Article conveyance device and article conveyance method

Abstract

An article transport device (1) is provided with: a first moving body (100) that moves in a road surface direction (D) along a road surface (F) by the power of a drive source (103); a second moving body (200) that is movable in the road surface direction with respect to the first moving body, and that, when the first moving body moves in the road surface direction, receives an external force from the first moving body, moves together with the first moving body in the road surface direction, and conveys a placed article (W); and adjustment units (T1, T2, T3) that adjust the range in which the second moving body can move in the road surface direction with respect to the first moving body.

Description

Technical Field

[0001] The present invention relates to an article transporting device and an article transporting method. Background Art

[0002] In the past, an AGV (Automatic Guided Vehicle) has been disclosed that moves a cart by entering a certain space formed between the bottom surface of the cart and the ground (see Patent Document 1). The AGV includes a driving wheel and a cylinder that can be extended and retracted in the vertical direction. The driving wheel rotates while the cylinder exerts an upward pushing force on the bottom surface of the cart, thereby moving the cart loaded with goods and other items. Prior art literature Patent Literature

[0003] Patent Document 1: Japanese Patent Application Publication No. 2018-184113 Summary of the invention Technical problem to be solved by the invention

[0004] In addition, when a cart loaded with articles is transported by an AGV, the accuracy of the stopping position of the AGV varies due to individual differences between AGVs, and is also affected by various conditions such as the state of the road surface, weather, and the weight of the articles. When a cart is transported by the AGV described in Patent Document 1, if the stopping position of the AGV deviates from the target position, in order to make the position of the articles loaded on the cart consistent with the required position, for example, it is conceivable to allow an operator who receives the articles to move the cart together with the AGV to the required position after the AGV stops. However, overcoming the resistance of the driving wheels of the AGV and moving the cart together with the AGV requires greater force than simply moving the cart, making it difficult to improve operability.

[0005] The present disclosure aims to solve the above-mentioned problems and to provide an article transporting device and an article transporting method that can improve the workability when transporting articles compared with the related art. Technical solutions adopted to solve technical problems

[0006] The article transporting device disclosed in the present invention is characterized in that it comprises: a first moving body, which moves in a road surface direction along a road surface by the power of a driving source; a second moving body, which can move in the road surface direction relative to the first moving body, and when the first moving body moves in the road surface direction, receives an external force from the first moving body and moves in the road surface direction together with the first moving body to transport the loaded articles; and an adjustment unit, which adjusts the range in which the second moving body can move in the road surface direction relative to the first moving body. Effects of the Invention

[0007] According to the present disclosure, the second moving body that transports the items can move along the road surface direction relative to the first moving body that moves by the power of the driving source. Therefore, for example, even if the stopping position of the first moving body deviates from the target position, only the second moving body can be moved along the road surface direction with the first moving body stopped, thereby improving the operability when transporting the items compared with the past. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a perspective view showing a schematic structure of the article transport device according to the first embodiment. Figure 2 This is a side view showing a schematic structure of the article transport device according to the first embodiment. Figure 3 It is a bottom view showing a schematic structure of the article transport device according to the first embodiment. Figure 4 The connecting portion of the first embodiment is shown in FIG. Figure 1 A is an enlarged view of the Figure 5 The connecting portion of the first embodiment is shown in FIG. Figure 3 BB section view in. Figure 6 is a connection part of the first embodiment. Figure 5 Cross-sectional views of different states. Figure 7 It is an enlarged view showing the connection portion of the second embodiment. Figure 8 It is a cross-sectional view showing a connection portion according to the second embodiment. Fig. 9 The connecting portion of the second embodiment is shown in FIG. Figure 8 Cross-sectional views of different states. Fig.10 It is an enlarged view showing the connection portion of the third embodiment. Fig.11 It is a cross-sectional view showing a connection portion according to the third embodiment. Fig.12 is a connection part of the third embodiment. Fig.11 Cross-sectional views of different states. DETAILED DESCRIPTION

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Implementation Method 1 First, refer to Figures 1 to 3 , a schematic structure of the article transport device 1 according to the first embodiment is described. Figure 1 1 is a perspective view showing a schematic structure of an article transport device 1 according to the first embodiment. Figure 21 is a side view showing a schematic structure of an article transport device 1 according to the first embodiment. Figure 3 This is a bottom view schematically showing the structure of the article transport device 1 according to the first embodiment.

[0010] The article transport device 1 includes: an AGV (Automatic Guided Vehicle) 100 that receives power and moves in a direction along a road surface; and a cart 200 that can carry an article W. For example, the article transport device 1 transports articles such as products being assembled and parts of products along a predetermined path on a production line where products are assembled. In the first embodiment, any direction along a road surface F is also referred to as a "road surface direction D" (see Figure 2 ).

[0011] The AGV 100 includes: a plurality of driving wheels (rotating bodies) 101; an AGV body 102 supported by the plurality of driving wheels 101; a driving source 103 driving the plurality of driving wheels 101; a control unit 105 controlling the driving source 103; and a limiting unit 111 (see Figure 4 ). In addition, in the first embodiment, the AGV 100 constitutes a first moving body.

