Carriage traction device, and carriage traction carrier equipped the same and carriage traction vehicle

Abstract

To provide: a carriage traction device that connects a carriage with a carrier, allowing the carrier towing the carriage via a connecting member to move the carriage stably; and a carriage equipped with the same and a carriage traction vehicle in which the carrier tows the carriage.SOLUTION: There is provided a carriage traction device capable of connecting a carriage with a carrier in which a driving wheel is attached to a vehicle body turnably about a vertical turn axis. The carriage traction device comprises: a rotation mechanism with one end being rotatably connected to the carrier; an engagement mechanism with the other end connecting the carriage in a towable manner; and a traction mechanism with a rotation mechanism and a connection mechanism. The carriage traction device is characterized in that the rotation axis that serves as a rotation center of the carriage, of the rotation mechanism is located at a position that does not coincide with the turn axis of the carrier. There are also provided the carriage carrier comprising the carriage traction device, and the carrier traction vehicle in which the carrier tows the carriage.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a traction device that connects a trolley and a transport vehicle so that the transport vehicle towing the trolley can stably move the trolley, and a transport vehicle equipped with the same and a trolley towing vehicle in which the transport vehicle tows the trolley. In particular, the trolley towing device is suitable for unmanned transport vehicles such as AGVs (Automatic Guided Vehicles) and AMRs (Autonomous Mobile Robots) that have difficulty in stably towing a trolley. [Background technology]

[0002] Patent Document 1 describes a problem in which, when an unmanned guided vehicle tows a cart via a connecting member, the driving force of the drive wheels of the unmanned guided vehicle acts as a traction force on the connection part between the unmanned guided vehicle and the connecting member. However, since the pivot axis of the drive wheels of the unmanned guided vehicle is different from the pivot axis of the cart at the connection part between the unmanned guided vehicle and the connecting member, on curved roads, a rotational moment is generated in a direction that interferes with the rotation of the drive wheels due to the traction force acting on the pivot axis, resulting in reduced maneuverability of the unmanned guided vehicle.

[0003] Therefore, in Patent Document 1, in order to prevent the deterioration of steerability when the automated guided vehicle tows the dolly, the following towing device for the automated guided vehicle is proposed. That is, it is a technology to make the rotation axis of the drive wheel and the rotation axis of the dolly coincide with each other so as to eliminate the rotation moment generated because the rotation axis of the drive wheel and the rotation axis of the dolly are different. Furthermore, it is a technology to make the rotation axis of the drive wheel coincide with the rotation axis of the dolly, and to make the rotation axis of the drive wheel extend in the vertical direction and cross the axle of the drive wheel. As a result, it is described that with such a configuration for connecting the automated guided vehicle and the dolly, when the automated guided vehicle travels on a curved traveling path, a rotation moment in a direction that interferes with the turning of the drive wheel due to the traction force is not generated, and it is possible to prevent the deterioration of the steerability of the automated guided vehicle when towing the dolly.

[0004] Certainly, the maneuverability of the carrier pulling the dolly is remarkable on curved running roads, but it is also deeply related to the control of the inertial force when the carrier stops towing, the control of the vertical gravity and the centrifugal force when rotating related to the shape and weight of the carrier and the dolly, and the towing method, etc., and in reality, it is difficult to determine the maneuverability of the carrier pulling the dolly only by the two-dimensional rotation moment. In particular, the load capacity of the dolly is 100kg to 500kg, but for six-wheel dollies, it can be as high as 1,000kg (1t). In addition to the towing method in which all the wheels of the dolly are in contact with the road surface, there is also a towing method for four-wheel and six-wheel dollies in which the front is raised and only the two rear wheels are used, allowing for extremely flexible transport. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6578063 Summary of the Invention [Problem to be solved by the invention]

