Guidance system and transport device

Abstract

To prevent a cart from falling over.SOLUTION: A guidance system guides a cart, which is used to deliver and receive packages, to a delivery position where packages can be delivered from the cart to an object on which the packages are placed, or packages on the object can be received by the cart. The guidance system comprises an anti-fall stand to support the cart at the delivery position.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a guide device and a transport device. [Background technology]

[0002] Conventionally, a dolly is known as a machine used for loading and unloading work. For example, Patent Document 1 describes a forklift equipped with a vehicle body and forks. With such a forklift, a load can be loaded onto the forks and transported by traveling. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-158289 A Summary of the Invention [Problem to be solved by the invention]

[0004] There has been a demand for a more stable method of preventing the cart from tipping over, particularly when a load is delivered from the cart to an object on which the load is to be placed, or when the load is received by the cart from the object.

[0005] The present invention has been made in consideration of the above circumstances, and has an object to prevent the cart from tipping over. [Means for solving the problem]

[0006] A first aspect of the present disclosure is a guiding device that guides a dolly that delivers luggage to a delivery position where the luggage can be delivered from the dolly to an object on which the luggage is placed or the luggage on the object can be received by the dolly, A guide device includes an anti-tip platform that supports the cart located at the transfer position.

[0007] In a second aspect of the present disclosure, in the guidance device according to the first aspect described above, the anti-tip platform may have a pair of protrusions that horizontally sandwich at least a portion of the cart located at the transfer position.

[0008] In a third aspect of the present disclosure, in the guidance device according to the first aspect or the second aspect described above, the anti-tip platform may support the cart located at the transfer position on its upper surface.

[0009] In a fourth aspect of the present disclosure, in the guidance device according to each of the first aspect to the third aspect described above, the anti-tip platform may have a power supply mechanism that supplies power to the cart located at the transfer position.

[0010] In a fifth aspect of the present disclosure, in the guide device according to each of the first aspect to the fourth aspect described above, a guide unit that limits a path along which the cart travels to the transfer position may be provided.

[0011] In a sixth aspect of the present disclosure, in the guidance device according to the fifth aspect described above, the guide unit may have a guide unit power supply mechanism that supplies power to the carriage located on the path.

[0012] In a seventh aspect of the present disclosure, in a guidance device according to each of the first aspect to the sixth aspect described above, the anti-tip platform may allow the trolley located at the transfer position to rotate around a rotation axis that passes through the inside of the trolley and is perpendicular to the horizontal direction.

[0013] In an eighth aspect of the present disclosure, in the guidance device according to the seventh aspect described above, the anti-tip platform may have a curved surface that is equidistant horizontally from the rotation axis of the cart located at the transfer position.

[0014] A ninth aspect of the present disclosure is a cart for delivering luggage; a guide device that guides the dolly to a delivery position where the dolly can deliver the luggage to an object on which the luggage is to be placed or where the dolly can receive the luggage from the object, The guide device is a transport device having an anti-tip platform that supports the cart located at the transfer position.

[0015] In a tenth aspect of the present disclosure, in the conveying device according to the ninth aspect described above, the carriage is capable of rotating about a rotation axis that passes through the interior of the carriage and is perpendicular to the horizontal direction, In the range in which the anti-tip platform is located in the vertical direction, the minimum horizontal distance between the rotation axis of the cart located at the transfer position and the anti-tip platform may be greater than or equal to the maximum horizontal distance between the rotation axis and the end of the cart.

[0016] In an eleventh aspect of the present disclosure, in the conveying device according to the ninth aspect or the tenth aspect described above, the carriage is capable of rotating about a rotation axis that passes through the interior of the carriage and is perpendicular to the horizontal direction, The cart has a base portion, two fixed wheels provided on the base portion and sandwiching the rotation axis in a horizontal direction, and a plurality of drive wheels provided on the base portion, Each of the two fixed wheels is rotatable about a first rotation axis; Each of the first rotation axes is located on a straight line passing through the pivot axis and is fixed with respect to the base portion, Each of the plurality of drive wheels is driven to rotate about a second rotation axis by inputting rotation thereto, Each of the second axes of rotation may be driven to rotate in a rotational direction parallel to a horizontal direction relative to the base. Effect of the Invention

[0017] According to the present invention, the cart can be prevented from tipping over. [Brief description of the drawings]

[0018] [Figure 1A] FIG. 2 is a perspective view of a dolly in one embodiment. [Figure 1B] FIG. 2 is a perspective view of a dolly in one embodiment. [Figure 2A] FIG. 2 is a plan view of a carriage according to an embodiment. [Figure 2B] FIG. 2 is a side view of a dolly in one embodiment. [Figure 2C] FIG. 2 is a side view of a dolly in one embodiment. [Diagram 3] FIG. 2 is a perspective view of a dolly in one embodiment. [Figure 4] FIG. 2 is a perspective view of a dolly in one embodiment. [Diagram 5] FIG. 2 is an enlarged perspective view of a portion of the dolly in one embodiment. [Figure 6] FIG. 2 is a plan view of a carriage according to an embodiment. [Figure 7] FIG. 2 is a perspective view of a conveying device and an object according to an embodiment. [Figure 8] FIG. 2 is a perspective view of the tip-prevention platform in one embodiment. [Figure 9] FIG. 2 is a side view of a transport device according to an embodiment. [Figure 10] 10 is a cross-sectional view showing a cross section taken along line XX in FIG. 9. [Figure 11] 11A and 11B are diagrams illustrating the operation of a conveying device according to an embodiment. [Figure 12] 11A and 11B are diagrams illustrating the operation of a conveying device according to an embodiment. [Figure 13] 11A and 11B are diagrams illustrating the operation of a conveying device according to an embodiment. [Figure 14] FIG. 11 is a cross-sectional view of a conveying device in Modification 1. [Figure 15] FIG. 11 is a perspective view of a guidance device in a second modified example. [Figure 16] FIG. 11 is a perspective view showing a Mecanum wheel in a third modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] The present embodiment will be described. The conveying device 100 of the present embodiment includes a dolly 1 for transferring luggage, and a guiding device 10 for guiding the dolly 1 to a transfer position 11. The transfer position 11 is a position where luggage can be transferred from the dolly 1 to an object A on which the luggage is placed, or where luggage on the object A can be received by the dolly 1. As an example, the conveying device 100 is placed in a warehouse where the removal and storage of luggage is automated, that is, an automated warehouse. In this case, it can be said that the warehouse includes the dolly 1, the guiding device 10, and the object A.

[0020] First, the dolly 1 will be described in detail with reference to the drawings. FIG. 1A is a perspective view showing the dolly 1 of this embodiment. FIG. 1B is a perspective view showing the dolly 1 of this embodiment observed from the opposite side to FIG. 1A. The dolly 1 is placed on a floor surface F and runs on the floor surface F. A direction perpendicular to the floor surface F on which the dolly 1 runs is referred to as the up-down direction DA. In the up-down direction DA, a side on which the floor surface F is located with respect to the dolly 1 is referred to as the down side SA2. In the up-down direction DA, a side opposite to the down side SA2 is referred to as the up side SA1. A direction parallel to the floor surface F on which the dolly 1 runs is referred to as the horizontal direction. FIG. 2A is a plan view showing the dolly 1 shown in FIG. 1A and FIG. 1B observed from the down side SA2 in the up-down direction DA. The direction of revolution around the swivel axis C3 shown in FIG. 2A is referred to as the swivel direction DD.

[0021] As shown in Figs. 1A and 1B, the cart 1 has a base unit 2. As shown in Fig. 2A, the cart 1 has two fixed wheels 21 provided on the base unit 2 and a plurality of drive wheels 22 provided on the base unit 2. The cart 1 further includes a lifting base unit 3, a lifting unit 4, a transfer unit 5, and a moving unit 6. The lifting base unit 3 is located on the base unit 2. The lifting unit 4 raises and lowers the lifting base unit 3 relative to the base unit 2. The transfer unit 5 has forks 51 that support luggage and transfers the luggage. The moving unit 6 moves the transfer unit 5 relative to the lifting base unit 3.

[0022] The direction in which the forks 51 protrude and which is perpendicular to the up-down direction DA is referred to as the front-rear direction DB. The moving unit 6 moves the transfer unit 5 in the front-rear direction DB relative to the lifting base unit 3. The direction perpendicular to the front-rear direction DB and parallel to the horizontal direction is referred to as the vehicle width direction DC. In the front-rear direction DB, the side on which the tips of the forks 51 are located, based on the base of the forks 51, is referred to as the front SB1. The side opposite the front SB1 in the front-rear direction DB is referred to as the rear SB2. One side in the vehicle width direction DC (the right side in FIG. 1A) is referred to as the first side SC1. The side opposite the first side SC1 in the vehicle width direction DC is referred to as the second side SC2.

[0023] The dolly 1 has a lower part 1a located in a range in the vertical direction DA where a tip-over prevention platform 12 (described later) is located, and an upper part 1b located above the lower part 1a (SA1). In the example shown in Figures 1A and 1B, a part of the base part 2, two fixed wheels 21, and a plurality of drive wheels 22 are included in the lower part 1a. A part of the base part 2, the lift base part 3, the lift unit 4, the transfer part 5, and the moving unit 6 are included in the upper part 1b.

