JP7115100B2 - carrier - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a low-lift type transport vehicle for transporting cargo in warehouses and factories, and more particularly to a transport vehicle suitable for transporting a physical distribution trolley.

2. Description of the Related Art There is a low-lift type transport vehicle that transports cargo in a warehouse or a factory by slightly lifting a pallet or the like on the floor level with a fork and transporting it on the floor surface (see, for example, Patent Documents 1 and 2).
The transport vehicle of Patent Document 1 has one steerable drive wheel 1 and two auxiliary wheels 12, 12 provided on a base 2, and driven wheels 5, 5 provided at the tips of left and right forks 4, 4. In addition, an elevating device 6 for elevating left and right forks 4, 4 is provided in the center of the base 2 between the steerable drive wheel 1 as the front wheel and the driven wheels 5, 5 as the rear wheels.
1, 2, and 4 of Patent Document 2 include one steering drive wheel 29, two auxiliary wheels 39, 39, and left and right fork portions 13, Left and right forks provided at the rear portion of the body frame 11 between the steering drive wheel 29 as the front wheel and the driven wheels 22 as the rear wheels. A lifting device (such as a hydraulic cylinder 19 for fork lifting) for lifting and lowering the parts 13, 13 is provided.

On the other hand, in warehouses and factories, distribution carts (for example, see Non-Patent Documents 1 to 3) are widely used for transportation, delivery, or storage. By using the slim physical distribution truck, the physical distribution truck can be moved in a narrow passage while being manually pushed by a person in a state where the physical distribution truck is loaded with articles or in an empty state where the physical distribution truck is unloaded.
When such a logistics vehicle is transported by the low-lift type carrier, the low-lift type carrier cannot move in a transverse direction in which it runs perpendicular to the front-rear direction without changing its posture. Its long directional length makes it unsuitable for movement in narrow passages.

6(a) to (c) of Patent Document 2 show a modification of the three-wheel or four-wheel configuration for performing the spin turn of the invention of Patent Document 2, in which the steering wheel and the drive wheel are arranged. A separate configuration and a configuration in which both wheels are steered and driven wheels are described. If all three wheels are steered drive wheels as shown in FIG.
However, if all the wheels are steered and driven wheels, the structure of the rear wheels 56, 56 becomes complicated and bulky, which leads to an increase in manufacturing cost and also impairs the merits of the low-lift type with a low-floor fork. be In addition, since the low-lift type transport vehicle is long in the front-rear direction, it is not possible to perform both forward-rearward travel and lateral travel in a state in which the travel space is small.

On the other hand, as an automatic guided vehicle for carrying out cargo handling work in the lateral direction, a fork F is provided on one side of the central portion of a flat U-shaped vehicle body 1, and drive steering wheels 2a and 2b are provided on the front and rear sides of the vehicle body 1 in the normal traveling direction. , and also driven wheels 3a and 3b provided on the front and rear sides (see, for example, Patent Document 3).
According to such a transport vehicle, as shown in FIG. 1, the transport vehicle can move in the front-rear direction by normal running, and can also move in the horizontal direction by lateral running, as shown in FIG. 2, without changing its posture.
Such a transport vehicle is suitable for moving in a narrow passage because it can reduce the running space compared to a transport vehicle that curves on a circular arc only by normal running when turning left or right.

Japanese Patent No. 3541758 Japanese Patent No. 2661720 Japanese Patent No. 2814823

"Various logistics equipment", Yamato Industry Co., Ltd. web page, [searched on July 10, 2018], Internet <URL: http://www.yamato-in.co.jp/buturyuu/index.html> "Introduction of backyard/store equipment series", Sanko Co., Ltd. web page, [searched on July 10, 2018], Internet <URL: http://www.sanko-kk.co.jp/products/backyard/ ＞ "Product Information of Logistics Equipment", Web page of Makitec Co., Ltd. [Searched on July 10, 2018], Internet <URL: http://www.makitech.co.jp/carry/index.html#rokurin>

According to the transport vehicle for carrying out cargo handling work in the lateral direction, as disclosed in Patent Document 3, the fork can be moved in the front-rear direction and the left-right direction while the floor of the fork is lowered.
However, since the fork F is provided in the planar U-shaped opening of the vehicle body 1, and the driven wheels 3a and 3b in front and behind the fork F and their housings are present, the structure tends to be large. , the load scooped by the fork is limited to the one that fits within the opening. Therefore, the planar U-shaped transport vehicle as disclosed in Patent Document 3 is not suitable for transporting a physical distribution vehicle.

