Conveying device

Abstract

A transport facility is provided with: a trolley (2); an unmanned transport vehicle (3) that moves the trolley (2) by self-traveling in a state of being coupled to the trolley (2); and a control unit that controls the operation of the unmanned transport vehicle (3). The trolley (2) is provided with a trolley body (21) and clamped parts (27) which are separately arranged at a plurality of places of the trolley body (21). The unmanned transport vehicle (3) has an engagement section that engages with any one of the plurality of engaged sections (27). The control unit determines, from among the plurality of engaged sections (27), an engaged section (27) to which the engaging section is to engage, in accordance with the movement mode of the trolley (2).

Description

Technical Field

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

[0002] For example, there is a case where parts are transported and assembled in a factory or the like on a trolley that moves along the ground, and in this case, there is a case where an unmanned transport vehicle is responsible for moving the trolley. In this case, the factory or the like has a transport device for transporting the trolley. An example of such a transport device is disclosed in Japanese Patent Publication No. 2007-76518 (Patent Document 1).

[0003] The conveying equipment of Patent Document 1 includes: a trolley (trolleys A to G); and an unmanned conveying vehicle (automatic conveyors x to z) that moves the trolley by self-driving while being connected to the trolley. In the conveying equipment of Patent Document 1, the unmanned conveying vehicle is connected to the trolley by engaging the engaging portion (hook pin 103) with the engaged portion (pin engaging hole 49) provided on the trolley.

[0004] In the conveying equipment of Patent Document 1, the connection position between the unmanned conveyor and the trolley is always near the center of the trolley (specifically, slightly in front of the center of the trolley). In such a configuration, it is believed that when the unmanned conveyor is driven by itself, the trolley can be moved stably on average. However, in relation to the movement mode of the trolley (for example, the movement direction or movement speed of the trolley, etc.), the driving force of the unmanned conveyor may not be properly transmitted to the trolley, and sometimes the movement of the trolley becomes inefficient. Prior Art Literature Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2007-76518. Summary of the invention Problems to be solved by the invention

[0006] Therefore, in a transportation facility configured to move a carriage using an unmanned transportation vehicle, it is desired to move the carriage efficiently. Solutions to Solve Problems

[0007] The conveying equipment involved in the present disclosure has: Trolley; an unmanned transport vehicle that moves the trolley by self-driving while being connected to the trolley; and A control unit, which controls the operation of the unmanned transport vehicle. The trolley comprises a body and engaged portions which are separately arranged at a plurality of locations of the body. The unmanned conveyor vehicle has an engaging portion that engages with any one of the plurality of engaged portions for coupling the unmanned conveyor vehicle to the trolley. The control unit determines a target engaged portion as the engaged portion with which the engaging portion is to be engaged from among the plurality of engaged portions in accordance with the movement pattern of the carriage.

[0008] According to this structure, the engaged portion of the trolley is opened and placed in multiple places on the vehicle body, and the target engaged portion is determined from these multiple engaged portions, and the engaging portion of the unmanned transport vehicle is engaged with the target engaged portion. When determining the target engaged portion, the movement mode of the trolley is taken into consideration. For example, in relation to the moving direction or moving speed of the trolley, it is easy to connect the trolley and the unmanned transport vehicle at the optimal position from the perspective of efficient driving force transmission. As a result, the driving force of the unmanned transport vehicle can be properly transmitted to the trolley in accordance with the movement mode of the trolley. Therefore, in the conveying equipment in which the trolley is moved by the unmanned transport vehicle, the trolley can be moved efficiently.

[0009] Further features and advantages of the technology according to the present disclosure will become more apparent from the following description of illustrative and non-limiting embodiments described with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a layout diagram of the conveying equipment according to the embodiment. Figure 2 It is a side view of the trolley and the unmanned transport vehicle. Figure 3 This is the front view of the trolley and the unmanned conveyor vehicle. Figure 4 This is a top view of the trolley and the unmanned transport vehicle. Figure 5 It is a side view of the unmanned transport vehicle. Figure 6 It is a schematic diagram showing the connection between the trolley and the unmanned conveyor vehicle. Figure 7 This is a top view of the trolley and the unmanned transport vehicle traveling straight ahead. Figure 8 This is a top view of the trolley and unmanned transport vehicle traveling straight ahead at high speed. Fig. 9 This is a top view of the trolley and the unmanned transport vehicle traveling in reverse. Fig.10 This is a top view of the trolley and unmanned transport vehicle traveling on a curve. Fig.11 This is a top view of the trolley and unmanned transport vehicle traveling on a high-speed curve. Fig.12 This is a top view of the trolley and unmanned transport vehicle traveling sideways. Fig.13 This is a top view of the trolley and unmanned transport vehicle traveling sideways. Fig.14 This is a top view of the trolley and unmanned transport vehicle traveling at an angle. Fig.15 This is a top view of the trolley and unmanned transport vehicle traveling at an angle. Fig.16 This is a top view of the trolley and unmanned transport vehicle making a small turn. Fig.17 This is a top view of the trolley and the unmanned transport vehicle traveling straight ahead. Fig.18 This is a top view of the trolley and unmanned transport vehicle traveling sideways. Fig.19 This is a top view of the trolley and unmanned transport vehicle traveling along the platform. Fig. 20 It is a top view of other types of trolleys and unmanned conveyor vehicles. Fig.21 It is a top view of other types of trolleys and unmanned conveyor vehicles. DETAILED DESCRIPTION

[0011] An embodiment of the conveying device is described with reference to the accompanying drawings. The conveying device 1 of this embodiment is installed in a factory where parts are conveyed and assembled on a trolley 2 that moves along a ground F. As an example, the conveying device 1 can be used in an automobile manufacturing factory, which moves the trolley 2 carrying the body of the automobile along the ground F and simultaneously sequentially installs various parts to assemble the automobile.