[0024] The upper portion 1b has a bogie protrusion 1c that protrudes horizontally relative to the lower portion 1a. As an example, the bogie protrusion 1c has a portion that protrudes forward SB1 in the longitudinal direction DB. The bogie protrusion 1c has portions that protrude toward a first side SC1 and a second side SC2 in the vehicle width direction DC. The bogie protrusion 1c has a portion that protrudes rearward SB2 in the longitudinal direction DB. The bogie protrusion 1c has a lower surface 1d. The lower surface 1d is a surface of the bogie protrusion 1c on the lower side SA2 in the vertical direction DA. In the example shown in Figures 1A and 1B, the lower surface 1d is a surface perpendicular to the vertical direction DA.

[0025] The dolly 1 of this embodiment can transport a load by loading the load onto the forks 51 and traveling. The dolly 1 can transfer the load by moving the forks 51 with the load loaded onto them. As an example, the dolly 1 is a transport vehicle such as an AGV or RGV that does not require assistance from an operator when traveling (i.e., an unmanned transport vehicle). The dolly 1 may also be a transport vehicle that requires assistance from an operator when traveling.

[0026] The base unit 2 is provided with two fixed wheels 21 and a plurality of drive wheels 22. Each of the two fixed wheels 21 is rotatable about a first rotation axis C1. Each of the first rotation axes C1 is fixed to the base unit 2. The plurality of drive wheels 22 are driven to rotate about a second rotation axis C2 by inputting rotation. The cart 1 travels on the floor surface F by driving the plurality of drive wheels 22.

[0027] The cart 1 is capable of rotating about a rotation axis C3 that passes through the inside of the cart 1 and is perpendicular to the horizontal direction.

[0028] In the example shown in Fig. 2A, the lower portion 1a has a circular contour 1f when viewed from the up-down direction DA, and the upper portion 1b has a substantially rectangular contour 1g when viewed from the up-down direction DA.

[0029] As shown in FIG. 2A, the two fixed wheels 21 sandwich the turning axis C3 in the horizontal direction. Each of the first rotation axes C1 is located on a straight line passing through the turning axis C3. In the example shown in FIG. 2A, the first rotation axis C11 of one of the two fixed wheels 21 and the first rotation axis C12 of the other of the two fixed wheels 21 are both located on a straight line L6 passing through the turning axis C3 and parallel to the horizontal direction. As a result, each of the first rotation axes C1 of the two fixed wheels 21 is directed in a direction parallel to the vehicle width direction DC. In FIG. 2A, the two fixed wheels 21 are arranged in the vehicle width direction DC. One of the two fixed wheels 21 is located on the first side SC1 of the turning axis C3 in the vehicle width direction DC. The other of the two fixed wheels 21 is located on the second side SC2 of the turning axis C3 in the vehicle width direction DC.

[0030] Each of the second rotation axes C2 of the multiple drive wheels 22 is driven to rotate in a rotation direction parallel to the horizontal direction with respect to the base part 2. In FIG. 2A, two drive wheels 22 are provided on the base part 2. The two drive wheels 22 sandwich the turning axis C3 in the horizontal direction. The second rotation axis C2 of the drive wheels 22 is driven to rotate in a rotation direction parallel to the horizontal direction with respect to the base part 2, centering on a point C4 shown in FIG. 2A. One of the two drive wheels 22 is located in front of the turning axis C3 in the front-rear direction DB at SB1. The other of the two fixed wheels 21 is located behind the turning axis C3 in the front-rear direction DB at SB2. One of the two drive wheels 22 shown in FIG. 2A that is located in the front SB1 is referred to as a first drive wheel 221. The other of the two drive wheels 22 shown in FIG. 2A that is located in the rear SB2 is referred to as a second drive wheel 222.

[0031] In the example shown in FIG. 2A, two fixed wheels 21 and two drive wheels 22 are arranged alternately in the turning direction DD.

[0032] The direction in which the bogie 1 travels is adjusted by driving the second rotation axis C2 of the drive wheels 22 to rotate about a point C4. In the state shown in Fig. 2A, each of the second rotation axes C2 of the multiple drive wheels 22 is oriented in a direction parallel to the vehicle width direction DC. In this state, by rotating the multiple drive wheels 22 about the second rotation axis C2, the bogie 1 can be caused to travel forward SB1 or backward SB2 in the fore-and-aft direction DB.

[0033] The second rotation axis C2 of the multiple drive wheels 22 is driven to rotate around the point C4, so that the dolly 1 can be rotated around the swivel axis C3. As an example, the second rotation axis C21 of the first drive wheel 221 shown in FIG. 2A is oriented in the direction of the straight line L2 passing through the swivel axis C3. Also, the second rotation axis C22 of the second drive wheel 222 shown in FIG. 2A is oriented in the direction of the straight line L3 passing through the swivel axis C3. In this state, the multiple drive wheels 22 are rotated around the second rotation axis C2, so that the dolly 1 can be rotated around the swivel axis C3. In the example shown in FIG. 2A, the straight line L2 and the straight line L3 overlap each other.

[0034] By driving the second rotation axis C2 of the multiple drive wheels 22 to rotate around point C4, the dolly 1 can be made to run in a curved direction. As an example, the second rotation axis C21 of the first drive wheel 221 shown in FIG. 2A is oriented in the direction of a straight line L4. Also, the second rotation axis C22 of the second drive wheel 222 shown in FIG. 2A is oriented in the direction of a straight line L5. In this state, by rotating the multiple drive wheels 22 about the second rotation axis C2, the dolly 1 can be made to run in a curved direction in the direction of the arrow labeled with the symbol D1 shown in FIG. 2A.

[0035] The dolly 1 may include a dolly lifting unit 91 that lifts at least one of the multiple drive wheels 22. The dolly lifting unit 91 lifts at least one of the multiple drive wheels 22 so that the drive wheel 22 is separated from the floor surface F on which the dolly 1 is placed. In this embodiment, the dolly lifting unit 91 can lift all of the multiple drive wheels 22 so that the drive wheel 22 is separated from the floor surface F on which the dolly 1 is placed. In this embodiment, the dolly lifting unit 91 can lift both of the two fixed wheels 21 so that the fixed wheel 21 is separated from the floor surface F on which the dolly 1 is placed. FIG. 2B is a side view showing an example of a state in which the dolly lifting unit 91 lifts at least one of the multiple drive wheels 22. In the example shown in FIG. 2B, the dolly 1 includes the dolly lifting unit 91. The cart lifting section 91 lifts the multiple drive wheels 22 and the two fixed wheels 21 so that the multiple drive wheels 22 and the two fixed wheels 21 are spaced apart from the floor surface F on which the cart 1 is placed. In Fig. 2B, the cart 1 is in contact with the floor surface F at the cart lifting section 91. In Fig. 2B, the cart 1 is not in contact with the floor surface F at any part other than the cart lifting section 91.

[0036] The form of the carriage lifting unit 91 is not particularly limited as long as it can lift at least one of the plurality of drive wheels 22. In the example shown in FIG. 2B, the carriage lifting unit 91 is located below SA2 of the base unit 2. In the example shown in FIG. 2A, the carriage lifting unit 91 has an expandable unit 911. The expandable unit 911 is a part that is provided on the lower surface 2d, which is the surface of the lower SA2 of the base unit 2, and expands and contracts in the vertical direction DA. The expandable unit 911 expands and contracts in the vertical direction DA so as to change the protrusion amount w1 from the lower surface 2d in the vertical direction DA. As an example, the expandable unit 911 is a cylinder that is driven by hydraulic pressure or air pressure and expands and contracts in the vertical direction DA. The expandable unit 911 may be a ball screw having a screw shaft extending in the vertical direction DA and a nut that meshes with the screw shaft. In this case, the base unit 2 may be fixed to either the screw shaft or the nut. The expandable unit 911 may be configured with a link mechanism.

[0037] The carriage lifting unit 91 may have a plurality of telescopic units 911. In the example shown in Fig. 2A, the carriage lifting unit 91 has four telescopic units 911. In the example shown in Fig. 2A, the four telescopic units 911 are each located between the fixed wheel 21 and the drive wheel 22 in the turning direction DD.

[0038] By adjusting the amount of protrusion w1 of the expandable portion 911 from the lower surface 2d in the vertical direction DA, it is possible to lift at least one of the multiple drive wheels 22. In the example shown in Fig. 2B, the amount of protrusion w1 of the multiple expandable portions 911 is set to be greater than the distance w2 between the end portions of the fixed wheel 21 and the drive wheel 22 at the lower SA2 in the vertical direction DA and the lower surface 2d, thereby lifting the two fixed wheels 21 and the multiple drive wheels 22.

[0039] The effect of the dolly lifting unit 91 will be described. As described above, the direction in which the dolly 1 travels can be adjusted by driving the second rotation axis C2 of the drive wheel 22 to rotate around the point C4. Here, consider a case in which the drive wheel 22 is in contact with the floor surface F and the second rotation axis C2 of the drive wheel 22 is driven to rotate around the point C4. In this case, friction occurs between the drive wheel 22 and the floor surface F. For this reason, in order to rotate the second rotation axis C2 of the drive wheel 22 around the point C4, it becomes necessary to input a larger driving force. As a result, when the second rotation axis C2 of the drive wheel 22 is rotated by inputting a driving force by a motor, for example, the load on the motor becomes large. In contrast, the dolly lifting unit 91 can lift the drive wheel 22 so that the drive wheel 22 is separated from the floor surface F on which the dolly 1 is placed. By rotating the second rotation axis C2 of the drive wheel 22 with the drive wheel 22 separated from the floor surface F, it is possible to prevent the occurrence of friction between the drive wheel 22 and the floor surface F. Therefore, the second rotation axis C2 of the drive wheel 22 can be rotated with a smaller driving force. In particular, when the second rotation axis C2 of the drive wheel 22 is rotated by inputting a driving force from a motor, the load on the motor can be reduced. As described above, the second rotation axis C2 of the drive wheel 22 can be rotated with a smaller driving force to adjust the direction in which the cart 1 travels.

