment of the present invention, and Figure 8 is a perspective cross-sectional view showing a biasing means acting in the longitudinal direction provided on the support shaft of an automated guided vehicle according to an embodiment of the present invention.
[0033] As described above, the support shaft 6 of the automated guided vehicle according to this embodiment has a split structure consisting of an upper shaft 20 and a lower shaft 22. The lower shaft 20 is attached to the lifting mechanism 10, and the upper shaft 22 is movable in all directions along the horizontal plane by a free bearing 28 provided on the lower shaft 20. The upper shaft 22 moves relative to the lower shaft 20 when the support shaft 6 is supporting the roll 4 and the upper shaft 22 is aligned (centered) with the device-side shaft 16 of the device 14. Therefore, before and after the transfer of the roll 4, the upper shaft 22 needs to be returned (corrected) to its initial position relative to the lower shaft 20.
[0034] As shown in Figures 5 and 7, a spring 32, which is a biasing means, is embedded in the lower frame 20. Specifically, at the tip end of the support shaft 6, a spring 32a is provided to return the lower shaft 20, which has moved to the left when viewed from the front of the support shaft 6, back to its initial position on the right. Furthermore, adjacent to it, a spring 32b is provided to return the lower shaft 20, which has moved to the right, back to its initial position on the left (see Figure 5). Similarly, at the base end of the support shaft 6, a spring 32c is provided to return the lower shaft 20, which has moved to the left when viewed from the front of the support shaft 6, back to its initial position on the right. Furthermore, adjacent to it, a spring 32d is provided to return the lower shaft 20, which has moved to the right, back to its initial position on the left (see Figure 5).
[0035] When the support shaft 6 supports and moves the roll 4, the upper shaft 22 may be displaced from its initial position in the width direction (either left or right). However, after the roll 4 has been moved, the upper shaft 22, which has been displaced in either the left or right direction, is returned to its initial position by the springs 32a to 32d described above.
[0036] As shown in Figure 8, a recess 36 is formed approximately in the center of the lower shaft 20 in the longitudinal direction, and a slider 38, which is movable along the longitudinal direction, is embedded in the recess 36 approximately in the center of the recess 36 in the longitudinal direction. This slider 38 is connected to the upper shaft 22 and is able to move integrally with the upper shaft 22. Furthermore, springs 42, which are biasing means, are attached to both sides of the slider 28 in the longitudinal direction.
[0037] When the support shaft 6 supports and moves the roll 4, the upper shaft 22 may be displaced longitudinally from its initial position. At this time, the longitudinal displacement of the upper shaft 22 is transmitted to the slider 38, causing one of the springs 42 on either side in the longitudinal direction to be compressed and the other spring 42 to be stretched. However, after the roll 4 has been moved, the biasing force of these springs 42 returns the slider 38 to its initial position.
[0038] Next, the configuration of the lifting mechanism 10 and the extrusion device 12, etc., described above will be explained with reference to Figures 3 and 9. Figure 9 is a perspective view showing the back side of a box for explaining the lifting mechanism, extrusion device, etc., of an automated guided vehicle according to an embodiment of the present invention.
[0039] First, the lifting mechanism 10 will be described. As shown in Figures 3 and 9, the transport vehicle body 2 is equipped with a box body 8, and two spaced-apart vertically extending rails 46 are provided on the back surface of the box body 8 on the side of the support shaft 6, and a frame 48 is attached to these rails 46. The base end of the lower shaft 20 is attached to this frame 48, and it is possible to move it up and down integrally with this frame 48. The frame 48 moves up and down (lifts and lowers) along the rails 46 by a drive unit (not shown).
[0040] Next, the extrusion device 12 will be described. As shown in Figures 3 and 9, the extrusion device 12 comprises an extrusion device body 12a and an extrusion member 12b whose tip is pushed forward by the extrusion device body 12a. The extrusion device body 12a engages with the extrusion member 12b and rotates with a drive motor 12c, moving the extrusion member 12b forward. The tip of the extrusion member 12b of the extrusion device 12 comes into contact with the core material 4b of the roll 4, pushing the core material 4b forward, thereby pushing out the entire roll 4. This makes it possible to transfer the device-side shaft 16 of the roll 4.
[0041] Furthermore, as shown in Figures 3 and 9, a support block 50 for supporting the lower shaft 20 is attached to the frame 48 at the base end of the lower shaft 20, and a pin support member 52 for pin-supporting and fixing the base end of the lower shaft 20 is attached to this support block 50. In addition, a drive pin member 54 is attached to this support block 50, and by moving this drive pin member 54 up and down with a drive motor 55, the lower shaft 20 can swing in the vertical direction within a small angle with the pin support member 52 as the pivot point.
