Guiding device and conveying device

Abstract

The invention provides a guiding device and a conveying device for preventing a trolley from turning over. The guide device is a guide device for guiding a carriage that performs delivery of a cargo to a delivery position at which the cargo can be delivered from the carriage to an object on which the cargo is disposed, or the cargo on the object can be received by the carriage. The guide device is provided with an anti-turnover table for supporting the trolley located at the delivery position.

Description

Technical Field

[0001] The invention relates to a guiding device and a conveying device. Background Art

[0002] Conventionally, a trolley is known as a machine for loading and unloading operations. For example, a forklift having a vehicle body and forks is described in Patent Document 1. According to such a forklift, the cargo can be transported by placing the cargo on the forks and traveling.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-158289 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] It is required to prevent the overturning of the trolley more stably. In particular, it is required to prevent the overturning of the trolley more stably when delivering goods from the trolley to an object for placing goods or receiving goods on the object by the trolley.

[0008] The present invention is made in consideration of such a situation, and aims to prevent the overturning of the cart.

[0009] Solutions for solving problems

[0010] The first aspect of the present disclosure is a guiding device for guiding a trolley for delivering goods to a delivery position, wherein the delivery position is a position where goods can be delivered from the trolley to an object for placing goods, or where goods on the object can be received by the trolley, wherein:

[0011] The guide device includes an anti-overturning stage that supports the carriage located at the transfer position.

[0012] In a second aspect of the present disclosure, according to the guide device of the first aspect, the anti-overturning stage may include a pair of protrusions that sandwich at least a portion of the carriage located at the transfer position in a horizontal direction.

[0013] In a third aspect of the present disclosure, in the guide device according to the first aspect or the second aspect, the anti-overturning table may support the carriage located at the handover position at an upper surface.

[0014] In a fourth aspect of the present disclosure, according to any one of the guide devices of the first to third aspects, the anti-overturning platform may include a power supply mechanism for supplying power to the carriage located at the transfer position.

[0015] In a fifth aspect of the present disclosure, according to any one of the guide devices of the first to fourth aspects, the guide device may include a guide portion that defines a path for the vehicle to travel to the handover position.

[0016] In a sixth aspect of the present disclosure, in the guide device according to the fifth aspect, the guide portion may include a guide portion power supply mechanism that supplies power to the vehicle located on the path.

[0017] In the 7th form of the present disclosure, according to any one of the guiding devices in the above-mentioned 1st form to the above-mentioned 6th form, the anti-tipping platform may allow the trolley located at the handover position to rotate around a rotation axis passing through the interior of the trolley and perpendicular to the horizontal direction.

[0018] In an eighth aspect of the present disclosure, according to the guide device of the seventh aspect, the anti-overturning platform may have a curved surface that is equidistant in horizontal direction from the rotation axis of the carriage located at the handover position.

[0019] A ninth aspect of the present disclosure is a conveying device comprising:

[0020] Trolleys, which carry out the transfer of goods; and

[0021] a guide device for guiding the trolley to a delivery position, wherein the delivery position is a position where the goods can be delivered from the trolley to the object on which the goods are to be arranged, or where the goods on the object can be received by the trolley,

[0022] The guide device includes an anti-overturning stage that supports the carriage located at the handover position.

[0023] In a tenth aspect of the present disclosure, according to the conveying device of the ninth aspect, the trolley may be rotatable about a rotation axis passing through the interior of the trolley and perpendicular to the horizontal direction.

[0024] Within the range of the anti-tipping platform in the up-down direction, the minimum horizontal distance between the rotation axis of the trolley at the junction and the anti-tipping platform is greater than the maximum horizontal distance between the rotation axis and the end of the trolley.

[0025] In the 11th aspect of the present disclosure, according to the conveying device of the above-mentioned 9th aspect or the above-mentioned 10th aspect, the trolley may be rotatable around a rotation axis passing through the interior of the trolley and perpendicular to the horizontal direction,

[0026] The trolley comprises: a base portion; two fixed wheels, which are arranged on the base portion and are separated from the rotation axis in the horizontal direction; and a plurality of driving wheels, which are arranged on the base portion.

[0027] The two fixed wheels can rotate at the first rotation axis respectively.

[0028] The first rotation axis is located on a straight line passing through the rotation axis and is fixed relative to the base portion.

[0029] The plurality of drive wheels are driven respectively by inputting rotation so that the plurality of drive wheels rotate respectively about the second rotation axis.

[0030] The plurality of driving wheels are driven respectively so that the second rotation axis lines rotate in rotation directions parallel to the horizontal direction relative to the base portion.

[0031] Effects of the Invention

[0032] According to the present invention, it is possible to prevent the cart from tipping over. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1A This is a perspective view of a cart in one embodiment.

[0034] Figure 1B This is a perspective view of a cart in one embodiment.

[0035] Figure 2A This is a plan view of a cart in one embodiment.

[0036] Figure 2B It is a side view of the carriage in one embodiment.

[0037] Figure 2C It is a side view of the carriage in one embodiment.

[0038] Figure 3 This is a perspective view of a cart in one embodiment.

[0039] Figure 4 This is a perspective view of a cart in one embodiment.

[0040] Figure 5 This is a perspective view showing an enlarged portion of a vehicle in one embodiment.

[0041] Figure 6 This is a plan view of a cart in one embodiment.

[0042] Figure 7 It is a perspective view of a conveying device and an object in one embodiment.

[0043] Figure 8It is a perspective view of an anti-tipping table in one embodiment.

[0044] Fig. 9 It is a side view of the conveying device in one embodiment.

[0045] Fig.10 It means along Fig. 9 A cross-sectional view of the section taken along line XX.

[0046] Fig.11 It is a figure which shows the effect|action of the conveyance device in one embodiment.

[0047] Fig.12 It is a figure which shows the effect|action of the conveyance device in one embodiment.

[0048] Fig.13 It is a figure which shows the effect|action of the conveyance device in one embodiment.

[0049] Fig.14 This is a cross-sectional view of the conveying device in Modification 1.

[0050] Fig.15 This is a perspective view of the guide device in Modification 2.

[0051] Fig.16 This is a perspective view showing a Mecanum wheel in Modification 3.

[0052] Description of Reference Numerals

[0053] 1. Trolley; 10. Guide device; 11. Handover position; 12. Anti-tipping table; 121. Protrusion; 123. Upper surface; 124. Power supply mechanism; 13. Curved surface; 14. Guide part; 142. Guide part power supply mechanism; 15. Path; 2. Base part; 21. Fixed wheel; 22. Driving wheel; 3. Lifting base part; 4. Lifting unit; 5. Handover part; 6. Moving unit; 100. Conveying device; A. Object. DETAILED DESCRIPTION

[0054] This embodiment is described. The conveying device 100 of this embodiment includes: a trolley 1 that performs the delivery of goods; and a guide device 10 that guides the trolley 1 to the delivery position 11. The delivery position 11 is a position where goods can be delivered from the trolley 1 to the object A where the goods are arranged, or where the trolley 1 can be used to receive goods on the object A. As an example, the conveying device 100 is arranged in a warehouse that automates the removal and storage of goods, that is, an automatic warehouse. In this case, it can be said that the warehouse includes the trolley 1, the guide device 10, and the object A.

[0055] First, the vehicle 1 will be described in detail with reference to the drawings. Figure 1A It is a perspective view showing the vehicle 1 according to the present embodiment. Figure 1B It means from Figure 1A A perspective view of the vehicle 1 of the present embodiment viewed from the opposite side. The vehicle 1 is arranged on the ground F and travels on the ground F. The direction perpendicular to the ground F on which the vehicle 1 travels is referred to as the up-down direction DA. The side of the up-down direction DA on which the ground F is located with respect to the vehicle 1 is referred to as the lower side SA2. The side of the up-down direction DA opposite to the lower side SA2 is referred to as the upper side SA1. The direction parallel to the ground F on which the vehicle 1 travels is referred to as the horizontal direction. Figure 2A It means that the vertical direction DA is viewed from the lower SA2. Figure 1A and Figure 1B The plan view of the trolley 1 is shown. Figure 2A The direction shown, which rotates around the axis of rotation C3, is referred to as the direction of rotation DD.

[0056] like Figure 1A and Figure 1B As shown, the trolley 1 has a base portion 2. Figure 2A As shown, the trolley 1 has two fixed wheels 21 provided on the base portion 2 and a plurality of driving wheels 22 provided on the base portion 2. The trolley 1 also includes a lifting base portion 3, a lifting unit 4, a delivery portion 5, and a moving unit 6. The lifting base portion 3 is located on the base portion 2. The lifting unit 4 lifts the lifting base portion 3 relative to the base portion 2. The delivery portion 5 has a fork 51 that supports goods and delivers goods. The moving unit 6 moves the delivery portion 5 relative to the lifting base portion 3.

[0057] The direction in which the fork 51 protrudes and is perpendicular to the up-down direction DA is referred to as the front-to-back direction DB. The moving unit 6 moves the junction 5 relative to the lifting base 3 in the front-to-back direction DB. The direction perpendicular to the front-to-back direction DB and parallel to the horizontal direction is referred to as the vehicle width direction DC. The side in the front-to-back direction DB where the top of the fork 51 is located with respect to the base of the fork 51 is referred to as the front SB1. The side in the front-to-back direction DB opposite to the front SB1 is referred to as the rear SB2. One side in the vehicle width direction DC ( Figure 1A The right side in the vehicle width direction DC is referred to as the first side SC1. The side opposite to the first side SC1 in the vehicle width direction DC is referred to as the second side SC2.

[0058] The dolly 1 includes: a lower portion 1a located within the range where the anti-overturning stage 12 to be described later is located in the up-down direction DA; and an upper portion 1b located above the lower portion 1a by a distance SA1. Figure 1A and Figure 1B In the example shown, a part of the base 2, two fixed wheels 21 and a plurality of driving wheels 22 are included in the lower part 1a, and a part of the base 2, the lifting base 3, the lifting unit 4, the interface 5 and the moving unit 6 are included in the upper part 1b.

[0059] The upper portion 1b has a trolley protrusion 1c that protrudes in the horizontal direction relative to the lower portion 1a. As an example, the trolley protrusion 1c has a portion that protrudes toward the front SB1 in the front-rear direction DB. The trolley protrusion 1c has portions that protrude toward the first side SC1 and the second side SC2 in the vehicle width direction DC. The trolley protrusion 1c has a portion that protrudes toward the rear SB2 in the front-rear direction DB. The trolley protrusion 1c has a lower surface 1d. The lower surface 1d is a surface of the trolley protrusion 1c that is located at the lower SA2 in the up-down direction DA. Figure 1A and Figure 1B In the example shown, the lower surface 1d is a surface perpendicular to the up-down direction DA.