[0040] 2C, when the dolly 1 is stopped, the protrusion amount w1 of the extendable portion 911 may be adjusted to be equal to the distance w2 between the end portions of the fixed wheels 21 and the driving wheels 22 at the lower SA2 in the vertical direction DA and the lower surface 2d. In this case, the dolly 1 contacts the floor surface F at the end portions of the fixed wheels 21 and the driving wheels 22 at the lower SA2, and also contacts the floor surface F at the extendable portion 911. This increases the number of points of the dolly 1 that contact the floor surface F, effectively preventing the dolly 1 from tipping over.

[0041] The means for rotating the drive wheels 22 about the second rotation axis C2 is not particularly limited as long as it can cause the bogie 1 to travel. As an example, the bogie 1 may further include a motor that inputs rotation to the drive wheels 22. In this case, each of the multiple drive wheels 22 rotates about the second rotation axis C2 by receiving rotation from the motor. In this case, the bogie 1 may further include a reduction gear that reduces the speed of the rotation input from the motor and transmits the rotation to the drive wheels 22. The bogie 1 may include a geared motor instead of a motor and a reduction gear as a means for rotating the drive wheels 22 about the second rotation axis C2.

[0042] The means for rotating the second rotation axis C2 of the drive wheel 22 in a rotation direction parallel to the horizontal direction with respect to the base part 2 is not particularly limited. As an example, the dolly 1 may include a motor that rotates the second rotation axis C2 of the drive wheel 22 in a rotation direction parallel to the horizontal direction. In this case, the dolly 1 may further include a reducer that reduces the speed of the rotation input from the motor and transmits the rotation to the drive wheel 22.

[0043] The lift base part 3 is a part located on the base part 2. The lift base part 3 is raised and lowered relative to the base part 2 by a lift unit 4 described later. In this embodiment, the lift base part 3 has a rectangular outline when observed from the up-down direction DA. In this embodiment, a moving unit 6 described later is disposed on the lift base part 3.

[0044] The lifting unit 4 is a part that raises and lowers the lifting base part 3 relative to the base part 2. In the example shown in FIG. 1A, the lifting unit 4 has a pantograph. In the example shown in FIG. 1A, the lifting unit 4 includes a first lifting part 41 and a second lifting part 42. The first lifting part 41 and the second lifting part 42 are connected to the base part 2 and the lifting base part 3, respectively, and raise and lower the lifting base part 3 relative to the base part 2. Each of the first lifting part 41 and the second lifting part 42 has a pantograph.

[0045] In the example shown in FIG. 2B, the lifting unit 4 has a plurality of links 43 connected to each other to form a pantograph. In the example shown in FIG. 2B, the lifting unit 4 has a plurality of connecting parts 44 connecting the plurality of links 43 to each other. Each of the plurality of connecting parts 44 connects two links 43 to each other such that the two links 43 can rotate relative to each other. The lifting unit 4 having a pantograph is formed by connecting the plurality of links 43 to each other via the plurality of connecting parts 44. The lifting unit 4 may have a structure in which a plurality of pantographs are stacked in the up-down direction DA.

[0046] Fig. 3 is a perspective view showing another state of the cart 1 having the lifting unit 4 with a pantograph as shown in Fig. 1A and Fig. 1B, different from Fig. 1A and Fig. 1B. From the state shown in Fig. 1A and Fig. 1B, the lifting unit 4 moves the lifting base part 3 upward SA1 in the vertical direction DA, and the moving unit 6 described later moves the transfer part 5 and the mast 53 forward SB1 in the front-rear direction DB, whereby the cart 1 becomes the state shown in Fig. 3.

[0047] In the state shown in FIG. 3, the lifting unit 4 is extended in the vertical direction DA more than in the state shown in FIG. 1A and FIG. 1B. In each of the multiple connecting parts 44, the two links 43 connected by the connecting parts 44 rotate relative to each other, so that the pantograph expands and contracts in the vertical direction DA. This allows the lifting unit 4 having the pantograph to be extended in the vertical direction DA, for example, from the state shown in FIG. 1A and FIG. 1B to the state shown in FIG. 3. This allows the lifting base part 3 to be moved upward SA1 in the vertical direction DA. Also, the lifting unit 4 having the pantograph can be contracted in the vertical direction DA from the state shown in FIG. 3 to the state shown in FIG. 1A and FIG. 1B. This allows the lifting base part 3 to be moved downward SA2 in the vertical direction DA.

[0048] Here, consider the center position P1 of the base part 2 in the front-rear direction DB and the vehicle width direction DC perpendicular to the front-rear direction DB and parallel to the horizontal direction. The center position P1 of the base part 2 is determined by the following method. A first surface is obtained, which is a virtual surface parallel to the up-down direction DA and the front-rear direction DB and equidistant from both ends of the base part 2 in the vehicle width direction DC. A second surface is obtained, which is a virtual surface parallel to the up-down direction DA and the vehicle width direction DC and equidistant from both ends of the base part 2 in the front-rear direction DB. Next, a straight line L1 where the first surface and the second surface intersect is obtained. An example of the straight line L1 is shown by a dashed line in FIG. 3. At this time, the center position P1 of the base part 2 is determined as a position where the straight line L1 of the base part 2 passes. As described above, the lower part 1a has a circular contour 1f when observed from the up-down direction DA. The center position P1 of the base part 2 overlaps with the geometric center of the circle formed by the contour 1f of the lower part 1a when observed from the up-down direction DA. As described above, the upper portion 1b has a substantially rectangular contour 1g when observed from the up-down direction DA. The center position P1 of the base portion 2 coincides with the geometric center of the substantially rectangular shape formed by the contour 1g of the upper portion 1b when observed from the up-down direction DA.

[0049] Also, consider the center position P2 of the lift base unit 3 in the longitudinal direction DB and the vehicle width direction DC. The center position P2 of the lift base unit 3 is determined by the following method. A third plane is obtained, which is a plane parallel to the vertical direction DA and the longitudinal direction DB and is equidistant from both ends of the lift base unit 3 in the vehicle width direction DC. A fourth plane is obtained, which is a plane parallel to the vertical direction DA and the vehicle width direction DC and is equidistant from both ends of the lift base unit 3 in the longitudinal direction DB. Next, a straight line L2 where the third plane and the fourth plane intersect is obtained. An example of the straight line L2 is shown by a dashed line in FIG. 3. As described above, the lift base unit 3 has a rectangular contour when observed from the vertical direction DA. The center position P2 of the lift base unit 3 overlaps with the geometric center of the rectangle formed by the contour of the lift base unit 3 when observed from the vertical direction DA.

[0050] 2A, the center position P1 of the base unit 2 overlaps with the pivot axis C3 when viewed from the vertical direction DA. The center position P2 of the lift base unit 3 overlaps with the pivot axis C3 when viewed from the vertical direction DA.

[0051] In the example shown in FIG. 3, the straight line L2 coincides with the straight line L1. In this case, the center position P2 of the lift base unit 3 is determined as the position through which the straight line L2 of the lift base unit 3 passes. It is preferable that the straight line L2 coincides with the straight line L1. However, the straight lines L2 and L1 do not necessarily need to coincide with each other in terms of design. When the straight lines L2 and L1 do not coincide with each other, it is preferable that the distance between the straight lines L2 and L1 is small.

[0052] Although not shown, the lifting unit 4 may not have a pantograph. The form of the lifting unit 4 is not particularly limited as long as it can move the lifting base part 3 in the up-down direction DA relative to the base part 2. A ball screw may be used for the lifting unit 4. In this case, the ball screw has a screw shaft extending in the up-down direction DA and a nut meshing with the screw shaft. When one of the screw shaft and the nut is rotated relative to the other, the positional relationship between the screw shaft and the nut in the up-down direction DA in which the screw shaft extends changes. For this reason, by fixing the base part 2 to one of the screw shaft and the nut and the lifting base part 3 to the other, the lifting base part 3 can be moved in the up-down direction DA relative to the base part 2 using a ball screw. In this case, the ball screw may be driven by a motor. In addition, the lifting unit 4 may move the lifting base part 3 in the up-down direction DA relative to the base part 2 using hydraulic pressure or pneumatic pressure. In this case, the lifting unit 4 may have a mast fixed to the base part 2 and extending in the up-down direction DA. In this case, the lifting base part 3 can be raised and lowered by moving the lifting base part 3 along the mast by hydraulic or pneumatic pressure.

[0053] The delivery unit 5 is a portion that has the forks 51 and delivers and receives luggage. In this embodiment, the delivery unit 5 further has a delivery lifting unit 52 that raises and lowers the forks 51 relative to the lifting base unit 3, and a mast 53 that houses the delivery lifting unit 52.

[0054] The forks 51 are parts that support luggage. The shape of the forks 51 is not particularly limited as long as it can support luggage. In the example shown in Fig. 1A, the forks 51 are two flat plate-like members that protrude forward SB1 in the front-rear direction DB.