[0042] Further, as shown in FIGS. 3 and 9, an inclination detection sensor 56 for detecting the inclination state of the lower shaft 20 of the frame 48 described above is provided at the rear end of the lower shaft 20.
[0043] Next, the transfer operation of the roll 4 of the automated guided vehicle 1 according to the present embodiment will be described with reference to FIG. 10. FIG. 10 is a diagram for explaining the transfer operation of the roll by the automated guided vehicle according to the embodiment of the present invention. As shown in FIG. 10(a), the roll 4 is mounted on the support shaft 6 of the automated guided vehicle 1. At this time, the support shaft 6 is positioned above the height of the device-side shaft 16. With the support shaft 6 positioned above the height of the device-side shaft 16, the carrier body 2 carrying the roll 4 is moved toward the fixedly arranged device 14.
[0044] Next, as shown in FIG. 10(b), in a plan view, the support shaft 6 and the device-side shaft 16 of the automated guided vehicle 1 are aligned in a straight line, and the carrier body 2 is moved toward the device 14 side until the fitting member 24 of the support shaft 6 and the fitted member 26 of the device-side shaft 16 overlap. Thereafter, the support shaft 6 is lowered by the elevating mechanism 10 so that the fitting member 24 of the support shaft 6 is fitted to the fitted member 26 of the device-side shaft 16.
[0045] When the inclination detection sensor 56 detects an upward inclination of the lower shaft 20 when the support shaft 6 is lowered, the support shaft 6 has been lowered to a height at which the fitting member 24 of the support shaft 6 fits with the fitted member 26 of the device-side shaft 16. Therefore, at this time, the lowering of the support shaft 6 is stopped. As a result, the fitting member 24 of the support shaft 6 fits with the fitted member 26 of the device-side shaft 16, connecting the two shafts. At this time, since the upper shaft 6 follows the device-side shaft 16, the upper shaft 6 moves slightly with respect to the lower shaft 20.
[0046] Further, as another example, a detector such as a photoelectric sensor may be provided on the fitting member 24 of the support shaft 6 and the fitted member 26 of the device-side shaft 16, and the lowering of the support shaft 6 may be stopped based on the output of this detector.
[0047] Next, as shown in FIG. 10(c), with the fitting member 24 of the support shaft 6 fitted and connected to the fitted member 26 of the device-side shaft 16, the core material 4b of the roll 4 supported by the support shaft 6 is pushed out to the tip side of the support shaft 6 by the pushing member 12b of the extrusion device 12, and further, the roll 4 is pushed out to the device-side shaft 16. Thereafter, the AGV 1 raises the support shaft 6, moves away from the device 14, and moves to the next operation location. In this way, the transfer operation of the roll 4 supported by the support shaft 6 of the AGV 1 to the device-side shaft 16 of the device 14 is completed.
[0048] Next, the operation and effect of the AGV 1 according to the embodiment of the present invention will be described. First, in the AGV 1 according to the present embodiment, the support shaft 6 that supports the roll 4 has a split structure of a lower shaft 20 attached to the lifting mechanism 10 and an upper shaft 22 provided above the lower shaft 20 so as to be movable with respect to the lower shaft 20. By fitting the fitting portion 24 of the upper shaft 22 with the device-side shaft 16 of the roll receiving device 14, the upper shaft 22 aligns (centers) with the device-side shaft 16. Therefore, the transfer operation of the roll 4 from the support shaft 6 of the AGV 1 to the device 14 side can be performed accurately and easily.
[0049] Second, according to the AGV 1 according to the present embodiment, since the fitting portion 24 of the upper shaft 22 is attached to the tip of the upper shaft 22 and has a downward-opening shape, the alignment (centering) with the device-side shaft 16 can be performed accurately and easily when transferring the roll 4.
[0050] Third, according to the AGV 1 according to the present embodiment, the lower shaft 22 is pin-supported and fixed by a pin support member 52 to be swingable in the vertical direction by the lifting mechanism 10. When the lifting mechanism 10 detects that the lower shaft 22 is tilted by a tilt detection sensor 56 when the lower shaft 22 is descending, the descent of the lower shaft 22 is stopped. Therefore, it is possible to prevent the occurrence of a vertical displacement between the support shaft 6 that supports the roll 4 of the AGV 1 and the device-side shaft 16 of the roll receiving device 14 when transferring the roll 4.
[0051] Fourth, according to the automated guided vehicle 1 of this embodiment, the engaging portion (upper projection 20c) of the lower shaft 20 is inserted into the engaged portion (upper hole 22c) of the upper shaft 20, and the engaging portion (upper projection 20c) of the lower shaft 20 is configured not to come off the engaged portion (upper hole 22c) of the upper shaft 22. Therefore, the upper shaft 22 does not come off the lower shaft 20, and thus the lower shaft 20 can reliably support the upper shaft 22.