[0012] like Figure 1 As shown, the transport facility 1 includes a plurality of carriages 2, a plurality of unmanned transport vehicles 3, and a control unit 4. The unmanned transport vehicle 3 is controlled by the control unit 4 and moves along the transport path P. The carriage 2 moves along the transport path P together with the unmanned transport vehicle 3 while being connected to the unmanned transport vehicle 3.

[0013] Here, the conveying path P is a path for conveying the trolley 2 and the object B (e.g., the body of a car) placed on the trolley 2. The conveying path P may be a path predetermined by physical means such as a track, or may be a path flexibly determined each time by inductive means such as a magnetic marker, a light reflective tape, an electromagnetic induction cable, or a two-dimensional marker.

[0014] The conveying path P of this embodiment includes a first straight portion P1, a second straight portion P2, a curved portion P3, and a detour portion P4. The first straight portion P1 and the second straight portion P2 are arranged parallel to each other and connected at both ends by the curved portion P3. The detour portion P4 is provided in a manner of bypassing a portion of the second straight portion P2, and includes a first horizontal portion P41 and a second horizontal portion P42 connected to the second straight portion P2, and a straight portion P43 connecting them.

[0015] like Figures 2 to 4 As shown in FIG. 1 , the vehicle 2 of the present embodiment includes a vehicle body 21 , a lift 25 , and an engaged portion 27 . The vehicle body 21 includes a mounting table 22 , a support column 23 , and wheels 24 .

[0016] The loading platform 22 is a platform for loading the loaded object B. As long as the loading platform 22 can at least load the loaded object B, it is not necessarily required to be in the loading state all the time. For example, when the carriage 2 has an elevator 25 as in the present embodiment, the loaded object B can also be raised by the elevator 25 (see Figure 2 and Figure 3 ), such a method is also included in the concept of "carrying the object B". The mounting table 22 is formed in a rectangular shape (more specifically, a rectangular shape) in a plan view that is larger than the object.

[0017] The support column 23 extends downward from the mounting platform 22. Four support columns 23 are provided, and are separately arranged on the left and right sides at the front and rear parts of the mounting platform 22. Moreover, a wheel 24 is fixed to the lower end of each support column 23. In this embodiment, the wheel 24 is a caster.

[0018] like Figure 4 As shown, the lift 25 is provided in the center of the loading platform 22. In a plan view, the lift 25 is provided in an area surrounded by the four wheels 24 (four support columns 23). The lift 25 raises and lowers the loaded object B while supporting the loaded object B from below. If the dolly 2 has the lift 25, it is possible to perform operations such as assembly while the loaded object B is raised, thereby improving workability.

[0019] The engaged portion 27 is a portion to be engaged with an engaging portion 37 described later provided on the unmanned transport vehicle 3. In the present embodiment, a plurality of engaged portions 27 are provided. Moreover, these plurality of engaged portions 27 are separately provided at a plurality of places of the vehicle body 21. In the present embodiment, four engaged portions 27 are separately provided at the front, rear, left, and right of the vehicle body 21.

[0020] Hereinafter, these four engaged parts 27 are sometimes referred to as "front engaged part 27F", "rear engaged part 27B", "right engaged part 27R", and "left engaged part 27L" to distinguish them. The front engaged part 27F is an engaged part 27 provided on the front side of the vehicle body 21, and the rear engaged part 27B is an engaged part 27 provided on the rear side of the vehicle body 21. The right engaged part 27R is an engaged part 27 provided on the right side of the vehicle body 21, and the left engaged part 27L is an engaged part 27 provided on the left side of the vehicle body 21. In addition, front, back, left, and right indicate directions based on the traveling direction of the vehicle 2 when it moves forward.

[0021] In the present embodiment, the engaged portion 27 is arranged outside the area surrounded by the four wheels 24 (four support columns 23) when viewed from above. The front engaged portion 27F is arranged on the front side relative to the left and right pair of wheels 24 (support columns 23) on the front side. The rear engaged portion 27B is arranged on the rear side relative to the left and right pair of wheels 24 (support columns 23) on the rear side. The right engaged portion 27R is arranged on the right side relative to the front and rear pair of wheels 24 (support columns 23) on the right side. The left engaged portion 27L is arranged on the left side relative to the front and rear pair of wheels 24 (support columns 23) on the left side.

[0022] The engaged portion 27 is provided on the vehicle body 21 in a downwardly oriented manner. In the present embodiment, the engaged portion 27 is constituted by a pin engaging hole 28 formed in a downwardly open manner on the lower surface of the mounting table 22. The pin engaging hole 28 may be Figure 5 The bottomed hole shown may also be a through hole that passes through from top to bottom.

[0023] In addition, in this embodiment, if Figure 6 As shown, the engaged portion 27 provided at various locations of the vehicle body 21 is composed of four sets of pin engaging holes 28. Two of the four pin engaging holes 28 are arranged side by side front and back, and the remaining two are arranged side by side left and right in the center of the imaginary line segment connecting them so as to sandwich the imaginary line segment.

[0024] The unmanned transport vehicle 3 moves along the transport path P by itself. Figure 5 As shown, the unmanned transport vehicle 3 has a body 31 and an engaging portion 37. In addition, the body 31 includes a main body 32, a drive unit 33, a drive wheel 34, and an auxiliary wheel 35. In addition, when the transport path P is constructed using an induction means such as a magnetic marker, the unmanned transport vehicle 3 is also constructed with other components required for automatic driving, such as a marker reading unit.

[0025] The main body 32 is a main part of the vehicle body 31, and supports the drive unit 33, the drive wheel 34, and the auxiliary wheel 35. Figures 3 to 5As can be understood, the main body portion 32 is formed in a longitudinal shape in which the entire length is longer than the entire width in a plan view.