Therefore, in view of the above situation, the present invention aims to provide a transport vehicle such as a physical distribution vehicle that can move in various directions in a narrow passage while supporting a load.

The gist of the present invention is as follows.
[1] A load supporting portion for supporting a load, which is guided by a linear motion guide so as to be able to move up and down with respect to the base body;
two drive wheels supported by the base and arranged at a predetermined interval;
a lifting drive unit provided between the two drive wheels of the base body for driving the load support unit up and down;
two steering units provided on the base for separately steering the driving wheels;
two driven wheels which are supported by a support member projecting from a lower portion of the base body toward the side supporting the load, and which are arranged parallel to the direction in which the drive wheels are arranged, at a predetermined interval;
with
The distance between the two driven wheels is smaller than the distance between the two drive wheels,
The rotation axes of the two driven wheels are symmetrical with respect to a plane perpendicular to a straight line that passes through the midpoint between the steering axes of the two drive wheels and connects the steering axes of the two drive wheels as a plane of symmetry. is characterized by
transport vehicle.

[2] a load supporting portion for supporting a load, which is guided by a linear motion guide so as to be able to move up and down with respect to the base body;
two drive wheels supported by the base and arranged at a predetermined interval;
a lifting drive unit provided between the two drive wheels of the base body for driving the load support unit up and down;
two steering units provided on the base for separately steering the driving wheels;
two driven wheels which are supported by a support member projecting from a lower portion of the base body toward the side supporting the load, and which are arranged parallel to the direction in which the drive wheels are arranged, at a predetermined interval;
with
The driven wheel is an omnidirectional wheel,
The distance between the two driven wheels is smaller than the distance between the two drive wheels,
The centers of the two driven wheels in a plan view are symmetrical with respect to a plane perpendicular to a straight line connecting the steering shafts of the two driving wheels and passing through the midpoint between the steering shafts of the two driving wheels as a plane of symmetry. is characterized by
transport vehicle.
[3] The supporting member is provided with at least two auxiliary driven wheels that are parallel to the direction in which the driven wheels are arranged, are arranged at the same interval as the interval at which the driven wheels are arranged, and are positioned symmetrically with respect to the plane of symmetry. prepare further,
The transport vehicle according to [1] or [2].

[4] With respect to the driving wheels and the driven wheels on the same side of the plane of symmetry, two steering transmission units are further provided for transmitting the operation of the driving wheels by the steering of the steering unit to the driven wheels. ,
The transport vehicle according to the above [1].
[5] The steering transmission unit couples the driving wheels and the driven wheels such that the steering angle of the driving wheels steered by the steering unit and the steering angle of the driven wheels are in phase. do,
The transport vehicle according to [4] above.
[6] further comprising a floating coupling portion that couples the driven wheels so as to be able to move within a predetermined angle range about the same steering angle as the steering angle of the driving wheels transmitted by the steering transmission portion;
The transport vehicle according to the above [4] or [5].
[7] The floating connection part is
A pair of ring-shaped members arranged coaxially with the rotation shaft of the driven wheel,
one of the ring-shaped members forms a part of the steering interlocking portion,
the other of the ring-shaped members is connected to a housing that supports the driven wheel;
The ring-shaped member is provided with an arc-shaped elongated hole on one side and a round hole overlapping the arc-shaped elongated hole on the other side,
further comprising a shaft inserted through the arc-shaped elongated hole and the round hole so as to extend between the pair of ring-shaped members;
The transport vehicle according to [6] above.

