阅读说明：本技术 无人搬送车 (Unmanned transport carriage ) 是由 山崎智久 野田博秋 于 2017-08-28 设计创作，主要内容包括：本发明提供一种可在清洁环境中使用,且可抑制车体的大型化的无人搬送车。所述无人搬送车是包括抑制车体2倾斜的防跌倒装置的无人搬送车1,防跌倒装置包括：控制部13、在第一驱动单元4的上方安装在车体2的第一电动致动器11、以及在第二驱动单元5的上方安装在车体2的第二电动致动器12。第一电动致动器11使第一头部接触驱动连杆10,由此抑制车体2朝一侧倾斜,第二电动致动器12使第二头部接触驱动连杆10,由此抑制车体2朝另一侧倾斜。(The present invention provides one kind and can use in cleaning ambient, and can inhibit the unmanned transport carriage of the enlargement of car body.The unmanned transport carriage is the unmanned transport carriage 1 for including the inhibition inclined anti-tumble device of car body 2, and anti-tumble device includes: control unit 13, is mounted on the first electric actuator 11 of car body 2 in the top of the first driving unit 4 and is mounted on the second electric actuator 12 of car body 2 in the top of the second driving unit 5.First electric actuator 11 makes the first head contact drive link 10, thus car body 2 is inhibited to tilt towards side, and the second electric actuator 12 makes the second head contact drive link 10, thus car body 2 is inhibited to tilt towards the other side.)

1. a kind of unmanned transport carriage, comprising:

Car body；

Pallet fork carries out tripping action in the outside of the car body；

First driving unit, configuration have the first traveling wheel in the side of the car body；

Second driving unit, configuration have the second traveling wheel in the other side of the car body；

Drive link is mutually shaken on the contrary in the up-down direction with first driving unit and second driving unit Mode links first driving unit and second driving unit；And

Anti- tumble device, inhibits the tilting of car body；

The unmanned transport carriage is characterized in that,

The anti-tumble device includes:

Control unit；

First electric actuator has the first head moved in the up-down direction under the control of the control unit, described The vehicle frame of the car body is mounted on above first driving unit；And

Second electric actuator has the second head moved in the up-down direction under the control of the control unit, described The vehicle frame is mounted on above second driving unit；

First electric actuator keeps first head downward mobile to contact the drive link, thus inhibits institute Car body is stated to tilt towards the side,

Second electric actuator keeps second head downward mobile to contact the drive link, thus inhibits institute Car body is stated to tilt towards the other side.

2. unmanned transport carriage according to claim 1, which is characterized in that

The pallet fork is to carry out the sliding pallet fork of tripping action in the side and the other side,

When carrying out tripping action in the side, the control unit does not make second head contact the drive link, and First head is set to contact the drive link,

When carrying out tripping action in the other side, the control unit does not make first head contact the drive link, And second head is made to contact the drive link.

3. unmanned transport carriage according to claim 1 or 2, which is characterized in that

First electric actuator and second electric actuator are mounted on the upper surface of the vehicle frame,

The vehicle frame has the top positioned at first driving unit and the first opening portion and position of first head entrance In second driving unit top and second head enter the second opening portion,

The drive link have the first head interface for being contacted in first opening portion with first head and The second head interface contacted in second opening portion with second head.

4. unmanned transport carriage according to any one of claim 1 to 3, characterized by comprising:

First sensor has contacted the drive link to first head and has detected；And

Second sensor has contacted the drive link to second head and has detected.

5. unmanned transport carriage according to any one of claim 1 to 4, which is characterized in that

First electric actuator includes:

First motor is rotated under the control of the control unit；And

There is first motor-driven jack the rotation corresponding to first motor to move up dynamic described first in above-below direction Portion；

Second electric actuator includes:

Second motor is rotated under the control of the control unit；And

There is second motor-driven jack the rotation corresponding to second motor to move up dynamic described second in above-below direction Portion；And

First motor and second motor by the inside of the car body opposite each other in a manner of configure.

6. unmanned transport carriage according to any one of claim 1 to 5, which is characterized in that

The car body includes the receiving room for storing the pallet fork together with conveying workpiece above the vehicle frame,

The receiving room includes the shutter being opened and closed under the control of the control unit,

The control unit makes the shutter after making first head or second head contact the drive link It opens, closes the shutter after tripping action, to release the contact for the drive link.

Technical field

The present invention relates to a kind of unmanned transport carriages including anti-tumble device.

