Swing mechanism and transport vehicle

Abstract

The invention provides a swing mechanism and a transport vehicle, which can enable a transported vehicle to smoothly run. The swing mechanism includes a base portion, a swing portion, and a reset mechanism. The swing part is mounted on the base part in a swingable manner. The reset mechanism is configured to generate a reset force corresponding to the swing angle of the swing portion so that the swing portion returns to the neutral state when the swing angle of the swing portion is within the first range.

Description

Technical Field

[0001] The invention relates to a swing mechanism and a conveying vehicle. Background Art

[0002] A transport vehicle such as an electric tractor or automated guided vehicle (AGV) is connected to a transported vehicle such as a trolley to tow and transport the transported vehicle (Patent Document 1). The transport vehicle is rotatable when transporting the transported vehicle, and the transport vehicle and the transported vehicle are connected via a swing mechanism so that they can swing relative to each other.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-108795 Summary of the invention

[0006] Technical problem to be solved by the invention

[0007] If the transport vehicle attempts to push the transported vehicle to travel while the swing mechanism is swinging, the transported vehicle may face a direction perpendicular to the travel direction and may not be able to travel smoothly in the travel direction.

[0008] The technical problem of the present invention is to provide a swing mechanism that can enable a transported vehicle to travel smoothly.

[0009] Solutions for solving technical problems

[0010] The swing mechanism involved in the first embodiment includes a base, a swing part, and a reset mechanism. The swing part is mounted on the base in a swingable manner. The reset mechanism is configured to generate a reset force corresponding to the swing angle of the swing part when the swing angle of the swing part is within a first range, so that the swing part returns to a neutral state.

[0011] According to this structure, since the swinging part is returned to the neutral state by the reset mechanism, the transport vehicle and the transported vehicle are connected via the swinging mechanism, so that the transport vehicle can be prevented from moving in a direction perpendicular to the travel direction when pushing the transported vehicle. As a result, the transported vehicle can travel smoothly.

[0012] The swing mechanism involved in the second embodiment is configured as follows in the swing mechanism involved in the first embodiment. The reset mechanism is configured so that when the swing angle is in the second range, no reset force is generated, and the swing angle in the second range is larger than the first range. Alternatively, the reset mechanism is configured so that when the swing angle is in the second range, a reset force smaller than the reset force generated when the swing angle is in the first range is generated. According to this structure, it is possible to suppress the difficulty in rotation due to the reset force.

[0013] The swing mechanism according to the third aspect is configured as follows in the swing mechanism according to the second aspect: the return mechanism is configured to generate a return force that gradually decreases as the swing angle increases when the swing angle is in a third range between the first range and the second range.

[0014] The swing mechanism according to the fourth aspect is configured as follows in the swing mechanism according to any one of the first to third aspects: the return mechanism is configured to generate a return force that increases as the swing angle increases when the swing angle is within the first range.

[0015] The swing mechanism involved in the fifth embodiment is configured as follows in the swing mechanism involved in any one of the first to fourth embodiments. The reset mechanism has a cam surface, a cam follower, and a force-applying member. The cam surface is formed on one of the swing portion and the base portion. The cam follower abuts against the cam surface. The force-applying member applies force to the cam follower along a virtual straight line connecting the swing axis of the swing portion and the cam follower.

[0016] The swing mechanism involved in the sixth embodiment is configured as follows in the swing mechanism involved in the fifth embodiment. A cam surface is formed on the swing portion. The cam surface has a first cam surface. The first cam surface abuts against the cam follower when the swing angle is within a first range. The distance between the first cam surface and the swing axis increases as it moves away from the neutral point. The neutral point is a point that contacts the cam follower when the swing portion is in a neutral state.

[0017] The swing mechanism involved in the seventh embodiment is configured as follows in the swing mechanism involved in the fifth embodiment. A cam surface is formed on a base portion. A force-applying member is mounted on the swing portion. The cam surface has a first cam surface. The first cam surface abuts against the cam follower when the swing angle is within a first range. The distance between the first cam surface and the swing axis decreases as it moves away from the neutral point. The neutral point is a point that contacts the cam follower when the swing portion is in a neutral state.