[8] The load is a physical distribution vehicle having wheels on at least four corners of a flooring material having a rectangular and planar shape, and goods are loaded on the physical distribution vehicle, or an empty physical distribution vehicle;
The load support portion enters under the floor material of the physical distribution vehicle together with the driven wheel, and supports the physical distribution vehicle from below the floor material.
The transport vehicle according to any one of [1] to [7].
[9] The load support section is
a vertical portion guided by the linear motion guide;
a pair of fork portions extending substantially horizontally from the lower end of the vertical portion and spaced apart in a direction parallel to the direction in which the drive wheels are arranged, for supporting the load;
The distance between the pair of fork parts is less than or equal to the distance between the two driving wheels and greater than or equal to the distance between the driven wheels.
The transport vehicle according to any one of [1] to [8].
[10] The goods are loaded on a six-wheeled trolley equipped with free wheels at the four corners of the rectangular and flat flooring material and fixed wheels at the center of the long side of the flooring material, or An empty six-wheeled truck,
Each of the pair of fork portions, together with the driven wheel, enters below the flooring material between the swivel wheel and the fixed wheel, which are adjacent in the longitudinal direction of the flooring material, to the lower side of the flooring material. supporting the six-wheeled truck from
The transport vehicle according to [9] above.

ADVANTAGE OF THE INVENTION According to the conveyance vehicle which concerns on this invention, there exists mainly the following effects.
(1) The distance between the two driven wheels is smaller than the distance between the two driving wheels, and the steering shafts of the two driving wheels and the rotation shafts of the two driven wheels, or the two driving wheel steering shafts and two omnidirectional wheels The center of the driven wheel in plan view is positioned symmetrically, and the two drive wheels are individually steered by the steering section, so that the transport vehicle can move in all directions.
(2) Two driven wheels are supported by a supporting member protruding from the bottom of the base body, and the driven wheels and the supporting member are less likely to interfere with the load supported by the load support section, so that distribution trucks of different sizes can be used. Even if it is a load, the transport vehicle can transport the load.
(3) Since the lift drive section for driving the load support section is provided between the two drive wheels of the base body, the length in the horizontal direction perpendicular to the direction in which the two drive wheels are arranged can be shortened, resulting in a slim design. Even if the cargo is on a physical distribution vehicle or the like, the cargo can be moved in a narrow passage while being supported by the transport vehicle.
(4) The running stability of the transport vehicle can be improved by adopting a configuration in which the driven wheels are omnidirectional wheels or a configuration provided with a steering transmission section that transmits the operation of the driving wheels by steering of the steering section to the driven wheels.

1 is a schematic plan view showing a transport vehicle according to an embodiment of the present invention; FIG. It is a schematic front view of the same. It is a schematic perspective view of the same. FIG. 4 is a schematic plan view showing a state in which a transport vehicle supports a load; FIG. 4 is a schematic front view showing a state in which the fork part is inserted under the floor material of the physical distribution vehicle; It is a schematic front view which shows the state which lifted the fork part and lifted the distribution trolley. It is a schematic explanatory drawing of a steering transmission part, and has shown the example which orient|assigned the driving wheel and the driven wheel to the front-back direction. It is a schematic explanatory drawing of a steering transmission part, and has shown the example which orient|assigned the driving wheel and the driven wheel to the left-right direction. FIG. 6B is a schematic explanatory diagram of the steering transmission unit, showing an example in which the steering shaft of the drive wheel and the rotation shaft of the driven wheel are rotated counterclockwise by 45° from the position shown in FIG. 6B . FIG. 6B is a schematic explanatory diagram of the steering transmission unit, showing an example in which the steering shaft of the drive wheels and the rotation shaft of the driven wheels are rotated clockwise by 45° from the positions shown in FIG. 6B . FIG. 4 is a schematic explanatory diagram of a steering transmission unit, showing an example in which drive wheels are oriented in a tangential direction of an arc in an arc-shaped path. FIG. 4 is a partial cross-sectional enlarged plan view showing the surroundings of the free connecting portion, showing a case where the steering angle of the rotation shaft of the driven wheel is the same as the steering angle of the driving wheel; FIG. 8 is a partial cross-sectional enlarged plan view showing the surroundings of the free connecting portion, showing an example in which the driven wheel has moved freely from the position shown in FIG. 7; FIG. 8B is a partial cross-sectional enlarged plan view showing the periphery of the free connecting portion, showing an example in which the driven wheel moves in the direction opposite to that in FIG. 8A from the position shown in FIG. 7; It is a fragmentary vertical cross-sectional main part enlarged front view showing the surroundings of the floating connecting portion. It is a fragmentary vertical cross-sectional main part enlarged right side view showing the periphery of the floating connecting part. 1 is a schematic plan view showing a transport vehicle according to an embodiment of the present invention in which driven wheels are omnidirectional wheels; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment according to the present invention will be described below with reference to the drawings.
In the following embodiments, the direction in which the two drive wheels are arranged is defined as the front-rear direction (the direction of arrow A1 in FIG. 1 is the front), left and right are defined as viewed forward, and the view from the front is defined as the front view.