[0006] As described in the background art above, the steerability of a transport vehicle towing a dolly is significantly observed on a curved road, but the control of the inertial force when the dolly is stopped, the vertical gravity related to the shape and weight of the transport vehicle and dolly, the centrifugal force during rotation, etc. are also deeply involved, and in reality, it is difficult to determine the steerability of a transport vehicle only by two-dimensional rotation moment. In view of this, the present invention aims to provide a dolly towing device that connects a dolly and a transport vehicle with various shapes and towing methods, which allows the transport vehicle towing the dolly to move stably via a connecting member, and a transport vehicle equipped with the dolly towing device and a dolly towing vehicle in which the transport vehicle tows the dolly. In particular, the dolly towing device is suitable for an unmanned transport vehicle such as an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot) that has difficulty in stably towing a dolly. [Means for solving the problem]

[0007] The present invention was developed in the course of considering a traction device that has one end connected to an unmanned guided vehicle and the other end connected to the traction device, which is suitable for a system in which an unmanned guided vehicle uses some of the wheels of a six-wheeled traction vehicle to levitate and transport the vehicle using the two rear wheels of the trolley that are on the opposite side to the direction of forward movement.The device discovered that the position of the pivot axis about which the trolley connected to the unmanned guided vehicle rotates plays an important role in achieving stable traction of the trolley with excellent maneuverability, and that there are connection positions and states that are more preferable than connecting the pivot axis to coincide with the swivel axis of the drive wheels of the unmanned guided vehicle, which led to the completion of the present invention.

[0008] In other words, the present invention is a traction device capable of connecting a transport vehicle having drive wheels on its body that can rotate around a vertical rotation axis to a traction device for connecting a traction device to a traction vehicle, the traction device comprising a rotation mechanism having one end rotatably connected to the transport vehicle, an engagement mechanism having the other end connecting the traction device to allow the traction device to be towed, and a traction mechanism interposing between the rotation mechanism and the engagement mechanism, wherein the rotation axis that serves as the rotation center of the traction device for the traction device does not coincide with the rotation axis of the transport vehicle.

[0009] Among the trolley towing devices that can realize a method of connecting a transport vehicle and a trolley in such a way that the rotation axis around which the trolley rotates is not coincident with the swivel axis of the transport vehicle, the following is particularly preferred as a trolley towing vehicle that can improve the maneuverability of the transport vehicle and prevent items loaded on the trolley from falling without causing large rocking of the trolley towing vehicle that tows the trolley for transport.

[0010] First, the traction device has a traction shaft of the traction vehicle that extends vertically and is rotatably mounted at a position that is spaced a predetermined distance forward from the position of the traction shaft of the transport vehicle. In particular, in the case of a heavy traction vehicle or when the front wheels of the traction vehicle are lifted to pull, the predetermined distance d is set to 2d>LW, where L and W are the overall length and width of the transport vehicle, respectively, so that the traction device can improve the steerability of the transport vehicle and limit the lateral swing of the towed traction vehicle. In addition, the traction device has an effect of eliminating the influence of the traction vehicle on the transport vehicle, for example, an effect of preventing the drive wheels of the transport vehicle from spinning when the front wheels of the traction vehicle are lifted to pull.

[0011] Furthermore, by providing the pivot shaft with the ability to vary the distance between the pivot shafts forward of the transport vehicle's pivot axis, it is possible to accommodate stable towing of a wide range of trolleys of various weights.

[0012] Furthermore, as described above, in all cases where the pivot axis is located forward of the pivot axis of the transport vehicle, it is more preferable that the traction mechanism be provided with a stress relief mechanism rearward of the pivot axis of the transport vehicle, and in particular, at a symmetrical position with respect to the pivot axis, so as to reduce the stress applied to the pivot axis.

[0013] The misalignment of the rotation axis of the trolley and the rotation axis of the transport vehicle can also be achieved by making the rotation axis inclined with respect to the rotation axis extending in the vertical direction.This inclined rotation axis can absorb the inertial force of the trolley when towing is stopped and prevent vertical oscillation caused by the up and down vibration of the trolley.