[0060] The trolley 1 of this embodiment can carry the goods by loading the goods on the fork 51 and driving. The trolley 1 can transfer the goods by moving the fork 51 while loading the goods on the fork 51. As an example, the trolley 1 is a transport vehicle such as an AGV or RGV that does not require the assistance of an operator when driving (i.e., an unmanned transport vehicle). The trolley 1 can also be a transport vehicle that requires the assistance of an operator when driving.

[0061] Two fixed wheels 21 and a plurality of driving wheels 22 are provided on the base 2. The two fixed wheels 21 are rotatable at the first rotation axis C1. The first rotation axis C1 is fixed relative to the base 2. The plurality of driving wheels 22 are driven by input rotation so that the plurality of driving wheels 22 rotate at the second rotation axis C2. The vehicle 1 travels on the ground F by driving the plurality of driving wheels 22.

[0062] The carriage 1 can rotate around a rotation axis C3 that passes through the interior of the carriage 1 and is perpendicular to the horizontal direction.

[0063] exist Figure 2A In the example shown, the lower portion 1a has a circular outline 1f when viewed from the up-down direction DA. Figure 2A In the example shown, the upper portion 1 b has a substantially rectangular outline 1 g when viewed from the up-down direction DA.

[0064] like Figure 2A As shown, the two fixed wheels 21 are separated by the rotation axis C3 in the horizontal direction. The first rotation axis C1 is located on a straight line passing through the rotation axis C3. Figure 2A In the example shown, the first rotation axis C11 of the two fixed wheels 21 and the other first rotation axis C12 of the two fixed wheels 21 are both located on a straight line L6 passing through the rotation axis C3 and parallel to the horizontal direction. Therefore, the first rotation axis C1 of the two fixed wheels 21 are respectively oriented in a direction parallel to the vehicle width direction DC. Figure 2AIn the embodiment, the two fixed wheels 21 are arranged in the vehicle width direction DC. One of the two fixed wheels 21 is located on the first side SC1 of the rotation axis C3 in the vehicle width direction DC. The other of the two fixed wheels 21 is located on the second side SC2 of the rotation axis C3 in the vehicle width direction DC.

[0065] The plurality of driving wheels 22 are driven so that the second rotation axes C2 of the plurality of driving wheels 22 rotate in a rotation direction parallel to the horizontal direction relative to the base portion 2. Figure 2A In the embodiment, two driving wheels 22 are provided on the base 2. The two driving wheels 22 are separated from each other by a rotation axis C3 in the horizontal direction. The driving wheels 22 are driven so that the second rotation axis C2 of the driving wheels 22 is Figure 2A The center of the two driving wheels 22 is the point C4 shown, and the two fixed wheels 21 are rotated in a direction parallel to the horizontal direction relative to the base 2. One of the two driving wheels 22 is located in front of the rotation axis C3 in the front-to-back direction DB. The other of the two fixed wheels 21 is located in the rear of the rotation axis C3 in the front-to-back direction DB. Figure 2A Of the two drive wheels 22 shown, the one located in the front SB1 is referred to as the first drive wheel 221. Figure 2A Of the two driving wheels 22 shown, the other one located at the rear SB2 is referred to as a second driving wheel 222 .

[0066] exist Figure 2A In the example shown, two fixed wheels 21 and two drive wheels 22 are arranged alternately in the rotation direction DD.

[0067] The driving wheel 22 is driven so that the second rotation axis C2 of the driving wheel 22 rotates around the point C4, thereby adjusting the direction in which the vehicle 1 travels. Figure 2A In the state shown, the second rotation axes C2 of the plurality of driving wheels 22 are oriented in parallel with the vehicle width direction DC. In this state, the vehicle 1 can travel forward SB1 or backward SB2 in the front-rear direction DB by rotating the plurality of driving wheels 22 about the second rotation axes C2.

[0068] The plurality of driving wheels 22 are driven so that the second rotation axis C2 of the plurality of driving wheels 22 rotates around the point C4, thereby enabling the vehicle 1 to rotate around the rotation axis C3. Figure 2A The second rotation axis C21 of the first driving wheel 221 shown in FIG. 2 is oriented toward the straight line L2 passing through the rotation axis C3. Figure 2A The second rotation axis C22 of the second driving wheel 222 shown in the figure is oriented toward the straight line L3 passing through the rotation axis C3. In this state, by rotating the plurality of driving wheels 22 about the second rotation axis C2, the vehicle 1 can be rotated about the rotation axis C3. Figure 2A In the example shown, the straight line L2 overlaps with the straight line L3.

[0069] The plurality of driving wheels 22 are driven so that the second rotation axis C2 of the plurality of driving wheels 22 rotates around the point C4, thereby enabling the vehicle 1 to travel in a turning manner. Figure 2A The second rotation axis C21 of the first driving wheel 221 shown in FIG. 2 is oriented toward the straight line L4. Figure 2A The second rotation axis C22 of the second driving wheel 222 shown in FIG. 1 is oriented toward the straight line L5. In this state, by rotating the plurality of driving wheels 22 at the second rotation axis C2, the vehicle 1 can be moved in the direction Figure 2A The vehicle travels in a manner that turns in the direction of the arrow denoted by the reference character D1.

[0070] The trolley 1 may also include a trolley lifting unit 91 that lifts at least one of the plurality of driving wheels 22. The trolley lifting unit 91 lifts at least one of the plurality of driving wheels 22 to separate the driving wheel 22 from the ground F on which the trolley 1 is placed. In the present embodiment, the trolley lifting unit 91 can lift all of the plurality of driving wheels 22 to separate the driving wheels 22 from the ground F on which the trolley 1 is placed. In the present embodiment, the trolley lifting unit 91 can lift both of the two fixed wheels 21 to separate the fixed wheels 21 from the ground F on which the trolley 1 is placed. Figure 2B FIG. 2 is a side view showing an example of a state in which the carriage lifting unit 91 lifts at least one of the plurality of driving wheels 22. Figure 2B In the example shown, the trolley 1 includes a trolley lifting unit 91. The trolley lifting unit 91 is used to lift the plurality of driving wheels 22 and the two fixed wheels 21 so as to separate the plurality of driving wheels 22 and the two fixed wheels 21 from the ground F on which the trolley 1 is placed. Figure 2B In the embodiment, the trolley 1 is in contact with the ground F at the trolley lifting portion 91. Figure 2B In the embodiment, the carriage 1 does not come into contact with the ground surface F at a portion other than the carriage lifting portion 91 .

[0071] There is no particular limitation on the form of the carriage lifting unit 91 as long as it can lift at least one of the plurality of driving wheels 22. Figure 2B In the example shown, the carriage lifting unit 91 is located below the base unit 2 at SA2. Figure 2AIn the example shown, the trolley lifting part 91 has a telescopic part 911. The telescopic part 911 is a part that is provided on the lower surface 2d of the surface SA2 below the base part 2 and is telescopic in the up-down direction DA. The telescopic part 911 is telescopic in the up-down direction DA in such a manner that the protrusion amount w1 protruding from the lower surface 2d in the up-down direction DA changes. As an example, the telescopic part 911 is a cylinder that is telescopic in the up-down direction DA by hydraulic or pneumatic drive. The telescopic part 911 may also be a ball screw having a screw extending in the up-down direction DA and a nut meshing with the screw. In this case, the base part 2 may be fixed to either the screw or the nut. The telescopic part 911 may also be composed of a connecting rod mechanism.

[0072] The carriage lifting unit 91 may also include a plurality of telescopic units 911. Figure 2A In the example shown, the carriage lifting unit 91 has four telescopic units 911. Figure 2A In the example shown, the four telescopic parts 911 are respectively located between the fixed wheel 21 and the driving wheel 22 in the rotation direction DD.

[0073] By adjusting the protrusion amount w1 of the telescopic portion 911 from the lower surface 2d in the up-down direction DA, at least one of the plurality of driving wheels 22 can be lifted. Figure 2B In the example shown, the two fixed wheels 21 and the plurality of driving wheels 22 are lifted by making the protrusion amount w1 of the plurality of telescopic parts 911 larger than the distance w2 between the end of the lower side SA2 of the fixed wheel 21 and the driving wheel 22 and the lower surface 2d in the up-down direction DA.

[0074] The effect of the trolley lifting unit 91 is described. As described above, the driving wheel 22 is driven so that the second rotation axis C2 of the driving wheel 22 rotates around the point C4, thereby adjusting the direction in which the trolley 1 travels. Here, it is assumed that the following situation is considered: when the driving wheel 22 is in contact with the ground F, the driving wheel 22 is driven so that the second rotation axis C2 of the driving wheel 22 rotates around the point C4. In this case, friction is generated between the driving wheel 22 and the ground F. Therefore, in order to rotate the second rotation axis C2 of the driving wheel 22 around the point C4, a larger driving force needs to be input. Therefore, when the second rotation axis C2 of the driving wheel 22 is rotated by inputting a driving force using, for example, a motor, the load applied to the motor becomes larger. In contrast, according to the trolley lifting unit 91, the driving wheel 22 can be lifted so that the driving wheel 22 is separated from the ground F on which the trolley 1 is placed. By rotating the second rotation axis C2 of the driving wheel 22 when the driving wheel 22 is separated from the ground F, the generation of friction between the driving wheel 22 and the ground F can be prevented. Therefore, the second rotation axis C2 of the driving wheel 22 can be rotated by using a smaller driving force. In particular, when the second rotation axis C2 of the driving wheel 22 is rotated by using the motor input driving force, the load applied to the motor can be reduced. In summary, the second rotation axis C2 of the driving wheel 22 can be rotated by using a smaller driving force to adjust the direction of travel of the vehicle 1.

[0075] When the trolley 1 is stopped, Figure 2C As shown, the protrusion amount w1 of the telescopic portion 911 may be adjusted to be equal to the distance w2 between the end of the lower SA2 of the fixed wheel 21 and the driving wheel 22 and the lower surface 2d in the up-down direction DA. In this case, the trolley 1 contacts the ground F at the end of the lower SA2 of the fixed wheel 21 and the driving wheel 22 and contacts the ground F at the telescopic portion 911. Thus, the number of parts of the trolley 1 in contact with the ground F can be increased, and the overturning of the trolley 1 can be effectively prevented.