<Conveyor>
1, the schematic front view of FIG. 2, the schematic perspective view of FIG. 3, and the schematic plan view of FIG. A load support section 3 that supports the load support section 3, a lifting drive section 4 that drives the load support section 3 up and down, two drive wheels W1 and W1, two driven wheels W2 and W2, and two steering sections that separately steer the drive wheels W1 and W1. 5, 5, traveling drive units 6, 6 for separately driving the driving wheels W1, W1, and two steering transmission units 7, 7 for transmitting the motion of the driving wheel W1 by steering of the steering unit 5 to the driven wheels W2. .

The driving wheel W1 is supported by the base 2 so as to be rotatable about the steering axis J1, and the driven wheel W2, which is a free wheel, protrudes leftward from the lower part of the base 2 (the side where the load support 3 supports the load L). It is rotatably supported around the rotation axis J2 by the support member 9 which is connected to the support member 9. As shown in FIG.
The load supporting portion 3 includes a vertical portion 3A which is guided up and down by front and rear linear motion guides G, G with respect to the base body 2, and extends substantially horizontally to the left from the lower end of the vertical portion 3A. and a pair of fork portions 3B, 3B for supporting the load L spaced apart in a direction parallel to the direction A1 in which they are arranged.

<Arrangement of wheels>
The two driving wheels W1, W1 are arranged back and forth with a predetermined distance D1, and the two driven wheels W2, W2 are arranged in a direction parallel to the direction A1 in which the driving wheels W1, W1 are arranged (direction A2 in FIG. 1). are arranged at intervals of D2.
As shown in FIG. 1, the distance D2 between the rotation shafts J2, J2 of the two driven wheels W2, W2 is smaller than the distance D1 between the steering shafts J1, J1 of the two drive wheels W1, W1 (D1>D2).
The rotation axes J2, J2 of the two driven wheels W2, W2 are symmetrical with respect to the plane of symmetry E.
The plane of symmetry E is a plane passing through the midpoint B between the steering axes J1, J1 of the two drive wheels W1, W1 and perpendicular to the straight line C connecting the steering axes J1, J1.
Therefore, the steering axis J1 of the driving wheel W1 and the rotation axis J2 of the driven wheel W2 in front of the plane of symmetry E, and the steering axis J1 of the driving wheel W1 and the driven wheel W2 behind the plane of symmetry E. The rotation axis J2 is positioned symmetrically with respect to the plane of symmetry E. As shown in FIG.
Such arrangement of the wheels stabilizes the movement of the transport vehicle 1 when it moves in all directions.

<load>
The load L shown in the schematic plan view of FIG. 4 and the schematic front views of FIGS. 5A and 5B is, for example, a six-wheeled trolley M having six wheels H, which is an example of a physical distribution trolley LT.
The six-wheeled trolley M is provided with free wheels I, I, .
The transport vehicle 1 transports a six-wheeled trolley M loaded with articles or an empty six-wheeled trolley M as a load L.
It should be noted that the logistics trolley LT is not limited to the six-wheeled trolley M, and may be any one provided with wheels H, H, . . .