Background technique

In general, outrigger (outrigger) to be used for the anti-tumble device of unmanned transport carriage.As including outrigger Unmanned transport carriage, such as it has been known that there is unmanned transport carriages shown in the unmanned transport carriage recorded in patent document 1 or Fig. 5.

Unmanned transport carriage 1 ' shown in Fig. 5 is provided with traveling wheel 4a~traveling wheel 7a in the quadrangle of car body 2, takes turns in traveling The outrigger 20 of hydraulic type is provided on the outside of 4a~traveling wheel 7a.Unmanned transport carriage 1 ' makes outrigger in tripping action 20 contact floors, thus can prevent car body 2 from tilting and falling because transporting the weight of workpiece.

Summary of the invention

Problem to be solved by the invention

In addition, when using unmanned transport carriage 1 ' in the cleaning ambients such as dust free room (cleanroom), it is necessary to be arranged electronic The outrigger of formula replaces the outrigger 20 of hydraulic type.DYN dynamic outrigger is bigger than the outrigger 20 of hydraulic type Type, if therefore by the setting of DYN dynamic outrigger in unmanned transport carriage 1 ', there are problems that 2 enlargement of car body this.

The present invention be in view of the situation and winner, problem are that providing one kind can use in cleaning ambient, and can Inhibit the unmanned transport carriage of the enlargement of car body.

Technical means to solve problem

In order to solve described problem, unmanned transport carriage of the invention includes: car body；Pallet fork, the outside of the car body into Row tripping action；First driving unit, configuration have the first traveling wheel in the side of the car body；Second driving unit, configuration In the other side of the car body, there is the second traveling wheel；Drive link, it is single with first driving unit and second driving The mode that member is mutually shaken on the contrary in the up-down direction links first driving unit and second driving unit； And anti-tumble device, inhibit the tilting of car body；The unmanned transport carriage is characterized in that the anti-tumble device includes: Control unit；First electric actuator has the first head moved in the up-down direction under the control of the control unit, in institute State the vehicle frame that the car body is mounted on above the first driving unit；And second electric actuator, have in the control unit Control under the second head for moving in the up-down direction, be mounted on the vehicle frame above second driving unit；Institute Stating the first electric actuator keeps first head downward mobile to contact the drive link, thus inhibits the car body It is tilted towards the side, second electric actuator keeps second head downward mobile to contact the driving and connect Thus bar inhibits the car body to tilt towards the other side.

In the unmanned transport carriage, the preferably described pallet fork is to carry out tripping action in the side and the other side Pallet fork is slided, when carrying out tripping action in the side, the control unit does not make second head contact the driving company Bar, and first head is made to contact the drive link, when carrying out tripping action in the other side, the control unit is not So that first head is contacted the drive link, and second head is made to contact the drive link.

In the unmanned transport carriage, following structure can be set as: first electric actuator and described second electronic Actuator is mounted on the upper surface of the vehicle frame, and the vehicle frame has positioned at the top and described first of first driving unit The first opening portion that head enters, and the second opening of top and second head entrance positioned at second driving unit Portion, the drive link have the first head interface for being contacted in first opening portion with first head and The second head interface contacted in second opening portion with second head.

The unmanned transport carriage also may include: first sensor, contact the drive link to first head It is detected；And second sensor, the drive link has been contacted to second head and has been detected.

In the unmanned transport carriage, can be set as following structure: first electric actuator includes: the first motor, It is rotated under the control of the control unit；And first motor-driven jack, there is the rotation corresponding to first motor First head moved in the up-down direction；Second electric actuator includes: the second motor, in the control unit It is rotated under control；And second motor-driven jack, there is the rotation corresponding to second motor to move up in above-below direction Dynamic second head；And first motor and second motor by the inside of the car body opposite each other in a manner of Configuration.

In the unmanned transport carriage, can be set as following structure: the car body includes by institute above the vehicle frame The receiving room that pallet fork is stored together with conveying workpiece is stated, the receiving room includes being opened and closed under the control of the control unit Shutter (shutter), the control unit will after making first head or second head contact the drive link The shutter is opened, and closes the shutter after tripping action, to release the contact for the drive link.

The effect of invention

According to the present invention, it is possible to provide one kind can use in cleaning ambient, and can inhibit car body enlargement nobody remove Send vehicle.

Detailed description of the invention

Fig. 1 is the figure for indicating unmanned transport carriage of the invention, and (A) is plan view, and (B) is left side figure, and (C) is the back side Figure.