[0076] As long as the trolley 1 can be driven, there is no particular limitation on the means for rotating the drive wheel 22 at the second rotation axis C2. As an example, the trolley 1 may also include a motor for inputting rotation to the drive wheel 22. In this case, the plurality of drive wheels 22 rotate at the second rotation axis C2 by respectively utilizing the rotation input by the motor. In this case, the trolley 1 may also include a reducer for reducing the rotation input from the motor and transmitting the rotation to the drive wheel 22. The trolley 1 may also include a geared motor as a means for rotating the drive wheel 22 at the second rotation axis C2 instead of the motor and the reducer.

[0077] There is no particular limitation on the means for rotating the second rotation axis C2 of the driving wheel 22 in a rotation direction parallel to the horizontal direction relative to the base 2. As an example, the vehicle 1 may also include a motor that rotates the second rotation axis C2 of the driving wheel 22 in a rotation direction parallel to the horizontal direction. In this case, the vehicle 1 may also include a speed reducer that reduces the rotation input from the motor and transmits the rotation to the driving wheel 22.

[0078] The lifting base part 3 is a part located on the base part 2. The lifting base part 3 is lifted relative to the base part 2 by the lifting unit 4 discussed later. In the present embodiment, the lifting base part 3 has a rectangular outline when viewed from the up-down direction DA. In the present embodiment, the moving unit 6 discussed later is arranged on the lifting base part 3.

[0079] The lifting unit 4 is a part that makes the lifting base part 3 rise and fall relative to the base part 2. Figure 1A In the example shown, the lifting unit 4 has a telescopic arm (pantograph). Figure 1A In the example shown, the lifting unit 4 includes a first lifting part 41 and a second lifting part 42. The first lifting part 41 and the second lifting part 42 are connected to the base part 2 and the lifting base part 3, respectively, to lift the lifting base part 3 relative to the base part 2. In addition, the first lifting part 41 and the second lifting part 42 each have a telescopic arm.

[0080] exist Figure 2B In the example shown, the lifting unit 4 has a plurality of connecting rods 43 connected to one another in such a way as to form a telescopic arm. Figure 2B In the example shown, the lifting unit 4 has a plurality of connecting parts 44 that connect a plurality of connecting rods 43. The plurality of connecting parts 44 connect the two connecting rods 43 so that the two connecting rods 43 can rotate relative to each other. The lifting unit 4 having a telescopic arm is formed by connecting the plurality of connecting rods 43 through the plurality of connecting parts 44. The lifting unit 4 may also have a structure in which a plurality of telescopic arms overlap in the up-down direction DA.

[0081] Figure 3 It means Figure 1A and Figure 1B The lifting unit 4 shown in this way has a trolley 1 with a telescopic arm, Figure 1A and Figure 1B The three-dimensional diagram of the state of the other state is different from the state of the other state. Figure 1A and Figure 1B In the state shown, the lifting unit 4 moves the lifting base 3 upward SA1 in the vertical direction DA, and the moving unit 6 discussed later moves the connecting portion 5 and the mast 53 forward SB1 in the front-rear direction DB, and the carriage 1 becomes Figure 3 Status shown.

[0082] Lifting unit 4 Figure 3 In the state shown, relative to Figure 1A and Figure 1B In the state shown, the telescopic arm is extended in the vertical direction DA. At the plurality of connecting parts 44, the two connecting rods 43 connected by the connecting parts 44 rotate relative to each other, so that the telescopic arm is extended and retracted in the vertical direction DA. Thus, the lifting unit 4 with the telescopic arm can be extended in the vertical direction DA so as to be able to move from, for example, Figure 1A and Figure 1B The status shown becomes Figure 3 Thus, the lifting base 3 can be moved upward SA1 in the vertical direction DA. In addition, the lifting unit 4 with the telescopic arm can be retracted in the vertical direction DA so as to move from Figure 3 The status shown becomes Figure 1A and Figure 1B Thus, the lifting base portion 3 can be moved downward SA2 in the up-down direction DA.

[0083] Among them, the center position P1 of the base part 2 in the front-to-back direction DB and the vehicle width direction DC which is perpendicular to the front-to-back direction DB and parallel to the horizontal direction is considered. The center position P1 of the base part 2 is determined by the following method. The first surface is obtained, which is a surface parallel to the up-down direction DA and the front-to-back direction DB, and is an imaginary surface which is equidistant from both ends of the base part 2 in the vehicle width direction DC. In addition, the second surface is obtained, which is a surface parallel to the up-down direction DA and the vehicle width direction DC, and is an imaginary surface which is equidistant from both ends of the base part 2 in the front-to-back direction DB. Next, the straight line L1 where the first surface intersects with the second surface is obtained. Figure 3 An example of using a single-dot chain line to represent the straight line L1. At this time, the center position P1 of the base portion 2 is determined as the position through which the straight line L1 of the base portion 2 passes. As described above, the lower portion 1a has a circular outline 1f when viewed from the up-down direction DA. The center position P1 of the base portion 2 overlaps with the geometric center of the circle formed by the outline 1f of the lower portion 1a when viewed from the up-down direction DA. In addition, as described above, the upper portion 1b has a roughly rectangular outline 1g when viewed from the up-down direction DA. The center position P1 of the base portion 2 overlaps with the geometric center of the roughly rectangular shape formed by the outline 1g of the upper portion 1b when viewed from the up-down direction DA.

[0084] In addition, consider the center position P2 of the lifting base part 3 in the front-to-back direction DB and the vehicle width direction DC. The center position P2 of the lifting base part 3 is determined by the following method. Find the third surface, which is a surface parallel to the up-down direction DA and the front-to-back direction DB, and is an imaginary surface that is equidistant from both ends of the lifting base part 3 in the vehicle width direction DC. In addition, find the fourth surface, which is a surface parallel to the up-down direction DA and the vehicle width direction DC, and is an imaginary surface that is equidistant from both ends of the lifting base part 3 in the front-to-back direction DB. Next, find the straight line L2 where the third surface intersects with the fourth surface. Figure 3 1 is an example of a straight line L2 represented by a single-dot chain line. As described above, the lifting base portion 3 has a rectangular outline when viewed from the up-down direction DA. The center position P2 of the lifting base portion 3 overlaps with the geometric center of the rectangle formed by the outline of the lifting base portion 3 when viewed from the up-down direction DA.

[0085] exist Figure 2A In the example shown, the center position P1 of the base portion 2 overlaps with the rotation axis C3 when viewed from the up-down direction DA. The center position P2 of the lift base portion 3 overlaps with the rotation axis C3 when viewed from the up-down direction DA.

[0086] exist Figure 3 In the example shown, the straight line L2 coincides with the straight line L1. At this time, the center position P2 of the elevating base portion 3 is determined as the position through which the straight line L2 of the elevating base portion 3 passes. In addition, it is desirable that the straight line L2 coincides with the straight line L1. However, the straight line L2 and the straight line L1 do not necessarily have to coincide with each other in terms of design. In the case where the straight line L2 does not coincide with the straight line L1, it is desirable that the distance between the straight line L2 and the straight line L1 is small.

[0087] Although not shown, the lifting unit 4 may not have a telescopic arm. As long as the lifting base portion 3 can be moved relative to the base portion 2 in the vertical direction DA, the form of the lifting unit 4 is not particularly limited. The lifting unit 4 may also use a ball screw. In this case, the ball screw has a screw extending in the vertical direction DA and a nut meshing with the screw. If one of the screw and the nut is rotated relative to the other, the positional relationship between the screw and the nut in the vertical direction DA in which the screw extends changes. Therefore, by fixing the base portion 2 to one of the screw and the nut and fixing the lifting base portion 3 to the other, the lifting base portion 3 can be moved relative to the base portion 2 in the vertical direction DA using a ball screw. In this case, the ball screw may also be driven by a motor. In addition, the lifting unit 4 may also use hydraulic pressure or pneumatic pressure to move the lifting base portion 3 relative to the base portion 2 in the vertical direction DA. In this case, the lifting unit 4 may also have a gantry fixed to the base portion 2 and extending in the vertical direction DA. In this case, the elevating base part 3 can be moved up and down by moving the elevating base part 3 along the gantry using hydraulic pressure or pneumatic pressure.

[0088] The delivery section 5 is a portion for delivering goods with a fork 51. In the present embodiment, the delivery section 5 further includes a delivery lift 52 for lifting the fork 51 relative to the lift base 3 and a door frame 53 for accommodating the delivery lift 52.

[0089] The fork 51 is a part that supports the cargo. As long as the fork 51 can support the cargo, there is no particular limitation on the shape. Figure 1A In the illustrated example, the forks 51 are two flat plate-like members that protrude forward SB1 in the front-rear direction DB.

[0090] The delivery lifting unit 52 is a part that makes the fork 51 rise and fall relative to the lifting base unit 3. In addition, the door frame 53 is a part that stores the delivery lifting unit 52. Figure 1A In the example shown, the door frame 53 houses a portion of the transfer lift 52. Figure 1A In the example shown, the end 51a of the rear SB2 of the fork 51 is connected to the transfer lifting part 52. The door frame 53 has a pair of linear grooves 54 extending in the up-down direction DA and arranged in the vehicle width direction DC. Figure 1A In the example shown, the parts of both ends of the transfer lift 52 in the vehicle width direction DC are received in a pair of linear grooves 54 of the door frame 53 so that the transfer lift 52 can slide relative to the door frame 53. The fork 51 is raised and lowered relative to the lift base 3 by the slide of the transfer lift 52 relative to the door frame 53. As an example, the transfer lift 52 is driven by hydraulic pressure, pneumatic pressure, or electric power (for example, a combination of a motor and a ball screw, etc.) to slide relative to the door frame 53.

[0091] In the present embodiment, the delivery lifting section 52 can lift the fork 51 between a position SA1 above the upper surface 3c of the lifting base section 3 and a position SA2 below the upper surface 3c. Figure 4 The vehicle 1 of this embodiment is shown in FIG. Figure 1A , Figure 1B as well as Figure 3 A three-dimensional diagram of a different state. Figure 4 In the example shown, the fork 51 is located at a position SA2 below the upper surface 3c of the lifting base portion 3. Figure 3 In the example shown, the fork 51 is located at a position SA1 above the upper surface 3c of the lifting base portion 3. The positional relationship of the fork 51 with respect to the lifting base portion 3 can be adjusted by the transfer lifting portion 52. Figure 3 The position relationship shown is Figure 4 The position of the upper surface 3c of the lifting base 3 in the vertical direction DA is determined as the position of the portion of the upper surface 3c located at the center position P1 in the vertical direction DA when the upper surface 3c is not a plane perpendicular to the vertical direction DA.