The front and rear fork portions 3B, 3B of the load support portion 3 of the transport vehicle 1, together with the support members 9, 9 and the driven wheels W2, W2, enter below the flooring material F, and move from below the flooring material F to the distribution truck LT. support.
In the example of FIGS. 4 and 5A, each of the pair of fork portions 3B, 3B, along with the support member 9 and the driven wheel W2, is a free wheel I and a fixed wheel K, which are adjacent in the longitudinal direction of the floor material F of the six-wheeled truck M. , and supports the six-wheel truck M from below the floor material F.
By holding the six-wheeled trolley M from below the floor material F so as to sandwich the fixed wheels K of the six-wheeled trolley M in this way, the six-wheeled trolley M can be stably transported.

<Up-and-down drive unit>
The elevation drive unit 4 is, for example, a hydraulic cylinder, and is provided between the two driving wheels W1, W1 of the base body 2. As shown in FIG.
From the state in which the fork portions 3B, 3B are inserted under the floor material F of the six-wheel truck M as shown in FIGS. The six-wheeled trolley M can be raised like 5B.

<Fork interval>
The distance D3 between the pair of fork portions 3B, 3B shown in FIG. 1 (the distance between the widthwise centers of the fork portions 3B, 3B) is equal to the distance D2 between the two driven wheels W2, W2.
The distance D3 between the fork portions 3B, 3B should be less than the distance D1 between the two drive wheels W1, W1 and more than the distance D2 between the two driven wheels W2, W2 (D2≤D3≤D1).
As a result, the state in which the physical distribution trolley LT is held by the fork portions 3B, 3B is stabilized, so the operation of supporting and conveying the physical distribution trolley LT as shown in FIG. 5B is stabilized.
Further, by arranging the portion of the load support portion 3 that receives the load L (for example, the fork portions 3B, 3B) above the driven wheels W2, W2, the floor of the portion of the load support portion 3 that receives the load L is lowered. can be achieved.

<Steering unit and traveling drive unit>
The steering unit 5 meshes with a steering driving device 5A, which is, for example, an electric motor and a speed reducer, a small-diameter gear 5B fixed to the output shaft of the steering driving device 5A, and the small-diameter gear 5B, and rotates around the steering shaft J1 together with the driving wheels W1. It consists of a large-diameter gear 5C attached to a housing that rotates in the direction of rotation.
The rotation angle of the steering shaft J1 by the steering section 5 is detected by the position detector N shown in FIG.
The traveling drive unit 6 is, for example, an electric motor and a speed reducer, and rotates the driving wheels W1.
The travel drive unit 6 rotates around the steering shaft J1 together with the drive wheels W1.

<Steering transmission part>
As shown in FIGS. 1 and 3, the steering transmission section 7 comprises a sprocket 7A, an endless chain 7B, a sprocket 7C, a transmission shaft 7D, a sprocket 7E, an endless chain 7F and a sprocket 7G.

The sprocket 7A rotates together with the steering shaft J1, and the sprocket 7C separates from the sprocket 7A inward in the front-rear direction.
An endless chain 7B is laid over the sprockets 7A and 7C.
The upper end of a transmission shaft 7D, which is a vertically long vertical shaft, is fixed to the sprocket 7C, and the sprocket 7E is fixed to the lower end of the transmission shaft 7D. is connected to the sprocket 7G.
An endless chain 7F is laid over the sprockets 7E and 7G.

The steering transmission parts 7, 7 are substantially L-shaped or substantially inverted L-shaped in plan view due to the arrangement of the drive wheels W1, W1 and the driven wheels W2, W2 (D1>D2).
With such a mechanism, the steering transmission unit 7 causes the driving wheel W1 and the driven wheel W2 on the same side of the plane of symmetry E shown in FIG. It is transmitted to the driven wheel W2.

Next, the operation of the steering transmission unit 7 will be described with reference to schematic explanatory diagrams of FIGS. 6A to 6E.
As shown in FIG. 6A, when the driving wheels W1, W1 are turned in the front-rear direction by the steering units 5, 5, torque is transmitted by the steering transmission units 7, 7, and the driven wheels W2, W2 are also turned in the front-rear direction.
As shown in FIG. 6B, when the driving wheels W1, W1 are oriented in the left-right direction by the steering units 5, 5, torque is transmitted by the steering transmission units 7, 7, and the driven wheels W2, W2 are also oriented in the left-right direction.
As shown in FIG. 6C, when the steering units 5, 5 rotate the driving wheels W1, W1 counterclockwise from the position shown in FIG. The driving wheels W2, W2 also rotate 45 degrees counterclockwise in a plan view from the position shown in FIG. 6B in the same manner as the driving wheels W1, W1.
As shown in FIG. 6D, when the steering units 5, 5 rotate the driving wheels W1, W1 clockwise 45° from the position shown in FIG. Similarly to the drive wheels W1 and W1, W2 and W2 also rotate clockwise by 45° in a plan view from the position shown in FIG. 6B.