[0018] The swing mechanism involved in the eighth aspect is configured as follows in the swing mechanism involved in the sixth or seventh aspect. The cam surface has a second cam surface. The second cam surface abuts against the cam follower when the swing angle is in a second range, and the swing angle in the second range is larger than the first range. The second cam surface is configured so that when the second cam surface abuts against the cam follower, a tangent line at a point of abutment with the cam follower and a straight line connecting the tangent point and the swing axis are orthogonal.

[0019] The swing mechanism involved in the ninth aspect is configured as follows in the swing mechanism involved in any one of the sixth to eighth aspects. The cam surface has a second cam surface. The second cam surface abuts against the cam follower when the swing angle is in a second range, and the swing angle in the second range is larger than that in the first range. The distance between the second cam surface and the swing axis is fixed.

[0020] The swing mechanism involved in the tenth embodiment is configured as follows in the swing mechanism involved in the eighth or ninth embodiment. The cam surface has a third cam surface. The third cam surface abuts against the cam follower when the swing angle is in the third range. The third range is arranged between the first range and the second range. The first cam surface is an arc-shaped concave toward the swing axis when viewed from the swing axis direction. The third cam surface is an arc-shaped bulging in a direction away from the swing axis when viewed from the swing axis direction.

[0021] The transport vehicle according to the eleventh aspect comprises a transport vehicle body and the swing mechanism according to any one of the first to tenth aspects. The transport vehicle body has a prime mover and a drive wheel. The swing mechanism is mounted on the transport vehicle body.

[0022] According to the present invention, the transported vehicle can be caused to travel smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a side view of the transport vehicle.

[0024] Figure 2 This is a side view of the transport vehicle in a state where a part of the frame is removed.

[0025] Figure 3 It is an enlarged stereoscopic image of the transport vehicle.

[0026] Figure 4 It is a cross-sectional view of the swing mechanism.

[0027] Figure 5 It is a top view of the swing mechanism in a state where a part of the base part is removed.

[0028] Figure 6 It is a top view of the swing mechanism when the swing angle is in the first range.

[0029] Figure 7 It is a top view of the swing mechanism when the swing angle is in the second range.

[0030] Figure 8 It is a top view of the swing mechanism when the swing angle is in the third range.

[0031] Fig. 9 It is a top view of a swing mechanism according to a modification.

[0032] Fig.10 It is a top view of a swing mechanism according to a modification.

[0033] Fig.11 It is a top view of a swing mechanism according to a modification. DETAILED DESCRIPTION

[0034] Hereinafter, the swing mechanism 3 and the transport vehicle 100 equipped with the swing mechanism 3 according to the present embodiment will be described with reference to the accompanying drawings. In the following description, the front refers to the direction in which the transport vehicle 100 pulls the transported vehicle 101 forward, and the rear refers to the direction in which the transport vehicle 100 pushes the transported vehicle 101 forward. That is, Figure 1 The right side is the front, Figure 1 The left side is the rear.

[0035] <Transport vehicle>

[0036] Figure 1 1 is a side view of the transport vehicle 100. Figure 1 FIG. 2 shows the transport vehicle 100 before being connected to the transported vehicle 101. Figure 1 As shown, the transport vehicle 100 is configured in a manner of being connected to the transported vehicle 101 and pulling the transported vehicle 101. In addition, the transport vehicle 100 can also push the transported vehicle 101 to travel. The transport vehicle 100 is driven by manpower and the auxiliary force generated by the prime mover 24. In addition, the transport vehicle 100 can also travel only by manpower or only by the driving force generated by the prime mover 24. In addition, in this embodiment, a basket car is exemplified as the transported vehicle 101, but the transported vehicle 101 can also be exemplified by a trolley, a stretcher, a wheelchair, etc. in addition to the basket car.

[0037] The transport vehicle 100 includes a transport vehicle body 2 , a swing mechanism 3 , and a clamping mechanism 4 . A transported vehicle 101 towed by the transport vehicle 100 includes a plurality of wheels 102 .