[0012] The plurality of driving wheels 101 rotate in contact with the road surface F, thereby causing the AGV body 102 to move along the road surface direction D through the friction between the driving wheels 101 and the road surface F. For example, the plurality of driving wheels 101 are arranged at equal intervals on the same circumference when viewed from above (viewed in a direction perpendicular to the road surface F), and one driving wheel 101 is composed of an omnidirectional wheel that enables the AGV 100 to move along the road surface direction D. Specifically, the driving wheel 101 is composed of an omni-directional wheel (registered trademark), which can move along the road surface F in all directions (multi-directions) through the active rotation of the main body driven by the driving source 103 and the passive rotation of the plurality of rollers arranged on the outer circumference of the main body.

[0013] The AGV body 102 as the main body of the mobile body holds a driving source 103, a control unit 105, and a limiting unit 111. For example, the driving source 103 is composed of a stepping motor. In addition, for example, a plurality of driving sources 103 are respectively provided corresponding to the plurality of driving wheels 101, and the plurality of driving wheels 101 are independently driven. In addition, the driving source 103 can also be composed of a servo motor that drives the plurality of driving wheels 101 independently.

[0014] The control unit 105 supplies power to the driving source 103, so that the driving source 103 generates power. For example, the control unit 105 has a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an I / O (Input / Output) port, and a power supply. The CPU reads the data and programs stored in the ROM and RAM, and operates the driving source 103 by executing the programs, thereby independently controlling the plurality of driving wheels 101. In addition, the control unit 105 may also have a dedicated processing circuit instead of the CPU, ROM, and RAM.

[0015] The AGV 100 controls the plurality of driving wheels 101 independently through the control unit 105, and can move in the road surface direction D, and the movement includes rotational movement centered on an imaginary axis perpendicular to the road surface F. For example, the AGV 100 controls the plurality of driving wheels 101 through the control unit 105, and autonomously travels along a pre-set path on the road surface F from a state where the AGV 100 stops at a stop position toward a target position as a target. The limiting unit 111 limits the range in which the cart 200 can move relative to the AGV 100. The limiting unit 111 will be described in detail later.

[0016] The cart 200 includes: a plurality of wheels 201; a cart body 202 supported by the plurality of wheels 201; a fixing member 206 for fixing an article W to be transported; an operating unit 205 electrically connected to the control unit 105 and used to operate the control unit 105; a positioning protrusion 207 for positioning other devices (not shown) and the cart 200; and a restricted portion 211 (see Figure 4 ). In addition, in the first embodiment, the cart 200 constitutes the second moving body.

[0017] The plurality of wheels 201 are rotatably supported on the cart body 202, and when the cart 200 moves along the road surface direction D, the wheels 201 are driven to rotate by the friction between the cart 200 and the road surface F. For example, the plurality of wheels 201 are arranged at equal intervals on the same circumference in a plan view, and one wheel 201 is composed of an omnidirectional wheel that enables the cart 200 to move along the road surface direction D. Specifically, the wheel 201 is composed of an omnidirectional wheel that can move in all directions along the road surface F. Thus, the cart 200 is configured to move in the direction of the external force when subjected to an external force in any direction along the road surface F.

[0018] In the article transport device 1 of the first embodiment, the weight of the article W placed on the cart 200 is transferred to the plurality of wheels 201 via the cart body 202. This prevents the weight of the article W from being transferred to the drive wheels 101 of the AGV 100, and reduces the burden on the drive wheels 101 and the drive source 103.

[0019] The cart body 202 has a top plate 203 for carrying articles W. The top plate 203 is formed to be substantially the same size as the cart body 202 when viewed from above. For example, the top plate 203 is arranged so as to overlap with the AGV 100 when viewed from above, and its outer shape when viewed from above is formed to be larger than the AGV 100. Specifically, the top plate 203 is arranged above the AGV 100, and is formed to be of a size such that the AGV 100 does not protrude outward from the outer shape of the top plate 203 when viewed from above. In other words, the AGV 100 is arranged on the inner side of the cart 200 when viewed from above. Thus, the article transport device 1 can carry articles that are larger than the AGV 100 when viewed from above, and the outer shape of the article transport device 1 is suppressed from being larger than the top plate 203.

[0020] The fixing member 206 switches between a fixed state in which the object W is fixed to the top plate 203 and a non-fixed state in which the object W is not fixed to the top plate 203 by a predetermined operation. For example, the fixing member 206 switches between the fixed state and the non-fixed state by being operated by the operator S. In addition, for example, the fixing member 206 fixes the object W to the top plate 203 by clamping a part of the object W.

[0021] When the operation unit 205 receives a predetermined operation, it outputs a signal to the control unit 105, thereby enabling the control unit 105 to be operated. For example, when the operation unit 205 receives an operation by the operator S, it outputs a signal to the control unit 105, and when the signal from the operation unit 205 is input, the control unit 105 drives the driving wheel 101 through the driving source 103. Details of the positioning protrusion 207 and the restricted portion 211 will be described later.

[0022] The cart 200 is connected to the AGV 100, and when the AGV 100 moves along the road surface direction D, the cart 200 receives an external force such as a thrust or a pull in the road surface direction D from the AGV 100, and moves along the road surface direction D together with the AGV 100. In other words, the cart 200 is driven by the AGV 100 and moves along the road surface direction D. In addition, in other words, the cart 200 moves along the road surface direction D by the power of the driving source 103 received via the AGV body 102. In addition, the cart 200 is connected to the AGV 100 in a manner that allows it to move relative to the AGV 100 in the road surface direction D. In other words, the AGV 100 and the cart 200 are connected by a connecting portion T1 in a manner that allows them to move relative to each other in the road surface direction D. In the article transporting device 1 of the first embodiment, the AGV 100 and the cart 200 are connected by two connecting portions T1 that are arranged at different positions from each other when viewed from above (refer to Figure 3 ).