[0026] The driving units 33 are supported at both ends of the main body 32 in the longitudinal direction. The driving units 33 have a driving force source such as a built-in motor, and the driving force thereof rotates the driving wheels 34 to allow the vehicle to travel by itself. In addition, in the present embodiment, the two driving units 33 are supported in a rotatable manner relative to the main body 32, respectively, and can be steered independently. The auxiliary wheels 35 are supported at the central portion of the main body 32 in the longitudinal direction. In the present embodiment, the auxiliary wheels 35 are casters.

[0027] The engaging portion 37 is a portion engaged with the engaged portion 27 provided on the trolley 2. The engaging portion 37 is engaged with any one of the multiple engaged portions 27 (the front engaged portion 27F, the rear engaged portion 27B, the right engaged portion 27R, and the left engaged portion 27L) provided on the trolley 2. The unmanned transport vehicle 3 of this embodiment can switch the connection position with the trolley 2 among the multiple positions where the engaged portion 27 is provided.

[0028] like Figure 5 As shown, the engaging portion 37 is provided in a manner that it can move up and down relative to the main body 32. The engaging portion 37 includes: a lifting portion 38 that can move up and down relative to the main body 32; and an engaging pin 39 that is formed to protrude upward from the lifting portion 38. In this embodiment, the engaging portion 37 is composed of a set of two engaging pins 39 arranged side by side along the longitudinal direction of the vehicle body 21.

[0029] When the lifting part 38 is in the lowered position relative to the main body 32, the engagement pin 39 is not engaged with the pin engagement hole 28 constituting the engaged part 27. Thus, the unmanned transport vehicle 3 and the vehicle 2 are disconnected.

[0030] On the other hand, when the lifting portion 38 rises relative to the main body 32 and reaches the raised position, the engaging pin 39 enters and engages with the pin engaging hole 28 constituting the engaged portion 27. As a result, the unmanned transport vehicle 3 is connected to the carriage 2. Furthermore, the unmanned transport vehicle 3, while being connected to the carriage 2, travels along the transport path P by itself, thereby causing the carriage 2 to move along the transport path P.

[0031] As described above, in the present embodiment, one engaged portion 27 is formed by four groups of pin engaging holes 28 arranged side by side in the front, rear, left and right directions. The interval between two groups of engaging pins 39 is equal to the interval between two groups of pin engaging holes 28 arranged side by side in the front, rear, left and right directions, and further, is also equal to the interval between two groups of pin engaging holes 28 arranged side by side in the left and right directions.

[0032] The unmanned transport vehicle 3 is connected to the carriage 2 in a posture where its length direction is along the front-rear direction of the carriage 2 by engaging the two-group engagement pins 39 with the two-group pin engagement holes 28 arranged in parallel in the front and rear directions. Figure 6 In addition, the unmanned transport vehicle 3 is connected to the trolley 2 in a posture in which its length direction is along the left-right direction of the trolley 2 by engaging the two-group engaging pins 39 with the two-group engaging pin holes 28 arranged side by side on the left and right sides ( Figure 6 In this way, the unmanned transport vehicle 3 of the present embodiment can switch the connection posture with the vehicle 2 into a longitudinal posture (a posture along the front-rear direction) and a lateral posture (a posture along the left-right direction).

[0033] The control unit 4 controls the movement of the unmanned transport vehicle 3. For example, the control unit 4 controls the travel speed (rotation speed of the drive wheel 34) or steering (direction of the drive unit 33) of the unmanned transport vehicle 3 in accordance with the position of the unmanned transport vehicle 3 in the transport path P. In addition, in the present embodiment, the control unit 4 determines the engaged portion 27 (hereinafter referred to as the "target engaged portion 27T") to be engaged with the engaging portion 37 from among a plurality of engaged portions 27 in accordance with the movement mode of the trolley 2. Furthermore, the control unit 4 controls the travel of the vehicle body 31 and the lifting and lowering of the engaging portion 37 so that the engaging portion 37 is engaged with the determined target engaged portion 27T.

[0034] Figure 7 An example is shown in which the vehicle 2 travels straight at a speed lower than a predetermined reference speed. Figure 1 In the example of , the case where the vehicle 2 travels on the first straight section P1 or the straight section P43 of the roundabout section P4 corresponds to this. Here, the reference speed is the travel speed of the vehicle 2 set in consideration of safety and workability, for example, set to a speed of about 30 to 50 m / min. The reference speed may be a fixed value or a variable value that changes according to the situation.

[0035] like Figure 7 As shown, when the vehicle 2 is driven to travel straight at a speed lower than the reference speed, the control unit 4 uses the right engaged portion 27R or the left engaged portion 27L among the plurality of engaged portions 27 as the target engaged portion 27T. Furthermore, the unmanned transport vehicle 3 is connected to the vehicle 2 at the right side or the left side of the vehicle body 21. Figure 7 , as a representative example, a situation in which the unmanned transport vehicle 3 is coupled to the vehicle 2 on the right side is shown.

[0036] exist Figure 7In the example of , when the engaging portion 37 is engaged with the right engaged portion 27R provided on the vehicle body 21 and the length direction of the unmanned conveying vehicle 3 is along the front-rear direction of the vehicle 2, the entire unmanned conveying vehicle 3 overlaps with the vehicle 2 in a plan view. In the case where the left engaged portion 27L is the target engaged portion 27T, similarly, when the engaging portion 37 is engaged with the left engaged portion 27L provided on the vehicle body 21 and the length direction of the unmanned conveying vehicle 3 is along the front-rear direction of the vehicle 2, the entire unmanned conveying vehicle 3 overlaps with the vehicle 2 in a plan view.

[0037] Figure 8 An example is shown in which the vehicle 2 travels straight at a predetermined reference speed or above. Figure 1 In the example of , the case where the vehicle 2 travels on the second straight portion P2 corresponds to this. Here, the setting of the reference speed is as described above.

[0038] like Figure 8 As shown, when the vehicle 2 is driven to travel straight at a speed higher than the reference speed, the control unit 4 selects the front engaged portion 27F among the plurality of engaged portions 27 as the target engaged portion 27T. The automated guided vehicle 3 is coupled to the vehicle 2 at the front side of the vehicle body 21 .