As described above, the steering transmission unit 7 controls the driving wheels W1 and the driven wheels W2 such that the steering angle of the driving wheels W1 steered by the steering unit 5 and the steering angle of the driven wheels W2 are in the same phase relationship. are concatenated.
Therefore, as shown in FIGS. 4 and 5B, even immediately after scooping the six-wheeled truck M with the forks 3B, 3B of the carrier 1, the six-wheeled truck M can travel in the longitudinal direction and turn without changing direction. Therefore, even when the six-wheeled carriages M, M, .

As shown in FIG. 6E, in order to move the guided vehicle 1 along the arc-shaped path of the turning center P, the driving wheels W1, W1 are steered by the steering units 5, 5, so that the turning center P and the steering axis J1 are aligned. When the drive wheels W1, W1 are directed in the tangential direction of the arc of the turning radius Q1, which is the distance, the torque is transmitted by the steering transmission parts 7, 7, and the driven wheels W2, W2 are steered at the steering angles of the driven wheels W2, W2. It rotates so as to have the same phase as the steering angle of the drive wheels W1, W1.
In this case, since the driven wheels W2, W2 are not oriented in the tangential direction of the arc of the turning radius Q2 (Q2>Q1), which is the distance between the turning center P and the rotation axis J2, slip occurs and smooth movement is not possible. may disappear.
Therefore, it is desirable to provide a floating connection portion as described below.

<Swivel connecting part>
7, FIGS. 8A and 8B are enlarged plan views of essential parts in cross section, the enlarged front view of essential parts in longitudinal section is shown in FIG. 9A, and the enlarged right side view of essential parts in partial longitudinal section is shown in FIG. 9B. The connecting portion 8 includes a pair of ring-shaped members R1 and R2 arranged coaxially with the rotation axis J2 of the driven wheel W2.
The ring-shaped member R1 is the sprocket 7G of the steering interlocking portion 7, and the ring-shaped member R2 is connected by bolts 16 and 17 to the housing 10 that supports the driven wheel W2.
The ring-shaped member R1 has arcuate long holes 11, 11, . . . , and the ring-shaped member R2 has round holes 12, 12, .
A bolt 14, which is the shaft S, is inserted through the round hole 12 of the upper ring member R2, the collar 13 disposed between the upper and lower ring members R2 and R1, and the arc-shaped elongated hole 11 of the lower ring member R1. The nut 15 is screwed from the

With the floating coupling portion 8 having such a configuration, the sprocket 7G (ring-shaped member R1) can be moved from the case where the steering angle of the rotation shaft J2 of the driven wheel W2 shown in FIG. 7 is the same as the steering angle of the driving wheel W1. In this state, the driven wheel W2 can freely move within a predetermined angular range shown in FIGS. 8A and 8B.
In this way, the floating coupling portion 8 couples the driven wheels W2 so that they can move within a predetermined angle range about the same steering angle as the steering angle of the driving wheels W1 transmitted by the steering transmission portion 7. .
By providing the carrier 1 with the free connecting parts 8, 8, it is possible to make a difference in the slip angle between the driving wheels W1, W1 and the driven wheels W2, W2, so that the carrier 1 can turn smoothly. become.

The floating coupling portion 8 includes a ring-shaped member R1 that is the sprocket 7G of the steering interlocking portion 7, and a ring-shaped member R2 that is coaxial with the ring-shaped member R1 and coupled to a housing 10 that supports a driven wheel W2. One of the members R1 and R2 is provided with an arc-shaped elongated hole 11, and the other is provided with a circular hole 12 overlapping the arc-shaped elongated hole 11. And if the shaft body S inserted through the round hole 12 is provided, the floating connection part can be realized with a simple structure without using a complicated control device or the like.