[0023] Next, refer to Figures 4 to 6 , a structure in which the AGV 100 and the cart 200 are connected by the connection portion T1 so as to be movable relative to each other will be described. Figure 4 yes Figure 1 The enlarged view B shows the connection portion T1 of the first embodiment in which the AGV 100 and the cart 200 are connected so as to be movable relative to each other. Figure 5 yes Figure 3 The BB cross-sectional view in FIG. 1 shows the connection portion T1 of Embodiment 1. Since the two connection portions T1 have the same structure, only one connection portion T1 will be described, and the description of the other connection portion T1 will be omitted.

[0024] like Figure 4 and Figure 5 As shown, the AGV 100 has a limiting portion 111 that limits the range in which the cart 200 can move relative to the AGV 100 in the road surface direction D. For example, the limiting portion 111 is formed to protrude upward from the AGV body 102 and is retained by the AGV body 102 by a fastener 112. In addition, the cart 200 has a restricted portion 211 whose movement in the road surface direction D relative to the limiting portion 111 is restricted. For example, the restricted portion 211 is retained by the cart body 202 by a fastener 212. In addition, the restricted portion 211 has a hole portion 211a formed in the up-down direction and into which the limiting portion 111 is inserted. For example, the restricted portion 211 is formed in a plate shape along the road surface direction D and has a hole portion 211a as a through hole.

[0025] In a plan view, the hole 211a of the restricted portion 211 is formed larger than the restricting portion 111. In other words, the hole 211a of the restricted portion 211 is formed so that the dimension in the road surface direction D is larger than that of the restricting portion 111. Therefore, for example, the distance (L1-L2) corresponds to the difference between the dimension L1 of the hole 211a in the road surface direction D and the dimension L2 of the restricting portion 111, and the distance (L1-L2) becomes the distance that the cart 200 can move along the road surface direction D relative to the AGV 100. In other words, the cart 200 can move relative to the AGV 100 within a range in which the inner surface of the hole 211a does not abut against the restricting portion 111. When the cart 200 receives an external force from the AGV 100 and moves along the road surface direction D, the restricted portion 211 abuts against the restricting portion 111.

[0026] With the above configuration, in the article transport device 1 of the first embodiment, the cart 200 transporting the article W can be moved relative to the AGV 100 in the road surface direction D. Therefore, for example, even when the stop position of the AGV 100 deviates from the target position, it is possible to move only the cart 200 in the road surface direction D while the AGV 100 is stopped. For example, when the operator S moves the cart 200 while the AGV 100 is stopped, the operator S can move the cart 200 with a smaller force than when the cart 200 is moved together with the AGV 100, thereby improving the operability when transporting the article W.

[0027] In addition, the cart 200 has a positioning protrusion 207 for positioning other devices and the cart 200 (see Figure 1 ). The positioning protrusion 207 is formed to protrude outward from the cart body 202. For example, the positioning protrusion 207 is arranged on the top plate 203, and is formed to protrude upward from the upper surface of the top plate 203. In addition, for example, a plurality of positioning protrusions 207 are provided in the cart body 202, and are arranged with gaps between them in the road surface direction D when viewed from above. For example, the positioning protrusion 207 has a guide portion that gradually tapers toward the front end (upper end). For example, when the AGV 100 is stopped, the cart 200 is positioned in other devices by inserting the positioning protrusion 207 into a positioning hole formed in other devices.

[0028] With the above configuration, the article transport device 1 of the first embodiment can move only the cart 200 along the road surface direction D when the AGV 100 is stopped, and perform positioning with other devices, such as an automatic device that performs unmanned operations on the article W, even if the stop position of the AGV 100 deviates from the target position. For example, the operations performed by the automatic device include installing other parts on the article W, tightening screws on the article W, and inspecting the article W. Generally, when tightening screws on an article by an automatic device, if the position of the article deviates from the preset position, the screws may not be tightened due to the deviation, making it difficult to improve the workability.

[0029] The article transport device 1 of the first embodiment can position the article W fixed to the cart 200 and other devices even when the stop position of the AGV 100 deviates from the target position, thereby improving the operability of, for example, performing operations on the article W by automatic equipment.

[0030] In addition, the accuracy of the stop position of the AGV generally varies depending on the individual differences of the AGV, and is also affected by various conditions such as the state of the road surface, weather, and the weight of the items. Therefore, when the accuracy of the stop position of the AGV is low, it is preferable to make the range in which the cart 200 can move relative to the AGV 100 along the road surface direction D wider. However, the following case is also considered: if the range in which the cart 200 can move relative to the AGV 100 along the road surface direction D is unnecessarily wide, the distance that the cart 200 is moved alone when the AGV 100 is stopped becomes larger, and it becomes difficult to improve the operability. For example, the following case is considered: when positioning the cart 200 with other devices in a state in which the AGV 100 is stopped, if the distance that the cart 200 is moved alone when the AGV 100 is stopped is large, then depending on the structure of the other devices, the deviation amount that can be positioned will exceed, making it difficult to improve the operability.

