transport vehicle

Abstract

A transport vehicle (10) is provided with a vehicle body frame (15) and a support device (24) that supports a transport object (W), the vehicle body frame (15) is provided with a first frame portion (16) and a second frame portion (17) that are side by side in a front-rear direction (X), and a frame coupling portion (18) that couples the first frame portion (16) and the second frame portion (17) so as to be swingable about a swing axis (C1) in a width direction (Y), the support device (24) is provided with: a lifting platform (25) that is disposed so as to overlap both the first frame portion (16) and the second frame portion (17) when viewed in a vertical direction, and is supported to each of the first frame portion (16) and the second frame portion (17); and a lifting mechanism (28) that lifts the lifting platform (25).

Description

Technical Field

[0001] The present invention relates to a transport vehicle having a first frame portion and a second frame portion as a body frame supported on wheels. Background Technology

[0002] The transport vehicle (100) disclosed in Japanese Patent Application Publication No. 2020-019348 (Patent Document 1) has a frame comprising a first frame portion (110) and a second frame portion (111) arranged side-by-side along the travel direction of the transport vehicle (100), and a roller conveyor (130) is provided on the transport vehicle (100). The first frame portion (110) and the second frame portion (111) are flexibly connected about an axis of rotation about the axis of rotation of the drive wheel (108). In addition, the first frame portion (110) and the transport vehicle body (110a) are flexibly connected about an axis of rotation about the axis of rotation of the drive wheel (108). Moreover, the second frame portion (111) and the transport vehicle body (110a) are flexibly connected about an axis of rotation about the axis of rotation of the drive wheel (108) and flexibly connected about the travel direction of the transport vehicle (100).

[0003] With this configuration, even when there are uneven or tilted changes on the driving surface, the drive wheel (108) can be kept in contact with the driving surface, so that the transport vehicle (100) can drive properly. Summary of the Invention

[0004] In the transport vehicle described in Patent Document 1, a roller conveyor mounted on the vehicle can move the transported object, for example, along a width direction orthogonal to the direction of travel of the transport vehicle. However, since the structure involves the transfer of the transported object using the roller conveyor between the transported object and its destination, a transfer mechanism matching the height of the roller conveyor is also required at the transport destination. Therefore, for example, when operations are performed on the transported object at the transport destination, and the height suitable for such operations differs from the height of the roller conveyor, there is a problem that the operation may sometimes be difficult to perform easily.

[0005] Therefore, there is a desire to develop a transport vehicle that can easily perform operations on the transported objects at the transport destination.

[0006] The transport vehicle disclosed herein is a transport vehicle having the following: a vehicle body frame; a plurality of wheels supporting the aforementioned vehicle body frame; and a support device supporting the transported object, wherein the aforementioned vehicle body frame, when viewed vertically, has a longitudinal dimension longer than its width dimension, and has a first frame portion and a second frame portion arranged side by side along the aforementioned longitudinal direction, and a frame connecting portion that flexibly connects the aforementioned first frame portion and the aforementioned second frame portion about a swing axis along the aforementioned width direction; the plurality of aforementioned wheels include a first wheel supporting the aforementioned first frame portion and a second wheel supporting the aforementioned second frame portion, at least one of the aforementioned first wheel and the aforementioned second wheel including a drive wheel driven by a drive source; the aforementioned support device includes: a lifting platform arranged to overlap with both the aforementioned first frame portion and the aforementioned second frame portion when viewed vertically, and supported on each of the aforementioned first frame portion and the aforementioned second frame portion; and a lifting mechanism that raises and lowers the aforementioned lifting platform.

[0007] According to this configuration, the vehicle frame includes a first frame section and a second frame section arranged side-by-side in the longitudinal direction, and a frame connecting section that connects them freely around a swing axis. Therefore, even if the vehicle frame's longitudinal dimension is longer than its width dimension when viewed vertically, the wheels are unlikely to lift off the driving surface due to unevenness. This improves the stability of the transport vehicle. Furthermore, the support device includes a lifting platform, which is arranged to overlap with both the first and second frame sections when viewed vertically, and is supported on each of the first and second frame sections. This allows the lifting platform to appropriately support transport objects that are long in the longitudinal direction or multiple transport objects arranged in the longitudinal direction. Moreover, the support device includes a lifting mechanism for raising and lowering the lifting platform, enabling the transport objects supported on the lifting platform to be raised and lowered. Therefore, it facilitates operations such as assembly and transfer of transport objects at the transport destination.

[0008] Further features and advantages of the technology disclosed herein become clearer from the following exemplary and non-limiting description of embodiments, which are illustrated with reference to the accompanying drawings. Attached Figure Description

[0009] Figure 1 This is a side view of the transport vehicle involved in the implementation method.

[0010] Figure 2 yes Figure 1 A bottom view of the transport vehicle.

[0011] Figure 3 yes Figure 1 A bottom view of the lifting platform.

[0012] Figure 4 yes Figure 1 A top view of the lifting mechanism.

[0013] Figure 5 This is an explanation Figure 1 A diagram showing the movement of the lifting platform.

[0014] Figure 6 It is shown Figure 1 The diagram shows a transport vehicle traveling on a road surface with an inclined section.