[0038] <Transport vehicle body>

[0039] Figure 2 Yes Figure 1 A side view of a state in which a part of the frame 21 of the transport vehicle body 2 is disassembled. Figure 1 and Figure 2 As shown, the transport vehicle body 2 includes a frame 21 , an operating member 22 , a driving wheel 23 , a prime mover 24 , a driven wheel 25 , a battery 26 , and a force applying member 27 .

[0040] The operating member 22 is mounted on the frame 21. The operating member 22 is configured so that a user can input a forward or backward force. For example, a handle for the user to hold is mounted on the distal end of the operating member 22.

[0041] The driving wheel 23, the prime mover 24, the driven wheel 25, the battery 26 and the force applying member 27 are mounted on the frame 21. The driving wheel 23 is driven by the prime mover 24. The prime mover 24 is, for example, an electric motor. The prime mover 24 is supplied with electric power from the battery 26.

[0042] The force applying member 27 is configured to apply force to the drive wheel 23 downward. The force applying member 27 is arranged between the swing mechanism 3 (specifically, the base portion 31) and the drive wheel 23. The force applying member 27 applies force to the swing mechanism 3 and the drive wheel 23 in a direction in which the swing mechanism 3 and the drive wheel 23 are separated from each other. The force applying member 27 is mounted on the swing mechanism 3 at the upper end and mounted on the frame 21 at the lower end. The force applying member 27 applies force to the drive wheel 23 downward via the frame 21. The force applying member 27 is, for example, a coil spring. When the transported vehicle 101 is connected to the transport vehicle 100, the force applying member 27 is set to a compressed state.

[0043] <Swing Mechanism>

[0044] The swing mechanism 3 is attached to the upper part of the transport vehicle body 2. The swing mechanism 3 is attached to the transport vehicle body 2 so as to be swingable in the up-down direction. The swing mechanism 3 includes a base portion 31, a swing portion 32, an arm 36, and a return mechanism 37.

[0045] The base portion 31 is mounted on the transport vehicle body 2. Specifically, the base portion 31 is mounted on the transport vehicle body 2 so as to be able to swing in the up-down direction. In addition, the base portion 31 can swing in the up-down direction along a vertical plane extending in the front-back direction. The base portion 31 is mounted on the frame 21 via a first swing shaft 33. The first swing shaft 33 extends in the left-right direction. In addition, the base portion 31 is mounted on the frame 21 via a force applying member 27 or the like.

[0046] Figure 3 is an enlarged perspective view of the transport vehicle 100. Figure 4 3 is a cross-sectional view of the swing mechanism 3. Figure 3 and Figure 4 As shown, the swing portion 32 is arranged at the rear relative to the base portion 31. The swing portion 32 is mounted on the base portion 31 in a manner that allows swinging in the horizontal direction. Specifically, the swing portion 32 is mounted on the base portion 31 in a manner that allows swinging in the left-right direction. The swing portion 32 is mounted on the base portion 31 via a second swing shaft 34. The second swing shaft 34 extends in the up-down direction. The swing portion 32 can swing around the swing shaft O. The swing shaft O is coaxial with the central axis of the second swing shaft 34.

[0047] The arm 36 extends downward from the swing portion 32. The arm 36 is fixed to the swing portion 32. That is, the arm 36 swings integrally with the swing portion 32. The arm 36 is fixed to the swing portion 32 by bolts or the like. The arm 36 is formed by a separate member from the swing portion 32, but may be formed integrally with the swing portion 32 by one member.

[0048] Figure 5 It is a plan view of the swing mechanism 3 with a part of the base portion 31 removed. Figure 5FIG. 3 shows the swing mechanism 3 when the swing portion 32 is in a neutral state (swing angle α=0°). Figure 4 and Figure 5 As shown, the reset mechanism 37 has a pair of cam surfaces 371, a pair of cam followers 372, and a pair of force applying members 373. In addition, the reset mechanism 37 has a pair of intermediate members 374. In addition, the number of the cam surfaces 371, the cam followers 372, the force applying members 373, and the intermediate members 374 may not be a pair but one, or may be more than two.

[0049] The cam surface 371 is formed on the swing portion 32. Specifically, the cam surface 371 is formed on the surface of the swing portion 32 that faces the base portion 31. That is, the cam surface 371 faces forward. The cam surface 371 includes a first cam surface 371a, a second cam surface 371b, and a third cam surface 371c.