[0014] This effect depends on the weight of the trolley, and in order to be able to accommodate a wide range of trolley weights, it is preferable to make the angle between the pivot axis and the vertical direction and the direction of inclination variable, and it is more preferable that the trolley traction device is connected to the transport vehicle so as to rotate in a cone shape, with the point where the pivot axis connects to the transport vehicle as the apex.

[0015] By not coordinating the rotation axis around which the bogie rotates with the swivel axis of the transport vehicle, the maneuverability of the transport vehicle towing the bogie can be improved, the effects of the shape and weight of the bogie can be absorbed, and stable running of the bogie-towing vehicle can be achieved. However, as a means for absorbing the impact applied to the bogie when towing begins and the inertial force of the bogie when stopped, the horizontal oscillation due to the centrifugal force applied to the bogie on a curved running road, and the up and down vibration of the bogie due to unevenness of the road surface, it is preferable for the towing mechanism to be further equipped with a link mechanism, and for the towing mechanism and / or engagement mechanism to be equipped with a oscillation absorbing mechanism that can reduce the stress applied to the engagement mechanism, in order to improve the maneuverability of the transport vehicle and achieve stable running with less horizontal oscillation and up and down vibration of the bogie-towing vehicle.

[0016] The bogie towing device described above is provided on a transport vehicle and is useful not only as a bogie towing transport vehicle, but also as a vehicle towing vehicle other than a bogie.

[0017] In addition, a trolley towing vehicle in which a transport vehicle and a trolley are connected using such a trolley towing device can be used in a wide range of fields, not limited to the logistics field, as a trolley towing vehicle that can prevent items loaded on the trolley from being swayed and vibrated, as well as from being damaged by falling. Effect of the Invention

[0018] According to the present invention, the steerability of a transport vehicle cannot be determined only by two-dimensional rotational moment, and is deeply affected by the control of the inertial force when the carriage is stopped from being towed, the vertical gravity related to the shape and weight of the transport vehicle and carriage, the centrifugal force during rotation, etc., and the like, and the like are also involved, and the present invention has an effect of improving the steerability of a transport vehicle, which is capable of stably moving a transport vehicle that tows a carriage via a connecting member in various shapes and towing methods of transport vehicles and carriages. In particular, the present invention has an effect of improving the steerability of unmanned transport vehicles such as AGVs and AMRs, which have difficulty in stably towing a carriage. [Brief description of the drawings]