[0092] Since the delivery part 5 has the delivery lifting part 52, the fork 51 can be moved to a position to which the lifting base part 3 cannot be moved by the lifting unit 4. In the present embodiment, the delivery lifting part 52 can lift the fork 51 between a position SA1 above the upper surface 3c of the lifting base part 3 and a position SA2 below the upper surface 3c. Thus, the fork 51 can be moved to a position SA2 below the upper surface 3c of the lifting base part 3, and the cargo located at a position SA2 below the upper surface 3c can be supported by the fork 51.

[0093] exist Figure 4 In the example shown, the lifting unit 4 moves the lifting base part 3 to the movable lowermost position SA2. In this state, the delivery lifting unit 52 may move the fork 51 to a position SA2 below the end of the upper SA1 of the base part 2 in the up-down direction DA. Alternatively, when the dolly 1 is arranged on a flat ground F and the lifting unit 4 moves the lifting base part 3 to the movable lowermost position SA2, the delivery lifting unit 52 may move the fork 51 so that the fork 51 contacts the ground F. Thus, the fork 51 can support the cargo located at a lower SA2, especially the cargo located near the ground F.

[0094] The effect of the transfer lifting part 52 will be further described. The dolly 1 of the present embodiment includes a base part 2 and a lift base part 3. Here, it is assumed that the fork 51 cannot move to a position below SA2 that is closer to the upper surface 3c of the lift base part 3. In this case, the following area is generated: the fork 51 cannot be moved to the lower SA2 in the vertical direction DA by at least an amount corresponding to the length obtained by adding the size of the base part 2 and the size of the lift base part 3 in the vertical direction DA. In the present embodiment, the transfer lifting part 52 can be used to prevent the area where the fork 51 cannot move below SA2 from becoming wider when the dolly 1 including the base part 2 and the lift base part 3 is used.

[0095] The moving unit 6 is a part that moves the interface 5 relative to the lifting base 3 in the front-rear direction DB in which the fork 51 extends. In this embodiment, the moving unit 6 can make the positional relationship of the interface 5 relative to the lifting base 3 Figure 1A The position relationship shown is Figure 3 The moving unit 6 can move the interface 5 between a position where the entire fork 51 is located SB1 in front of the lift base 3 and a position where at least a portion of the fork 51 overlaps the lift base 3 in the vertical direction DA. Figure 1A In the state shown, the moving unit 6 moves the interface 5 to a position where the entire fork 51 overlaps the lifting base 3 in the up-down direction DA. Figure 3 In the illustrated state, the moving unit 6 moves the interface 5 to a position where the entire fork 51 is located SB1 forward of the base 2 .

[0096] As long as the interface 5 can be moved relative to the elevating base 3 in the front-rear direction DB in which the fork 51 extends, the form of the moving unit 6 is not particularly limited. Figure 1A In the example shown, the moving unit 6 has a cylinder. In this case, the moving unit 6 is driven by the hydraulic pressure or pneumatic pressure of the cylinder to move the interface 5 relative to the lifting base portion 3. The moving unit 6 can also use a ball screw. In this case, the ball screw has a screw extending in the front-to-back direction DB and a nut meshing with the screw. If one of the screw and the nut is rotated relative to the other, the positional relationship between the screw and the nut in the front-to-back direction DB where the screw extends changes. Therefore, by fixing the lifting base portion 3 to one of the screw and the nut and fixing the interface 5 to the other, the interface 5 can be moved relative to the lifting base portion 3 using a ball screw. In this case, the ball screw can also be driven by a motor.

[0097] In the present embodiment, the moving unit 6 moves the entirety of the interface 5 having the fork 51 and the interface lifting portion 52 in the front-rear direction DB relative to the lift base portion 3. In the present embodiment, the moving unit 6 moves the interface 5 and the door frame 53 in the front-rear direction DB relative to the lift base portion 3 as a whole. The moving unit 6 can move the interface 5 in the front-rear direction DB relative to the lift base portion 3 in a state where the interface lifting portion 52 supports the fork 51 at a position SA1 above the upper surface 3c of the lift base portion 3.

[0098] Figure 5 It means that SB2 is viewed from the rear. Figure 1A and Figure 1B The illustrated state is a perspective view of the vicinity of the moving unit 6 of the carriage 1 in a state where the interface 5 and the gantry 53 are moved forward SB1 by the moving unit 6 . Figure 6 It means that the vertical direction DA is viewed from the top SA1 Figure 1A and Figure 1B A plan view of the trolley 1 in the state shown. Figure 6 In the figure, the connecting portion 5 and the door frame 53 are omitted.

[0099] exist Figure 5 and Figure 6 In the example shown, the moving unit 6 includes a first cylinder 61 connected to the elevating base section 3 and a second cylinder 62 connected to the interface section 5 as cylinders, and a connection section 63 connected to the first cylinder 61 and the second cylinder 62. The first cylinder 61 moves the connection section 63 in the front-rear direction DB relative to the elevating base section 3. The second cylinder 62 moves the interface section 5 in the front-rear direction DB relative to the connection section 63. By the operation of the first cylinder 61 and the second cylinder 62, the interface section 5 can be moved in the front-rear direction DB relative to the elevating base section 3.

[0100] exist Figure 5 and Figure 6 In the example shown, the moving unit 6 has two first cylinders 61. In addition, the moving unit 6 has one second cylinder 62. The second cylinder 62 is located between the two first cylinders 61 in the vehicle width direction DC. Both the first cylinder 61 and the second cylinder 62 extend in the front-rear direction DB.

[0101] The first cylinder 61 includes a first cylinder body 61a having a cylindrical shape extending in the front-to-back direction DB and a first rod 61b having a rod shape extending in the front-to-back direction DB. One end of the first rod 61b is housed inside the first cylinder body 61a. In this case, as an example, the first rod 61b is driven by hydraulic pressure or pneumatic pressure to move along the inner wall of the first cylinder body 61a, so that the overall length of the first cylinder 61 in the front-to-back direction DB changes. The second cylinder 62 includes a second cylinder body 62a having a cylindrical shape extending in the front-to-back direction DB and a second rod 62b having a rod shape extending in the front-to-back direction DB. At least one end of the second rod 62b is housed inside the second cylinder body 62a. In this case, as an example, the second rod 62b is driven by hydraulic pressure or pneumatic pressure to move along the inner wall of the second cylinder body 62a, so that the overall length of the second cylinder 62 in the front-to-back direction DB changes.

[0102] In the present embodiment, the first cylinder body 61a is directly connected to the lifting base part 3. The connecting part 63 is connected to one end of the first rod 61b that is not accommodated in the first cylinder body 61a. Thus, by moving the first rod 61b along the inner wall of the first cylinder body 61a, the connecting part 63 can be moved relative to the lifting base part 3. In addition, the connecting part 63 is directly connected to the second cylinder body 62a. The second rod 62b is connected to the mast 53. As described above, both ends of the intersection lifting part 52 in the vehicle width direction DC are accommodated in a pair of linear grooves 54 of the mast 53. Thus, the mast 53 is connected to the intersection lifting part 52 of the intersection 5. According to the above, the second rod 62b is connected to the intersection 5 via the mast 53. Thus, by moving the second rod 62b along the inner wall of the second cylinder body 62a, the intersection 5 and the mast 53 can be moved relative to the connecting part 63.

[0103] The moving unit 6 includes the first cylinder 61 and the second cylinder 62, so that the following effects can be obtained. The interface 5 can be moved relative to the elevating base 3 by an amount corresponding to the length obtained by adding the amount of change in the length of the first cylinder 61 in the front-rear direction DB and the amount of change in the length of the second cylinder 62 in the front-rear direction DB. Thus, for example, the interface 5 can be moved between a position where the entire fork 51 is located SB1 forward of the base 2 and a position where the entire fork 51 overlaps with the elevating base 3 in the up-down direction DA.

[0104] In addition, in the present embodiment, the lift base part 3 has a pair of second linear grooves 35 extending in the front-rear direction DB and arranged in the vehicle width direction DC. Parts of both ends of the gantry 53 in the vehicle width direction DC are accommodated in the pair of second linear grooves 35 of the lift base part 3 so that the gantry 53 can slide relative to the lift base part 3. The portion of the gantry 53 accommodated in the pair of second linear grooves 35 is referred to as a gantry guide 531. When the moving unit 6 moves the interface 5 and the gantry 53 in the front-rear direction DB, the gantry guide 531 slides along the pair of second linear grooves 35. The following effects can be obtained by using the pair of second linear grooves 35 and the gantry guide 531. When the moving unit 6 moves the interface 5 and the gantry 53 in the front-rear direction DB, the movement of the interface 5 and the gantry 53 can be guided by the pair of second linear grooves 35 and the gantry guide 531.

[0105] Although not shown, the trolley 1 may also include a sensor for detecting the handover position 11. When the trolley 1 includes the sensor, the sensor may detect the handover position 11 by detecting the position of the anti-tipping platform 12 or by detecting the position of the object A. Since the trolley 1 includes the sensor, by driving the trolley 1 toward the handover position 11 detected by the sensor, the goods can be delivered from the trolley 1 to the object A at the handover position 11, or the goods on the object A can be received by the trolley 1.

[0106] Next, the object A will be described. The object A is an object to which a cargo is delivered from the trolley 1 located at the delivery position 11 or to which a cargo placed on the object A is received by the trolley 1 located at the delivery position 11 . Figure 7 It is a perspective view showing the object A together with the conveying device 100 . Figure 7 In particular, the object A, the dolly 1, and the guide device 10 are shown when the dolly 1 receives the cargo B placed on the object A. Figure 7 In the example shown, the lifting unit 4 holds the lifting base 3 at the upper position SA1 in the vertical direction DA. Thus, the trolley 1 lifts the cargo B upward SA1. Figure 7 In the example shown, the entire fork 51 is located at a position SB1 in front of the base portion 2. In addition, the fork 51 supports the cargo B.