[0050] The cam follower 372 contacts the cam surface 371. The cam follower 372 is pressed against the cam surface 371 by the force applied by the force application member. The cam follower 372 is mounted on the intermediate member 374. The cam follower 372 is cylindrical. The cam follower 372 extends in the up-down direction. The cam follower 372 may roll on the cam surface 371 or may not roll.

[0051] The urging member 373 is attached to the base portion 31. The urging member 373 urges the cam follower 372 along a virtual straight line V connecting the swing axis O of the swing portion 32 and the cam follower 372. In the present embodiment, the urging member 373 urges the cam follower 372 toward the swing axis O. Therefore, the cam follower 372 presses the cam surface 371 toward the swing axis O.

[0052] The urging member 373 urges the cam follower 372 via the intermediate member 374. The urging member 373 is, for example, a coil spring. The urging member 373 extends in the front-rear direction. The urging member 373 is preferably compressed when the swing portion 32 is in the neutral state, but may be at a natural length.

[0053] Figure 6 It is a plan view of the swing mechanism 3 with a part of the base portion 31 removed. Figure 6 The swing mechanism 3 is shown when the swing angle α of the swing portion 32 is in the first range R1. Here, the swing angle α of the swing portion 32 is the swing angle of the swing portion 32 when the swing portion 32 is set to 0° when the swing portion 32 does not swing relative to the base portion 31. When the swing portion 32 extends parallel to the front-rear direction, the swing angle of the swing portion 32 is 0°.

[0054] In the following description, the neutral state refers to the state of the swing portion 32 when the swing angle α is 0°. Figure 5In this case, the swing portion 32 is in a neutral state. The first range R1 is a range where the swing angle α extends from 0° to the first swing angle α1 to the left and right. The first swing angle α1 is, for example, 10 to 20°.

[0055] As Figure 6 shown, when the swing angle α of the swing portion 32 is within the first range R1, that is, when the swing angle α is between 0 and α1, the return mechanism 37 generates a return force in such a manner that the swing portion 32 returns to the neutral state. The return force generated at this time corresponds to the swing angle α of the swing portion 32. Specifically, the return mechanism 37 generates a return force that increases as the swing angle α increases. That is, the return force generated by the return mechanism 37 increases as the swing angle α increases.

[0056] When the swing angle α of the swing portion 32 is within the first range R1, the cam follower 372 abuts against the first cam surface 371a. That is, the return mechanism 37 is configured to generate a return force that increases as the swing angle α increases when the cam follower 372 abuts against the first cam surface 371a.

[0057] The first cam surface 371a is shaped such that the distance from the neutral point N increases gradually as it moves away from the neutral point N and the swing axis O. Specifically, the first cam surface 371a is formed to be concave toward the swing axis O. The first cam surface 371a is circular arc-shaped when viewed from above. By configuring the first cam surface 371a in this way, as the swing angle α increases, the displacement of the biasing member 373 increases, and the return force increases. In addition, the neutral point N refers to the point where the first cam surface 371a contacts the cam follower 372 when the swing portion 32 is in the neutral state.

[0058] As Figure 5 shown, no return force is generated when the cam follower 372 contacts the first cam surface 371a at the neutral point N. That is, the tangent of the first cam surface 371a at the neutral point N and the straight line connecting the neutral point N and the swing axis O are orthogonal.

[0059] Figure 7 is a top view of the swing mechanism 3 with a part of the base portion 31 removed. Figure 7 The swing mechanism 3 when the swing angle α is within the second range R2 is shown. In addition, the second range R2 is a range where the swing angle α is larger than the first range R1. That is, the swing angle α in the second range R2 is larger than α1. Specifically, the swing angle α in the second range R2 is a range of the second swing angle α2 or more. The second range R2 is, for example, from the second swing angle α2 to about 90° on the left and right sides. In addition, the second swing angle α2 is, for example, 10 to 20°.