[0039] exist Figure 8 In the example, when the length direction of the unmanned transport vehicle 3 is along the front-rear direction of the vehicle 2, the engaging portion 37 engages with the front engaging portion 27F. The unmanned transport vehicle 3 only partially overlaps the vehicle 2 when viewed from above, and a portion of the front side does not overlap with the vehicle 2 when viewed from above.

[0040] Fig. 9 An example of a case where the vehicle 2 moves backward is shown. As shown in the figure, when the vehicle 2 moves backward, the control unit 4 uses the rear engaged portion 27B among the plurality of engaged portions 27 as the target engaged portion 27T. Furthermore, the unmanned transport vehicle 3 is connected to the vehicle 2 at a position on the rear side of the vehicle body 21.

[0041] exist Fig. 9 In the example, when the length direction of the unmanned transport vehicle 3 is along the front-rear direction of the trolley 2, the engaging portion 37 is engaged with the rear engaging portion 27B. The unmanned transport vehicle 3 only partially overlaps the trolley 2 when viewed from above, and a portion of the rear side does not overlap the trolley 2 when viewed from above.

[0042] Fig.10 An example is shown in which the vehicle 2 is traveling to the left on a curve at a speed lower than a predetermined reference speed. Figure 1 In the example of , the case where the vehicle 2 travels in the curved section P3 corresponds to this. Here, the setting of the reference speed is as described above.

[0043] like Fig.10 As shown, when the vehicle 2 is caused to travel to the left at a speed lower than the reference speed, the control unit 4 uses the right side engaged portion 27R of the engaged portion 27, which is located on the side opposite to the direction of the curve, as the target engaged portion 27T. Furthermore, the unmanned transport vehicle 3 is connected to the vehicle 2 at a position on the right side of the vehicle body 21. Fig.10 In the example, when the engaging portion 37 is engaged with the right engaged portion 27R provided on the vehicle body 21 and the longitudinal direction of the unmanned transport vehicle 3 is along the front-rear direction of the vehicle 2, the entire unmanned transport vehicle 3 overlaps with the vehicle 2 in a plan view.

[0044] Furthermore, when the vehicle 2 is caused to travel to the right on a curve at a speed lower than the reference speed, the control unit 4 uses the left side engaged portion 27L of the engaged portion 27, which is located on the side opposite to the direction of the curve, as the target engaged portion 27T among the plurality of engaged portions 27. Furthermore, the unmanned transport vehicle 3 is connected to the vehicle 2 at the left side of the vehicle body 21. At this time, in a state where the engaging portion 37 is engaged with the left side engaged portion 27L provided on the vehicle body 21 and the length direction of the unmanned transport vehicle 3 is along the front-rear direction of the vehicle 2, the entire unmanned transport vehicle 3 overlaps with the vehicle 2 in a plan view.

[0045] In addition, when the carriage 2 is caused to travel in an S shape at a speed lower than the reference speed, the control unit 4 switches the target engaged portion 27T according to the position of the carriage 2 in the conveying path P, so that the engaged portion 27 on the side opposite to the direction of the next curve is the target engaged portion 27T.

[0046] Fig.11 An example is shown in which the vehicle 2 is traveling to the left on a curve at a predetermined reference speed or higher. Here, the reference speed is set as described above.

[0047] like Fig.11 As shown, when the vehicle 2 is caused to curve to the left at a speed higher than the reference speed, the control unit 4 uses the front side engaged portion 27F among the plurality of engaged portions 27 as the target engaged portion 27T. That is, when the travel speed is higher than the predetermined reference speed even when the vehicle 2 is caused to curve to the left, the control unit 4 uses the front side engaged portion 27F as the target engaged portion 27T instead of the above-mentioned right side engaged portion 27R. Furthermore, the unmanned transport vehicle 3 is connected to the vehicle 2 at a position on the front side of the vehicle body 21.

[0048] exist Fig.11In the example, when the length direction of the unmanned transport vehicle 3 is along the front-rear direction of the vehicle 2, the engaging portion 37 engages with the front engaging portion 27F. The unmanned transport vehicle 3 only partially overlaps the vehicle 2 when viewed from above, and a portion of the front side does not overlap with the vehicle 2 when viewed from above.

[0049] Furthermore, when the vehicle 2 is caused to curve to the right at a speed higher than the reference speed, the control unit 4 uses the front side engaged portion 27F among the plurality of engaged portions 27 as the target engaged portion 27T. That is, when the travel speed is higher than the predetermined reference speed even when the vehicle 2 is caused to curve to the right, the control unit 4 uses the front side engaged portion 27F as the target engaged portion 27T instead of the above-mentioned left side engaged portion 27L. Furthermore, the unmanned transport vehicle 3 is connected to the vehicle 2 at a position on the front side of the vehicle body 21. In addition, the unmanned transport vehicle 3 only partially overlaps with the vehicle 2 when viewed from above, and a portion of the front side does not overlap with the vehicle 2 when viewed from above.

[0050] Fig.12 An example is shown in which the vehicle 2 is traveling sideways to the right. Figure 1 This corresponds to the case where the vehicle 2 in the example travels in the first transverse portion P41 of the roundabout portion P4.

[0051] like Fig.12 As shown, when the vehicle 2 is caused to travel sideways to the right, the control unit 4 uses the right side engaged portion 27R of the engaged portion 27, which is located on the side approaching the traveling direction during the sideways travel, as the target engaged portion 27T. Furthermore, the unmanned transport vehicle 3 is connected to the vehicle 2 at a position on the right side of the vehicle body 21. Fig.12 In the example, when the engaging portion 37 is engaged with the right engaged portion 27R provided on the vehicle body 21 and the longitudinal direction of the unmanned transport vehicle 3 is along the front-rear direction of the vehicle 2, the entire unmanned transport vehicle 3 overlaps with the vehicle 2 in a plan view.