Fig. 2 is the ground plan for indicating unmanned transport carriage of the invention.

Fig. 3 is the figure for indicating the structure of anti-tumble device and its periphery of the invention.

Fig. 4 is the figure for indicating anti-tumble device of the invention, and figure when (A) is tripping action, (B) terminates for tripping action Figure afterwards.

Fig. 5 is the ground plan of existing unmanned transport carriage.

Specific embodiment

Hereinafter, being illustrated referring to annexed drawings to the embodiment of unmanned transport carriage of the invention.In addition, only important affair First without special instruction, then front and rear, left and right and upper and lower direction are set as the side considered on the basis of the car body of unmanned transport carriage To.

The unmanned transport carriage 1 of Fig. 1 (A)~(C) expression one embodiment of the present invention.Unmanned transport carriage 1 is for example dustless It is used in the cleaning ambients such as room.Unmanned transport carriage 1 includes: car body 2 and the sliding pallet fork 3 that car body 2 is arranged in.

In the quadrangle of the bottom surface side of car body 2, it is provided with first traveling wheel (the near front wheel) 4a, the second traveling wheel (off-front wheel) 5a, third traveling wheel (left rear wheel) 6a and fourth line sail wheel (off hind wheel) 7a.In addition, car body 2 includes that will slide pallet fork 3 and conveying The receiving room 8 that workpiece W is stored together.Receiving room 8 includes shutter 9.Shutter 9 is immediately the front opening of tripping action, In The mode closed after tripping action is constituted.

Shutter 9 is not only provided at the left side of receiving room 8, and being also disposed at right side, (the second traveling wheel 5a and fourth line sail wheel The side of 7a).When making the sliding pallet fork 3 in receiving room 8 towards left slide, when the left-external side of car body 2 carries out tripping action, left side Shutter 9 open.On the other hand, it when sliding the sliding pallet fork 3 in receiving room 8 towards right side, is carried out in the right outside of car body 2 When tripping action, the shutter 9 on right side is opened.The on-off action of the sliding action and shutter 9 that slide pallet fork 3 institute in Fig. 2 It is carried out under the control of the control unit 13 shown.In addition, sliding pallet fork 3 can be revolved under the control of control unit 13 in receiving room 8 Turn.

As shown in Fig. 2, unmanned transport carriage 1 includes: the first driving unit 4 comprising the first traveling wheel 4a, comprising the second row The second driving unit 5 for sailing wheel 5a, the drive link 10 that the first driving unit 4 and the second driving unit 5 are linked and inhibition The inclined anti-tumble device (11,12,13) in tripping action of car body 2.

First driving unit 4 has the first traveling wheel 4a and motor and speed reducer for driving the first traveling wheel 4a Structure etc..Similarly, the second driving unit 5 has the second traveling wheel 5a and for driving the motor of the second traveling wheel 5a and subtracting Fast mechanism etc..

Drive link 10 is mutually shaken on the contrary in the up-down direction with the first driving unit 4 and the second driving unit 5 Mode, the bindiny mechanism that the first driving unit 4 and the second driving unit 5 are linked.According to drive link 10, such as first In the case that driving unit 4 upwardly-directed shakes because of the inclination on floor etc., 5 downward of the second driving unit is shaken, therefore The posture of car body 2 is retained level.

As shown in figure 3, drive link 10 includes the first contact member 10a and the second contact member 10b.First contact member The first head interface 10c that there is 10a the first head 11a of anti-tumble device to be contacted.Second contact member 10b has The second head interface 10d that second head 12a of anti-tumble device is contacted.

In the case where the first head 11a has contacted the first head interface 10c, at least the first driving unit 4 is upward To shake be inhibited.In other words, the inclination of car body 2 towards 4 side of the first driving unit is inhibited.The second head 12a In the case where contacting the second head interface 10d, the shake of at least the second driving unit 5 upwardly-directed is inhibited.In other words, The inclination of car body 2 towards 5 side of the second driving unit is inhibited.

The anti-tumble device of present embodiment includes the first electric actuator 11, the second electric actuator 12 and control unit 13, it does not include oil pressure actuator (for example, outrigger of hydraulic type).Therefore, the anti-tumble device of present embodiment is not present The risk of oil leak is suitble to the use in cleaning ambient.