[0060] As Figure 7As shown, the reset mechanism 37 is configured so that when the swing angle α of the swing portion 32 is in the second range R2, that is, when the swing angle α is between α2 and 90°, no reset force is generated. When the swing angle α of the swing portion 32 is in the second range R2, the cam follower 372 abuts against the second cam surface 371b. That is, the reset mechanism 37 is configured so that when the cam follower 372 abuts against the second cam surface 371b, no reset force is generated.

[0061] The distance between the second cam surface 371b and the swing axis O is constant regardless of the swing angle α. That is, the second cam surface 371b is in an arc shape centered on the swing axis O. Therefore, the tangent line T of the second cam surface 371b at the point (hereinafter referred to as the tangent point) abutting against the cam follower 372 is orthogonal to the straight line L connecting the tangent point and the swing axis O. Therefore, no restoring force is generated when the cam follower 372 abuts against the second cam surface 371b.

[0062] Figure 8 It is a plan view of the swing mechanism 3 with a part of the base portion 31 removed. Figure 8 The swing mechanism 3 is shown when the swing angle α is in the third range R3. The third range R3 is a range between the first range R1 and the second range R2. The swing angle α in the third range R3 is larger than α1 and smaller than α2.

[0063] like Figure 8 As shown, when the swing angle α is in the third range R3, the return mechanism 37 generates a return force that decreases as the swing angle α increases. When the swing angle α is in the third range R3, the cam follower 372 abuts against the third cam surface 371c.

[0064] That is, when the cam follower 372 contacts the third cam surface 371c, the reset mechanism 37 generates a reset force that decreases as the swing angle α increases. The third cam surface 371c is in an arc shape that bulges away from the swing axis O when viewed from above. The third cam surface 371c smoothly connects the first cam surface 371a and the second cam surface 371b.

[0065] <Clamping mechanism>

[0066] like Figure 1~Figure 3 As shown, the clamping mechanism 4 is mounted on the transport vehicle body 2 via the swing mechanism 3. The clamping mechanism 4 is mounted on the distal end (lower end) of the arm 36. The clamping mechanism 4 can move in the up-down direction relative to the arm 36. For example, the clamping mechanism 4 is fixed to the arm 36 by a plurality of bolts or the like, and the clamping mechanism 4 can be moved in the up-down direction relative to the arm 36 by loosening the bolts.

[0067] The clamping mechanism 4 is configured to clamp the transported vehicle 101. The clamping mechanism 4 clamps the outer peripheral portion of the transported vehicle 101.

[0068] [Variation example]

[0069] Although the embodiments of the present invention have been described above, the present invention is not limited thereto, and various modifications can be made without departing from the gist of the present invention. In addition, the following modifications can basically be applied simultaneously.

[0070] (a) In the above embodiment, the base portion 31 of the swing mechanism 3 is mounted on the transport vehicle body 2 so as to be swingable in the up-down direction, but it may be fixed to the transport vehicle body 2. In this case, the base portion 31 may be integrally formed with the transport vehicle body 2. For example, the base portion 31 may be integrally formed with the frame 21 through a single component.

[0071] (b) In the above embodiment, the reset mechanism 37 is configured not to generate a reset force when the swing angle α is within the second range R2, but the structure of the reset mechanism 37 is not limited thereto. Fig. 9 As shown, the restoring mechanism 37 is configured to generate a restoring force when the pivot angle α is in the second range R2. Here, the restoring force generated when the pivot angle α is in the second range R2 is smaller than the restoring force generated when the pivot angle α is in the first range R1.

[0072] At this time, the second cam surface 371 b is, for example, in an arc shape that bulges in a direction away from the swing axis O. That is, the bulging direction of the second cam surface 371 b is opposite to the bulging direction of the first cam surface 371 a.

[0073] (c) If Fig.10 As shown, the cam surface 371 may not have the third cam surface 371 c. That is, the third range R3 may not exist between the first range R1 and the second range R2 in the return mechanism 37 .

[0074] (d) In the above embodiment, the cam surface 371 is formed on the swing portion 32, and the biasing member 373 is attached to the base portion 31, but the structure of the reset mechanism 37 is not limited to this. Fig.11 As shown, the cam surface 371 is formed on the base portion 31 , and the force applying member 373 is mounted on the swing portion 32 .