[0055] The transfer lifting section 52 is a section that lifts and lowers the fork 51 relative to the lifting base section 3. The mast 53 is a section that houses the transfer lifting section 52. In the example shown in FIG. 1A, the mast 53 houses a part of the transfer lifting section 52. In the example shown in FIG. 1A, the end 51a at the rear SB2 of the fork 51 is connected to the transfer lifting section 52. The mast 53 has a pair of linear grooves 54 that extend in the up-down direction DA and are aligned in the vehicle width direction DC. In the example shown in FIG. 1A, a part of both ends of the transfer lifting section 52 in the vehicle width direction DC is housed in the pair of linear grooves 54 of the mast 53 so that the transfer lifting section 52 can slide relative to the mast 53. The transfer lifting section 52 lifts and lowers the fork 51 relative to the lifting base section 3 by sliding relative to the mast 53. As an example, the transfer lifting section 52 slides relative to the mast 53 by being driven hydraulically, pneumatically, or electrically (for example, a combination of a motor and a ball screw, etc.).

[0056] In this embodiment, the delivery lifting unit 52 can lift the fork 51 between a position SA1 above the upper surface 3c of the lift base unit 3 and a position SA2 below the upper surface 3c. FIG. 4 is a perspective view showing another state of the dolly 1 of this embodiment different from that shown in FIGS. 1A, 1B, and 3. In the example shown in FIG. 4, the fork 51 is located at SA2 below the upper surface 3c of the lift base unit 3. In the example shown in FIG. 3, the fork 51 is located at SA1 above the upper surface 3c of the lift base unit 3. The delivery lifting unit 52 can change the positional relationship of the fork 51 with respect to the lift base unit 3 between the positional relationship shown in FIG. 3 and the positional relationship shown in FIG. 4. When the upper surface 3c of the lift base unit 3 is not a plane perpendicular to the vertical direction DA, the position of the portion located at the center position P1 of the upper surface 3c is determined in the vertical direction DA.

[0057] Since the delivery section 5 has the delivery lifting section 52, the forks 51 can be moved to a position that cannot be reached by lifting the lifting base section 3 by the lifting unit 4. In this embodiment, the delivery lifting section 52 can lift the forks 51 between a position SA1 above the upper surface 3c of the lifting base section 3 and a position SA2 below the upper surface 3c. This allows the forks 51 to be moved to a position SA2 below the upper surface 3c of the lifting base section 3, and the forks 51 to support a load located at SA2 below the upper surface 3c.

[0058] In the example shown in Fig. 4, the lifting unit 4 moves the lifting base part 3 to the lowest position SA2 to which it can be moved. In this state, the delivery lifting part 52 may be able to move the forks 51 to a position SA2 below the end of the upper SA1 of the base part 2 in the vertical direction DA. In a state in which the dolly 1 is placed on a flat floor surface F and the lifting unit 4 moves the lifting base part 3 to the lowest position SA2 to which it can be moved, the delivery lifting part 52 may be able to move the forks 51 so as to come into contact with the floor surface F. This allows the forks 51 to support luggage located further down SA2, particularly luggage located near the floor surface F.

[0059] The effect of the delivery lifting unit 52 will be further described. The cart 1 of this embodiment includes a base unit 2 and a lifting base unit 3. Consider a case where the fork 51 cannot move to a position SA2 below the upper surface 3c of the lifting base unit 3. In this case, an area where the fork 51 cannot move is generated in the lower SA2 in the vertical direction DA by at least the total length of the dimension of the base unit 2 and the dimension of the lifting base unit 3 in the vertical direction DA. In this embodiment, the delivery lifting unit 52 can prevent the area where the fork 51 cannot move in the lower SA2 from becoming wider while using the cart 1 including the base unit 2 and the lifting base unit 3.

[0060] The moving unit 6 is a part that moves the transfer section 5 relative to the lift base section 3 in the front-rear direction DB in which the forks 51 extend. In this embodiment, the moving unit 6 can change the positional relationship of the transfer section 5 relative to the lift base section 3 between the positional relationship shown in FIG. 1A and the positional relationship shown in FIG. 3. The moving unit 6 can move the transfer section 5 between a position where the entire fork 51 is located forward SB1 from the lift base section 3 and a position where at least a part of the fork 51 overlaps with the lift base section 3 in the up-down direction DA. In the state shown in FIG. 1A, the moving unit 6 moves the transfer section 5 to a position where the entire fork 51 overlaps with the lift base section 3 in the up-down direction DA. In the state shown in FIG. 3, the moving unit 6 moves the transfer section 5 to a position where the entire fork 51 is located forward SB1 from the base section 2.

[0061] The form of the moving unit 6 is not particularly limited as long as it can move the transfer unit 5 relative to the lift base 3 in the front-rear direction DB in which the fork 51 extends. In the example shown in FIG. 1A, the moving unit 6 has a cylinder. In this case, the moving unit 6 moves the transfer unit 5 relative to the lift base 3 by being driven by hydraulic or pneumatic pressure of the cylinder. A ball screw may be used for the moving unit 6. In this case, the ball screw has a screw shaft extending in the front-rear direction DB and a nut meshing with the screw shaft. When one of the screw shaft and the nut is rotated relative to the other, the positional relationship between the screw shaft and the nut in the front-rear direction DB in which the screw shaft extends changes. Therefore, by fixing the lift base 3 to one of the screw shaft and the nut and the transfer unit 5 to the other, the transfer unit 5 can be moved relative to the lift base 3 using the ball screw. In this case, the ball screw may be driven by a motor.

[0062] In this embodiment, the moving unit 6 moves the entire transfer section 5 having the fork 51 and the transfer lifting section 52 in the front-rear direction DB relative to the lifting base section 3. In this embodiment, the moving unit 6 moves the transfer section 5 and the mast 53 together in the front-rear direction DB relative to the lifting base section 3. The moving unit 6 can move the transfer section 5 in the front-rear direction DB relative to the lifting base section 3 in a state in which the transfer lifting section 52 supports the fork 51 at a position SA1 above the upper surface 3c of the lifting base section 3.

[0063] Fig. 5 is a perspective view showing the vicinity of the moving unit 6 of the cart 1 observed from the rear SB2 in a state in which the transfer section 5 and the mast 53 have been moved forward SB1 by the moving unit 6 from the state shown in Fig. 1A and Fig. 1B. Fig. 6 is a plan view showing the cart 1 in the state shown in Fig. 1A and Fig. 1B observed from above SA1 in the up-down direction DA. In Fig. 6, the transfer section 5 and the mast 53 are omitted from illustration.

[0064] 5 and 6, the moving unit 6 has, as cylinders, a first cylinder 61 connected to the lifting base 3, a second cylinder 62 connected to the transfer unit 5, and a connection unit 63 connected to the first cylinder 61 and the second cylinder 62. The first cylinder 61 moves the connection unit 63 in the front-rear direction DB relative to the lifting base 3. The second cylinder 62 moves the transfer unit 5 in the front-rear direction DB relative to the connection unit 63. By such operations of the first cylinder 61 and the second cylinder 62, the transfer unit 5 can be moved in the front-rear direction DB relative to the lifting base 3.

[0065] 5 and 6, the moving unit 6 has two first cylinders 61. The moving unit 6 also has one second cylinder 62. The second cylinder 62 is located between the two first cylinders 61 in the vehicle width direction DC. The first cylinder 61 and the second cylinder 62 both extend in the front-rear direction DB.

[0066] The first cylinder 61 has a cylindrical first cylinder body 61a extending in the front-rear direction DB and a rod-shaped first rod 61b extending in the front-rear direction DB. One end of the first rod 61b is accommodated inside the first cylinder body 61a. In this case, as an example, the first rod 61b is driven by hydraulic pressure or pneumatic pressure to move along the inner wall of the first cylinder body 61a, thereby changing the overall length of the first cylinder 61 in the front-rear direction DB. The second cylinder 62 has a cylindrical second cylinder body 62a extending in the front-rear direction DB and a rod-shaped second rod 62b extending in the front-rear direction DB. At least one end of the second rod 62b is accommodated inside the second cylinder body 62a. In this case, as an example, the second rod 62b is driven by hydraulic pressure or pneumatic pressure to move along the inner wall of the second cylinder body 62a, thereby changing the overall length of the second cylinder 62 in the front-rear direction DB.

[0067] In this embodiment, the first cylinder body 61a is directly connected to the lifting base part 3. The connection part 63 is connected to one end of the first rod 61b that is not accommodated in the first cylinder body 61a. As a result, the first rod 61b is moved along the inner wall of the first cylinder body 61a, so that the connection part 63 can be moved relative to the lifting base part 3. The connection part 63 is also directly connected to the second cylinder body 62a. The second rod 62b is connected to the mast 53. As described above, both ends of the delivery lifting part 52 in the vehicle width direction DC are accommodated in the pair of linear grooves 54 of the mast 53. As a result, the mast 53 is connected to the delivery lifting part 52 of the delivery part 5. As described above, the second rod 62b is connected to the delivery part 5 via the mast 53. As a result, the delivery part 5 and the mast 53 can be moved relative to the connection part 63 by moving the second rod 62b along the inner wall of the second cylinder body 62a.

[0068] Providing the moving unit 6 with the first cylinder 61 and the second cylinder 62 provides the following effect. The transfer unit 5 can be moved relative to the lifting base unit 3 by an amount equal to the total of the amount of change in length of the first cylinder 61 in the front-rear direction DB and the amount of change in length of the second cylinder 62 in the front-rear direction DB. This makes it possible to move the transfer unit 5, for example, between a position where the entire fork 51 is located forward SB1 of the base unit 2 and a position where the entire fork 51 overlaps with the lifting base unit 3 in the up-down direction DA.