In turn, in the case where being made of anti-tumble device outrigger, four devices are needed, in the present embodiment, Anti- tumble device is constituted by two devices (the first electric actuator 11 and the second electric actuator 12).Therefore, in this embodiment party , it can be achieved that the miniaturization of anti-tumble device in formula.

As shown in Figures 2 and 3, the first electric actuator 11 is mounted on the vehicle frame of car body 2 in the top of the first driving unit 4 14.First electric actuator 11 includes: the first motor-driven jack 11b, the first motor 11c and first with the first head 11a Block (dog) 11d.

First motor 11c is rotated under the control of control unit 13.First motor-driven jack 11b makes the first head 11a Rotation corresponding to the first motor 11c moves up dynamic in above-below direction.For example, the case where the first motor 11c is rotated in the forward direction Under, the first head 11a downward is mobile, and in the case where the first motor 11c is reversely rotated, the first head 11a is upward Direction is mobile.It is electronic to be mounted on first in a manner of moving in the up-down direction together with the first head 11a by first block 11d Jack 11b.

Second electric actuator 12 is mounted on the vehicle frame 14 of car body 2 in the top of the second driving unit 5.Second electric actuation Device 12 includes: the second motor-driven jack 12b, the second motor 12c and the second block 12d with the second head 12a.

Second motor 12c is rotated under the control of control unit 13.Second motor-driven jack 12b makes the second head 12a Rotation corresponding to the second motor 12c moves up dynamic in above-below direction.For example, the case where the second motor 12c is rotated in the forward direction Under, the second head 12a downward is mobile, and in the case where the second motor 12c is reversely rotated, the second head 12a is upward Direction is mobile.It is electronic to be mounted on second in a manner of moving in the up-down direction together with the second head 12a by second block 12d Jack 12b.

The vehicle frame 14 of car body 2 has the top positioned at the first driving unit 4 and the first opening portion of the first head 11a entrance 14a, and the second opening portion 14b of top and the second head 12a entrance positioned at the second driving unit 5.In the first opening portion 14a Interior, configuration is mounted on the first sensor 15 of the first contact member 10a of drive link 10 via bracket.In the second opening portion In 14b, configuration is mounted on the second sensor 16 of the second contact member 10b of drive link 10 via bracket.

First sensor 15 detects the lower end of the first block 11d, has thus contacted first to the first head 11a indirectly Portion contact surface 10c is detected (referring to Fig. 4 (A)).The detection signal of first sensor 15 is output to control unit 13.Control unit If 13 are entered the detection signal of first sensor 15, stop the rotation of the first motor 11c.In addition, first sensor 15 The first head interface 10c directly can also be contacted to the first head 11a to detect.

Second sensor 16 detects the lower end of the second block 12d, has thus contacted second to the second head 12a indirectly Portion contact surface 10d is detected.The detection signal of second sensor 16 is output to control unit 13.If control unit 13 is entered The detection signal of two sensors 16 then stops the rotation of the second motor 12c.In addition, second sensor 16 can also be directly right Second head 12a has contacted the second head interface 10d and has been detected.

First electric actuator 11 is provided with the first upper limit sensor 17a and the first lower limited sensor 17b.First upper limit Sensor 17a detects the upper end of the first block 11d, thus arrived the upper limit to the movement of the first head 11a indirectly and examines It surveys.First lower limited sensor 17b detects the upper end of the first block 11d, thus arrived indirectly to the movement of the first head 11a Lower limit is detected.The detection signal of first upper limit sensor 17a and the first lower limited sensor 17b are output to control unit 13. If control unit 13 is entered the detection signal of the first upper limit sensor 17a or the first lower limited sensor 17b, make the first motor The rotation of 11c stops.

Second electric actuator 12 is provided with the second upper limit sensor 18a and the second lower limited sensor 18b.Second upper limit Sensor 18a detects the upper end of the second block 12d, thus arrived the upper limit to the movement of the second head 12a indirectly and examines It surveys.Second lower limited sensor 18b detects the upper end of the second block 12d, thus arrived indirectly to the movement of the second head 12a Lower limit is detected.The detection signal of second upper limit sensor 18a and the second lower limited sensor 18b are output to control unit 13. If control unit 13 is entered the detection signal of the second upper limit sensor 18a or the second lower limited sensor 18b, make the second motor The rotation of 12c stops.