[0031] Therefore, the article transport device 1 according to the first embodiment can adjust the range in which the cart 200 can move relative to the AGV 100 in the road surface direction D, and can set the range in advance to an appropriate range.

[0032] like Figure 5 As shown, the fastener 212 for holding the restricted portion 211 on the cart body 202 has a threaded portion 212a extending in the vertical direction, and the threaded portion 212a is screwed into a threaded hole (not shown) formed in the cart body 202. The restricted portion 211 holds the fastener 212 to be rotatable, and is configured so that the relative position of the fastener 212 in the vertical direction is constant regardless of the rotation position of the fastener 212. Therefore, the restricted portion 211 moves in the vertical direction relative to the cart body 202 when the fastener 212 rotates relative to the cart body 202.

[0033] Figure 6 is a diagram showing the connection portion T1 of the first embodiment. Figure 5 The cross-sectional views of different states are Figure 3 Specifically, Figure 6 is a BB cross-sectional view showing the connection portion T1 in the first embodiment. Figure 5In contrast, the restricted portion 211 moves upward relative to the cart body 202. The restricting portion 111 has an inclined surface 111a inclined relative to the vertical direction. For example, the restricting portion 111 has an inclined surface 111a formed in a manner that gradually tapers the diameter toward the front end. Therefore, by rotating the fastener 212 to change the position of the restricted portion 211 relative to the cart body 202 in the vertical direction, the position on the inclined surface 111a that the inner surface of the hole portion 211a can abut against is changed, and the stepless adjustment of the range in which the cart 200 can move relative to the AGV 100 can be achieved. In addition, a plurality of marks indicating the range in which the cart 200 can move relative to the AGV 100 can be formed at different positions in the vertical direction on the inclined surface 111a. In addition, in the first embodiment, the connecting portion T1 constitutes an adjustment portion that adjusts the range in which the second moving body can move relative to the first moving body in the road surface direction. In addition, in the first embodiment, the inner surface of the hole portion 211a constitutes an abutment portion that can abut against the inclined surface.

[0034] As described above, the article transport device 1 of the first embodiment can be adjusted as follows: the distance that the cart 200 can move along the road surface direction D relative to the AGV 100 is within Figure 5 The first distance (L1-L2) shown and the distance different from the first distance (L1-L2) Figure 6 Thus, the article transport device 1 of the first embodiment can pre-adjust the movable range of the cart 200 relative to the AGV 100 to a range corresponding to the accuracy of the stop position of the AGV 100, thereby improving the operability when transporting the article W.

[0035] Next, refer to Figure 1 , an example of a method for transporting an article W using the article transport device 1 is described. First, in the first process, the operator S places the article W on the top plate 203 when the article transport device 1 is located at a preset position, and fixes the article W to the top plate 203 by the fixing member 206. Then, the operator S operates the operating unit 205 to move the AGV 100 to the target position of the next process, that is, the second process.

[0036] In the second process, the operator S who receives the article W determines whether the article W transported by the article transport device 1 stops at the preset target position. If the article W does not stop at the preset target position, the operator S in this process moves only the cart 200 in a state where the AGV 100 is stopped so that the article W is located at the target position. At this time, when the range in which the cart 200 can move relative to the AGV 100 is too small or too large, the operator S in this process adjusts the range in which the cart 200 can move relative to the AGV 100 by, for example, moving the restricted portion 211 relative to the cart body 202.

[0037] In addition, in the second process, the article W may be received by another device instead of the operator S. For example, in the second process, when the automatic equipment that performs the operation on the article W receives the article W, when it is detected that the article W is transported to the second process by the article transport device 1, the positioning device (not shown) that performs positioning of the cart 200 is operated, and the positioning protrusion 207 is inserted into the positioning hole formed in the positioning device to position the cart 200. At this time, the inner surface of the positioning hole abuts against the guide portion of the positioning protrusion 207, and the positioning protrusion 207 is inserted into the positioning hole, so that only the cart 200 moves when the AGV 100 is stopped.

[0038] As described above, the article transport device 1 of the first embodiment includes: the AGV 100, which moves in the road surface direction D along the road surface F by the power of the driving source 103; and the cart 200, which can move in the road surface direction D relative to the AGV 100, and when the AGV 100 moves in the road surface direction D, receives an external force from the AGV 100 and moves along the road surface direction D together with the AGV 100 to transport the loaded article W. Thus, the cart 200 that transports the article W can move in the road surface direction D relative to the AGV 100, so that, for example, even if the stop position of the AGV 100 deviates from the target position, only the cart 200 can be moved in the road surface direction D in the state where the AGV 100 is stopped, and the workability when transporting the article W can be improved compared with the conventional method.

[0039] In addition, the article transporting device 1 of the first embodiment does not require sensors for making the stopping position of the AGV 100 consistent with the target position, such as sensors for detecting the position of the AGV 100, sensors for the AGV 100 to read marks formed on the road surface, etc., which can reduce costs compared to the case where the accuracy of the stopping position of the AGV 100 is improved by these sensors.

[0040] In addition, the article transport device 1 of the first embodiment includes a connection portion T1 that adjusts the range in which the cart 200 can move relative to the AGV 100 along the road surface direction D. Thus, for example, the range in which the cart 200 can move relative to the AGV 100 along the road surface direction D can be preset to an appropriate range according to the accuracy of the stop position of the AGV 100, and the workability when transporting the article W can be improved compared to the past.