[0052] Fig.13 An example of a case where the vehicle 2 travels sideways to the left is shown. Figure 1 This corresponds to the case where the vehicle 2 in the example travels in the second transverse portion P42 of the roundabout portion P4.

[0053] like Fig.13 As shown, when the vehicle 2 is caused to travel sideways to the left, the control unit 4 uses the left side engaged portion 27L of the engaged portion 27, which is located on the side approaching the traveling direction during the sideways travel, as the target engaged portion 27T. Furthermore, the unmanned transport vehicle 3 is connected to the vehicle 2 at a position on the left side of the vehicle body 21. Fig.12In the example, when the engaging portion 37 is engaged with the left engaged portion 27L provided on the vehicle body 21 and the longitudinal direction of the unmanned guided vehicle 3 is along the front-rear direction of the vehicle 2, the entire unmanned guided vehicle 3 overlaps with the vehicle 2 in a plan view.

[0054] Fig.14 An example of a case where the vehicle 2 is moving diagonally to the right front is shown. As shown in the figure, when the vehicle 2 is moving diagonally to the right front, the control unit 4 uses the right side engaged portion 27R of the engaged portion 27 that is on the side approaching the traveling direction during the diagonal travel among the multiple engaged portions 27 as the target engaged portion 27T. Furthermore, the unmanned transport vehicle 3 is connected to the vehicle 2 at a position on the right side of the vehicle body 21. Fig.14 In the example, when the engaging portion 37 is engaged with the right engaged portion 27R provided on the vehicle body 21 and the longitudinal direction of the unmanned transport vehicle 3 is along the front-rear direction of the vehicle 2, the entire unmanned transport vehicle 3 overlaps with the vehicle 2 in a plan view.

[0055] Fig.15 An example of a case where the vehicle 2 is moving diagonally to the left front is shown. As shown in the figure, when the vehicle 2 is moving diagonally to the left front, the control unit 4 uses the left engaged portion 27L of the engaged portion 27 that is on the side approaching the traveling direction during the diagonal travel among the multiple engaged portions 27 as the target engaged portion 27T. Furthermore, the unmanned transport vehicle 3 is connected to the vehicle 2 at a position on the left side of the vehicle body 21. Fig.15 In the example, when the engaging portion 37 is engaged with the left engaged portion 27L provided on the vehicle body 21 and the longitudinal direction of the unmanned guided vehicle 3 is along the front-rear direction of the vehicle 2, the entire unmanned guided vehicle 3 overlaps with the vehicle 2 in a plan view.

[0056] Fig.16 An example is shown in which the vehicle 2 makes a small turn with a predetermined reference radius of curvature or less. Here, the reference radius of curvature is set to a length of about 0.3 to 2 m, for example. The reference radius of curvature can be a fixed value or a variable value that changes according to the situation.

[0057] like Fig.16 As shown, when the vehicle 2 is made to make a small turn with a predetermined reference curvature radius or less, the control unit 4 uses the rear side engaged portion 27B among the plurality of engaged portions 27 as the target engaged portion 27T. Furthermore, the unmanned transport vehicle 3 is connected to the vehicle 2 at the rear side of the vehicle body 21. Fig.16 In the example, when the engaging portion 37 is engaged with the engaged portion 27B provided on the rear side of the vehicle body 21 and the longitudinal direction of the unmanned transport vehicle 3 is along the left-right direction of the vehicle 2, the entire unmanned transport vehicle 3 overlaps with the vehicle 2 in a plan view.

[0058] The control unit 4 is configured to acquire information on the transport path P. Based on the acquired information on the transport path P, the control unit 4 can select the target engaged portion 27T at an appropriate time and change the coupling position between the automatic transport vehicle 3 and the vehicle 2 at an appropriate time.

[0059] Furthermore, the control unit 4 may be configured in such a manner that, in addition to the information related to the conveying path P, information related to the conveying load in the conveying path P can be obtained. Here, the information related to the conveying load includes information related to the material or inclination of the ground F, information related to the transfer of the loaded object B with other conveying devices, information related to the increase in the weight of the loaded object B caused by the assembly of components, etc. The control unit 4 may also select the object engaged portion 27T in consideration of the obtained information related to the conveying path P so as to be suitable for conveying in a place where the load is relatively large.

[0060] [Other implementation methods] (1) In the above-mentioned embodiment, the following configuration is used as an example to explain that when the vehicle 2 is driven to travel straight at a speed lower than the reference speed, the control unit 4 uses the right engaged portion 27R or the left engaged portion 27L among the plurality of engaged portions 27 as the target engaged portion 27T. However, the present invention is not limited to such a configuration. In such a case, for example, Fig.17 As shown, the control unit 4 may also use the front side engaged portion 27F among the plurality of engaged portions 27 as the target engaged portion 27T. Fig.17 In the example, when the engaging portion 37 is engaged with the front engaged portion 27F provided on the vehicle body 21 and the longitudinal direction of the unmanned guided vehicle 3 is along the left-right direction of the vehicle 2, the entire unmanned guided vehicle 3 overlaps with the vehicle 2 in a plan view.

[0061] (2) In the above-mentioned embodiment, the following configuration is used as an example for explanation: when the vehicle 2 is caused to travel horizontally to the right or left, the control unit 4 uses the engaged portion 27 on the side approaching the traveling direction during the horizontal travel among the plurality of engaged portions 27 as the target engaged portion 27T. However, the configuration is not limited to this. In such a case, for example, Fig.18 As shown, the control unit 4 may also use the front side engaged portion 27F among the multiple engaged portions 27 as the target engaged portion 27T. In this case, the front side engaged portion 27F may be used as the target engaged portion 27T unconditionally, or the front side engaged portion 27F may be used as the target engaged portion 27T, for example, on the condition that the trolley 2 travels sideways at a slow speed less than a predetermined speed. The slow speed is set to a speed of about 5 to 15 m / min, for example. The slow speed may be a fixed value or a variable value that changes according to the situation. Fig.18In the example, when the engaging portion 37 is engaged with the front engaged portion 27F provided on the vehicle body 21 and the longitudinal direction of the unmanned guided vehicle 3 is along the left-right direction of the vehicle 2, the entire unmanned guided vehicle 3 overlaps with the vehicle 2 in a plan view.