[0069] In this embodiment, the lifting base 3 has a pair of second linear grooves 35 extending in the front-rear direction DB and aligned in the vehicle width direction DC. Parts of both ends of the mast 53 in the vehicle width direction DC are accommodated in the pair of second linear grooves 35 of the lifting base 3 so that the mast 53 can slide relative to the lifting base 3. The part of the mast 53 accommodated in the pair of second linear grooves 35 is referred to as a mast guide portion 531. When the moving unit 6 moves the transfer portion 5 and the mast 53 in the front-rear direction DB, the mast guide portion 531 slides along the pair of second linear grooves 35. The pair of second linear grooves 35 and the mast guide portion 531 provide the following effects. When the moving unit 6 moves the transfer portion 5 and the mast 53 in the front-rear direction DB, the movement of the transfer portion 5 and the mast 53 can be guided by the pair of second linear grooves 35 and the mast guide portion 531.

[0070] Although not shown, the cart 1 may have a sensor that detects the transfer position 11. If the cart 1 has a sensor, the sensor may detect the transfer position 11 by detecting the position of the tip-prevention platform 12, or may detect the transfer position 11 by detecting the position of the object A. By having the sensor in the cart 1, the cart 1 can pass a load from the cart 1 to the object A at the transfer position 11, or the cart 1 can receive a load from the object A on the object A, by running the cart 1 to the transfer position 11 detected by the sensor.

[0071] Next, the object A will be described. The object A is an object to which a load is handed over from the dolly 1 located at the transfer position 11, or a load placed on the object A is received by the dolly 1 located at the transfer position 11. FIG. 7 is a perspective view showing the object A together with the conveying device 100. FIG. 7 particularly shows the object A, the dolly 1, and the guiding device 10 when the dolly 1 receives the load B placed on the object A. In the example shown in FIG. 7, the lifting unit 4 holds the lifting base part 3 at the upper SA1 in the vertical direction DA. As a result, the dolly 1 lifts the load B to the upper SA1. Also, in the example shown in FIG. 7, the entire fork 51 is located forward SB1 of the base part 2. Also, the fork 51 supports the load B.

[0072] The object A is an article on which a package B can be placed. In the example shown in FIG. 7, the surface of the object A on which the package B is placed is located at SA1 above the floor surface F in the vertical direction DA. In the example shown in FIG. 7, the object A is a desk. The object A may be a shelf. The object A may be the bed of a vehicle such as a car. The object A may be the bed of a truck. When the object A is the bed of a vehicle, the transfer position 11 is determined as follows. Consider a case where a vehicle having a bed, which is the object A, stops at an expected stopping position. In this case, the position of the cart 1 at which the package B can be handed over from the cart 1 to the bed or the package B on the bed can be received by the cart 1 is determined as the transfer position 11.

[0073] The guiding device 10 will be described. The guiding device 10 guides the trolley 1 to a transfer position 11 where the trolley 1 can transfer the luggage B onto the object A on which the luggage B is placed, or where the trolley 1 can receive the luggage B from the object A. The guiding device 10 includes an anti-tip platform 12 that supports the trolley 1 located at the transfer position 11. The anti-tip platform 12 is disposed in a specific positional relationship with the object A, and determines the transfer position 11 for the trolley 1. For this reason, it can be said that the anti-tip platform 12 determines the transfer position 11 and guides the trolley 1 to the transfer position 11.

[0074] FIG. 8 is a perspective view showing only the tip-prevention platform 12 of the conveying device 100 shown in FIG. 7. In the example shown in FIG. 8, the tip-prevention platform 12 has a pair of protrusions 121. The pair of protrusions 121 horizontally sandwich at least a part of the dolly 1 located at the transfer position 11. In the example shown in FIG. 8, the tip-prevention platform 12 has a pair of protrusions 121 and a main body 122 connecting the pair of protrusions 121. Therefore, in the example shown in FIG. 7, the dolly 1 located at the transfer position 11 faces the main body 122 and the pair of protrusions 121 of the tip-prevention platform 12 in the horizontal direction. In the example shown in FIG. 7, the dolly 1 faces the main body 122 at the front SB1 in the front-rear direction DB. The dolly 1 faces one of the pair of protrusions 121 at the first side SC1 in the vehicle width direction DC. The bogie 1 faces the other of the pair of protruding portions 121 on the second side SC2 in the vehicle width direction DC.

[0075] The tip-prevention platform 12 has an upper surface 123. The upper surface 123 is a surface on an upper side SA1 in the up-down direction DA of the tip-prevention platform 12. In the example shown in Fig. 8, the upper surface 123 is a surface perpendicular to the up-down direction DA.

[0076] In the example shown in FIG. 8, the tip-prevention platform 12 has a power supply mechanism 124 that supplies power to the cart 1 located at the transfer position 11. As an example, the power supply mechanism 124 supplies power to the cart 1, which is used for traveling and transferring the baggage B. The tip-prevention platform 12 may perform non-contact power supply to the cart 1. The tip-prevention platform 12 may have a contact part that contacts the cart 1 located at the transfer position 11 and supply power to the cart 1 through the contact part. By having the power supply mechanism 124, the tip-prevention platform 12 can supply power to the cart 1 while operating the conveying device 100. If the cart 1 is driven by electricity and it is not possible to supply power to the cart 1 while operating the conveying device 100, it becomes necessary to mount a large battery with a large capacity on the cart 1 in order to keep the conveying device 100 operating continuously for a long time. In contrast, by being able to supply power to the carriage 1 while the transporting device 100 is in operation, the battery mounted on the carriage 1 can be made smaller while the transporting device 100 is being operated.

[0077] As an example, the tip-prevention platform 12 supports the cart 1 located at the transfer position 11 on the upper surface 123. FIG. 9 is a side view showing the cart 1 and tip-prevention platform 12 in the state shown in FIG. 7, observed from the first side SC1 of the cart 1. In the example shown in FIG. 9, the tip-prevention platform 12 is in contact with the cart 1 located at the transfer position 11 on the upper surface 123. In the example shown in FIG. 9, the tip-prevention platform 12 supports the cart 1 by contacting the cart 1 located at the transfer position 11 on the upper surface 123. This allows the tip-prevention platform 12 to prevent the cart 1 located at the transfer position 11 from tipping over. The tip-prevention platform 12 "supporting" the cart 1 includes the tip-prevention platform 12 supporting the cart 1 by contacting the cart 1, as shown in FIG. 9. The anti-tip platform 12 "supports" the trolley 1 also includes a case where the anti-tip platform 12 is in close proximity to the trolley 1 with a small gap therebetween, so that if the trolley 1 tilts, the anti-tip platform 12 immediately comes into contact with the trolley 1 to correct the tilt of the trolley 1. The above-mentioned state is called a proximity state. That is, the anti-tip platform 12 may support the trolley 1 by contacting the trolley 1, or may support the trolley 1 by being in a proximity state without contacting the trolley 1. As described later, when turning the trolley 1, it is preferable that the anti-tip platform 12 supports the trolley 1 by being in a proximity state, from the viewpoint of supporting the trolley 1 while suppressing the generation of friction between the trolley 1 and the anti-tip platform 12. When the anti-tip platform 12 is in a proximity state, the distance between the anti-tip platform 12 and the trolley 1 is, for example, 3 mm or more and 12 mm or less. When the tip-prevention platform 12 is in the proximity state, the distance between the tip-prevention platform 12 and the cart 1 may be 0.1 mm or more and 3 mm or less, or 12 mm or more and 40 mm or less.

[0078] As described above, the dolly 1 has a lower portion 1a and an upper portion 1b. As shown in Fig. 9, the lower portion 1a of the dolly 1 located at the transfer position 11 overlaps with the tip-prevention platform 12 in the horizontal direction. The upper portion 1b of the dolly 1 located at the transfer position 11 does not overlap with the tip-prevention platform 12 in the horizontal direction. As described above, the upper portion 1b has a dolly protruding portion 1c that protrudes horizontally from the lower portion 1a. The dolly protruding portion 1c has a lower surface 1d.

[0079] 9, the anti-tip platform 12 supports, at its upper surface 123, the underside 1d of the cart protruding portion 1c of the cart 1 positioned at the transfer position 11. In particular, the anti-tip platform 12 contacts, at its upper surface 123, the underside 1d of the cart protruding portion 1c of the cart 1 positioned at the transfer position 11.

[0080] As described above, the tip-prevention platform 12 has a pair of protrusions 121. Therefore, the cart 1 located at the transfer position 11 faces the main body 122 and the pair of protrusions 121 of the tip-prevention platform 12 in the horizontal direction. As a result, the tip-prevention platform 12 supports the lower surface 1d of the cart protrusion 1c of the cart 1 at the portion of the upper surface 123 located at the main body 122 and the portion of the upper surface 123 located at the pair of protrusions 121. As described above, the tip-prevention platform 12 is supported on the side of the cart 1 facing the main body 122, and the tip-prevention platform 12 is supported on the side of the cart 1 facing the pair of protrusions 121. In this way, according to the tip-prevention platform 12 having the pair of protrusions 121, the tip-prevention platform 12 can support the cart 1 from multiple directions. As a result, the tip-prevention platform 12 can support the cart 1 more stably.

[0081] 9, the dolly 1 is located at the transfer position 11 and faces the target object A at a front side SB1 in the front-rear direction DB. At this time, the tip-over prevention platform 12 supports at least a part of the front side SB1 of the dolly 1.