[0041] In addition, in the first embodiment, the AGV 100 and the cart 200 of the article handling device 1 each have three omnidirectional wheels, but are not limited to this. As long as the AGV and the cart can move respectively along the road surface direction D, they can each have multiple omnidirectional movable wheels other than the omnidirectional wheels, and can also have other wheels. For example, as omnidirectional movable wheels, Mecanum wheels (registered trademark), ball casters, etc. can be cited. In addition, the AGV and the cart preferably have three wheels, etc., respectively, but can also have four or more wheels respectively, and the number of each wheel can also be two or one as long as it can be self-supporting. In addition, the AGV is not limited to having only omnidirectional movable wheels as driving wheels, but can also have omnidirectional movable wheels as driving wheels and swivel casters as driven wheels, and can also have swivel casters and a steering device for steering the swivel casters instead of omnidirectional movable wheels. In addition, the cart is not limited to having omnidirectional movable wheels, and can also have swivel casters instead of omnidirectional movable wheels.

[0042] In addition, in the first embodiment, the article transport device 1 is configured to be movable in any direction along the road surface F, but is not limited thereto. The AGV may be configured to move only in one direction along the road surface F, and the cart may be configured to move only in the one direction relative to the AGV. In addition, when the AGV is configured to move only in one direction along the road surface F, the wheels of the AGV do not need to be omnidirectional wheels or swivel casters capable of steering, and may be wheels with a fixed direction.

[0043] In addition, in the first embodiment, the AGV 100 is configured to autonomously travel along a pre-set path on the road surface F, but the present invention is not limited thereto. The AGV only needs to be configured to move along the road surface direction D by the power of the driving source. For example, the AGV can be configured to receive a signal from a controller disposed outside the article handling device by wireless or wired means, and move along the path set according to the received signal in the road surface direction D.

[0044] In addition, in the first embodiment, the AGV 100 is arranged on the inner side of the cart 200 when viewed from above, but it is not limited to this. The AGV and the cart only need to be configured to be able to move relative to each other within a specified range along the road surface direction D. For example, the AGV can be configured to partially overlap with the cart when viewed from above, or can be configured to completely overlap with the cart when viewed from above, or can be arranged on the outside of the cart, or can be formed to surround the cart when viewed from above. In addition, the article handling device can be configured so that the AGV moves multiple carts at a time, and the AGV and multiple carts can also be connected in series. In addition, the AGV can be able to move relative to each other when it is placed on the cart, or can be able to move relative to each other when the cart is placed on the AGV. However, when the cart is placed on the AGV, since the weight of the articles placed on the cart is transferred to the drive wheels and drive source of the AGV, the cart preferably does not contact the road surface via the AGV.

[0045] Furthermore, in the first embodiment, the article handling device 1, the AGV 100 and the cart 200 of the article handling device 1 of the first embodiment are connected by two connecting parts T1 arranged at different positions when viewed from above, but it is not limited to this. The AGV and the cart only need to be configured to be able to move relative to each other within a specified range along the road surface direction D. For example, they can be connected by three or more connecting parts arranged at different positions when viewed from above, or they can be connected by one connecting part. Specifically, in the case where the cart is configured to be able to move relative to the AGV within a specified range only in one direction, the AGV and the cart can be connected by one connecting part. In addition, the AGV and the cart may not be connected to each other. For example, the AGV and the cart may be formed in a shape in which one of the AGV and the cart surrounds the other of the AGV and the cart in a manner that allows relative movement within a specified range along the road surface direction D.

[0046] In addition, in the first embodiment, the AGV 100 as the first moving body is configured to have a driving source 103 and a driving wheel 101, and the driving source 103 drives the driving wheel 101 to move along the road surface direction D, but it is not limited to this. The first moving body only needs to be configured to move along the road surface direction D by the power of the driving source. For example, the first moving body can be configured to move by the power of the driving source provided on other devices or equipment not shown in the figure. As a means for moving the first moving body, various structures can be considered.

[0047] Furthermore, in the first embodiment, the cart 200 has a positioning protrusion 207 that protrudes upward and is used to position with other devices in the road surface direction D, but the present invention is not limited thereto. The cart only needs to have some kind of positioning portion for positioning with other devices in the road surface direction D. For example, it may have a positioning protrusion that protrudes downward from the lower part of the cart body and is used to position with other devices in the road surface direction D. It may also have a positioning protrusion that protrudes laterally from the cart body and is used to position with other devices in the road surface direction D. It may also be configured to insert a protrusion provided on other devices into a hole or groove formed in the cart body, thereby positioning with other devices in the road surface direction D. As a means of positioning the cart and other devices, various structures can be considered.

[0048] In addition, in the first embodiment, the cart 200 receives an external force from the AGV 100 due to the contact between the restricted portion 211 and the restricted portion 111, and can move along the road surface direction D with the AGV 100, but the present invention is not limited thereto. The cart only needs to be configured to receive an external force from the AGV and move along the road surface direction D. For example, the cart can be configured to receive an external force from the AGV via another structure not shown and move along the road surface direction D, or can be configured to receive an external force from the AGV through magnetic force or air pressure, etc., without contacting the AGV and moving along the road surface direction D.

[0049] In addition, in the first embodiment, the article transporting device 1 is configured such that the cart 200 can move along the road surface direction D relative to the AGV 100, but is not limited to a structure in which the cart 200 and the AGV 100 cannot be separated. For example, the AGV can be configured to be separated from the cart and move along the road surface direction D by releasing the connection with the cart at the connection portion.