[0062] (3) In the above-mentioned embodiment, the following configuration is used as an example to describe that the control unit 4 determines the target engaged portion 27T from the plurality of engaged portions 27 in accordance with the movement mode of the carriage 2. However, the present invention is not limited to such a configuration. For example, the control unit 4 may determine the target engaged portion 27T in accordance with the state of the carriage 2. For example, Fig.19 As shown, when the trolley 2 travels along the platform 9 for various operations such as loading and unloading of goods or assembly of parts, the control unit 4 may also select the engaged portion 27 (in the example shown in the figure, the left engaged portion 27L) on the side away from the platform 9 among the multiple engaged portions 27 as the target engaged portion 27T. In addition, for example, when there is a deviation in the weight balance of the loaded object B loaded on the trolley 2, the control unit 4 may also select the engaged portion 27 near the position where the surface pressure is relatively high among the multiple engaged portions 27 as the target engaged portion 27T. In addition, the control unit 4 may also consider the state and movement mode of the trolley 2 and determine the target engaged portion 27T in accordance with the two.

[0063] (3) In the above-mentioned embodiment, the following configuration is described as an example: the engaged portion 27 is provided outside the region surrounded by the four wheels 24 in a plan view. However, the present invention is not limited to such a configuration. For example, in a case where the four wheels 24 are provided at the peripheral edge portions (typically, the four corners) of the mounting table 22, the engaged portion 27 may be provided in the region surrounded by the four wheels 24 in a plan view.

[0064] (4) In the above-mentioned embodiment, the following structure is used as an example for explanation: each engaged portion 27 is composed of four sets of pin engaging holes 28 arranged side by side in front, back, left and right directions, and the connection posture of the unmanned transport vehicle 3 and the trolley 2 can be switched between a longitudinal posture and a transverse posture. However, it is not limited to such a structure, and each engaged portion 27 may also be composed of two sets of pin engaging holes 28. For example, the right engaged portion 27R and the left engaged portion 27L may be composed of two sets of pin engaging holes 28 arranged side by side in front and back directions, and the connection posture of the unmanned transport vehicle 3 and the trolley 2 at these positions is uniformly a longitudinal posture. In addition, for example, the front engaged portion 27F and the rear engaged portion 27B may be composed of two sets of pin engaging holes 28 arranged side by side in left and right directions, and the connection posture of the unmanned transport vehicle 3 and the trolley 2 at these positions is uniformly a transverse posture. Alternatively, the front engaged portion 27F and the rear engaged portion 27B may be constituted by a set of two pin engaging holes 28 arranged side by side in the front and rear direction.

[0065] (5) In the above-mentioned embodiment, the following configuration is described as an example: four engaged portions 27 are separately provided on the front, rear, left, and right sides of the vehicle body 21. However, the configuration is not limited to this. For example, two engaged portions 27 may be separately provided on the left, right, or front, rear, or three engaged portions 27 may be separately provided on the front or rear side and on the left and right sides of the vehicle body 21. Alternatively, for example, Fig. 20 As shown in the figure, when the lift 25 is not provided at the central part of the vehicle body 21, five engaged parts 27 may be provided separately at the central part and front, rear, left and right of the vehicle body 21. In this case, the engaged part 27 provided at the central part of the vehicle body 21 can be referred to as a "central engaged part 27C". In addition, six or more engaged parts 27 may be provided at the vehicle body 21.

[0066] (6) In the above-mentioned embodiment, the following configuration is used as an example: in the vehicle 2, the engaged portion 27 is arranged to face downward, and in the unmanned transport vehicle 3, the engaging portion 37 is arranged to be movable up and down. However, the configuration is not limited to this. For example, the configuration may be Fig.21 As shown, the engaged portion 27 is provided on the vehicle body 21 in a manner facing the side, and the engaging portion 37 is provided on the unmanned transport vehicle 3 in a manner engaged with the engaged portion 27 from the side. In a case where the height of the main body 32 of the unmanned transport vehicle 3 is higher than the height of the platform 22 of the trolley 2, the engaging portion 37 may be provided in a manner that it can move forward and backward in the horizontal direction relative to the main body 32 of the unmanned transport vehicle 3. In a case where the height of the main body 32 of the unmanned transport vehicle 3 is lower than the height of the platform 22 of the trolley 2, the engaging portion 37 may be provided in a manner that it can rotate from the main body 32 of the unmanned transport vehicle 3 toward the side. In these cases, the engaging portion 37 may be made unable to move forward and backward or unable to rotate, and only the engaging portion 37 may be engaged with the engaged portion 27 as the unmanned transport vehicle 3 moves and changes direction.

[0067] (7) The configurations disclosed in the above-mentioned embodiments (including the above-mentioned embodiments and other embodiments; the same applies below) can also be combined and applied with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations, the embodiments disclosed in this specification are also illustrative in all points and can be appropriately changed within the scope of the purpose of the present disclosure.

[0068] [Outline of Implementation Method] If the above is summarized, it is suitable that the conveying equipment involved in this disclosure has the following each structure.

[0069] A conveying device, comprising: Trolley; an unmanned transport vehicle that moves the trolley by self-driving while being connected to the trolley; and A control unit, which controls the operation of the unmanned transport vehicle. The trolley comprises a body and engaged portions which are separately arranged at a plurality of locations of the body. The unmanned conveyor vehicle has an engaging portion that engages with any one of the plurality of engaged portions for coupling the unmanned conveyor vehicle to the trolley. The control unit determines a target engaged portion as the engaged portion with which the engaging portion is to be engaged from among the plurality of engaged portions in accordance with at least one of a state and a moving mode of the vehicle.