[0082] Fig. 10 is a diagram showing a cross section of the dolly 1 and the tip-prevention platform 12 shown in Fig. 9 taken along line XX. In Fig. 10, the internal structure of the dolly 1 and the tip-prevention platform 12 is omitted, and only the outline of the cross section is shown. The dashed line 1g1 shown in Fig. 10 shows an example of the position of the outline of the part (also called the upper base part 24) of the base part 2 that constitutes the upper part 1b of the dolly 1, when observed from the up-down direction DA. The dashed line 1g2 shown in Fig. 10 shows the position of the outline of the upper base part 24, when observed from the up-down direction DA, when the dolly 1 is rotated from the state in which the upper base part 24 is located at the position of the dashed line 1g1.

[0083] In the example shown in Fig. 10, the anti-tip platform 12 allows the trolley 1 located at the transfer position 11 to rotate about a rotation axis C3 that passes through the inside of the trolley 1 and is perpendicular to the horizontal direction. "The anti-tip platform 12 allows the trolley 1 to rotate about its rotation axis C3" can be rephrased as follows. Consider a case where the trolley 1 is located at a position where it can deliver luggage B from the trolley 1 to an object A on which luggage B is placed, or where it can receive luggage B from the object A by the trolley 1. In this case, the anti-tip platform 12 has a shape that can be arranged to support the trolley 1 while allowing the trolley 1 to rotate about its rotation axis C3.

[0084] When the tip-prevention platform 12 allows the cart 1 located at the transfer position 11 to rotate about the rotation axis C3, the transfer position 11 may be determined at a position where the rotation of the cart 1 is not hindered by the object A. The transfer position 11 may also be determined at a position where the rotation of the cart 1 is not hindered by the guide device 10 around the cart 1 and objects other than the object A. As an example, when the conveyance device 100 is disposed in a warehouse, the transfer position 11 is determined at a position where the rotation of the cart 1 is not hindered by the walls of the warehouse.

[0085] The characteristics of the tip-prevention platform 12 that allows the trolley 1 located at the transfer position 11 to rotate will be described in more detail. The minimum horizontal distance between the rotation axis C3 of the trolley 1 located at the transfer position 11 and the tip-prevention platform 12 in the range in which the tip-prevention platform 12 is located in the vertical direction DA (the range in which the lower part 1a of the trolley 1 is located) is defined as a distance w4. The maximum horizontal distance between the rotation axis C3 of the trolley 1 located at the transfer position 11 and the end 1e of the trolley 1 in the range in which the tip-prevention platform 12 is located in the vertical direction DA is defined as a distance w5. In this case, the distance w4 is equal to or greater than the distance w5. By the distance w4 being equal to or greater than the distance w5, the tip-prevention platform 12 can allow the trolley 1 located at the transfer position 11 to rotate about the rotation axis C3.

[0086] 10, the anti-tip platform 12 has a curved surface 13 that is the same horizontal distance w3 from the swivel axis C3 of the cart 1 located at the transfer position 11. The curved surface 13 has a shape that corresponds to the shape of a part of the side of a cylinder whose central axis is the swivel axis C3 and whose bottom radius is equal to the distance w3. This allows the anti-tip platform 12 to allow the cart 1 located at the transfer position 11 and whose distance w5 is equal to or less than the distance w3 to rotate about the swivel axis C3.

[0087] As described above, in this embodiment, the center position P1 of the base part 2 overlaps with the swivel axis C3 when observed from the up-down direction DA. Also, the center position P1 of the base part 2 overlaps with the geometric center of the circle formed by the contour 1f of the lower part 1a when observed from the up-down direction DA. Therefore, the swivel axis C3 overlaps with the geometric center of the circle formed by the contour 1f of the lower part 1a when observed from the up-down direction DA. This allows the dolly 1 to rotate around the geometric center of the circle formed by the contour 1f of the lower part 1a. In this case, the distance w5 corresponds to the radius of the circle formed by the contour 1f of the lower part 1a. Since the contour 1f forms a circle and the swivel axis C3 overlaps with the geometric center of the circle formed by the contour 1f when observed from the up-down direction DA, the volume of the lower part 1a can be increased while keeping the distance w5 small. By keeping the distance w5 small, the anti-toppling platform 12 is more likely to permit the trolley 1 to turn about the turning axis C3. By increasing the volume of the lower portion 1a, a space for accommodating various mechanisms can be secured in the lower portion 1a. For example, a space for accommodating the fixed wheels 21 and the driving wheels 22 can be secured in the lower portion 1a. Also, a space for accommodating a mechanism for driving the driving wheels 22, such as a motor, can be secured in the lower portion 1a.

[0088] The maximum distance in the horizontal direction between the swivel axis C3 of the dolly 1 located at the transfer position 11 and the contour of the upper base part 24 is defined as distance L7. The maximum distance in the horizontal direction between the swivel axis C3 of the dolly 1 located at the transfer position 11 and the contour 12a of the tip-prevention platform 12 observed from the up-down direction DA is defined as distance L8. Of the contour 12a of the tip-prevention platform 12 observed from the up-down direction DA, the part that forms the contour of the main body part 122 and is located on the opposite side to the side facing the lower part 1a of the dolly 1 located at the transfer position 11 is referred to as the outer contour 12b. The minimum distance in the horizontal direction between the swivel axis C3 of the dolly 1 located at the transfer position 11 and the outer contour 12b is defined as distance L9. In this case, it is preferable that the distance L7 is smaller than the distance L8. It is particularly preferable that the distance L7 is smaller than the distance L9. Because the distance L7 is smaller than the distance L9, when the dolly 1 located at the transfer position 11 rotates about the rotation axis C3, the upper base part 24 is prevented from protruding from the outer contour 12b when observed from the up-down direction DA. This makes it possible to prevent the upper base part 24 from protruding from the outer contour 12b and coming into contact with objects around the dolly 1, such as the object A, when the dolly 1 is rotated. For example, when the object A is the bed of a truck, it is possible to prevent the upper base part 24 from coming into contact with the truck.

[0089] The operation of the conveying device 100 of this embodiment will be described. First, the operation of the conveying device 100 will be described when the dolly 1 in the state shown in FIG. 4 receives the baggage B placed on the object A by the dolly 1 and conveys it to the floor surface F away from the transfer position 11. First, the drive wheels 22 are driven to run the dolly 1, and the dolly 1 is moved to the transfer position 11. At this time, if the dolly 1 has a sensor that detects the transfer position 11, the transfer position 11 may be detected by the sensor, and the dolly 1 may be moved to the detected transfer position 11. Next, the lifting unit 4 moves the lifting base part 3 upward SA1. Next, the moving unit 6 moves the transfer part 5 to a position where the entire fork 51 is located SB1 forward of the base part 2. As a result, the fork 51 is brought close to the baggage B, and the fork 51 supports the baggage B. As a result, the dolly 1 is in the state shown in FIG. 7.

[0090] Next, the transfer unit 5 is moved by the moving unit 6 to a position where the entire fork 51 overlaps with the lifting base part 3 in the vertical direction DA. Next, the lifting unit 4 moves the lifting base part 3 downward SA2. This brings the cart 1 into the state shown in FIG.

[0091] Next, the second rotation axis C2 of the multiple drive wheels 22 is driven to rotate around point C4. As a result, the second rotation axis C2 of the multiple drive wheels 22 is oriented in a direction that allows the bogie 1 to rotate around the rotation axis C3. Next, the multiple drive wheels 22 are rotated on the second rotation axis C2 to rotate the bogie 1 around the rotation axis C3. As a result, the bogie 1 is in the state shown in FIG. 12. By rotating the bogie 1 by 180° in the rotation direction DD from the state shown in FIG. 11, the bogie 1 is in the state shown in FIG. 12.

[0092] As described above, the tip-over prevention platform 12 allows the cart 1 located at the transfer position 11 to rotate about the rotation axis C3. This allows the cart 1 to rotate on the spot without moving when it is located at the transfer position 11 as shown in FIG.

[0093] Next, the second rotation axes C2 of the multiple drive wheels 22 are driven to rotate about the point C4. As a result, the second rotation axes C2 of the multiple drive wheels 22 are oriented in a direction that allows the bogie 1 to travel in a desired direction. As an example, each of the second rotation axes C2 of the multiple drive wheels 22 is oriented in a direction parallel to the vehicle width direction DC. As a result, the bogie 1 can be traveled forward SB1 in the fore-and-aft direction DB.

[0094] Next, the drive wheels 22 are rotated on the second rotation axis C2 to drive the dolly 1 to a position to which the luggage B should be transferred. Next, the luggage B is transferred from the dolly 1 to a position to which the luggage B should be transferred. When transferring the luggage B onto the floor surface F away from the transfer position 11 as described above, first, the transfer unit 5 is moved by the moving unit 6 to a position where the entire fork 51 is located forward SB1 from the base unit 2. Next, the transfer lifting unit 52 moves the fork 51 downward SA2. At this time, the transfer lifting unit 52 moves the fork 51 to a position suitable for transferring the luggage B onto the floor surface F. As a result, as shown in FIG. 13, the luggage B can be transferred onto the floor surface F away from the transfer position 11. Although not shown, the tip-over prevention platform 12 may be used to prevent the dolly 1 from tipping over when transferring the luggage B from the dolly 1 onto the floor surface F. In addition, when the dolly 1 receives the baggage B on the floor surface F, the tip-over prevention platform 12 may be used to prevent the dolly 1 from tipping over. That is, the object A on which the baggage is placed may be the floor surface F. In this case, the tip-over prevention platform 12 may be designed to allow the fork 51 to move close to the floor surface F in order to transfer the baggage B from the dolly 1 to the floor surface F or to allow the dolly 1 to receive the baggage B on the floor surface F while preventing the dolly 1 from tipping over using the tip-over prevention platform 12. For example, the tip-over prevention platform 12 may be provided with a slit that allows the movement of the fork 51 or a part that moves in the up-down direction DA together with the fork 51 or the fork 51 of the dolly 1. A part of the upper surface 123 of the tip-over prevention platform 12 may be located lower SA2 in the up-down direction DA than another part of the upper surface 123 so that the movement of the fork 51 or a part that moves in the up-down direction DA together with the fork 51 or the fork 51 of the dolly 1 is allowed.