<Configuration example without steering transmission unit>
The schematic plan view of FIG. 10 shows a configuration example in which the driven wheels W2 are omnidirectional wheels OW without the steering transmission section 7, and the same reference numerals as in FIG. 1 denote the same or corresponding parts or portions. etc.
That is, the transport vehicle 1 of FIG. 10 has omnidirectional wheels OW, OW instead of swivel wheels as driven wheels W2, W2.
In the transport vehicle 1 of FIG. 10, two omni-directional wheels OW, OW, i.e. driven wheels W2, W2 are positioned symmetrically with respect to the plane of symmetry E in plan view.

The omnidirectional wheel OW is a known wheel called "omni wheel" (see, for example, Japanese Patent Application Laid-Open No. 2013-189068), and is equipped with a plurality of barrels (barrel rollers) 19 on the outer periphery of the barrel frame 18. It can move in all directions.
By making the driven wheels W2 and W2 omnidirectional wheels OW and OW, the behavior of the driven wheels W2 and W2 is more stable and the operation during turning is smoother than when the driven wheels W2 and W2 are caster wheels. become.

In addition, the support members 9, 9 are arranged parallel to the direction A2 in which the driven wheels W2, W2 are arranged, at the same interval as the interval D2 in which the driven wheels W2, W2 are arranged, and are symmetrical with respect to the plane of symmetry E. Two secondary driven wheels W3, W3 are further provided, and the secondary driven wheels W3, W3 are also omnidirectional wheels OW, OW. As a result, the load applied to the omnidirectional wheels OW, OW, .
The number of auxiliary driven wheels W3 is not limited to two, but may be more, such as four or six, depending on the required specifications.

According to the transport vehicle 1 as described above, the distance D2 between the two driven wheels W2, W2 is smaller than the distance D1 between the two driving wheels W1, W1, and the steering shafts J1, J1 and Planar view center T of the driven wheels W2, W2 which are the rotation axes J2, J2 of the two driven wheels W2, W2 or the steering axes J1, J1 of the two drive wheels W1, W1 and the two omnidirectional wheels OW, OW , T are positioned in plane symmetry, and the two drive wheels W1, W1 are individually steered by the steering units 5, 5, so that the carrier 1 can move in all directions.
Moreover, the two driven wheels W1, W1 are supported by supporting members 9, 9 protruding from the bottom of the base body 2, and the driven wheels W2, W2 and the supporting members 9, 9 are supported by the load support portion 3. Since it is difficult to interfere with L, even if the cargo L is a physical distribution trolley LT or the like having a different size, the transport vehicle 1 can convey the cargo L.
In addition, since the elevation drive section 4 for driving the load support section 3 up and down is provided between the two drive wheels W1, W1 of the base body 2, the direction A1 in which the two drive wheels W1, W1 are arranged is perpendicular to the direction A1. Since the horizontal length can be shortened, even when the load L is a slim physical distribution vehicle LT or the like, the transport vehicle 1 can move the load L through a narrow passage while supporting it.
In addition, the traveling stability of the transport vehicle 1 is improved by a configuration including a steering transmission section 7 that transmits the motion of the drive wheels W1 by steering of the steering section 5 to the driven wheels W2, or by a configuration in which the driven wheels W2 are omnidirectional wheels OW. can improve.

All of the above descriptions of the embodiments are examples, and the invention is not limited to these. Various modifications and changes may be made without departing from the scope of the invention.