[0070] According to this structure, the engaged portion of the trolley is opened and placed in multiple places on the vehicle body, and the target engaged portion is determined from these multiple engaged portions, and the engaging portion of the unmanned transport vehicle is engaged with the target engaged portion. When determining the target engaged portion, the state or movement mode of the trolley or both are taken into consideration. For example, in relation to the moving direction or moving speed of the trolley, the driving state, etc., it is easy to connect the trolley and the unmanned transport vehicle at the optimal position from the perspective of efficient driving force transmission. As a result, the driving force of the unmanned transport vehicle can be properly transmitted to the trolley in accordance with at least one of the state and movement mode of the trolley. Therefore, in the conveying equipment in which the trolley is moved by the unmanned transport vehicle, the trolley can be moved efficiently.

[0071] As a solution, it is preferred that The engaged portions are separately provided at the front, rear, left and right sides of the vehicle body.

[0072] According to this configuration, by providing the engaged portions at four locations on the front, rear, left, and right sides of the vehicle body, the range of choices regarding the connection position between the vehicle and the automated guided vehicle can be effectively expanded with as few as possible.

[0073] As a solution, it is preferred that When the control unit causes the vehicle to curve to the right or left, the control unit uses the engaged portion on the left and right sides of the vehicle body, the engaged portion on the side opposite to the direction of the curve, as the target engaged portion.

[0074] According to this configuration, when the vehicle is to bend, the vehicle can be made to bend by utilizing the force acting on the vehicle in the left and right directions from the unmanned transport vehicle. Therefore, the driving force of the unmanned transport vehicle can be appropriately transmitted to the vehicle to move the vehicle efficiently.

[0075] As a solution, it is preferred that When the control unit makes the trolley travel at a speed higher than a predetermined reference speed even when making the trolley travel on a curve to the right or left, the control unit replaces the engaged portions provided on the left and right sides of the vehicle body with the engaged portions provided on the front side of the vehicle body as the target engaged portions.

[0076] According to this configuration, when the unmanned guided vehicle is driven on a curve at a relatively high speed higher than the reference speed, the unmanned guided vehicle is connected to the front side of the vehicle body and towed, so that the driving force of the unmanned guided vehicle can be appropriately transmitted to the vehicle, thereby ensuring the steerability of the vehicle and moving it efficiently.

[0077] As a solution, it is preferred that When the control unit causes the trolley to travel horizontally to the right or left, or when the control unit causes the trolley to travel diagonally to the right front or left front, the control unit uses the engaged portion on the left and right sides of the vehicle body that is located on the side close to the direction of travel during the horizontal travel or the diagonal travel as the target engaged portion.

[0078] According to this structure, when the trolley is driven sideways or diagonally, the driving force of the unmanned transport vehicle can be appropriately transmitted to the trolley by serving as a leading side traction in the direction of travel, thereby ensuring the steerability of the trolley and efficiently driving sideways or diagonally.

[0079] As a solution, it is preferred that When the control unit causes the vehicle to travel straight at a predetermined reference speed or higher, the control unit uses the engaged portion provided on the front side of the vehicle body as the target engaged portion.

[0080] According to this configuration, when the trolley is driven straight at a relatively high speed higher than the reference speed, the driving force of the unmanned transport vehicle can be appropriately transmitted to the trolley by towing the trolley at the front side of the vehicle body, thereby ensuring the straight-moving stability of the trolley and efficiently performing high-speed straight-moving.

[0081] As a solution, it is preferred that When the control unit causes the vehicle to make a small turn at a predetermined reference curvature radius or less, the control unit uses the engaged portion provided on the rear side of the vehicle body as the target engaged portion.

[0082] According to this structure, when the trolley is made to make a small turn within a predetermined reference curvature radius or less, the driving force of the unmanned transport vehicle can be properly transmitted to the trolley by steering at the rear side of the vehicle body, thereby ensuring the maneuverability of the trolley and allowing the trolley to make a small turn properly.

[0083] As a solution, it is preferred that The aforementioned unmanned transport vehicle is in a longitudinal shape with a total length longer than the total width when viewed from above. When the engaging portion is engaged with any one of the engaged portions provided on the left and right sides of the vehicle body and the length direction of the unmanned transport vehicle is along the front-rear direction of the trolley, the entire unmanned transport vehicle overlaps with the trolley in a plan view. When the engaging portion engages with any of the engaged portions provided at the front and rear of the vehicle body and the longitudinal direction of the unmanned guided vehicle is along the left-right direction of the vehicle, the entire unmanned guided vehicle overlaps with the vehicle in a plan view.

[0084] According to this structure, the entire unmanned transport vehicle is stored under the trolley, and the unmanned transport vehicle is not exposed, so there is no need to set up a space for the unmanned transport vehicle to travel outside the trolley. Therefore, the surplus space around the moving track of the trolley can be suppressed to be small, and it is easy to seek miniaturization of the overall transport equipment.

[0085] In addition, when the unmanned transport vehicle as a whole overlaps with the trolley when viewed from above by making the length direction of the unmanned transport vehicle along the front-rear direction of the trolley with any of the engaged parts provided on the left and right sides of the vehicle body as the engaged part, the following effects are additionally achieved. That is, when a plurality of trolleys are driven in a row and when the trolley connected to the unmanned transport vehicle is switched, the unmanned transport vehicle can be moved by utilizing the space under each trolley, and the above switching can be performed smoothly. When a plurality of trolleys are transported in a state where they are in contact with each other without gaps, for example, the upper surface of the trolley is made a continuous ground surface so that the operator can walk on it, and at the same time, the trolley connected to the unmanned transport vehicle can be switched smoothly.