[0107] Object A is an item that can be configured with item B. Figure 7 In the example shown, the surface of the object A on which the supply B is arranged is located at a position SA1 above the ground surface F in the vertical direction DA. Figure 7In the example shown, object A is a table. Object A may also be a shelf. Object A may also be a loading platform of a vehicle such as a vehicle. Object A may also be a loading platform of a truck. In the case where object A is a loading platform of a vehicle, the handover position 11 is determined as follows. Consider a case where a vehicle having a loading platform as object A stops at an assumed stop position. In this case, the position of the trolley 1 at which the cargo B can be delivered from the trolley 1 to the loading platform or the cargo B on the loading platform can be received by the trolley 1 is determined as the handover position 11.

[0108] The guide device 10 is described. The guide device 10 guides the trolley 1 to the handover position 11, which is a position where the goods B can be delivered from the trolley 1 to the object A where the goods B are arranged, or the goods B on the object A can be received by the trolley 1. The guide device 10 includes an anti-tipping table 12 that supports the trolley 1 located at the handover position 11. The anti-tipping table 12 is arranged in a specific positional relationship with respect to the object A to determine the handover position 11 of the trolley 1. Therefore, it can also be said that the anti-tipping table 12 determines the handover position 11 and guides the trolley 1 to the handover position 11.

[0109] Figure 8 It only means Figure 7 A perspective view of the anti-tilt table 12 in the conveying device 100 is shown. Figure 8 In the example shown, the anti-overturning platform 12 has a pair of protrusions 121. The pair of protrusions 121 horizontally separate at least a portion of the dolly 1 located at the transfer position 11. Figure 8 In the example shown, the overturn prevention platform 12 has a pair of protrusions 121 and a main body 122 that connects the pair of protrusions 121 to each other. Figure 7 In the example shown, the dolly 1 located at the transfer position 11 is horizontally opposed to the main body 122 and the pair of protrusions 121 of the anti-overturning platform 12. Figure 7 In the example shown, the front SB1 of the vehicle 1 in the front-rear direction DB faces the main body 122. The first side SC1 of the vehicle 1 in the vehicle width direction DC faces one of the pair of protrusions 121. The second side SC2 of the vehicle 1 in the vehicle width direction DC faces the other of the pair of protrusions 121.

[0110] The anti-falling platform 12 has an upper surface 123. The upper surface 123 is a surface of the anti-falling platform 12 that is located at the upper side SA1 in the up-down direction DA. Figure 8 In the illustrated example, the upper surface 123 is a surface perpendicular to the up-down direction DA.

[0111] exist Figure 8In the example shown, the anti-tipping platform 12 has a power supply mechanism 124 that supplies power to the trolley 1 located at the handover position 11. As an example, the power supply mechanism 124 supplies the trolley 1 with power used for traveling and handing over the goods B. The anti-tipping platform 12 may also supply power to the trolley 1 in a non-contact manner. Alternatively, the anti-tipping platform 12 may have a contact portion that contacts the trolley 1 located at the handover position 11, and supply power to the trolley 1 via the contact portion. Since the anti-tipping platform 12 has the power supply mechanism 124, the conveying device 100 can be operated while supplying power to the trolley 1. Assuming that the power of the trolley 1 is electric power and it is not possible to supply power to the trolley 1 while the conveying device 100 is operated, a large battery with a large capacity needs to be mounted on the trolley 1 in order to keep the conveying device 100 operating for a long time. In contrast, by being able to operate the conveying device 100 while supplying power to the trolley 1, the battery mounted on the trolley 1 can be miniaturized and the conveying device 100 can be used.

[0112] As an example, the anti-tilt table 12 supports the cart 1 at the transfer position 11 at the upper surface 123 . Fig. 9 It shows the first side SC1 of the carriage 1. Figure 7 The side view of the trolley 1 and the anti-overturning platform 12 in the state shown. Fig. 9 In the example shown, the anti-tipping platform 12 is in contact with the trolley 1 at the upper surface 123 when the trolley 1 is located at the transfer position 11. Fig. 9 In the example shown, the anti-tipping platform 12 supports the trolley 1 at the transfer position 11 by contacting the trolley 1 at the upper surface 123. Thus, the anti-tipping platform 12 can prevent the trolley 1 at the transfer position 11 from tipping over. Fig. 9 As shown, the method of "supporting" the trolley 1 by the anti-tipping table 12 includes supporting the trolley 1 by the anti-tipping table 12 contacting the trolley 1. The method of "supporting" the trolley 1 by the anti-tipping table 12 also includes the following: when the trolley 1 is tilted, the anti-tipping table 12 immediately contacts the trolley 12 to correct the tilt of the trolley 1. The above state is called a proximity state. That is, the anti-tipping table 12 can support the trolley 1 by contacting the trolley 1, or can support the trolley 1 by being in a proximity state even if it is not in contact with the trolley 1. It is desirable that when the trolley 1 is turned as described later, the trolley 1 is supported by the anti-tipping table 12 in a proximity state from the viewpoint of suppressing the generation of friction between the trolley 1 and the anti-tipping table 12 while supporting the trolley 1. When the anti-tipping table 12 is in the proximity state, the distance between the anti-tipping table 12 and the trolley 1 is, for example, 3 mm or more and 12 mm or less. When the anti-tilt platform 12 is in the close state, the distance between the anti-tilt platform 12 and the vehicle 1 may be greater than or equal to 0.1 mm and less than or equal to 3 mm, or may be greater than or equal to 12 mm and less than or equal to 40 mm.

[0113] As described above, the trolley 1 has a lower portion 1a and an upper portion 1b. Fig. 9 As shown, the lower portion 1a of the dolly 1 located at the handover position 11 overlaps the anti-tipping platform 12 in the horizontal direction. The upper portion 1b of the dolly 1 located at the handover position 11 does not overlap the anti-tipping platform 12 in the horizontal direction. As described above, the upper portion 1b has a dolly protrusion 1c that protrudes in the horizontal direction relative to the lower portion 1a. The dolly protrusion 1c has a lower surface 1d.

[0114] exist Fig. 9 In the example shown, the anti-tipping platform 12 supports the lower surface 1d of the trolley protrusion 1c of the trolley 1 located at the transfer position 11 at the upper surface 123. In particular, the anti-tipping platform 12 contacts the lower surface 1d of the trolley protrusion 1c of the trolley 1 located at the transfer position 11 at the upper surface 123.

[0115] As described above, the anti-tipping table 12 has a pair of protrusions 121. Therefore, the trolley 1 located at the handover position 11 is opposite to the main body 122 and the pair of protrusions 121 of the anti-tipping table 12 in the horizontal direction. Thus, the anti-tipping table 12 supports the lower surface 1d of the trolley protrusion 1c of the trolley 1 at the portion of the upper surface 123 located at the main body 122 and the portion of the upper surface 123 located at the pair of protrusions 121. According to the above, the anti-tipping table 12 can support the trolley 1 on the side opposite to the main body 122, and the anti-tipping table 12 can support the trolley 1 on the side opposite to the pair of protrusions 121. In this way, according to the anti-tipping table 12 having a pair of protrusions 121, the trolley 1 can be supported from multiple aspects by using the anti-tipping table 12. Thus, the trolley 1 can be supported more stably by using the anti-tipping table 12.

[0116] exist Fig. 9 In the example shown, the vehicle 1 is located at the transfer position 11 and faces the object A at the front SB1 in the front-rear direction DB. At this time, the anti-overturning stage 12 supports at least a part of the front SB1 of the vehicle 1 .

[0117] Fig.10 It means cutting at line XX. Fig. 9 FIG. 1 is a cross-sectional view of the trolley 1 and the anti-tipping platform 12 shown. Fig.10 In the figure, regarding the dolly 1 and the anti-overturning platform 12, the internal structures are omitted from illustration and only the outlines of the cross sections are shown. Fig.10 The dashed line 1g1 shown shows an example of the position of the outline of a portion (also referred to as an upper base portion 24) constituting the upper portion 1b of the vehicle 1 in the base portion 2 when viewed from the up-down direction DA. Fig.10The dashed line 1g2 shown indicates the position of the outline of the upper base portion 24 when viewed from the up-down direction DA when the vehicle 1 is turned from the state where the upper base portion 24 is located at the dashed line 1g1.

[0118] exist Fig.10 In the example shown, the anti-tipping table 12 allows the trolley 1 located at the transfer position 11 to rotate around the rotation axis C3 that passes through the interior of the trolley 1 and is perpendicular to the horizontal direction. "The anti-tipping table 12 allows the trolley 1 to rotate around the rotation axis C3" can be expressed in another way as follows. Consider a situation where the trolley 1 is located at any position where the goods B can be delivered from the trolley 1 to the object A where the goods B are to be placed, or where the trolley 1 can be used to receive the goods B on the object A. In this case, the anti-tipping table 12 has a shape that can be configured in a manner that supports the trolley 1 while allowing the trolley 1 to rotate around the rotation axis C3.

[0119] Alternatively, when the anti-overturning stage 12 allows the trolley 1 at the handover position 11 to rotate about the rotation axis C3, the handover position 11 may be determined at a position where the rotation of the trolley 1 is not hindered by the object A. Alternatively, the handover position 11 may be determined at a position where the rotation of the trolley 1 is not hindered by the guide device 10 around the trolley 1 and items other than the object A. As an example, when the conveying device 100 is disposed in a warehouse, the handover position 11 is determined at a position where the rotation of the trolley 1 is not hindered by the wall of the warehouse.

[0120] The features of the anti-tipping table 12 that allows the rotation of the dolly 1 located at the handover position 11 will be described in more detail. The minimum distance in the horizontal direction between the rotation axis C3 of the dolly 1 located at the handover position 11 and the anti-tipping table 12 within the range where the anti-tipping table 12 is located in the up-down direction DA (the range where the lower portion 1a of the dolly 1 is located) is set as distance w4. The maximum distance in the horizontal direction between the rotation axis C3 of the dolly 1 located at the handover position 11 and the end portion 1e of the dolly 1 within the range where the anti-tipping table 12 is located in the up-down direction DA is set as distance w5. At this time, the distance w4 is greater than the distance w5. The distance w4 is greater than the distance w5, so that the anti-tipping table 12 can allow the dolly 1 located at the handover position 11 to rotate around the rotation axis C3 as the center.

[0121] exist Fig.10In the example shown, the anti-tipping stage 12 has a curved surface 13 that is at a distance w3 in the horizontal direction from the rotation axis C3 of the dolly 1 located at the handover position 11. The curved surface 13 has a shape that is equivalent to a partial shape of the side surface of a cylinder having the rotation axis C3 as the central axis and a bottom radius equal to the distance w3. Thus, the anti-tipping stage 12 can allow the dolly 1 located at the handover position 11 and at a distance w5 less than the distance w3 to rotate around the rotation axis C3.