[0075] At this time, the cam surface 371 is formed on the surface of the base portion 31 facing the swing axis O. The first cam surface 371a is recessed in the base portion 31 so as to be away from the swing axis O. The first cam surface 371a is in an arc shape when viewed from above. The first cam surface 371a is curved so that the distance between the first cam surface 371a and the swing axis O becomes smaller as it moves away from the neutral point N.

[0076] The second cam surface 371b is in an arc shape centered on the swing axis O. That is, the distance between the second cam surface 371b and the swing axis O is constant regardless of the swing angle α. The curvature radius of the second cam surface 371b is larger than that of the first cam surface 371a.

[0077] Description of Reference Numerals

[0078] 2: transport vehicle body; 23: driving wheel; 24: prime mover; 3: swing mechanism; 31: base portion; 32: swing portion; 37: reset mechanism; 371: cam surface; 371a: first cam surface; 371b: second cam surface; 371c: third cam surface; 372: cam follower; 373: force-applying member; 100: transport vehicle.

Claims

1. A swing mechanism, comprising: Base part; a swing portion mounted on the base portion in a swingable manner; and The return mechanism is configured to generate a return force corresponding to the swing angle of the swing portion when the swing angle of the swing portion is within a first range so as to return the swing portion to a neutral state.

2. The swing mechanism according to claim 1, wherein: The return mechanism is configured to generate no return force or a return force smaller than the return force generated when the swing angle is in the first range when the swing angle is in a second range, and the swing angle in the second range is larger than that in the first range.

3. The swing mechanism according to claim 2, wherein: The return mechanism is configured to generate a return force that gradually decreases as the swing angle increases when the swing angle is in a third range, and the third range is between the first range and the second range.

4. The swing mechanism according to claim 1, wherein: The return mechanism is configured to generate a return force that increases as the swing angle increases when the swing angle is within the first range.

5. The swing mechanism according to claim 1, wherein: The reset mechanism has: a cam surface formed on one of the swing portion and the base portion; a cam follower abutting against the cam surface; as well as The urging member urges the cam follower along a virtual straight line connecting the swing axis of the swing portion and the cam follower.

6. The swing mechanism according to claim 5, wherein: The cam surface is formed on the swing portion, The cam surface has a first cam surface, and the first cam surface abuts against the cam follower when the swing angle is in the first range. The first cam surface has a larger distance from the swing axis as it is away from a neutral point, which is a point at which the first cam surface contacts the cam follower when the swing portion is in a neutral state.

7. The swing mechanism according to claim 5, wherein: The cam surface is formed on the base portion, The force applying member is mounted on the swinging portion. The cam surface has a first cam surface, and the first cam surface abuts against the cam follower when the swing angle is in the first range. The distance between the first cam surface and the swing axis decreases as the distance from the first cam surface is away from a neutral point, which is a point at which the first cam surface contacts the cam follower when the swing portion is in a neutral state.

8. The swing mechanism according to claim 6, wherein: The cam surface has a second cam surface, the second cam surface abuts against the cam follower when the swing angle is in a second range, the swing angle in the second range being larger than that in the first range, The second cam surface is configured such that, when the second cam surface contacts the cam follower, a tangent line at a point of contact with the cam follower and a straight line connecting the tangent point and the swing axis are perpendicular to each other.

9. The swing mechanism according to claim 6, wherein: The cam surface has a second cam surface, the second cam surface abuts against the cam follower when the swing angle is in a second range, the swing angle in the second range being larger than that in the first range, The distance between the second cam surface and the swing axis is fixed.

10. The swing mechanism according to claim 8, wherein: The cam surface has a third cam surface, and the third cam surface abuts against the cam follower when the swing angle is in a third range, and the third range is arranged between the first range and the second range. The first cam surface is in an arc shape that is concave toward the swing axis when viewed from the swing axis direction. The third cam surface is in an arc shape that bulges in a direction away from the swing axis when viewed from the swing axis direction.

11. A transport vehicle comprising: A transport vehicle body having a prime mover and drive wheels; and The swing mechanism according to any one of claims 1 to 10 mounted on the transport vehicle body.

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