[0095] The operation of the conveying device 100 when transferring the cargo B from the dolly 1 onto the object A will be described. First, with the cargo B supported by the forks 51 of the dolly 1, the drive wheels 22 are driven to move the dolly 1 to the transfer position 11. This brings the dolly 1 into the state shown in FIG. 11. Next, the lifting unit 4 moves the lifting base section 3 upward SA1. Next, the moving unit 6 moves the transfer section 5 forward SB1. This allows the cargo B to be transferred from the dolly 1 onto the object A.

[0096] Here, the guiding device 10 of this embodiment includes a tip-over prevention platform 12 that supports the cart 1 located at the transfer position 11. For this reason, as shown in, for example, FIG. 7, FIG. 11, and FIG. 12, when the cart 1 is located at the transfer position 11 in the process of transferring the baggage B from the cart 1 to the object A or receiving the baggage B from the object A by the cart 1, the tip-over of the cart 1 can be prevented. According to the guiding device 10 of this embodiment, even if the cart 1 does not have a mechanism for preventing the cart 1 from tipping over, such as an outrigger, the tip-over of the cart 1 can be prevented by the tip-over prevention platform 12. As a result, the cost required for manufacturing the conveying device 100 can be kept low by using the cart 1 that does not have a mechanism for preventing the cart 1 from tipping over, while preventing the cart 1 from tipping over.

[0097] 7, in a state where the lifting unit 4 holds the lifting base 3 at the upper SA1 in the vertical direction DA, the center of gravity of the cart 1 is located at the upper SA1, so that the cart 1 is likely to become unstable. Even in such a state, the guiding device 10 of this embodiment can stably prevent the cart 1 from tipping over.

[0098] In addition, as shown in FIG. 7, it is also assumed that the surface on which the luggage B of the object A is placed is located at an upper SA1 in the vertical direction DA than the floor surface F. In this case, when the luggage B is handed over from the cart 1 to the object A or the luggage B on the object A is received by the cart 1, the cart 1 lifts the luggage B to the upper SA1. As shown in FIG. 7, when the cart 1 lifts the luggage B to the upper SA1, the center of gravity of the luggage B is located at the upper SA1, so the cart 1 is likely to become unstable. Even in such a state, the guiding device 10 of this embodiment can stably prevent the cart 1 from tipping over.

[0099] Also, as shown in FIG. 7, when the entire fork 51 is located at SB1 forward of the base unit 2 and the fork 51 is supporting the baggage B, the center of gravity of the baggage B is located at SB1 forward of the base unit 2, so the cart 1 is likely to tip over to the front SB1. Here, the tip-over prevention platform 12 supports at least a part of the front SB1 of the cart 1. According to the guiding device 10 of this embodiment, the cart 1 can be stably prevented from tipping over to the front SB1. Here, in both the operation of transferring the baggage B from the cart 1 onto the object A and the operation of receiving the baggage B on the object A by the cart 1, the state in which the fork 51 supports the baggage B at SB1 forward of the base unit 2 as shown in FIG. 7 is passed through. According to the guiding device 10 of this embodiment, the cart 1 can be stably prevented from tipping over in the state shown in FIG. 7. This allows the cart 1 to be stably prevented from tipping over when transferring the baggage B from the cart 1 onto the object A or receiving the baggage B on the object A by the cart 1.

[0100] The guidance device 10 of the present embodiment described above guides the trolley 1, which delivers and receives the luggage B, to a delivery position 11 where the luggage B can be delivered from the trolley 1 to the object A on which the luggage B is placed, or the luggage B on the object A can be received by the trolley 1. The guidance device 10 includes a tip-over prevention platform 12 that supports the trolley 1 located at the delivery position 11. As a result, the trolley 1 can be prevented from tipping over.

[0101] In this embodiment, the tip-prevention platform 12 has a pair of protrusions 121 that horizontally sandwich at least a portion of the cart 1 located at the transfer position 11. This allows the tip-prevention platform 12 to support the cart 1 from multiple directions. This allows the tip-prevention platform 12 to support the cart 1 more stably.

[0102] In this embodiment, the tip-prevention platform 12 supports the dolly 1 located at the transfer position 11 on the upper surface 123. This allows the tip-prevention platform 12 to support the dolly 1 more stably.

[0103] In this embodiment, the tip-prevention platform 12 has a power supply mechanism 124 that supplies power to the cart 1 located at the transfer position 11. This makes it possible to supply power to the cart 1 while the transport device 100 is operating.

[0104] In this embodiment, the tip-over prevention platform 12 allows the trolley 1, located at the transfer position 11, to rotate about a rotation axis C3 that passes through the inside of the trolley 1 and is perpendicular to the horizontal direction. This allows the trolley 1 to rotate on the spot without moving when the trolley 1 is located at the transfer position 11 in the process of transferring baggage B from the trolley 1 to object A or receiving baggage B from object A by the trolley 1.

[0105] In this embodiment, the tip-prevention platform 12 has a curved surface 13 that has a horizontal distance w3 equal to the rotation axis C3 of the cart 1 located at the transfer position 11. This allows the tip-prevention platform 12 to allow the cart 1 located at the transfer position 11 to rotate around the rotation axis C3 that passes through the inside of the cart 1 and is perpendicular to the horizontal direction.

[0106] The conveyance device 100 of this embodiment includes a dolly 1 for delivering and receiving luggage B, and a guidance device 10 for guiding the dolly 1 to a delivery position 11 where the dolly 1 can deliver luggage B to an object A on which the luggage B is placed, or where the dolly 1 can receive luggage B from the object A. The guidance device 10 has an anti-tip platform 12 for supporting the dolly 1 located at the delivery position 11. As described above, the anti-tip platform 12 can prevent the dolly 1 from tipping over.

[0107] In this embodiment, the dolly 1 can rotate about a rotation axis C3 that passes through the inside of the dolly 1 and is perpendicular to the horizontal direction. In the range in which the tip-prevention platform 12 is located in the up-down direction DA, the minimum distance w4 in the horizontal direction between the rotation axis C3 of the dolly 1 located at the transfer position 11 and the tip-prevention platform 12 is equal to or greater than the maximum distance w5 in the horizontal direction between the rotation axis C3 and the end 1e of the dolly 1. This allows the tip-prevention platform 12 to allow the dolly 1 located at the transfer position 11 to rotate about the rotation axis C3.

[0108] In this embodiment, the dolly 1 can rotate around a rotation axis C3 that passes through the inside of the dolly 1 and is perpendicular to the horizontal direction. The dolly 1 has a base part 2, two fixed wheels 21 that are provided on the base part 2 and sandwich the rotation axis C3 in the horizontal direction, and a plurality of drive wheels 22 that are provided on the base part 2. Each of the two fixed wheels 21 can rotate on a first rotation axis C1. Each of the first rotation axes C1 is located on a straight line that passes through the rotation axis C3 and is fixed to the base part 2. Each of the plurality of drive wheels 22 is driven to rotate on a second rotation axis C2 by inputting rotation. Each of the second rotation axes C2 is driven to rotate in a rotation direction parallel to the horizontal direction with respect to the base part 2. As a result, by driving each of the second rotation axes C2 to rotate in a rotation direction parallel to the horizontal direction with respect to the base part 2, the direction in which the dolly 1 travels can be adjusted.

[0109] Although the present embodiment has been described using specific examples, these specific examples do not limit the present embodiment. The above-described present embodiment can be implemented using various other specific examples, and various omissions, substitutions, changes, and additions can be made without departing from the spirit of the present embodiment.

[0110] An example of the modification will be described below with reference to the drawings. In the following description and the drawings used in the following description, parts that can be configured similarly to the above-mentioned specific example will be designated by the same reference numerals as those used for the corresponding parts in the above-mentioned specific example, and duplicated descriptions will be omitted.

[0111] (Variation 1) In the above embodiment, an example has been described in which the tip-prevention platform 12 allows the carriage 1 located at the transfer position 11 to rotate about the rotation axis C3. However, the tip-prevention platform 12 does not have to allow the carriage 1 located at the transfer position 11 to rotate about the rotation axis C3. FIG. 14 shows an example of a conveying device 100 of Modification 1. FIG. 14 is a diagram showing a cross section of the carriage 1 located at the transfer position 11 and the tip-prevention platform 12 cut by a plane perpendicular to the up-down direction DA passing through the lower part 1a of the carriage 1. In FIG. 14, the internal structures of the carriage 1 and the tip-prevention platform 12 are omitted, and only the outlines of the cross sections are shown.

[0112] In the example shown in Fig. 14, the lower part 1a has a rectangular outline 1f when observed from the up-down direction DA. In the example shown in Fig. 14, the above-mentioned distance w4 is smaller than the above-mentioned distance w5. For this reason, the tip-prevention platform 12 does not allow the cart 1 located at the transfer position 11 to turn about the turning axis C3.