[0122] As described above, in the present embodiment, the center position P1 of the base portion 2 overlaps with the rotation axis C3 when viewed from the up-down direction DA. In addition, the center position P1 of the base portion 2 overlaps with the geometric center of the circle formed by the contour 1f of the lower portion 1a when viewed from the up-down direction DA. Therefore, the rotation axis C3 overlaps with the geometric center of the circle formed by the contour 1f of the lower portion 1a when viewed from the up-down direction DA. Thus, the dolly 1 can rotate around the geometric center of the circle formed by the contour 1f of the lower portion 1a. In this case, the distance w5 is equivalent to the radius of the circle formed by the contour 1f of the lower portion 1a. The contour 1f forms a circle, and the rotation axis C3 overlaps with the geometric center of the circle formed by the contour 1f when viewed from the up-down direction DA, so that the distance w5 can be suppressed to be small while increasing the volume of the lower portion 1a. By suppressing the distance w5 to be small, the rotation of the dolly 1 around the rotation axis C3 is easily allowed by the anti-overturning platform 12. The volume of the lower part 1a is increased, so that space for accommodating various mechanisms can be ensured in the lower part 1a. For example, space for accommodating the fixed wheel 21 and the driving wheel 22 can be ensured in the lower part 1a. In addition, space for accommodating a mechanism such as a motor driving the driving wheel 22 can be ensured in the lower part 1a.

[0123] The maximum distance in the horizontal direction between the rotation axis C3 of the dolly 1 located at the handover position 11 and the contour of the upper base portion 24 is set to distance L7. The maximum distance in the horizontal direction between the rotation axis C3 of the dolly 1 located at the handover position 11 and the contour 12a of the anti-tipping platform 12 when viewed from the up-down direction DA is set to distance L8. The portion of the contour 12a of the anti-tipping platform 12 when viewed from the up-down direction DA that forms the contour of the main body 122 and is located on the opposite side of the side opposite to the lower portion 1a of the dolly 1 located at the handover position 11 is called the outer contour 12b. And, the minimum distance in the horizontal direction between the rotation axis C3 of the dolly 1 located at the handover position 11 and the outer contour 12b is set to distance L9. At this time, distance L7 is preferably smaller than distance L8. Distance L7 is particularly preferably smaller than distance L9. The distance L7 is smaller than the distance L9, so that when the dolly 1 at the handover position 11 rotates around the rotation axis C3, the upper base portion 24 is prevented from protruding beyond the outer contour 12b when viewed from the up-down direction DA. As a result, when the dolly 1 is rotated, the upper base portion 24 can be prevented from protruding beyond the outer contour 12b and contacting the object A or other items around the dolly 1. For example, when the object A is a loading platform of a truck, the upper base portion 24 can be prevented from contacting the truck.

[0124] The function of the conveying device 100 of this embodiment will be described. Figure 4 The function of the conveying device 100 when the trolley 1 in the state shown receives the goods B arranged on the object A and conveys it to the ground F separated from the handover position 11 is explained. First, the driving wheel 22 is driven to make the trolley 1 travel and move the trolley 1 to the handover position 11. At this time, in the case where the trolley 1 has a sensor for detecting the handover position 11, the handover position 11 can also be detected by the sensor and the trolley 1 is moved to the detected handover position 11. Next, the lifting unit 4 is used to move the lifting base part 3 upward SA1. Next, the moving unit 6 is used to move the handover part 5 to a position where the fork 51 as a whole is located SB1 in front of the base part 2. Thereby, the fork 51 is brought close to the goods B and the fork 51 supports the goods B. Thus, the trolley 1 becomes Figure 7 Status shown.

[0125] Next, the transfer unit 5 is moved by the moving unit 6 to a position where the entire fork 51 overlaps the lift base 3 in the vertical direction DA. Next, the lift base 3 is moved downward SA2 by the lift unit 4. Fig.11 Status shown.

[0126] Next, the plurality of driving wheels 22 are driven so that the second rotation axis C2 of the plurality of driving wheels 22 rotates around the point C4. Thus, the second rotation axis C2 of the plurality of driving wheels 22 is directed in a direction that allows the vehicle 1 to rotate around the rotation axis C3. Next, the plurality of driving wheels 22 are rotated at the second rotation axis C2, so that the vehicle 1 rotates around the rotation axis C3. Thus, the vehicle 1 becomes Fig.12 The state shown. Fig.11 The state shown is rotated 180° along the rotation direction DD, so that the trolley 1 becomes Fig.12 Status shown.

[0127] As described above, the anti-overturning platform 12 allows the trolley 1 located at the transfer position 11 to rotate about the rotation axis C3. Fig.11 As shown in this manner, when the carriage 1 is located at the transfer position 11 , the carriage 1 can be turned there without moving the carriage 1 .

[0128] Next, the plurality of driving wheels 22 are driven so that the second rotation axis C2 of the plurality of driving wheels 22 rotates around the point C4. Thus, the second rotation axis C2 of the plurality of driving wheels 22 is directed in a direction that allows the vehicle 1 to travel in a desired direction. As an example, the second rotation axis C2 of the plurality of driving wheels 22 is directed in a direction parallel to the vehicle width direction DC. Thus, the vehicle 1 can travel to the front SB1 in the front-rear direction DB.

[0129] Next, the plurality of driving wheels 22 are rotated at the second rotation axis C2 to move the trolley 1 to the position where the cargo B should be transported. Next, the cargo B is delivered from the trolley 1 to the position where the cargo B should be transported. When transporting the cargo B to the ground F separated from the handover position 11 as described above, first, the handover portion 5 is moved by the moving unit 6 to a position where the fork 51 as a whole is located SB1 in front of the base portion 2. Next, the fork 51 is moved downward SA2 by the handover lifting portion 52. At this time, the handover lifting portion 52 moves the fork 51 to a position suitable for delivering the cargo B to the ground F. Thus, as Fig.13As shown, the goods B can be transported to the ground F separated from the handover position 11. Although not shown in the figure, when delivering the goods B from the trolley 1 to the ground F, the anti-tipping platform 12 can be used to prevent the trolley 1 from tipping over. In addition, when receiving the goods B on the ground F using the trolley 1, the anti-tipping platform 12 can be used to prevent the trolley 1 from tipping over. That is, the object A for the goods to be arranged can also be the ground F. In this case, in order to prevent the trolley 1 from tipping over using the anti-tipping platform 12, while delivering the goods B from the trolley 1 to the ground F, or receiving the goods B on the ground F using the trolley 1, the anti-tipping platform 12 can be provided with the following structure: the fork 51 can be moved to the vicinity of the ground F. For example, a slit that allows the fork 51 or a portion that moves in the up and down direction DA together with the fork 51 of the trolley 1 can also be provided in the anti-tipping platform 12. A portion of the upper surface 123 of the anti-overturning table 12 may be located below SA2 in the up-down direction DA relative to other portions of the upper surface 123 to allow movement of the fork 51 or a portion that moves together with the fork 51 of the cart 1 in the up-down direction DA.

[0130] The operation of the conveying device 100 when delivering the cargo B from the trolley 1 to the object A will be described. First, the driving wheels 22 are driven to drive the trolley 1 while the fork 51 of the trolley 1 supports the cargo B, and the trolley 1 is moved to the delivery position 11. Fig.11 Next, the lifting base 3 is moved upward SA1 by the lifting unit 4. Next, the delivery unit 5 is moved forward SB1 by the moving unit 6. Thus, the cargo B can be delivered from the dolly 1 to the object A.

[0131] The guide device 10 of this embodiment includes an anti-overturning platform 12 for supporting the trolley 1 at the transfer position 11. Figure 7 , Fig.11 as well as Fig.12 As shown, during the operation of delivering the cargo B from the cart 1 to the object A or receiving the cargo B on the object A by the cart 1, the cart 1 can be prevented from tipping over when the cart 1 is located at the transfer position 11. According to the guide device 10 of this embodiment, even if the cart 1 does not have a mechanism such as an outrigger to prevent the tipping over of the cart 1, the tipping-over prevention platform 12 can be used to prevent the tipping over of the cart 1. Thus, by using the cart 1 that does not have a mechanism to prevent the tipping over of the cart 1, the cost required for manufacturing the conveying device 100 can be suppressed to a small level, while preventing the tipping over of the cart 1.

[0132] In particular, Figure 7As shown, when the lifting unit 4 holds the lifting base 3 at the upper position SA1 in the up-down direction DA, the center of gravity of the vehicle 1 is located at the upper position SA1, so the vehicle 1 is prone to become unstable. Even in such a state, the guide device 10 of this embodiment can stably prevent the vehicle 1 from tipping over.

[0133] In addition, especially if Figure 7 As shown in FIG. 1 , it is also assumed that the surface of the object A where the goods B are placed is located at a position higher than the ground F in the vertical direction DA by SA1. In this case, when the goods B are delivered from the trolley 1 to the object A or when the goods B on the object A are received by the trolley 1, the trolley 1 lifts the goods B upward by SA1. Figure 7 As shown, when the cart 1 lifts the cargo B upward SA1, the center of gravity of the cargo B is located at the upper SA1, so the cart 1 tends to become unstable. Even in such a state, the guide device 10 of this embodiment can stably prevent the cart 1 from tipping over.

[0134] In addition, if Figure 7 As shown, when the fork 51 is located as a whole at a position SB1 forward of the base 2 and the fork 51 is supporting the cargo B, the center of gravity of the cargo B is located at a position SB1 forward of the base 2, so the trolley 1 is easy to tip over to the front SB1. The anti-tipping platform 12 supports at least a portion of the front SB1 of the trolley 1. According to the guide device 10 of this embodiment, it is possible to stably prevent the trolley 1 from tipping over to the front SB1. Whether in the operation of delivering cargo B from the trolley 1 to the object A or in the operation of receiving cargo B on the object A using the trolley 1, the trolley 1 is prevented from tipping over to the front SB1. Figure 7 As shown in the figure, the fork 51 supports the cargo B at a position SB1 in front of the base 2. Figure 7 In such a state, the overturning of the trolley 1 can be stably prevented. Thus, when the cargo B is delivered from the trolley 1 to the object A or the cargo B on the object A is received by the trolley 1, the overturning of the trolley 1 can be stably prevented.