[0050] In the first embodiment, the article transport device 1 is configured to adjust the range of movement of the cart 200 relative to the AGV 100 by changing the position of the restricted portion 211 relative to the cart body 202 in the vertical direction by rotating the fastener 212, but the present invention is not limited thereto. The article transport device can adjust the range of movement of the cart relative to the AGV by changing at least one of the position of the restricted portion relative to the cart body and the position of the restricting portion relative to the AGV body. For example, the range of movement of the cart relative to the AGV can be adjusted by changing the position of the restricting portion relative to the AGV body, or by changing either or both of the position of the restricted portion relative to the cart body and the position of the restricting portion relative to the AGV body. In addition, for example, the article transport device may have a driving source (not shown) for changing either the position of the restricted portion relative to the cart body or the position of the restricting portion relative to the AGV body, or may be configured to operate the driving source by operating the operating unit 205.

[0051] Furthermore, in the first embodiment, the AGV 100 has a limiting portion 111 formed to protrude upward from the AGV body 102, and the cart 200 has a restricted portion 211, and the restricted portion 211 has a hole portion 211a formed in the up-down direction, but the present invention is not limited thereto. The article transport device can adjust the range of movement of the cart relative to the AGV by changing at least one of the position of the restricted portion relative to the cart body and the position of the limiting portion relative to the AGV body. For example, the AGV can have a limiting portion formed to protrude downward from the AGV body, or the cart can have a restricted portion formed to protrude upward or downward from the cart body, and the AGV has a limiting portion having a hole portion formed in the up-down direction. As a structure capable of adjusting the range of movement of the cart relative to the AGV, various structures can be considered.

[0052] Furthermore, in the first embodiment, the limiting portion 111 of the connection portion T1 is configured to have an inclined surface 111a that abuts against the inner surface of the hole portion 211a, and the range of movement of the cart 200 relative to the AGV 100 can be infinitely adjusted according to the position of the restricted portion 211 relative to the cart body 202 in the up-down direction, but the present invention is not limited thereto. The connection portion can adjust the range of movement of the cart relative to the AGV along the road surface direction D by changing at least one of the position of the limiting portion relative to the AGV and the position of the restricted portion relative to the cart. For example, the limiting portion can be formed so that the size of the road surface direction D is discretely different according to the position in the up-down direction. When N is set to a specific real number greater than 2, the range of movement of the cart 200 relative to the AGV 100 can be adjusted in N steps.

[0053] Furthermore, in the first embodiment, the article transport device 1 is configured such that the hole 211a of the restricted portion 211 is formed larger than the restricting portion 111 in a plan view, and the cart 200 can move relative to the AGV 100 within a range in which the inner surface of the hole 211a does not abut against the restricting portion 111, but the invention is not limited thereto. The article transport device does not require the cart to be able to move relative to the AGV along the road surface direction D in any state, and for example, the range in which the cart can move relative to the AGV can be adjusted in such a way that the distance that the cart can move relative to the AGV along the road surface direction D is zero, or it can have a fixing portion that fixes the cart and the AGV to each other when the cart does not need to move relative to the AGV along the road surface direction D.

[0054] Implementation method 2. Next, refer to Figures 7 to 9 , the article handling device of the second embodiment is described. Compared with the article handling device 1 of the first embodiment, the article handling device of the second embodiment is different in the structure of the connection part connecting the AGV and the cart, and the other structures are the same. For the same structure as the first embodiment, the same reference numerals are marked and the description is omitted.

[0055] Figure 7 is an enlarged view showing the connecting portion T2 of the second embodiment. Figure 8 2 is a cross-sectional view showing the connection portion T2 of the second embodiment. Figure 7 and Figure 8 As shown, the AGV 100A of the second embodiment includes a restriction portion 121. For example, the restriction portion 121 is formed to protrude upward from the AGV body 102, and is held by the AGV body 102 by the fastener 112. In the second embodiment, the AGV 100A constitutes a first moving body.

[0056] The cart 200A of the second embodiment has a restricted portion 221 whose movement in the road surface direction D relative to the restriction portion 121 is restricted. For example, the restricted portion 221 is held by the cart body 202 by a fastener 212. In addition, the restricted portion 221 has a hole P that opens downward and into which the restriction portion 121 is inserted. By inserting the restriction portion 121 into the hole P of the restricted portion 221, the AGV 100A is connected to the cart 200A. In addition, in the second embodiment, the cart 200A constitutes a first moving body.

[0057] Fig. 9 is a diagram showing the connection portion T2 of the second embodiment. Figure 8 Cross-sectional views of different states, specifically, Fig. 9 It means that in the connection portion T2 of the second embodiment, Figure 8In comparison, a cross-sectional view of a state in which the restricted portion 221 moves upward relative to the cart body 202. The restricted portion 221 has an inclined surface 221a that is inclined relative to the up-down direction to form the hole portion P. For example, the restricted portion 221 has an inclined surface 221a formed on the inner surface of the hole portion P in a manner that gradually tapers the diameter upward. Therefore, the article transporting device of the second embodiment changes the position of the restricted portion 221 relative to the cart body 202 in the up-down direction by rotating the fastener 212, thereby changing the position on the inclined surface 221a that the restricting portion 121 can abut against, and adjusting the range in which the cart 200A can move relative to the AGV 100A. The cart 200A can move relative to the AGV 100A within a range in which the inclined surface 221a does not abut against the restricting portion 121. In addition, in the second embodiment, the connecting portion T2 constitutes an adjusting portion that adjusts the range in which the second moving body can move relative to the first moving body along the road surface direction. Furthermore, in the second embodiment, the restriction portion 121 constitutes a contact portion that can contact the inclined surface.