[0019] [Figure 1]According to one embodiment of the present invention, there is provided a traction device capable of connecting a bogie to an unmanned guided vehicle having drive wheels on its body that can rotate around a vertical rotation axis, the traction device comprising a rotation mechanism whose one end is rotatably connected to the unmanned guided vehicle, an engagement mechanism whose other end is connected to the bogie so that it can be towed, and a traction mechanism that interposes the rotation mechanism and the engagement mechanism, the rotation axis that serves as the rotation center of the bogie of the rotation mechanism extends in the vertical direction and the bogie is rotatably mounted at a position a predetermined distance forward from the position of the rotation axis of the unmanned guided vehicle so as not to coincide with the rotation axis of the unmanned guided vehicle, and the traction device further comprises an unmanned bogie guided vehicle that uses the traction device, and a bogie towing vehicle to which the bogie is connected. [Diagram 2] In the cart towing device shown in Figure 1 according to one embodiment of the present invention, the rotation axis of the rotating mechanism is located forward of the position of the swivel axis of the unmanned transport vehicle and has a function of being able to vary the distance between the rotation axis and the swivel axis, and the present invention relates to an unmanned cart transport vehicle that uses the cart towing device and a cart towing vehicle in which the cart is connected to the unmanned cart transport vehicle. [Diagram 3] In the bogie traction device shown in FIG. 1 according to one embodiment of the present invention, a traction mechanism is provided rearward of the position of the rotation axis of the unmanned carrier, the traction mechanism being provided with a stress relief mechanism capable of reducing the stress applied to the rotation axis, and an unmanned carrier transport vehicle using the bogie traction device and a bogie traction vehicle having a bogie connected thereto are provided. [Figure 4] In the bogie traction device shown in FIG. 1 according to one embodiment of the present invention, the traction mechanism is provided with a lifter for lifting the front wheels of the bogie to pull it, and the traction mechanism is provided with a stress relief mechanism rearward of the position of the rotation axis of the unmanned transport vehicle, capable of reducing the stress applied to the pivot shaft. An unmanned bogie transport vehicle using the bogie traction device and a bogie towing vehicle having a bogie connected thereto are also provided. [Diagram 5] In one embodiment of the present invention, the bogie traction device shown in Figure 3 is a bogie traction device in which the engagement mechanism is equipped with a swing mitigation mechanism that can reduce the stress applied to the engagement mechanism, and the present invention relates to an unmanned bogie guided vehicle that uses the bogie traction device and a bogie traction vehicle in which a bogie is connected to the bogie traction device. [Figure 6]According to one embodiment of the present invention, there is provided a cart towing device capable of connecting a bogie to an unmanned guided vehicle having drive wheels on its body that can rotate around a vertical rotation axis, the cart towing device comprising a rotation mechanism having one end rotatably connected to the unmanned guided vehicle, an engagement mechanism having the other end connected to the bogie so that it can be towed, and a towing mechanism interposing between the rotation mechanism and the engagement mechanism, the rotation axis which forms the rotation center of the bogie of the rotation mechanism extends in the vertical direction and is provided at a position that has a predetermined acute angle from the vertical direction so as not to coincide with the rotation axis of the unmanned guided vehicle, and an unmanned cart guided vehicle using the cart towing device and a cart towing vehicle to which the cart is connected. [Figure 7] In the bogie traction device shown in FIG. 6 according to one embodiment of the present invention, a movable part is provided in the traction mechanism to relieve the stress applied to the bogie, and the present invention also relates to an unmanned bogie guided vehicle using the bogie traction device and a bogie traction vehicle to which the bogie is connected. [Figure 8] In the bogie traction device shown in FIG. 7 according to one embodiment of the present invention, the pivot shaft is provided at a position that has a predetermined acute angle forward or backward from the vertical direction, and the bogie traction device has a function of being able to change the angle forward or backward around a fulcrum provided on the pivot shaft. The bogie traction device also includes an unmanned bogie guided vehicle that uses the bogie traction device, and a bogie traction vehicle in which a bogie is connected to the bogie traction device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] The present invention will be described in more detail below using the embodiments shown in the drawings. However, the present invention is not limited to these embodiments and can be implemented in various modifications within the scope that does not deviate from the gist of the present invention. The present invention is limited only by the technical ideas described in the claims.

[0021] FIG. 1 shows an embodiment of the present invention, in which an unmanned guided vehicle 100 is equipped with drive wheels 120 on a vehicle body that can rotate around a vertical rotation axis TL, and a cart towing device 300 that can connect a four-wheeled cart 200, the cart towing device 300 including a rotation mechanism 310 that is rotatably connected to the unmanned guided vehicle 100 at one end, an engagement mechanism 330 that is connected to the cart 200 at the other end so that the cart 200 can be towed, and a towing mechanism 320 that is interposed between the rotation mechanism 310 and the engagement mechanism 330. The traction device 300 has a rotation axis RL, which is the rotation center of the traction mechanism 310's traction car 200, extending vertically and not coinciding with the rotation axis TL of the unmanned guided vehicle 100, and the traction device 300 is arranged so that the traction car 200 is rotatably mounted at a position a predetermined distance forward from the position of the rotation axis TL of the unmanned guided vehicle 100. An unmanned traction car using the traction device 300 and a traction car to which the traction device 300 is connected are provided.

[0022] Fig. 2(a) shows a bogie traction device 300 according to one embodiment of the present invention shown in Fig. 1, in which the rotation axis RL of the rotation mechanism 310 has a function of varying the distance between the rotation axis RL and the rotation axis TL forward of the position of the swivel axis TL of the unmanned guided vehicle 100, and shows an unmanned bogie traction vehicle using the bogie traction device 300 and a bogie traction vehicle in which the bogie 200 is connected to the bogie traction device 300. Fig. 2(b) shows that the distance between the rotation axis RL and the swivel axis TL is variable by a slider 340 that utilizes the function of a tension spring, but this is not limited to this, and various general techniques that can freely move the rotation axis RL horizontally can be applied.