[0015] Figure 7 It is shown Figure 1 The diagram shows the lifting platform in a raised state on the travel surface with an inclined section. Detailed Implementation

[0016] Hereinafter, the embodiment of the transport vehicle 10 will be described with reference to the accompanying drawings. Figure 1 This is a schematic diagram showing an example of the side view of the transport vehicle 10. The transport vehicle 10 travels on the driving surface F to transport the object W. Examples of the object W include goods, parts, transport containers, etc. In this embodiment, the object W is a large part mounted on the vehicle.

[0017] Examples of transport vehicle 10 include electric vehicles and vehicles equipped with internal combustion engines. In this embodiment, transport vehicle 10 is an unmanned vehicle. Examples of unmanned vehicles include vehicles that drive autonomously and vehicles that drive based on remote operation. Examples of the driving surface F include roads provided on buildings, ships, and the floor of facilities.

[0018] The transport vehicle 10 has a body frame 15. The body frame 15 has a first frame portion 16, a second frame portion 17, and a frame connecting portion 18. When viewed vertically, the body frame 15 is longer in the front-to-back direction (X) than in the width direction (Y).

[0019] The side along the front-rear direction X is designated as the first front-rear side X1. The other side along the front-rear direction X is designated as the second front-rear side X2. In this embodiment, the length direction of the transport vehicle 10 is the front-rear direction X. In this embodiment, the direction orthogonal to the front-rear direction X is the width direction Y. The side along the width direction Y is designated as the first width direction side Y1. The other side along the width direction Y is designated as the second width direction side Y2.

[0020] The first frame portion 16 and the second frame portion 17 are arranged side by side in the front-rear direction X. In this embodiment, the first frame portion 16 is arranged on the first side X1 in the front-rear direction relative to the second frame portion 17. In this embodiment, the first side X1 in the front-rear direction is the front side of the transport vehicle 10.

[0021] The frame connector 18 connects the first frame portion 16 and the second frame portion 17 in a way that allows them to swing freely around a swing axis C1 along the width direction Y. In this embodiment, the swing axis C1 is parallel to the width direction Y. Alternatively, the swing axis C1 may be slightly inclined relative to the width direction Y. For example, the swing axis C1 may be an axis inclined at ±20 degrees or less relative to the width direction Y, or it may be an axis capable of swinging in multiple directions. For example, the frame connector 18 may be a ball joint or a universal joint.

[0022] Figure 2 This is a schematic diagram showing an example of the lower surface of the transport vehicle 10. The transport vehicle 10 has multiple wheels. The multiple wheels support a vehicle frame 15. The multiple wheels include first wheels 21 and second wheels 22. The first wheels 21 support a first frame portion 16. The second wheels 22 support a second frame portion 17. In this embodiment, the multiple wheels include multiple first wheels 21 and multiple second wheels 22. In this embodiment, the multiple wheels include multiple second wheels 22 separated along the longitudinal direction X.

[0023] At least one of the first wheel 21 and the second wheel 22 includes a drive wheel driven by a drive source. In this embodiment, the drive source includes a first drive source 21m and a second drive source 22m.

[0024] The first wheel 21 includes a first drive wheel 21a, which serves as a drive wheel. The first drive wheel 21a is driven by a first drive source 21m. The first drive wheel 21a and the first drive source 21m are configured to pivot as a unit around an axis in the vertical direction Z.

[0025] The second wheel 22 includes a second drive wheel 22a, which serves as a drive wheel. The second drive wheel 22a is driven by a second drive source 22m. The second drive wheel 22a and the second drive source 22m are configured to pivot as a unit around an axis in the vertical direction Z.

[0026] The second wheel 22 includes a second driven wheel 22b. The second driven wheel 22b is configured to be able to swing about an axis in the vertical direction Z.

[0027] The first drive wheel 21a is positioned further back on the first side X1 in the front-rear direction than the center position of the first frame portion 16 in the front-rear direction X. In this embodiment, the first drive wheel 21a is positioned at the end of the first side X1 in the front-rear direction of the first frame portion 16.

[0028] The second drive wheel 22a is positioned further back in the front-rear direction than the center position of the second frame portion 17 in the front-rear direction X2. In this embodiment, the second drive wheel 22a is positioned at the end of the second frame portion 17 in the front-rear direction X2.

[0029] The second driven wheel 22b is positioned further back in the front-rear direction than the center position of the second frame portion 17 in the front-rear direction X, towards the first side X1. In this embodiment, the second driven wheel 22b is positioned at the end of the second frame portion 17 in the front-rear direction X1. Thus, with the second driven wheel 22b positioned at the end of the second frame portion 17 in the front-rear direction X1, when the first frame portion 16 and the second frame portion 17 swing around the swing axis C1 in the direction of the frame connection portion 18 approaching the travel surface F, it is difficult for the frame connection portion 18 to come into contact with the travel surface F.

[0030] like Figure 1 As shown, the transport vehicle 10 has a support device 24 for supporting the transported object W. The support device 24 has a lifting platform 25. The support device 24 has a lifting mechanism 28 for raising and lowering the lifting platform 25.

[0031] Figure 3 This is a schematic diagram showing an example of the lower surface of the lifting platform 25. (As shown) Figure 1 and Figure 3 As shown, the lifting platform 25 is arranged to overlap with both the first frame portion 16 and the second frame portion 17 when viewed from above. The lifting platform 25 is supported by each of the first frame portion 16 and the second frame portion 17.

[0032] The lifting mechanism 28 includes a first lifting part 31 for lifting the first supported part 25a (described later). The first lifting part 31 is disposed between the first frame part 16 and the lifting platform 25.