[0135] The guide device 10 of the present embodiment described above guides the dolly 1 for delivering the goods B to the delivery position 11, which is a position where the goods B can be delivered from the dolly 1 to the object A where the goods B are arranged, or where the dolly 1 can receive the goods B on the object A. The guide device 10 includes an anti-overturning platform 12 for supporting the dolly 1 at the delivery position 11. According to the above, the dolly 1 can be prevented from overturning.

[0136] In this embodiment, the anti-tipping platform 12 has a pair of protrusions 121 that horizontally sandwich at least a portion of the trolley 1 located at the transfer position 11. Thus, the anti-tipping platform 12 can support the trolley 1 from multiple angles. Thus, the anti-tipping platform 12 can support the trolley 1 more stably.

[0137] In the present embodiment, the anti-falling stage 12 supports the vehicle 1 located at the transfer position 11 at the upper surface 123. Thus, the anti-falling stage 12 can support the vehicle 1 more stably.

[0138] In the present embodiment, the overturn prevention table 12 includes a power supply mechanism 124 for supplying power to the carriage 1 located at the transfer position 11. Thus, the conveying device 100 can be operated while supplying power to the carriage 1.

[0139] In this embodiment, the anti-overturning stage 12 allows the trolley 1 at the handover position 11 to rotate around the rotation axis C3 that passes through the interior of the trolley 1 and is perpendicular to the horizontal direction. Therefore, when the trolley 1 is at the handover position 11, the trolley 1 can be rotated without moving the trolley 1 during the operation of delivering the goods B from the trolley 1 to the object A or receiving the goods B on the object A using the trolley 1.

[0140] In this embodiment, the anti-tipping platform 12 has a curved surface 13 that is at a constant distance w3 in the horizontal direction from the rotation axis C3 of the trolley 1 located at the handover position 11. Thus, the anti-tipping platform 12 can allow the trolley 1 located at the handover position 11 to rotate around the rotation axis C3 that passes through the interior of the trolley 1 and is perpendicular to the horizontal direction.

[0141] The conveying device 100 of this embodiment includes: a trolley 1 for delivering goods B; and a guide device 10 for guiding the trolley 1 to a delivery position 11, which is a position where the goods B can be delivered from the trolley 1 to the object A where the goods B are placed, or where the goods B on the object A can be received by the trolley 1. The guide device 10 includes an anti-overturning platform 12 for supporting the trolley 1 at the delivery position 11. As described above, the anti-overturning platform 12 can prevent the trolley 1 from overturning.

[0142] In this embodiment, the trolley 1 can rotate around the rotation axis C3 that passes through the interior of the trolley 1 and is perpendicular to the horizontal direction. In the range where the anti-tipping platform 12 is located in the up-down direction DA, the minimum distance w4 in the horizontal direction between the rotation axis C3 of the trolley 1 located at the handover position 11 and the anti-tipping platform 12 is greater than or equal to the maximum distance w5 in the horizontal direction between the rotation axis C3 and the end 1e of the trolley 1. Thus, the anti-tipping platform 12 can allow the trolley 1 located at the handover position 11 to rotate around the rotation axis C3.

[0143] In the present embodiment, the trolley 1 can rotate around a rotation axis C3 that passes through the interior of the trolley 1 and is perpendicular to the horizontal direction. The trolley 1 has: a base portion 2; two fixed wheels 21, which are provided on the base portion 2 and are separated by the rotation axis C3 in the horizontal direction; and a plurality of driving wheels 22, which are provided on the base portion 2. The two fixed wheels 21 can rotate at the first rotation axis C1 respectively. The first rotation axis C1 is respectively located on a straight line passing through the rotation axis C3 and is fixed relative to the base portion 2. The plurality of driving wheels 22 are driven by input rotation so that the plurality of driving wheels 22 rotate at the second rotation axis C2 respectively. The plurality of driving wheels 22 are driven so that the second rotation axis C2 rotates in a rotation direction parallel to the horizontal direction respectively relative to the base portion 2. Thus, by driving the plurality of driving wheels 22 so that the second rotation axis C2 rotates in a rotation direction parallel to the horizontal direction respectively relative to the base portion 2, the direction in which the trolley 1 travels can be adjusted.

[0144] Although the present embodiment has been described using specific examples, these specific examples are not intended to limit the present embodiment. The present embodiment described above can be implemented with various other specific examples, and various omissions, substitutions, changes, and additions can be made without departing from the gist of the present embodiment.

[0145] Hereinafter, an example of a deformation will be described with reference to the accompanying drawings. In the following description and the accompanying drawings used in the following description, for parts that can be constructed in the same manner as the above-mentioned specific example, the same reference numerals as those used for the corresponding parts in the above-mentioned specific example are used, and repeated descriptions are omitted.

[0146] (Variant 1)

[0147] In the above embodiment, the anti-tipping stage 12 allows the vehicle 1 at the delivery position 11 to rotate about the rotation axis C3. However, the anti-tipping stage 12 may not allow the vehicle 1 at the delivery position 11 to rotate about the rotation axis C3. Fig.14 An example of the transport device 100 according to Modification 1 is shown. Fig.14 1 is a diagram showing a cross section of the dolly 1 and the anti-overturning platform 12 at the handover position 11, cut along a plane perpendicular to the up-down direction DA and passing through the lower portion 1a of the dolly 1. Fig.14 In the figure, the internal structures of the trolley 1 and the anti-overturning platform 12 are omitted from the figure, and only the outlines of the cross sections are shown.

[0148] exist Fig.14 In the example shown, the lower portion 1a has a rectangular outline 1f when viewed from the up-down direction DA. Fig.14In the example shown, the distance w4 is smaller than the distance w5. Therefore, the anti-overturning stage 12 does not allow the vehicle 1 located at the transfer position 11 to rotate about the rotation axis C3.

[0149] When the anti-overturning table 12 of the modification 1 is used, the following method can be used to move the trolley 1 to the delivery position 11, deliver the goods B from the trolley 1 to the object A, or receive the goods B on the object A by the trolley 1. First, the trolley 1 is rotated around the rotation axis C3 at a position away from the delivery position 11, and the orientation of the trolley 1 is adjusted. At this time, the orientation of the trolley 1 is adjusted to such an orientation that the trolley 1 can enter the delivery position 11, and when entering the delivery position 11, the goods B can be delivered from the trolley 1 to the object A, or the goods B on the object A can be received by the trolley 1 without rotating the trolley 1. More specifically, the orientation of the trolley 1 is adjusted to such an orientation that the trolley 1 can enter the delivery position 11, and when entering the delivery position 11, it faces the object A in front SB1. Next, the trolley 1 is driven to enter the delivery position 11. Next, the goods B is delivered from the trolley 1 to the object A, or the goods B on the object A is received by the trolley 1. Thus, even when the anti-overturning platform 12 of the first modification is used, the dolly 1 can be moved to the delivery position 11 to deliver the cargo B to the object A from the dolly 1 or receive the cargo B on the object A using the dolly 1 .

[0150] When the anti-tipping platform 12 of the first modification is used, in order to deliver the goods B from the trolley 1 to the object A or to receive the goods B on the object A using the trolley 1, it is necessary to rotate the trolley 1 at a position away from the transfer position 11 and adjust the orientation of the trolley 1. Therefore, in order to reduce the number of steps required for the operation of delivering the goods B from the trolley 1 to the object A or receiving the goods B on the object A using the trolley 1 and shorten the operation time, it is preferable that the anti-tipping platform 12 allows the trolley 1 to rotate.

[0151] (Variant 2)

[0152] The guide device 10 may also include a guide portion 14 that defines a path 15 along which the trolley 1 travels to the delivery position 11. When the trolley 1 delivers the goods B to the object A, the guide portion 14 defines at least a portion of the path 15 along which the trolley 1 travels from the position where the goods B are received to the delivery position 11. The guide portion 14 may also define the entire path 15 along which the trolley 1 travels from the position where the goods B are received to the delivery position 11. When the trolley 1 receives the goods B on the object A, the guide portion 14 defines at least a portion of the path 15 along which the trolley 1 travels from the delivery position 11 to the position where the goods B are delivered. The guide portion 14 may also define the entire path 15 along which the trolley 1 travels from the delivery position 11 to the position where the goods B are delivered.

[0153] Fig.15 1 is a perspective view showing a guide device 10 having a guide portion 14 according to a second modification together with a vehicle 1. Fig.15 In the illustrated example, the guide portion 14 includes a pair of fences 141. The pair of fences 141 define a path 15 for the vehicle 1 to travel to the delivery position 11 by sandwiching the path 15 for the vehicle 1 to travel to the delivery position 11.

[0154] Since the guide device 10 is provided with the guide portion 14, the vehicle 1 can travel in a manner that stably reaches the handover position 11. In particular, the vehicle 1 can travel in a manner that stably reaches the handover position 11 even if it does not have a sensor for detecting the handover position 11. Therefore, by using the vehicle 1 without a sensor, the cost required for manufacturing the conveying device 100 can be suppressed to a small level, while the vehicle 1 can travel in a manner that stably reaches the handover position 11.

[0155] exist Fig.15 In the example shown, the path 15 along which the vehicle 1 travels to the handover position 11 is a straight line. Although not shown, the path 15 along which the vehicle 1 travels to the handover position 11 may not be a straight line. For example, the path 15 along which the vehicle 1 travels to the handover position 11 may include a portion bent at a right angle. Since the guide device 10 includes the guide portion 14, the vehicle 1 can travel in a manner that stably reaches the handover position 11 even when the path 15 along which the vehicle 1 travels to the handover position 11 includes a portion bent at a right angle.

[0156] Alternatively, the guide portion 14 may include a guide portion power supply mechanism 142 for supplying power to the trolley 1 located on the path 15. Alternatively, the guide portion power supply mechanism 142 may supply power to the trolley 1 located on the path 15 in a non-contact manner. Alternatively, the guide portion power supply mechanism 142 may include a contact portion that contacts the trolley 1 located on the path 15, and supply power to the trolley 1 via the contact portion.

[0157] exist Fig.15In the example shown, the guide power supply mechanism 142 has an electric wire 143, which is provided on the ground F and extends along the path 15 to supply power to the carriage 1. Although not shown in the figure, the guide power supply mechanism 142 may have an electric wire, which is provided on at least one of the pair of fences 141 and extends along the path 15 to supply power to the carriage 1. In this case, the guide power supply mechanism 142 may not have the electric wire 143 provided on the ground F. Alternatively, the electric wire 143 provided on the ground F and the electric wire provided on at least one of the pair of fences 141 may supply power to the carriage 1 located on the path 15 in a non-contact manner. Alternatively, the electric wire 143 provided on the ground F and the electric wire provided on at least one of the pair of fences 141 may have a contact portion that contacts the carriage 1 located on the path 15, and power is supplied to the carriage 1 via the contact portion.