[0023] 3 shows a bogie traction device 300 according to one embodiment of the present invention, in which a stress relaxation mechanism 400 utilizing a compression spring capable of reducing stress applied to the rotation axis RL is provided in the traction mechanism 320, rearward of the position of the swivel axis TL of the unmanned guided vehicle 100, in the bogie traction device 300 shown in FIG. 1, and also shows an unmanned bogie guided vehicle using the bogie traction device 300 and a bogie traction vehicle in which the bogie 200 is connected to the bogie traction device 300. In order to fully exert the function of this stress relaxation mechanism 400, a movable part 350 is provided in the traction mechanism 320 in FIG. 3, however, this is not necessarily required and is preferably selected depending on the shape and weight of the bogie, etc.

[0024] Figure 4 shows a bogie traction device 300 according to one embodiment of the present invention, as shown in Figure 1, in which the traction mechanism 320 is equipped with a lifter 500 for lifting the front wheels of the bogie 200 to pull it, and the traction mechanism 320 is equipped with a stress relief mechanism 400 rearward of the position of the swivel axis TL of the unmanned guided vehicle 100, capable of reducing the stress applied to the rotation axis RL, and shows an unmanned bogie guided vehicle using the bogie traction device 300 and a bogie traction vehicle in which the bogie 200 is connected to the bogie traction device 300.

[0025] Fig. 5(a) shows a bogie traction device 300 according to one embodiment of the present invention, in which the engagement mechanism 330 in the bogie traction device 300 shown in Fig. 3 is equipped with a sway mitigation mechanism 600 capable of reducing the stress applied to the engagement mechanism 330, and also shows an unmanned bogie guided vehicle using the bogie traction device 300 and a bogie traction vehicle in which the bogie 200 is connected to the bogie traction device 300. Fig. 5(b) shows a sway mitigation mechanism 600 that utilizes the expansion and contraction of a spring, but the present invention is not limited to this and any general technology capable of mitigating sway can be used.

[0026] Figure 6 shows a bogie traction device 300 capable of connecting an unmanned guided vehicle 100, the vehicle body of which is equipped with drive wheels 120 that can rotate around a vertical rotation axis TL, and a bogie 200, according to one embodiment of the present invention, the bogie traction device 300 comprising a rotation mechanism 310 whose one end is rotatably connected to the unmanned guided vehicle 100, an engagement mechanism 330 whose other end is connected to the bogie 200 so as to be able to tow it, and a traction mechanism 320 that interposes the rotation mechanism 310 and the engagement mechanism 330, the rotation axis which forms the rotation center of the bogie of the rotation mechanism 310 extending in the vertical direction, and the rotation axis RL which is arranged at a position having a predetermined acute angle from the vertical direction so as not to coincide with the rotation axis of the guided vehicle, and an unmanned bogie guided vehicle using the bogie traction device 300 and a bogie traction vehicle to which the bogie 200 is connected.

[0027] FIG. 7 shows one embodiment of the present invention in which a movable part 350 is provided in the traction mechanism 320 of the traction device 300 shown in FIG. 6 to relieve the stress applied to the traction device 200, and also shows an unmanned traction vehicle using the traction device and a traction vehicle to which the traction device is connected and the traction vehicle to which the traction device is connected.