[0058] In addition, the article transport device 1 of the first embodiment and the article transport device of the second embodiment are both configured to adjust the range of movement of the cart 200A relative to the AGV 100A by changing the position of the restricted portion relative to the cart body 202 in the up-down direction, but are not limited to this. The article transport device can adjust the range of movement of the cart relative to the AGV by changing at least one of the position of the restricted portion relative to the cart body and the position of the restricting portion relative to the AGV body. For example, the article transport device can adjust the range of movement of the cart relative to the AGV by changing the position of the restricted portion relative to the cart body in the road surface direction D.

[0059] Implementation method three. Next, refer to Figures 10 to 12 , the article handling device of the third embodiment is described. The article handling device 1 of the third embodiment is different from the article handling device 1 of the first embodiment in the structure of the connection part connecting the AGV and the cart, and the other structures are the same. For the same structure as the first embodiment, the same reference numerals are marked and the description is omitted.

[0060] Fig.10 is an enlarged view showing the connecting portion T3 of the third embodiment. Fig.11 2 is a cross-sectional view showing the connection portion T3 of the third embodiment. Fig.10 and Fig.11 As shown, the cart 200B of the third embodiment includes a restricted portion 231 whose movement in the road surface direction D is restricted relative to the restriction portion 121 of the AGV 100A. In the third embodiment, the cart 200B constitutes a first moving body.

[0061] For example, the restricted portion 231 is held by the cart body 202 by the fastener 212. In addition, the restricted portion 231 has a hole portion 231a formed in the up-down direction and into which the restricting portion 121 is inserted. For example, the restricted portion 231 is formed in a plate shape along the road surface direction D and has the hole portion 231a as a through hole.

[0062] For example, the hole portion 231a is formed as a long hole that is longer in one direction in the road surface direction D than in the other directions. Fig.11 The long hole shown in the figure, whose length in the left-right direction is longer than that in the depth direction, has a length in the left-right direction longer than that of the restricting portion 121. In addition, the restricted portion 231 is configured to be movable in the one direction relative to the fastener 212 and the cart body 202 by loosening the fastener 212.

[0063] Fig.12 is a diagram showing the connection portion T3 of the third embodiment. Fig.11 Cross-sectional views of different states, specifically, Fig.12 It means that in the connection portion T3 of the third embodiment, Fig.11 In contrast, the restricted portion 231 is a cross-sectional view of a state in which the restricted portion 231 moves to the right (outward) in one direction, which is the road surface direction D, relative to the cart body 202. For example, among the plurality of connecting portions T3 provided in the article transporting device, the restricted portion 231 is moved to the right (outward) in one direction, which is the road surface direction D. Fig.11 The status shown becomes Fig.12 In the state shown, the restricted portion 231 moves outward relative to the cart body 202, thereby reducing the range in which the cart 200A can move relative to the AGV 100A. In the third embodiment, the connection portion T3 constitutes an adjustment portion that adjusts the range in which the second moving body can move relative to the first moving body along the road surface.

[0064] With the above configuration, the article transporting device of the third embodiment loosens the fastener 212 in a state where the restricted portion 231 is fastened to the cart body 202 by the fastener 212, changes the position of the restricted portion 231 relative to the road surface direction D of the cart body 202, and in the changed state, the restricted portion 231 is fastened to the cart body 202 again by the fastener 212, thereby changing the distance until the inner surface of the hole 231a abuts against the restricting portion 121, thereby adjusting the range in which the cart 200A can move relative to the AGV 100A. The cart 200B can move relative to the AGV 100A within a range in which the inner surface of the hole 231a does not abut against the restricting portion 121.

[0065] In addition, the present disclosure allows free combination of the various embodiments, modification of arbitrary components of the various embodiments, or omission of arbitrary components in the various embodiments. Industrial Applicability

[0066] The article transport device of the present disclosure can be used, for example, to transport products on a production line without using a conveyor.

[0067] Hereinafter, each embodiment of the present disclosure will be summarized and described as a supplement.