[0033] The lifting platform 25 includes a first supported portion 25a supported by a first frame portion 16. In this embodiment, the first supported portion 25a is supported by a first support portion 26a in a manner that allows relative movement in the front-rear direction X and the width direction Y relative to the first lifting portion 31. The first supported portion 25a is supported by the first support portion 26a in a manner that allows tilting relative to the first lifting portion 31 at least about an axis along the width direction Y. The first supported portion 25a is supported by the first support portion 26a in a manner that allows tilting relative to the first lifting portion 31 about an axis along the front-rear direction X. The first supported portion 25a is supported by the first support portion 26a in a manner that allows tilting relative to the first lifting portion 31 about an axis along the vertical direction Z.

[0034] The lifting platform 25 is supported relative to the first frame portion 16 by the first supported portion 25a and the first supported portion 26a in a manner that allows tilting at least around an axis along the width direction Y. In the illustrated example, the first supported portion 26a is a plate-shaped member provided on the upper part of the first lifting portion 31. In the illustrated example, the first supported portion 25a is a ball caster.

[0035] The lifting mechanism 28 includes a second lifting section 41 for lifting the second supported portion 25b (described later). The second lifting section 41 is disposed between the second frame portion 17 and the lifting platform 25. The second lifting section 41 is configured to lift the second supported portion 25b independently of the first lifting section 31.

[0036] The lifting platform 25 includes a second supported portion 25b supported by a second frame portion 17. In this embodiment, the second supported portion 25b is supported by a second support portion 26b in a manner that allows relative movement with respect to the second lifting portion 41 in the front-rear direction X and the width direction Y. The second supported portion 25b is supported by the second support portion 26b in a manner that allows tilting with respect to the second lifting portion 41 at least about an axis along the width direction Y. The second supported portion 25b is supported by the second support portion 26b in a manner that allows tilting with respect to the second lifting portion 41 about an axis along the front-rear direction X. The second supported portion 25b is supported by the second support portion 26b in a manner that allows tilting with respect to the second lifting portion 41 about an axis along the vertical direction Z.

[0037] The lifting platform 25 is supported relative to the second frame portion 17 by the second supported portion 25b and the second supported portion 26b in a manner that allows tilting at least around an axis along the width direction Y. In the illustrated example, the second supported portion 26b is a plate-shaped member provided on the upper part of the second lifting portion 41. In the illustrated example, the second supported portion 25b is a spherical caster.

[0038] The support device 24 includes a first guide mechanism 34. The lifting platform 25 is supported on the first frame portion 16 via the first guide mechanism 34. The first guide mechanism 34 allows relative movement between the lifting platform 25 and the first frame portion 16 in at least one of the longitudinal direction (X) and the width direction (Y). In this embodiment, the first guide mechanism 34 allows relative movement between the lifting platform 25 and the first frame portion 16 in both the longitudinal direction (X) and the width direction (Y). In this embodiment, the first guide mechanism 34 includes a first supported portion 25a and a first supporting portion 26a.

[0039] The support device 24 includes a second guide mechanism 44. The lifting platform 25 is supported on the second frame portion 17 via the second guide mechanism 44. The second guide mechanism 44 allows relative movement between the lifting platform 25 and the second frame portion 17 in at least one of the longitudinal direction (X) and the width direction (Y). In this embodiment, the second guide mechanism 44 allows relative movement between the lifting platform 25 and the second frame portion 17 in both the longitudinal direction (X) and the width direction (Y). In this embodiment, the second guide mechanism 44 includes a second supported portion 25b and a second support portion 26b.

[0040] Figure 4 This is a schematic diagram showing an example of the upper surface of the lifting mechanism 28. Figure 5 This is a diagram illustrating the movement of the lifting platform 25 based on the first moving device 35 and the second moving device 45.

[0041] The first guiding mechanism 34 includes a first moving device 35. The first moving device 35 moves the first supported portion 25a relative to the first frame portion 16 in the front-rear direction X and the width direction Y. In this embodiment, the first moving device 35 moves the first supported portion 25a by moving the first connecting portion 51 (described later) relative to the first frame portion 16. In this embodiment, the first moving device 35 moves the first frame-side connecting portion 51d (described later) relative to the first frame portion 16. The construction of the first moving device 35 is not particularly limited, but examples include, for instance, an XY stage with two stacked stages supported by linear roller guides.

[0042] The second guiding mechanism 44 includes a second moving device 45. The second moving device 45 moves the second supported portion 25b relative to the second frame portion 17 in the front-rear direction X and the width direction Y. In this embodiment, the second moving device 45 moves the second supported portion 25b by moving the second connecting portion 52 (described later) relative to the second frame portion 17. In this embodiment, the second moving device 45 moves the second frame-side connecting portion 52d (described later) relative to the second frame portion 17. The construction of the second moving device 45 is not particularly limited, but an XY worktable with two stacked table members supported by linear roller guides can be cited as an example.

[0043] The transport vehicle 10 includes a first connecting portion 51 that connects the first lifting unit 31 to the lifting platform 25. The first connecting portion 51 allows the lifting platform 25 to tilt relative to the first frame portion 16 at least around an axis along the width direction Y. In this embodiment, the first connecting portion 51 includes a first platform-side connecting portion 51c and a first frame-side connecting portion 51d. In this embodiment, the first platform-side connecting portion 51c is a spherical bushing, and the first frame-side connecting portion 51d is a pin inserted into the spherical bushing.