[0052] Fifth, according to the automated guided vehicle 1 according to an embodiment of the present invention, the width W3 of the lower hole 22d of the upper shaft 22 is greater than the width W2 of the lower protrusion 20c of the lower shaft 20, and the width W4 of the upper hole 22c of the upper shaft 22 is greater than the width W1 of the upper protrusion of the lower shaft 20. As a result, the upper shaft 22 can move (momentarily) relative to the lower shaft 20, and the lower shaft 20 can reliably support the upper shaft 22 so that the upper shaft 22 does not come off the lower shaft 20.
[0053] Sixth, in the automated guided vehicle 1 according to this embodiment, the support shaft 6 is equipped with springs 32a to 32d and 42, which are biasing means that move the upper shaft 22 to its initial position along the longitudinal and width directions relative to the lower shaft 20. Therefore, when the roll 4 is being transported by the support shaft 6, it is possible to prevent the roll 4 from falling off the support shaft 6.
[0054] Seventh, the automated guided vehicle 1 according to this embodiment has a locking mechanism 27 that restricts the movement of the upper shaft 22, so that the upper shaft 22 does not come off the lower shaft 20.
[0055] 1 Automated Guided Vehicle 2 Guided Vehicle Body 4 Roll 4a Roll Body 4b Core Material 6 Support Shaft 8 Box Body 9 Cover 10 Lifting Mechanism 12 Extrusion Device 12a Extrusion Device Body 12b Extrusion Member 14 Roll Receiving Device (Device) 16 Device Side Shaft 20 Lower Shaft 20a Top Surface 20b Lower Protrusion 20c Upper Protrusion 22 Upper Shaft 22a Bottom Surface 22b Top Surface 22c Upper Hole 22d Lower Hole 24 Fitting Member 26 Fitted Member 27 Locking Mechanism 27a Pin 27b Body Member 27c Roller 27d Roll Stopper 28 Free Bearing 32 Spring 32a, 32b, 32c, 32d Spring 36 Recess 38 Slider 40 Cylindrical member 42, Spring 46, Rail 48, Frame 50, Support block 52, Pin support member 54, Drive pin member 55, Drive motor 56, Tilt detection sensor
Claims
1. An automated guided vehicle for transporting rolls, comprising: a transport vehicle body that travels unmanned; a support shaft mounted on the transport vehicle body and supporting the rolls; a lifting mechanism for raising and lowering the support shaft; and an extrusion device for pushing the rolls along the support shaft, wherein the support shaft comprises a lower shaft attached to the lifting mechanism and an upper shaft provided on the upper part of the lower shaft so as to be movable relative to the lower shaft; the lower shaft comprises a support portion that movably supports the upper shaft and an engagement portion that engages with the upper shaft; and the upper shaft comprises a supported portion that is movable relative to the lower shaft, an engaged portion that engages with the lower shut, and a fitting portion that fits with the device-side shaft of the roll receiving device.
2. The automated guided vehicle according to claim 1, wherein the fitting portion of the upper shaft is attached to the tip of the upper shaft and has a shape that opens downward.
3. The lower shaft is pin-supported and fixed to the lifting mechanism so as to be able to swing in the vertical direction, and the lifting mechanism stops the lower shaft from descending when it detects that the lower shaft has tilted while the lower shaft is descending, according to claim 1.
4. The automated guided vehicle according to any one of claims 1 to 3, wherein the engaging portion of the lower shaft is inserted into the engaged portion of the upper shaft, and the engaging portion of the lower shaft is configured not to disengage from the engaged portion of the upper shaft.
5. The engaged portion of the lower shaft comprises a lower projection that protrudes toward the upper shaft, and an upper projection that is above the lower projection and has a wider horizontal width than the lower projection; the engaged portion of the upper shaft comprises an upper hole and a lower hole that is below the upper hole and has a narrower horizontal width than the upper hole; the width of the lower hole of the upper shaft is greater than the width of the lower projection of the lower shaft, the width of the upper hole of the upper shaft is greater than the width of the upper projection of the lower shaft, and furthermore, the horizontal width of the upper projection of the lower shaft is greater than the horizontal width of the lower hole of the upper shaft, as described in claim 1.
6. The automated guided vehicle according to claim 1, further comprising a biasing means for moving the upper shaft to an initial position along the longitudinal and widthwise directions relative to the lower shaft.
7. The automated guided vehicle according to claim 1, wherein the fitting portion of the upper shaft is provided with a locking mechanism that restricts the movement of the fitting portion of the upper shaft relative to the shaft on the device side.