[0068] (Note 1) An article transport device, characterized by comprising: a first moving body that moves in a road surface direction along a road surface by power of a driving source; a second moving body that is movable along the road surface direction relative to the first moving body and that receives an external force from the first moving body when the first moving body moves along the road surface direction and moves along the road surface direction together with the first moving body to carry the loaded articles; and An adjustment unit adjusts a range in which the second moving body can move along the road surface direction relative to the first moving body. (Note 2) The article transporting device according to Note 1 is characterized in that the adjusting unit is adjusted in such a manner that the distance that the second movable body can move along the road surface direction relative to the first movable body varies between a first distance and a second distance different from the first distance. (Note 3) The article transporting device according to Note 1 or 2 is characterized in that the adjusting portion comprises: a restricted portion held by the second mobile body; and a limiting portion held by the first mobile body and limiting the range in which the restricted portion can move along the road surface direction, and by changing at least one of the position of the limiting portion relative to the first mobile body and the position of the restricted portion relative to the second mobile body, the range in which the second mobile body can move along the road surface direction relative to the first mobile body is adjusted. (Note 4) The article transport device according to Supplementary Note 3 is characterized in that one of the restricting portion and the restricted portion has an inclined surface inclined with respect to the vertical direction, The other of the restricting portion and the restricted portion has a contact portion capable of contacting the inclined surface. The adjusting portion changes the position of the inclined surface on which the abutting portion can abut by changing at least one of the position of the limiting portion relative to the first movable body in the up-down direction and the position of the restricted portion relative to the second movable body in the up-down direction, thereby adjusting the range in which the second movable body can move along the road surface direction relative to the first movable body. (Note 5) The article transporting device according to Note 3 or 4 is characterized in that the adjusting portion adjusts the range in which the second moving body can move along the road surface direction relative to the first moving body by changing at least one of the position of the limiting portion relative to the first moving body in the road surface direction and the position of the restricted portion relative to the second moving body in the road surface direction. (Note 6) The article transport device according to any one of Supplementary Notes 1 to 5 is characterized in that the second moving body has a positioning protrusion protruding outward for positioning with other devices along the road surface direction, The positioning protrusion has a guide portion that tapers toward a front end. (Note 7) The article transport device according to any one of Supplementary Notes 1 to 6, characterized in that the first mobile body includes a plurality of omnidirectional wheels and a mobile body main body supported by the plurality of omnidirectional wheels. (Note 8) A method for conveying articles is a method for conveying articles by a device including a first moving body and a second moving body capable of moving in a road surface direction along a road surface relative to the first moving body, characterized by comprising: The first moving body moves along the road surface direction by the power of a driving source; The second moving body receives an external force from the first moving body when the first moving body moves along the road surface, and moves along the road surface together with the first moving body to carry the loaded article; and The step of moving the second moving body in the direction of the road surface relative to the first moving body while the first moving body is stopped. Explanation of symbols

[0069] 1 article transport device; 100AGV (first moving body); 101 driving wheel; 102AGV body (moving body body); 103 driving source; 105 control unit; 111, 121 limiting unit; 111a inclined surface; 112 fastener; 200, 200A, 200B cart (second moving body); 201 wheel; 202 cart body; 203 top plate; 205 operating unit; 206 fixing member; 207 positioning protrusion; 211, 221, 231 limited unit; 211a hole; 212 fastener; 212a threaded unit; 221a inclined surface; 231a hole; D road surface direction; F road surface; L1 dimension; L2 dimension; L1-L2 first dimension; L1-L3 second dimension; P hole; S operator; T1, T2, T3 connecting unit (adjusting unit); W article.

Claims

1. An article handling device, characterized in that: have: a first moving body that moves in a road surface direction along the road surface by power from a driving source; a second moving body, the second moving body being movable along the road surface direction relative to the first moving body, and receiving an external force from the first moving body when the first moving body moves along the road surface direction, so as to move along the road surface direction together with the first moving body to carry the loaded articles; as well as An adjustment unit adjusts a range in which the second moving body can move along the road surface direction relative to the first moving body.

2. The article transporting device according to claim 1, characterized in that: The adjustment unit adjusts the distance by which the second moving body can move relative to the first moving body in the road surface direction to change between a first distance and a second distance different from the first distance.

3. The article transporting device according to claim 2, characterized in that: The adjusting portion comprises: a restricted portion held by the second mobile body; and a limiting portion held by the first mobile body and limiting the range in which the restricted portion can move along the road surface direction, and by changing at least one of the position of the limiting portion relative to the first mobile body and the position of the restricted portion relative to the second mobile body, the range in which the second mobile body can move along the road surface direction relative to the first mobile body is adjusted.

4. The article transporting device according to claim 3, characterized in that: One of the restricting portion and the restricted portion has an inclined surface inclined relative to the up-down direction, The other of the restricting portion and the restricted portion has a contact portion capable of contacting the inclined surface. The adjusting portion changes the position of the inclined surface on which the abutting portion can abut by changing at least one of the position of the limiting portion relative to the first movable body in the up-down direction and the position of the restricted portion relative to the second movable body in the up-down direction, thereby adjusting the range in which the second movable body can move along the road surface direction relative to the first movable body.

5. The article transporting device according to claim 3, characterized in that: The adjusting unit adjusts a range in which the second moving body can move along the road surface direction relative to the first moving body by changing at least one of a position of the restricting unit relative to the first moving body in the road surface direction and a position of the restricted unit relative to the second moving body in the road surface direction.

6. The article transporting device according to any one of claims 1 to 5, characterized in that: The second moving body has a positioning protrusion protruding outwards for positioning with other devices along the road surface direction. The positioning protrusion has a guide portion that tapers toward a front end.

7. The article transporting device according to any one of claims 1 to 5, characterized in that: The first mobile body includes a plurality of omnidirectional wheels and a mobile body main body supported by the plurality of omnidirectional wheels.

8. A method for transporting articles, A method for conveying articles using a device including a first moving body and a second moving body capable of moving in a road surface direction along a road surface relative to the first moving body, characterized in that: have: The first moving body moves along the road surface direction by the power of a driving source; The second moving body receives an external force from the first moving body when the first moving body moves along the road surface, and moves along the road surface together with the first moving body to carry the loaded articles; as well as The step of moving the second moving body in the direction of the road surface relative to the first moving body while the first moving body is stopped.

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