[0044] The first connecting portion 51 allows relative movement of the lifting platform 25 in the vertical direction Z relative to the first frame portion 16. In this embodiment, the first frame-side connecting portion 51d is force-applied upward Z1 by a force-applying member (not shown). If this is done, the first supported portion 25a, rather than the first connecting portion 51, can bear most of the load of the lifting platform 25 on the first frame portion 16.

[0045] The transport vehicle 10 includes a second connecting portion 52 that connects the second lifting unit 41 to the lifting platform 25. The second connecting portion 52 allows the lifting platform 25 to tilt relative to the second frame portion 17 at least around an axis along the width direction Y. In this embodiment, the second connecting portion 52 includes a second platform-side connecting portion 52c and a second frame-side connecting portion 52d. In this embodiment, the second platform-side connecting portion 52c is an elongated hole provided in the lifting platform 25, and the second frame-side connecting portion 52d is an insertion member inserted into the elongated hole.

[0046] The second connecting portion 52 allows for relative movement of the lifting platform 25 relative to the second frame portion 17 in at least the front-rear direction X. In this embodiment, the second connecting portion 52 allows for relative movement of the lifting platform 25 relative to the second frame portion 17 in the vertical direction Z. If this is done, it is possible for the second supported portion 25b, rather than the second connecting portion 52, to bear most of the load of the lifting platform 25 on the second frame portion 17.

[0047] The second frame side connecting portion 52d is an elongated hole formed along the front-rear direction X. Therefore, the second connecting portion 52d allows the lifting platform 25 to move relative to the second frame portion 17 in at least the front-rear direction X.

[0048] The first connecting part 51 restricts the relative movement of the lifting platform 25 in the front-rear direction X relative to the first frame-side connecting part 51d. The first connecting part 51 restricts the relative movement of the lifting platform 25 in the width direction Y relative to the first frame-side connecting part 51d. The first connecting part 51 restricts the relative movement of the lifting platform 25 in the vertical direction Z relative to the first frame-side connecting part 51d.

[0049] The first connecting part 51 allows the lifting platform 25 to tilt relative to the first frame side connecting part 51d around the axis in the front-rear direction X. The first connecting part 51 allows the lifting platform 25 to tilt relative to the first frame side connecting part 51d around the axis in the vertical direction Z.

[0050] The second connecting part 52 allows relative movement of the lifting platform 25 in the front-rear direction X relative to the second frame side connecting part 52d. The second connecting part 52 restricts relative movement of the lifting platform 25 in the width direction Y relative to the second frame side connecting part 52d. The second connecting part 52 allows relative movement of the lifting platform 25 in the vertical direction Z relative to the second frame side connecting part 52d.

[0051] The second connecting part 52 restricts the tilting of the lifting platform 25 relative to the second frame side connecting part 52d around the axis in the front-rear direction X. The second connecting part 52 allows the lifting platform 25 to tilt relative to the second frame side connecting part 52d around the axis in the vertical direction Z.

[0052] Figure 6This is a schematic diagram showing the transport vehicle 10 traveling on a driving surface F with an inclined section. Figure 6 In the example shown, the tilt of the lifting platform 25 is smaller than that of the tilt of the inclined portion of the travel surface F through the first connecting part 51 and the second connecting part 52.

[0053] Figure 7 This is a schematic diagram illustrating the control of the first lifting section 31 and the second lifting section 41 by the lifting control unit 80. The transport vehicle 10 is equipped with the lifting control unit 80. The lifting control unit 80 controls the first lifting section 31. The lifting control unit 80 controls the second lifting section 41. The lifting control unit 80 controls the first moving device 35. The lifting control unit 80 controls the second moving device 45. The lifting control unit 80 performs at least one of the first angle control and the second angle control described later.

[0054] The lifting control unit 80 includes a control device that has an arithmetic processing unit such as a CPU (Central Processing Unit) and a main storage device such as RAM (Random Access Memory) or ROM (Read Only Memory) that the arithmetic processing unit can reference. The functions of the control device are implemented through the cooperation of the hardware of the control device and the program executed on the hardware such as the arithmetic processing unit. In this embodiment, the control device (specifically, the arithmetic processing unit of the control device) functions as a "computer". The lifting control unit 80 may also have a portion located externally, such as an external server like a cloud server.

[0055] The lifting control unit 80 performs the following "first angle control": based on the detection result of the detection device 81 that detects the angle of the lifting platform 25 relative to the reference plane S1, it controls the lifting amount of the first lifting unit 31 and the second lifting unit 41 respectively, so that the angle of the lifting platform 25 is close to the reference angle, wherein the reference plane S1 is set at the transportation destination of the transport object W.

[0056] The detection device 81 can be installed in one location or in multiple locations. For example, the detection device 81 can be installed on each of the first side X1 and the second side X2 in the front-rear direction of the lifting platform 25. For example, the detection device 81 can also be installed on the vehicle frame 15.

[0057] The detection device 81 may also include a transport vehicle 10, or it may be installed at the transport destination of the transported object W. The angle of the lifting platform 25 detected by the detection device 81 includes the angle about the axis along the width direction Y. Furthermore, the angle of the lifting platform 25 detected by the detection device 81 may also include the angle about the axis along the front-back direction X or the angle about the axis along the vertical direction Z. Examples of the detection device 81 include various distance measuring devices, camera devices, coordinate detection devices based on sound waves, infrared rays, etc., displacement measuring devices, magnetic angle sensors, etc. The detection device 81 corresponds to "angle detection device".