[0158] Since the guide portion 14 has the guide portion power supply mechanism 142, the conveying device 100 can be operated while power is supplied to the vehicle 1. Thus, the conveying device 100 can be operated while the battery mounted on the vehicle 1 is reduced in size.

[0159] (Variant 3)

[0160] In the above-mentioned embodiment, an example is described in which the dolly 1 has two fixed wheels 21 provided on the base portion 2 and a plurality of driving wheels 22 provided on the base portion 2. However, the form of the dolly 1 is not limited thereto. As the dolly 1, a dolly 1 that can travel toward the front SB1 in the forward and backward direction DB and can rotate around a rotation axis C3 that passes through the inside of the dolly 1 and is perpendicular to the horizontal direction can be widely used.

[0161] For example, the vehicle 1 may not have the fixed wheels 21. In this case, the vehicle 1 may have only the driving wheels 22 as wheels. The vehicle 1 may have three or more driving wheels 22. Thus, it is possible to realize a vehicle 1 that can travel toward the front SB1 in the forward and backward direction DB and can rotate around the rotation axis C3 that passes through the interior of the vehicle 1 and is perpendicular to the horizontal direction.

[0162] The vehicle 1 may also replace at least one of the fixed wheels 21 of the vehicle 1 of the above-mentioned embodiment and each modified example with a rotating wheel without power. Figure 2AAt least one of the two fixed wheels 21 of the trolley 1 shown is replaced with an unpowered rotating wheel. The unpowered rotating wheel can rotate at a rotation axis parallel to the horizontal direction. The rotation axis can rotate in a rotation direction parallel to the horizontal direction. The rotating wheel is not provided with a motor or other power that drives the rotation of the rotating wheel at the rotation axis. Moreover, the rotating wheel is not provided with a motor or other power that drives the rotation of the rotation axis in a rotation direction parallel to the horizontal direction. The trolley 1 can also replace at least one of the driving wheels 22 of the trolley 1 of the above-mentioned embodiment and each modified example with an unpowered rotating wheel. In the embodiment disclosed in this specification, as long as the trolley 1 can travel to the front SB1 in the forward and backward direction DB and can rotate around the rotation axis C3 that passes through the interior of the trolley 1 and is perpendicular to the horizontal direction, the structure of the wheels of the trolley 1 can be freely changed. For example, the structure of the wheels of the trolley 1 can also be as follows: there are two fixed wheels 21, one unpowered rotating wheel, and one driving wheel. In this case, the trolley 1 can also be Figure 2A One of the two drive wheels 22 of the illustrated trolley 1 is replaced by a non-powered rotating wheel.

[0163] When the vehicle 1 has the fixed wheel 21 and the driving wheel 22, the contact points between the fixed wheel 21 and the ground F and the contact points between the driving wheel 22 and the ground F may be arranged on one circumference with the rotation axis C3 as the center. When the vehicle 1 has the fixed wheel 21 and the driving wheel 22, the contact points between the fixed wheel 21 and the ground F and the contact points between the driving wheel 22 and the ground F may be arranged on a plurality of circumferences with the rotation axis C3 as the center.

[0164] In the case where the trolley 1 does not have the fixed wheels 21 and has only the driving wheels 22 as wheels, the trolley 1 can be driven in more various directions without changing the orientation of the trolley 1, compared with the case where the trolley 1 has two fixed wheels 21 and a plurality of driving wheels 22. On the other hand, the fixed wheels 21 are relatively cheap compared to the driving wheels 22. Therefore, in the case where the trolley 1 has two fixed wheels 21 and a plurality of driving wheels 22, the cost required for manufacturing the trolley 1 can be suppressed to a small level, while the number of wheels of the trolley 1 can be increased by an amount corresponding to the fixed wheels 21. As a result, the contact points between the trolley 1 and the ground F can be increased, and the overturning of the trolley 1 can be suppressed.

[0165] In addition, the vehicle 1 may also have a plurality of Mecanum wheels 23 provided on the base portion 2. In this case, as an example, the vehicle 1 has: two front wheels arranged in the vehicle width direction DC; and two rear wheels, which are located at a position SB2 behind the two front wheels in the front-rear direction DB and arranged in the vehicle width direction DC. And, the two front wheels and the two rear wheels are Mecanum wheels 23 respectively. The Mecanum wheel 23 has: a wheel body 26; and a plurality of rollers 27, which are rotatably mounted on the outer circumference of the wheel body 26.

[0166] Fig.16 2 is a perspective view showing a Mecanum wheel 23 according to a third modification. Fig.16 In addition to the Mecanum wheel 23, a motor 7 and a reducer 8 are also shown. The motor 7 and the reducer 8 are mounted relative to the wheel body 26 of the Mecanum wheel 23. The motor 7 inputs rotation to the wheel body 26 of the Mecanum wheel 23. The reducer 8 reduces the rotation input from the motor 7 and transmits the rotation to the wheel body 26. Fig.16 In the example shown, the reducer 8 is located between the motor 7 and the wheel body 26. The reducer 8 is connected to the output shaft of the motor 7 and to the wheel body 26. At least a portion of the reducer 8 may also be housed inside the wheel body 26. Fig.16 In the example shown, a portion of the speed reducer 8 is housed inside the wheel body 26 .

[0167] exist Fig.16 In the example shown, each roller 27 is rotatably supported by the wheel body 26 about a rotation axis By inclined relative to the rotation axis Bx of the wheel body 26. The rotation axis By of the roller 27 forms an angle of about 45° with the rotation axis Bx of the wheel body 26.

[0168] The dolly 1 has a plurality of Mecanum wheels 23 provided on the base 2, so that the dolly 1 can travel toward the front SB1 in the front-rear direction DB and can rotate around a rotation axis C3 that passes through the interior of the dolly 1 and is perpendicular to the horizontal direction. In addition, the dolly 1 having a plurality of Mecanum wheels 23 can travel in the vehicle width direction DC. In addition, the dolly 1 having a plurality of Mecanum wheels 23 can travel in a direction that is parallel to the horizontal direction and is not parallel to the front-rear direction DB and the vehicle width direction DC.

[0169] When the vehicle 1 has a plurality of Mecanum wheels 23, the vehicle 1 can be driven in more various directions without changing the orientation of the vehicle 1, compared with a case where the vehicle 1 has two fixed wheels 21 and a plurality of drive wheels 22. On the other hand, wheels used as the fixed wheels 21 and the drive wheels 22 are relatively inexpensive compared with the Mecanum wheels 23. Therefore, when the vehicle 1 has two fixed wheels 21 and a plurality of drive wheels 22, the cost required for manufacturing the vehicle 1 can be suppressed to a lower level than when the vehicle 1 has a plurality of Mecanum wheels 23.

[0170] In the embodiments disclosed in this specification, a component composed of multiple objects may be integrated into one, or a component composed of one object may be divided into multiple objects. Regardless of whether the components are integrated or not, they may be configured in a manner that can achieve the purpose of the invention.

[0171] The form of the present invention is not limited to the above-mentioned embodiments, but also includes various modifications that can be thought of by those skilled in the art, and the effect of the present invention is not limited to the above-mentioned contents. That is, various additions, changes and partial deletions can be made within the scope of the conceptual ideas and the main purpose of the present invention derived from the contents specified in the claims and their equivalents.

Claims

1. A guiding device for guiding a trolley for delivering goods to a delivery position, wherein the delivery position is a position where the goods can be delivered from the trolley to an object on which the goods are to be arranged, or where the goods on the object can be received by the trolley, wherein: The guide device includes an anti-overturning stage that supports the carriage located at the transfer position.

2. The guiding device according to claim 1, wherein: The anti-overturning stage has a pair of protrusions that sandwich at least a portion of the carriage located at the handover position in a horizontal direction.

3. The guiding device according to claim 1 or 2, wherein: The anti-overturning table supports the dolly located at the handover position at an upper surface.

4. The guiding device according to claim 1 or 2, wherein: The anti-overturning platform includes a power supply mechanism for supplying power to the trolley located at the handover position.

5. The guiding device according to claim 1 or 2, wherein: The guide device includes a guide portion that defines a path along which the vehicle travels to the handover position.

6. The guiding device according to claim 5, wherein: The guide portion includes a guide portion power supply mechanism for supplying power to the vehicle located on the path.

7. The guiding device according to claim 1 or 2, wherein: The anti-overturning stage allows the dolly located at the handover position to rotate about a rotation axis that passes through the interior of the dolly and is perpendicular to the horizontal direction.

8. The guiding device according to claim 7, wherein: The anti-overturning stage has a curved surface that is equidistant from the rotation axis of the dolly located at the handover position in the horizontal direction.

9. A conveying device, wherein: The conveying device has: Trolleys, which carry out the transfer of goods; and a guide device for guiding the trolley to a delivery position, wherein the delivery position is a position where the goods can be delivered from the trolley to the object on which the goods are to be arranged, or where the goods on the object can be received by the trolley, The guide device includes an anti-overturning stage that supports the carriage located at the handover position.

10. The conveying device according to claim 9, wherein: The trolley can rotate around a rotation axis passing through the interior of the trolley and perpendicular to the horizontal direction. Within the range of the anti-tipping platform in the up-down direction, the minimum horizontal distance between the rotation axis of the trolley at the junction and the anti-tipping platform is greater than the maximum horizontal distance between the rotation axis and the end of the trolley.

11. The conveying device according to claim 9 or 10, wherein: The trolley can rotate around a rotation axis passing through the interior of the trolley and perpendicular to the horizontal direction. The trolley comprises: a base portion; two fixed wheels, which are arranged on the base portion and are separated from the rotation axis in the horizontal direction; and a plurality of driving wheels, which are arranged on the base portion. The two fixed wheels can rotate at the first rotation axis respectively. The first rotation axis is located on a straight line passing through the rotation axis and is fixed relative to the base portion. The plurality of drive wheels are driven respectively by inputting rotation so that the plurality of drive wheels rotate respectively about the second rotation axis. The plurality of driving wheels are driven respectively so that the second rotation axis lines rotate in rotation directions parallel to the horizontal direction relative to the base portion.

Images