[0028] 8 shows a bogie traction device 300 according to one embodiment of the present invention shown in Fig. 7, in which the rotation axis RL is provided at a position that has a predetermined acute angle forward or backward from the vertical direction, and has a function of being able to vary the angle forward or backward around a fulcrum provided on the rotation axis RL, and an unmanned bogie guided vehicle using the bogie traction device 300 and a bogie traction vehicle in which the bogie 200 is connected to the bogie traction device 300. The method of changing the inclination angle of the rotation axis RL is not limited to this, and any general technology can be applied. [Industrial Applicability]

[0029] The trolley towing device and the trolley towing conveyance vehicle and trolley towing vehicle equipped with the same according to the present invention can reduce manpower and improve efficiency in transporting goods in work processes such as receiving, storing, moving, sorting, packing, and shipping in warehouses, logistics centers, etc., and can build a logistics system with excellent productivity, so that the industrial applicability is extremely high. Furthermore, the device can be used not only in logistics systems, but also in various production factories where the movement of goods is essential. [Explanation of symbols]

[0030] 100 Automated Guided Vehicle 110 Body 120 Drive Wheel 130 Driven Wheel 200 Four-wheeled trolley 210 wheels 220 Base 230 frames 300 Cart Traction Device 310 Rotating mechanism 320 Traction mechanism 330 Engagement mechanism 340 Slider 350 Moving parts 360 fulcrum 400 Stress Relief Mechanism 500 Lifter 600 Vibration damping mechanism TL automated guided vehicle swivel axis RL Cart Rotation Axis

Claims

1. A traction device capable of connecting a transport vehicle having a vehicle body equipped with drive wheels that can rotate around a vertical axis, and a traction device, a rotation mechanism having one end rotatably connected to the transport vehicle, an engagement mechanism having the other end connected to the carriage so as to be able to tow the carriage, and a towing mechanism intervening between the rotation mechanism and the engagement mechanism, A cart towing device, characterized in that a rotation axis that is a rotation center of the cart of the rotating mechanism does not coincide with the swivel axis of the transport vehicle.

2. 2. The traction device according to claim 1, wherein the pivot shaft extends vertically, and the trolley is rotatably mounted at a position a predetermined distance forward from the position of the pivot shaft of the transport vehicle.

3. 3. The traction device according to claim 2, wherein the predetermined distance d satisfies 2d>L-W, where L and W are the overall length and overall width of the transporting vehicle, respectively.

4. The traction device according to claim 1, characterized in that the pivot shaft extends in a vertical direction and has a function of being able to change the distance between the pivot shaft and the other pivot shaft forward of the position of the pivot shaft of the transport vehicle.

5. 3. The traction device according to claim 2, further comprising a stress relief mechanism for reducing stress applied to the rotating shaft, the stress relief mechanism being disposed rearward of the position of the rotating shaft of the transport vehicle.

6. 4. The traction device according to claim 3, further comprising a stress relief mechanism for reducing stress acting on the pivot shaft, the stress relief mechanism being provided rearward of the pivot shaft of the transport vehicle.

7. 5. The traction device according to claim 4, further comprising a stress relief mechanism for reducing stress acting on the pivot shaft, the stress relief mechanism being provided in the traction mechanism rearward of the pivot shaft of the transport vehicle.

8. 2. The traction device according to claim 1, wherein the rotation shaft is provided at a position that forms a predetermined acute angle with respect to the vertical direction.

9. 2. The traction device according to claim 1, wherein the rotating shaft rotates in a cone shape with a point where the rotating shaft and the transport vehicle are connected as an apex.

10. 9. The traction device according to claim 8, wherein the rotation shaft is provided at a position that forms a predetermined acute angle forward or backward from the vertical direction.

11. 11. The traction device according to claim 10, wherein the rotation shaft has a function of being able to change its angle forward or backward from the vertical direction.

12. 2. The traction device according to claim 1, wherein the traction mechanism comprises a link mechanism.

13. 2. The bogie traction device according to claim 1, wherein the traction mechanism and / or the engagement mechanism is provided with a swing damping mechanism capable of reducing stress applied to the engagement mechanism.

14. A cart-pulling transport vehicle comprising the cart-pulling device according to any one of claims 1 to 13.

15. A bogie towing vehicle comprising the bogie towing device according to any one of claims 1 to 13, wherein the transport vehicle and the bogie are coupled together.

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