[0058] Examples of reference plane S1 include a face of the installation object W at the transport destination, a face of a reference component fixed to the transport destination, etc. Examples of reference angles include angles set according to the installation object W, angles set for each transport destination, and angles the same as the reference plane S1. Reference angles are set for each reference plane S1, for example. Multiple reference angles can also be set for one reference plane S1. If this is done, it is easy to perform operations on the transport object W at the transport destination.

[0059] In the first angle control, the lifting control unit 80 further controls the movement of the first moving device 35 and the second moving device 45 based on the detection results of the detection device 81 that detects the angle of the lifting platform 25 relative to the reference plane S1 around the axis along the vertical direction Z, so that the angle of the lifting platform 25 is close to the reference angle, wherein the reference plane S1 is set at the transport destination of the transport object W. Figure 5 An example of controlling the movement amount of the first moving device 35 and the second moving device 45 based on the lifting control unit 80 is shown.

[0060] In the first angle control, the lifting control unit 80 further controls the movement of the first moving device 35 and the second moving device 45 based on the detection results of the detection device 81 that detects the position of the lifting platform 25 relative to the reference position in the front-back direction X and the width direction Y, so that the position of the lifting platform 25 in the front-back direction X and the width direction Y is close to the reference position, wherein the aforementioned reference position is set at the transportation destination of the transport object W.

[0061] By performing first angle control, for example, even if the tilt of the driving surface F at the transport destination is prone to change and the angles of the first frame portion 16 and the second frame portion 17 change, the lifting platform 25 can be maintained at a reference angle.

[0062] The lifting control unit 80 performs the following "second angle control": according to the movement data of the first lifting unit 31 and the second lifting unit 41, it controls the lifting amount of the first lifting unit 31 and the second lifting unit 41 respectively, so that the angle of the lifting platform 25 relative to the reference plane S1 set at the transport destination of the transport object W becomes the reference angle, wherein the movement data of the first lifting unit 31 and the second lifting unit 41 respectively are pre-stored in association with the position of the vehicle frame 15 on the driving surface F.

[0063] In the second angle control, the lifting control unit 80 further controls the movement of the first moving device 35 and the second moving device 45 according to their respective movement data, so that the angle of the lifting platform 25 relative to the reference plane S1 set at the transport destination of the transport object W about the axis along the vertical direction Z becomes the reference angle, wherein the movement data of the first moving device 35 and the second moving device 45 are pre-stored in association with the position of the vehicle frame 15 on the driving surface F. Figure 5 An example of controlling the movement amount of the first moving device 35 and the second moving device 45 based on the lifting control unit 80 is shown.

[0064] In the second angle control, the lifting control unit 80 further controls the movement of the first moving device 35 and the second moving device 45 according to their respective movement data, so that the position of the lifting platform 25 in the front-rear direction X and the width direction Y becomes the reference position set at the transportation destination of the transport object W. The movement data of the first moving device 35 and the second moving device 45 are pre-stored in association with the position of the vehicle frame 15 on the driving surface F.

[0065] By performing a second angle control, for example, it is possible to learn the relationship between the coordinates of the position of the transport vehicle 10 and the lifting data of the first moving device 35 and the second moving device 45 in the past, and maintain the lifting platform 25 at the reference angle.

[0066] The lifting amount of the first lifting part 31 can be, for example, the lifting amount of the first supported part 25a, the first support part 26a, the first connecting part 51, etc. The movement amount of the first moving device 35 can be, for example, the movement amount of the first support part 26a, the first connecting part 51, etc.

[0067] The lifting amount of the second lifting part 41 can be, for example, the lifting amount of the second supported part 25b, the second support part 26b, the second connecting part 52, etc. The movement amount of the second moving device 45 can be, for example, the movement amount of the second supported part 25b, the second support part 26b, the second connecting part 52, etc.

[0068] Next, other embodiments of the transport vehicle 10 will be described.

[0069] (1) In the above embodiment, the following configuration is described as an example: the vehicle frame 15 includes a first frame portion 16 and a second frame portion 17 disposed relative to the first frame portion 16 on a second side X2 in the longitudinal direction. However, the embodiment of the transport vehicle 10 is not limited to this configuration. For example, the first frame portion 16 or the second frame portion 17 may be composed of multiple frame portions. For example, a third frame portion supported by a third wheel may be disposed on the first side X1 in the longitudinal direction of the first frame portion 16 or on the second side X2 in the longitudinal direction of the second frame portion 17.

[0070] (2) In the above embodiment, the following configuration is described as an example: the first side X1 in the front-rear direction is the front side of the transport vehicle 10, the first drive wheel 21a is disposed further back to the first side X1 in the front-rear direction than the center position of the first frame portion 16 in the front-rear direction X, the second drive wheel 22a is disposed further back to the second side X2 in the front-rear direction than the center position of the second frame portion 17 in the front-rear direction X, and the second driven wheel 22b is disposed further back to the first side X1 in the front-rear direction than the center position of the second frame portion 17 in the front-rear direction X. However, the embodiment of the transport vehicle 10 is not limited to this configuration. For example, the first side X1 in the front-rear direction may also be the rear side of the transport vehicle 10. For example, the second driven wheel 22b may also be disposed further back to the second side X2 in the front-rear direction than the center position of the second frame portion 17 in the front-rear direction X. For example, the transport vehicle 10 may also not have the first drive wheel 21a or the second drive wheel 22a. For example, the transport vehicle 10 may not have a second driven wheel 22b.