Reference Signs List 1 carrier 2 base 3 load support 3A vertical section 3B fork section 4 lifting drive section 5 steering section 5A steering drive device 5B small diameter gear 5C large diameter gear 6 traveling drive section 7 steering transmission section 7A sprocket 7B endless chain 7C sprocket 7D Transmission shaft 7E Sprocket 7F Endless chain 7G Sprocket 8 Floating connecting portion 9 Supporting member 10 Housing 11 Circular long hole 12 Round hole 13 Collar 14 Bolt 15 Nut 16, 17 Bolt 18 Barrel frame 19 Barrel A1 Driving wheel alignment direction A2 Driven wheel direction B Midpoint C Straight line connecting the steering shafts of driving wheels D1 Interval between driving wheels D2 Interval between driven wheels D3 Interval between forks E Plan of symmetry F Floor material G Linear guide H Wheel I Swivel wheel J1 Steering of driving wheel Axis J2 Rotating axis of driven wheel K Fixed wheel L Load LT Logistics truck M Six-wheeled truck N Position detector OW Omnidirectional wheel P Turning center Q1, Q2 Turning radii R1, R2 Ring-shaped member S Shaft T Plan view center W1 Drive Wheel W2 Driven wheel W3 Secondary driven wheel

Claims (7)

a load supporting portion for supporting a load, which is guided up and down by a linear motion guide with respect to the base body;
two drive wheels supported by the base and arranged at a predetermined interval;
a lifting drive unit provided between the two drive wheels of the base body for driving the load support unit up and down;
two steering units provided on the base for separately steering the driving wheels;
two driven wheels which are supported by a support member projecting from a lower portion of the base body toward the side supporting the load, and which are arranged parallel to the direction in which the drive wheels are arranged, at a predetermined interval;
with
The distance between the two driven wheels is smaller than the distance between the two drive wheels,
The rotation axes of the two driven wheels are symmetrical with respect to a plane perpendicular to a straight line that passes through the midpoint between the steering axes of the two drive wheels and connects the steering axes of the two drive wheels as a plane of symmetry. Yes,
With respect to the driving wheels and the driven wheels on the same side with respect to the plane of symmetry, two steering transmission units are further provided for transmitting the operation of the driving wheels due to the steering of the steering unit to the driven wheels ,
It further comprises a floating coupling portion that movably couples the driven wheels within a predetermined angle range about the same steering angle as the steering angle of the driving wheels transmitted by the steering transmission portion ,
transport vehicle. The supporting member further comprises at least two secondary driven wheels that are parallel to the direction in which the driven wheels are arranged, are arranged at the same interval as the interval in which the driven wheels are arranged, and are symmetrically positioned with respect to the plane of symmetry,
The transport vehicle of claim 1 . The steering transmission unit connects the driving wheels and the driven wheels such that the steering angle of the driving wheels steered by the steering unit and the steering angle of the driven wheels are in the same phase relationship.
The transport vehicle of claim 1 . The floating connecting portion is
A pair of ring-shaped members arranged coaxially with the rotation shaft of the driven wheel,
one of the ring-shaped members forms a part of the steering interlocking portion,
the other of the ring-shaped members is connected to a housing that supports the driven wheel;
The ring-shaped member is provided with an arc-shaped elongated hole on one side and a round hole overlapping the arc-shaped elongated hole on the other side,
further comprising a shaft inserted through the arc-shaped elongated hole and the round hole so as to extend between the pair of ring-shaped members;
The transport vehicle of claim 1 . The load is a physical distribution truck having wheels on at least four corners of a rectangular flat flooring material loaded with goods, or an empty physical distribution truck;
The load support portion enters under the floor material of the physical distribution vehicle together with the driven wheel, and supports the physical distribution vehicle from below the floor material.
A transport vehicle according to any one of claims 1 to 4 . The load-bearing part is
a vertical portion guided by the linear motion guide;
a pair of fork portions extending substantially horizontally from the lower end of the vertical portion and spaced apart in a direction parallel to the direction in which the drive wheels are arranged, for supporting the load;
The distance between the pair of fork parts is less than or equal to the distance between the two driving wheels and greater than or equal to the distance between the driven wheels.
A transport vehicle according to any one of claims 1 to 5 . The cargo is a six-wheeled trolley equipped with free wheels at the four corners of the rectangular flat floor material and a fixed wheel at the center of the long side of the floor material, or an empty vehicle. The six-wheel truck,
Each of the pair of fork portions, together with the driven wheel, enters below the flooring material between the swivel wheel and the fixed wheel, which are adjacent in the longitudinal direction of the flooring material, to the lower side of the flooring material. supporting the six-wheeled truck from
The vehicle according to claim 6 .

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