[0086] As a solution, it is preferred that The engaged portion is provided on the vehicle body so as to face downward, and the engaging portion is provided so as to be movable up and down relative to a main body of the unmanned transport vehicle.

[0087] According to this structure, when the engaged portion is arranged in a downward direction, the engagement portion can be moved up and down relative to the main body of the unmanned transport vehicle, so that the trolley and the unmanned transport vehicle can be properly connected and disconnected. In addition, in this structure, the unmanned transport vehicle can be pushed to the ground below by the reaction force when the engagement portion is raised for connection, ensuring that the friction between the wheels of the unmanned transport vehicle and the ground is large. Therefore, it is possible to ensure that the propulsion force based on the unmanned transport vehicle is large.

[0088] As a solution, it is preferred that The engaged portion is provided on the vehicle body so as to face sideways, and the engaging portion is provided so as to be able to move forward and backward in a horizontal direction relative to a main body of the unmanned transport vehicle.

[0089] According to this configuration, when the engaged portion is disposed to face sideways, the vehicle and the unmanned guided vehicle can be appropriately coupled and disconnected by moving the engaging portion forward and backward in the horizontal direction relative to the main body of the unmanned guided vehicle.

[0090] As a solution, it is preferred that When the carriage travels along the platform, the control unit sets, as the target engaged portion, the engaged portion located on the side away from the platform among the engaged portions on the left and right sides of the vehicle body.

[0091] According to this configuration, the unmanned transport vehicle can be easily accessed when the trolley is traveling along the platform. Therefore, for example, even if the trolley traveling along the platform stops due to an abnormality of the unmanned transport vehicle, it can be easily inspected or repaired.

[0092] The conveying equipment according to the present disclosure only needs to achieve at least one of the above-mentioned effects. Description of Reference Numerals

[0093] 1Conveying equipment 2 cars 3Unmanned transport vehicle 4. Control Unit 9 Platform 21 Body 22 Loading table 23 Support column 24 wheels 25 lifts 27 engaged portion 27F front side engagement part 27B rear side engaged portion 27R right side engagement part 27L Left side engagement part 27C central engagement part 27T object engagement portion 28 pin engagement holes 31 Body 32 Main body 33 drive units 34 driving wheels 35 Training wheels 37 snap-fit ​​part 38 Lifting Department 39 snap pin P conveying path P1 1st straight line section P2 2nd straight line section P3 curve section P4 detour P41 1st horizontal section P42 2nd horizontal section P43 Straight section F Ground B is the object being loaded.

Claims

1. A conveying device, comprising: Trolley; an unmanned transport vehicle that moves the trolley by self-driving while being coupled to the trolley; and A control unit, which controls the movement of the unmanned transport vehicle, The trolley includes a body and engaged portions separately provided at a plurality of locations of the body. The unmanned conveyor vehicle has an engaging portion engaged with any one of the plurality of engaged portions for coupling the unmanned conveyor vehicle to the vehicle. The control unit determines a target engaged portion as the engaged portion to be engaged with the engaging portion from among the plurality of engaged portions in accordance with at least one of the state and the moving mode of the vehicle.

2. The conveying device according to claim 1, wherein: The engaged portions are separately provided at the front, rear, left, and right sides of the vehicle body.

3. The conveying device according to claim 2, wherein: When the control unit causes the vehicle to curve rightward or leftward, the control unit uses the engaged portion located on the opposite side to the direction of the curve among the engaged portions provided on the left and right sides of the vehicle body as the target engaged portion.

4. The conveying device according to claim 3, wherein: When the control unit makes the trolley travel at a speed higher than a predetermined reference speed even when the trolley is traveling on a curve to the right or left, the control unit replaces the engaged portions provided on the left and right sides of the vehicle body with the engaged portions provided on the front side of the vehicle body as the target engaged portion.

5. The conveying device according to claim 2, wherein: When the control unit causes the trolley to travel horizontally to the right or left, or when the control unit causes the trolley to travel diagonally to the right front or left front, the control unit uses the engaged portion on the left and right sides of the vehicle body that is located on the side close to the direction of travel during the horizontal travel or the diagonal travel as the target engaged portion.

6. The conveying device according to claim 2, wherein: When the control unit causes the vehicle to travel straight at a predetermined reference speed or higher, the control unit uses the engaged portion provided on the front side of the vehicle body as the target engaged portion.

7. The conveying device according to claim 2, wherein: When the control unit causes the vehicle to travel in a tight turn with a predetermined reference curvature radius or less, the control unit uses the engaged portion provided on the rear side of the vehicle body as the target engaged portion.

8. The conveying device according to any one of claims 2 to 7, wherein: The unmanned transport vehicle is in a longitudinal shape with a total length longer than a total width when viewed from above. When the engaging portion is engaged with any one of the engaged portions provided on the left and right sides of the vehicle body and the length direction of the unmanned conveyor vehicle is along the front-rear direction of the vehicle, the entire unmanned conveyor vehicle overlaps with the vehicle in a plan view. When the engaging portion engages with any one of the engaged portions provided at the front and rear of the vehicle body and the longitudinal direction of the automated conveyor vehicle is along the left-right direction of the vehicle, the entire automated conveyor vehicle overlaps with the vehicle in a plan view.

9. The conveying device according to any one of claims 2 to 7, wherein: The engaged portion is provided on the vehicle body so as to face downward, and the engaging portion is provided so as to be movable up and down relative to a main body of the automated guided vehicle.

10. The conveying device according to any one of claims 2 to 7, wherein: The engaged portion is provided on the vehicle body so as to face sideways, and the engaging portion is provided so as to be able to move forward and backward in a horizontal direction relative to a main body of the automated guided vehicle.

11. The conveying device according to claim 2, wherein: When the carriage travels along the platform, the control unit sets, as the target engaged portion, the engaged portion located on the side away from the platform among the left and right engaged portions provided on the vehicle body.

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