[0071] (3) In the above embodiment, the following configuration was described as an example: the lifting mechanism 28 includes a first lifting section 31 and a second lifting section 41. However, the embodiment of the transport vehicle 10 is not limited to this configuration. For example, it may also be configured such that the lifting mechanism 28 does not include a first lifting section 31 and a second lifting section 41, but instead has one lifting section that lifts both the first supported section 25a and the second supported section 25b.

[0072] (4) In the above embodiment, the following configuration is described as an example: the first connecting portion 51 allows the lifting platform 25 to tilt relative to the first frame portion 16 about an axis along the front-rear direction X, the width direction Y, and the vertical direction Z; the second connecting portion 52 allows the lifting platform 25 to tilt relative to the second frame portion 17 about an axis along the width direction Y and the vertical direction Z, and allows relative movement of the lifting platform 25 relative to the second frame portion 17 in at least the front-rear direction X and the vertical direction Z. However, the embodiment of the transport vehicle 10 is not limited to this configuration. For example, it may be configured such that the first connecting portion 51 restricts any one or all of the tilting of the lifting platform 25 relative to the first frame portion 16 about an axis along the front-rear direction X, the width direction Y, and the vertical direction Z. For example, it may be configured such that the second connecting portion 52 restricts any one or all of the tilting of the lifting platform 25 relative to the second frame portion 17 about an axis along the front-rear direction X, the width direction Y, and the vertical direction Z.

[0073] (5) In the above embodiment, the following configuration was described as an example: a spherical bushing is used in the first connecting part 51, an elongated hole and an insertion member are used in the second connecting part 52, spherical casters are used in the first supported part 25a and the second supported part 25b, and plate-shaped members are used in the first support part 26a and the second support part 26b. However, the embodiment of the transport vehicle 10 is not limited to this configuration. For example, the first supported part 25a and the second supported part 25b may also be sliding members. For example, the first support part 26a and the second support part 26b may also be spherical casters. For example, linkage mechanisms, various joints, various bearings, etc. may also be used in the first connecting part 51 or the second connecting part 52. For example, the first connecting part 51 may also serve as the first supported part 25a and the first support part 26a. For example, the second connecting part 52 may also serve as the second supported part 25b and the second support part 26b.

[0074] (6) In the above embodiment, the following configuration is described as an example: the support device 24 includes a first guide mechanism 34 and a second guide mechanism 44, the lifting platform 25 is supported on the first frame portion 16 via the first guide mechanism 34, and on the second frame portion 17 via the second guide mechanism 44. However, the embodiment of the transport vehicle 10 is not limited to this configuration. For example, the support device 24 may not include either or both of the first guide mechanism 34 and the second guide mechanism 44.

[0075] (7) In the above embodiment, the following configuration is described as an example: the angle of the lifting platform 25 detected by the detection device 81 includes the angle around the axis along the width direction Y, the angle around the axis along the front-rear direction X, and the angle around the axis along the vertical direction Z, and the lifting control unit 80 performs the first angle control. However, the embodiment of the transport vehicle 10 is not limited to this configuration. For example, the angle of the lifting platform 25 detected by the detection device 81 may not include any one of the angle around the axis along the width direction Y, the angle around the axis along the front-rear direction X, and the angle around the axis along the vertical direction Z. For example, in the first angle control, the movement amount of the first moving device 35 and the second moving device 45 may not be controlled. For example, it may be configured such that the lifting control unit 80 performs the first horizontal control of the lifting amount of the first lifting unit 31 and the second lifting unit 41 based on the detection result of the sensor that detects the tilt of the lifting platform 25, so that the upward Z1 facing surface of the lifting platform 25 is close to horizontal.

[0076] (8) In the above embodiment, the following configuration is described as an example: In the second angle control, the lifting control unit 80 controls the lifting amount of the first lifting unit 31 and the second lifting unit 41, and controls the movement amount of the first moving device 35 and the second moving device 45. However, the embodiment of the transport vehicle 10 is not limited to this configuration. For example, in the second angle control, the movement amount of the first moving device 35 and the second moving device 45 may not be controlled. For example, it may be configured such that the lifting control unit 80 performs the second level control as follows: According to the lifting amount data of the first lifting unit 31 and the second lifting unit 41 pre-stored in association with the position of the vehicle frame 15 on the driving surface F, the lifting amount of the first lifting unit 31 and the second lifting unit 41 is controlled so that the upward-facing Z1 surface of the lifting platform 25 becomes horizontal.

[0077] (9) In the above embodiment, the following configuration was described as an example: the lifting control unit 80 controls the first moving device 35 and the second moving device 45. However, the embodiment of the transport vehicle 10 is not limited to this configuration. For example, it may be configured such that the first guide mechanism 34 does not have the first moving device 35, but the first supported part 25a is moved and fixed relative to the first frame part 16 in the front-rear direction X and the width direction Y by manual operation. For example, it may be configured such that the second guide mechanism 44 does not have the second moving device 45, but the second supported part 25b is moved and fixed relative to the second frame part 17 in the front-rear direction X and the width direction Y by manual operation. For example, the first guide mechanism 34 and the second guide mechanism 44 may also be configured using a floating mechanism.