As shown in figure 3, in the first electric actuator 11, the region of the first motor 11c be (the first motor-driven jack 11b's The region of inside) than the region of the first upper limit sensor 17a and the first lower limited sensor 17b, (the first motor-driven jack 11b's is outer The region of side) it is big.Similarly, in the second electric actuator 12, the region of the second motor 12c be (the second motor-driven jack 12b's The region of inside) than the region of the second upper limit sensor 18a and the second lower limited sensor 18b, (the second motor-driven jack 12b's is outer The region of side) it is big.Therefore, in the present embodiment, the first motor 11c and the second motor 12c are configured in the inside of car body 2 Opposite each other, inhibit the enlargement of car body 2.

Control unit 13 is arranged in car body 2 for example comprising control with integrated circuit (Integrated Circuit, IC) Portion.Hereinafter, enumerate car body 2 left side (first traveling wheel 4a and third traveling wheel 6a side) carry out tripping action the case where be Example, is illustrated the control of control unit 13.

If unmanned transport carriage 1 gets to the station to carry out tripping action, control unit 13 makes the first electric actuator 11 The first motor 11c rotated and (rotated in the forward direction), and the first head 11a is made to contact the first head interface 10c (referring to Fig. 4 (A))。

At this point, control unit 13 is rotated the second motor 12c of the second electric actuator 12, the second head is maintained The state that 12a leaves from the second head interface 10d.Its reason is: in cleaning ambient, contact not preferably being excessively increased Face.In addition, leaving the first head 11a from the first head interface 10c when carrying out tripping action on the right side of car body 2 In the state of, so that the second head 12a is contacted the second head interface 10d.

Then, control unit 13 opens the shutter in the left side of receiving room 89 to carry out tripping action.If left side Shutter 9 is fully open, then control unit 13 makes the sliding pallet fork 3 in receiving room 8 towards left slide, and makes to slide the dress of pallet fork 3 Carry conveying workpiece W (for example, referring to Fig. 1 (A)).At this point, the first head 11a has contacted the first head interface 10c, therefore car body 2 inclination towards left side is inhibited.Even if car body 2 is not yet that is, the tumble moment loading as caused by conveying workpiece W is in car body 2 It can fall towards left side.

Then, control unit 13 makes to be mounted with the sliding pallet fork 3 of conveying workpiece W towards the interior Slideslip of car body 2, and will be mounted with The sliding pallet fork 3 of conveying workpiece W is accommodated in receiving room 8.If conveying workpiece W is incorporated in receiving room 8 (tripping action terminates), Control unit 13 closes shutter 9.

Then, control unit 13 makes the first motor 11c of the first electric actuator 11 be rotated (reverse rotation), and makes One head 11a leaves from the first head interface 10c (referring to Fig. 4 (B)).If the first head 11a is from the first head interface 10c It leaves, then unmanned transport carriage 1 starts again at traveling.

Finally, in the unmanned transport carriage 1 of present embodiment, by the first electric actuator 11, the second electric actuator 12, And control unit 13 constitutes anti-tumble device, does not use oil pressure actuator (for example, outrigger of hydraulic type).It therefore, can be with Say that the unmanned transport carriage 1 of present embodiment is suitble to the use in cleaning ambient.

In addition, the first electric actuator 11 and the second electric actuator 12 not press floor as outrigger, and It is direct fixed drive link 10, therefore there is no configurations in the first driving unit 4 and this limit of the outside of the second driving unit 5 System.Therefore, the unmanned transport carriage 1 of present embodiment can inhibit the enlargement of car body 2.

More than, the embodiment of unmanned transport carriage of the invention is illustrated, but the present invention is not limited to described Embodiment.

For example, as long as the first electric actuator 11 has first moved in the up-down direction under the control of control unit 13 Head 11a then can be suitable for changing its structure.Similarly, as long as the second electric actuator 12 has under the control of control unit 13 The the second head 12a moved in the up-down direction, then can be suitable for changing its structure.

As long as pallet fork of the invention is constituted by such a way that the outside of car body 2 carries out tripping action, it is also possible to slide Pallet fork other than pallet fork 3.

The explanation of symbol

1: unmanned transport carriage

2: car body

3: sliding pallet fork

4: the first driving units

5: the second driving units

4a~7a: the first~fourth line sails wheel

8: receiving room

9: shutter

10: drive link

11: the first electric actuators

12: the second electric actuators

13: control unit

14: vehicle frame

15: first sensor

16: second sensor

17a: the first upper limit sensor

17b: the first lower limited sensor

18a: the second upper limit sensor

18b: the second lower limited sensor