[0078] (10) Furthermore, the configurations disclosed in the above embodiments can be combined with the configurations disclosed in other embodiments as long as they do not create contradictions. Regarding other configurations, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various changes can be made appropriately without departing from the spirit of this disclosure.

[0079] The following is a description of the transport vehicle involved in this disclosure.

[0080] As one embodiment, the transport vehicle comprises the following: a vehicle body frame; a plurality of wheels supporting the vehicle body frame; and a support device supporting the transported object. The vehicle body frame, when viewed vertically, has a longitudinal dimension longer than its width dimension, and includes a first frame portion and a second frame portion arranged side-by-side along the longitudinal direction, and a frame connecting portion that freely connects the first frame portion and the second frame portion around a swing axis along the width direction. The plurality of wheels include a first wheel supporting the first frame portion and a second wheel supporting the second frame portion, at least one of the first wheel and the second wheel including a drive wheel driven by a drive source. The support device comprises: a lifting platform arranged to overlap with both the first frame portion and the second frame portion when viewed vertically, and supported on each of the first frame portion and the second frame portion; and a lifting mechanism that raises and lowers the lifting platform.

[0081] According to this configuration, the vehicle frame includes a first frame section and a second frame section arranged side-by-side in the longitudinal direction, and a frame connecting section that connects them freely around a swing axis. Therefore, even if the vehicle frame's longitudinal dimension is longer than its width dimension when viewed vertically, the wheels are unlikely to lift off the driving surface due to unevenness. This improves the stability of the transport vehicle. Furthermore, the support device includes a lifting platform, which is arranged to overlap with both the first and second frame sections when viewed vertically, and is supported on each of the first and second frame sections. This allows the lifting platform to appropriately support transport objects that are long in the longitudinal direction or multiple transport objects arranged in the longitudinal direction. Moreover, the support device includes a lifting mechanism for raising and lowering the lifting platform, enabling the transport objects supported on the lifting platform to be raised and lowered. Therefore, it facilitates operations such as assembly and transfer of transport objects at the transport destination.

[0082] As one embodiment, one side in the aforementioned front-rear direction is designated as the first front-rear direction side, and the other side in the aforementioned front-rear direction is designated as the second front-rear direction side. The first frame portion is disposed on the first front-rear direction side relative to the second frame portion. The first wheel includes a first drive wheel that serves as the aforementioned drive wheel. The first drive wheel is disposed on the first front-rear direction side closer to the center position of the first frame portion in the aforementioned front-rear direction. The second wheel includes a second drive wheel and a second driven wheel that serve as the aforementioned drive wheel. The second drive wheel is disposed on the second front-rear direction side closer to the center position of the second frame portion in the aforementioned front-rear direction. The second driven wheel is disposed on the first front-rear direction side closer to the center position of the second frame portion in the aforementioned front-rear direction.

[0083] Based on this configuration, the vehicle frame can be stably supported by the drive wheels and driven wheels. Furthermore, the transport vehicle can be stably driven by the drive wheels located on both sides in the longitudinal direction.

[0084] As one embodiment, the aforementioned lifting platform has a first supported portion supported by the aforementioned first frame portion and a second supported portion supported by the aforementioned second frame portion. The aforementioned lifting mechanism has a first lifting portion that lifts and lowers the aforementioned first supported portion and a second lifting portion that can lift and lower the aforementioned second supported portion independently of the aforementioned first lifting portion. A first connecting portion that connects the aforementioned first lifting portion to the aforementioned lifting platform allows the aforementioned lifting platform to tilt relative to the aforementioned first frame portion at least about an axis along the aforementioned width direction. A second connecting portion that connects the aforementioned second lifting portion to the aforementioned lifting platform allows the aforementioned lifting platform to tilt relative to the aforementioned second frame portion at least about an axis along the aforementioned width direction and to move relative to the aforementioned second frame portion at least in the aforementioned front-back direction.

[0085] According to this configuration, the lifting platform can be properly raised and lowered via the first lifting section and the second lifting section. Furthermore, even if the first frame section and the second frame section connected via the frame connecting section swing relative to each other, a large load can be avoided between the lifting platform and the lifting mechanism.

[0086] As one embodiment, the aforementioned support device includes: a first guide mechanism that allows relative movement of the aforementioned lifting platform and the aforementioned first frame portion in the aforementioned front-back direction and the aforementioned width direction; and a second guide mechanism that allows relative movement of the aforementioned lifting platform and the aforementioned second frame portion in the aforementioned front-back direction and the aforementioned width direction, wherein the aforementioned lifting platform is supported on the aforementioned first frame portion via the aforementioned first guide mechanism and on the aforementioned second frame portion via the aforementioned second guide mechanism.

[0087] According to this configuration, the transported object supported on the lifting platform is allowed to move relative to the vehicle frame in the longitudinal and width directions. Therefore, assembly and transfer operations of the transported object at the transport destination can be easily performed.

[0088] As one embodiment, the aforementioned lifting platform includes a first supported portion supported by the aforementioned first frame portion and a second supported portion supported by the aforementioned second frame portion. The aforementioned lifting mechanism includes a first lifting portion that lifts and lowers the aforementioned first supported portion, a second lifting portion capable of lifting and lowering the aforementioned second supported portion independently of the aforementioned first lifting portion, and a lifting control portion that controls the aforementioned first lifting portion and the aforementioned second lifting portion. The aforementioned lifting control portion performs at least one of the following: a first angle control, which controls the angle based on the detection result of an angle detection device that detects the angle of the aforementioned lifting platform relative to a reference plane. The lifting amount of the first lifting section and the second lifting section is described to make the angle of the lifting platform close to the reference angle, wherein the reference plane is set at the transportation destination of the transported object; and the second angle control controls the lifting amount of the first lifting section and the second lifting section according to the lifting amount data of the first lifting section and the second lifting section, so that the angle of the lifting platform relative to the reference plane becomes the reference angle, wherein the lifting amount data of the first lifting section and the second lifting section are pre-stored in association with the position of the vehicle frame on the driving surface.

[0089] According to this configuration, even when the first frame and the second frame, which are connected by the frame connecting part, swing relative to each other, the lifting platform can be maintained at a state close to the reference angle.

[0090] The transport vehicle involved in this disclosure only needs to be able to achieve at least one of the aforementioned effects.

[0091] [Explanation of reference numerals in the attached figures] 10: Transport vehicle 15: Vehicle body frame 16: First Frame Section 17: Second Frame Section 18: Frame connection part 21: First wheel (wheel) 21a: First drive wheel 21m: First driver source (driver source) 22: The second wheel (wheel) 22a: Second drive wheel 22b: Second driven wheel 22m: Second driver source (driver source) 24: Support device 25: Lifting Platform 25a: First supported part 25b: Second Supported Part 28: Lifting mechanism 31: First Lifting Unit 34: First Guiding Organization 41: Second Lifting Unit 44: Second Guiding Organization 51: First connecting part 52: Second connecting part 80: Lifting Control Unit 81: Detection device C1: Oscillation axis F: Driving surface S1: Reference plane W: The object being transported.

Claims

1. A transport vehicle, which is equipped with the following: Body frame; Multiple wheels supporting the vehicle body frame; and Support device, which supports the transported object. The transport vehicle has the following characteristics: The vehicle frame, when viewed vertically, is longer in the front-to-back direction than in the width direction, and includes a first frame portion and a second frame portion arranged side-by-side in the front-to-back direction, and a frame connecting portion that freely connects the first frame portion and the second frame portion about a swing axis along the width direction. The plurality of wheels include a first wheel supporting the first frame portion and a second wheel supporting the second frame portion. At least one of the first wheel and the second wheel includes a drive wheel driven by a drive source. The support device includes: a lifting platform, which is arranged to overlap with both the first frame portion and the second frame portion when viewed in the vertical direction, and is supported on each of the first frame portion and the second frame portion; and a lifting mechanism that causes the lifting platform to move up and down.

2. The transport vehicle according to claim 1, wherein, One side in the aforementioned front-back direction is designated as the first side in the front-back direction, and the other side in the aforementioned front-back direction is designated as the second side in the front-back direction. The first frame portion is disposed on the first side in the front-rear direction relative to the second frame portion. The first wheel includes a first drive wheel that serves as the drive wheel. The first drive wheel is positioned further along the first side in the front-rear direction than the central position of the first frame portion in the front-rear direction. The second wheel includes a second driving wheel and a second driven wheel, which serve as the driving wheel. The second drive wheel is positioned further along the second side in the front-rear direction than the central position of the second frame portion in the front-rear direction. The second driven wheel is positioned further along the first side of the front-rear direction than the central position of the second frame portion in the front-rear direction.

3. The transport vehicle according to claim 1 or 2, wherein, The lifting platform includes a first supported portion supported by the first frame portion and a second supported portion supported by the second frame portion. The lifting mechanism includes a first lifting section for lifting the first supported part and a second lifting section capable of lifting the second supported part independently of the first lifting section. The first connecting part, which connects the first lifting part to the lifting platform, allows the lifting platform to tilt relative to the first frame part at least around an axis along the width direction. The second connecting part, which connects the second lifting part to the lifting platform, allows the lifting platform to tilt relative to the second frame part at least about an axis along the width direction and to move relative to the second frame part in at least the front-back direction.

4. The transport vehicle according to claim 1 or 2, wherein, The support device includes: a first guide mechanism that allows relative movement of the lifting platform and the first frame portion in the front-rear direction and the width direction; and a second guide mechanism that allows relative movement of the lifting platform and the second frame portion in the front-rear direction and the width direction. The lifting platform is supported on the first frame portion via the first guide mechanism and on the second frame portion via the second guide mechanism.

5. The transport vehicle according to claim 1 or 2, wherein, The lifting platform includes a first supported portion supported by the first frame portion and a second supported portion supported by the second frame portion. The lifting mechanism includes a first lifting section for lifting the first supported part, a second lifting section capable of lifting the second supported part independently of the first lifting section, and a lifting control section for controlling the first lifting section and the second lifting section. The lifting control unit performs at least one of the following: The first angle control is based on the detection result of an angle detection device that detects the angle of the lifting platform relative to a reference plane, and controls the lifting amount of the first lifting part and the second lifting part respectively, so that the angle of the lifting platform is close to the reference angle, wherein the reference plane is set at the transportation destination of the transported object. as well as The second angle control controls the lifting amount of the first and second lifting units according to their respective lifting amount data, so that the angle of the lifting platform relative to the reference plane becomes the reference angle, wherein the lifting amount data of the first and second lifting units are pre-stored in association with the position of the vehicle frame on the driving surface.

Images