[0113] When the tip-over prevention platform 12 of the first modification is used, the dolly 1 is moved to the transfer position 11 by the following method, and the dolly 1 can deliver the baggage B onto the object A or receive the baggage B on the object A by the dolly 1. First, the dolly 1 is rotated about the rotation axis C3 at a position away from the transfer position 11 to adjust the orientation of the dolly 1. At this time, the orientation of the dolly 1 is adjusted to an orientation that allows the dolly 1 to enter the transfer position 11 and allows the dolly 1 to deliver the baggage B onto the object A or allows the dolly 1 to receive the baggage B on the object A without rotating the dolly 1 when the dolly 1 enters the transfer position 11. More specifically, the orientation of the dolly 1 is adjusted to an orientation that allows the dolly 1 to enter the transfer position 11 and faces the object A in the front SB1 when the dolly 1 enters the transfer position 11. Next, the dolly 1 is driven to enter the transfer position 11. Next, the package B is delivered from the cart 1 onto the object A, or the package B on the object A is received by the cart 1. As a result, even when the tip-over prevention platform 12 of the first modified example is used, the cart 1 can be moved to the delivery position 11, and the package B can be delivered from the cart 1 onto the object A, or the package B on the object A can be received by the cart 1.

[0114] When the tip-over prevention platform 12 of the first modification is used, in order to deliver the package B from the cart 1 onto the object A or to have the cart 1 receive the package B from the object A, it becomes necessary to rotate the cart 1 at a position away from the transfer position 11 and adjust the orientation of the cart 1. For this reason, in order to reduce the number of steps required for the work of delivering the package B from the cart 1 onto the object A or receiving the package B from the object A by the cart 1 and to shorten the time required for the work, it is preferable that the tip-over prevention platform 12 allows the cart 1 to rotate.

[0115] (Variation 2) The guiding device 10 may include a guide unit 14 that limits the path 15 along which the trolley 1 travels to the transfer position 11. When the trolley 1 transfers the baggage B onto the object A, the guide unit 14 limits at least a portion of the path 15 along which the trolley 1 travels from the position where the trolley 1 receives the baggage B to the transfer position 11. The guide unit 14 may limit the entire path 15 along which the trolley 1 travels from the position where the trolley 1 receives the baggage B to the transfer position 11. When the trolley 1 receives the baggage B on the object A, the guide unit 14 limits at least a portion of the path 15 along which the trolley 1 travels from the transfer position 11 to the position where the trolley 1 transfers the baggage B. The guide unit 14 may limit the entire path 15 along which the trolley 1 travels from the transfer position 11 to the position where the trolley 1 transfers the baggage B.

[0116] Fig. 15 is a perspective view showing a guide device 10 having a guide unit 14 of the second modification example, together with a cart 1. In the example shown in Fig. 15, the guide unit 14 has a pair of fences 141. The pair of fences 141 sandwich the route 15 along which the cart 1 travels to the transfer position 11, thereby limiting the route 15 along which the cart 1 travels to the transfer position 11.

[0117] By providing the guide unit 14 to the guiding device 10, the cart 1 can travel stably to reach the transfer position 11. In particular, the cart 1 can travel stably to reach the transfer position 11 even if it does not have a sensor that detects the transfer position 11. For this reason, by using the cart 1 that does not have a sensor, it is possible to keep the cost required for manufacturing the conveyance device 100 small, while allowing the cart 1 to travel stably to reach the transfer position 11.

[0118] In the example shown in Fig. 15, the path 15 along which the cart 1 travels to the transfer position 11 is a straight line. Although not shown, the path 15 along which the cart 1 travels to the transfer position 11 does not have to be a straight line. For example, the path 15 along which the cart 1 travels to the transfer position 11 may include a portion that turns at a right angle. By providing the guide unit 14 to the guidance device 10, even if the path 15 along which the cart 1 travels to the transfer position 11 includes a portion that turns at a right angle, the cart 1 can be caused to travel stably to reach the transfer position 11.

[0119] The guide unit 14 may have a guide unit power supply mechanism 142 that supplies power to the trolley 1 positioned on the path 15. The guide unit power supply mechanism 142 may perform contactless power supply to the trolley 1 positioned on the path 15. The guide unit power supply mechanism 142 may have a contact portion that comes into contact with the trolley 1 positioned on the path 15, and may supply power to the trolley 1 via the contact portion.

[0120] In the example shown in FIG. 15, the guide section power supply mechanism 142 has an electric wire 143 that is provided on the floor surface F and extends along the path 15 to supply power to the trolley 1. Although not shown, the guide section power supply mechanism 142 may have an electric wire that is provided on at least one of the pair of fences 141 and extends along the path 15 to supply power to the trolley 1. In this case, the guide section power supply mechanism 142 may not have the electric wire 143 provided on the floor surface F. The electric wire 143 provided on the floor surface F and the electric wire provided on at least one of the pair of fences 141 may perform contactless power supply to the trolley 1 located on the path 15. The electric wire 143 provided on the floor surface F and the electric wire provided on at least one of the pair of fences 141 may have a contact portion that contacts the trolley 1 located on the path 15, and may supply power to the trolley 1 via the contact portion.

[0121] By providing the guide unit power supply mechanism 142 to the guide unit 14, power can be supplied to the cart 1 while the transport device 100 is in operation. This allows the battery mounted on the cart 1 to be made smaller while the transport device 100 is being operated.

[0122] (Variation 3) In the above embodiment, an example has been described in which the dolly 1 has two fixed wheels 21 provided on the base portion 2 and a plurality of drive wheels 22 provided on the base portion 2. However, the form of the dolly 1 is not limited to this. As the dolly 1, a wide variety of dollies 1 can be used that are capable of traveling forward SB1 in the fore-and-aft direction DB and capable of rotating about a rotation axis C3 that passes through the inside of the dolly 1 and is perpendicular to the horizontal direction.

[0123] For example, the dolly 1 may not have fixed wheels 21. In this case, the dolly 1 may have only drive wheels 22 as wheels. The dolly 1 may have three or more drive wheels 22. This also makes it possible to realize the dolly 1 that can travel forward SB1 in the fore-and-aft direction DB and can rotate about a rotation axis C3 that passes through the inside of the dolly 1 and is perpendicular to the horizontal direction.

[0124] The dolly 1 may be a dolly in which at least one of the fixed wheels 21 of the dolly 1 of the above-mentioned embodiment and each modified example is replaced with a rotating wheel without power. For example, the dolly 1 may be a dolly in which at least one of the two fixed wheels 21 of the dolly 1 shown in FIG. 2A is replaced with a rotating wheel without power. The rotating wheel without power can rotate about a rotation axis parallel to the horizontal direction. The rotation axis can rotate in a rotation direction parallel to the horizontal direction. The rotating wheel is not provided with a power such as a motor that drives the rotation of the rotating wheel about the rotation axis. Furthermore, the rotating wheel is not provided with a power such as a motor that drives the rotation of the rotation axis in a rotation direction parallel to the horizontal direction. The dolly 1 may be a dolly in which at least one of the drive wheels 22 of the dolly 1 of the above-mentioned embodiment and each modified example is replaced with a rotating wheel without power. Among the embodiments disclosed in this specification, the wheel configuration of the bogie 1 can be freely changed as long as the bogie 1 can travel forward SB1 in the fore-and-aft direction DB and can rotate about a rotation axis C3 that passes through the inside of the bogie 1 and is perpendicular to the horizontal direction. For example, the wheel configuration of the bogie 1 may be configured to include two fixed wheels 21, one non-powered rotating wheel, and one driving wheel. In this case, the bogie 1 may have one of the two driving wheels 22 of the bogie 1 shown in FIG. 2A replaced with a non-powered rotating wheel.

[0125] When the dolly 1 has fixed wheels 21 and drive wheels 22, the contact points of the fixed wheels 21 with the floor surface F and the contact points of the drive wheels 22 with the floor surface F may be arranged on one circumference centered on the swivel axis C3. When the dolly 1 has fixed wheels 21 and drive wheels 22, the contact points of the fixed wheels 21 with the floor surface F and the contact points of the drive wheels 22 with the floor surface F may be arranged on multiple circumferences centered on the swivel axis C3.

[0126] When the dolly 1 does not have fixed wheels 21 and has only drive wheels 22 as wheels, the dolly 1 can travel in more directions without changing the direction of the dolly 1, compared to when the dolly 1 has two fixed wheels 21 and multiple drive wheels 22. On the other hand, the fixed wheels 21 are relatively inexpensive compared to the drive wheels 22. Therefore, when the dolly 1 has two fixed wheels 21 and multiple drive wheels 22, the number of wheels of the dolly 1 can be increased by the number of fixed wheels 21 while keeping the cost required for manufacturing the dolly 1 low. This increases the number of contact points between the dolly 1 and the floor surface F, and prevents the dolly 1 from tipping over.

[0127] The dolly 1 may also have a plurality of Mecanum wheels 23 provided on the base portion 2. In this case, as an example, the dolly 1 has two front wheels aligned in the vehicle width direction DC, and two rear wheels aligned in the vehicle width direction DC and positioned rearward SB2 from the two front wheels in the front-rear direction DB. Each of the two front wheels and the two rear wheels is a Mecanum wheel 23. The Mecanum wheel 23 has a wheel body 26 and a plurality of rollers 27 rotatably attached to the outer periphery of the wheel body 26.

[0128] FIG. 16 is a perspective view showing a mecanum wheel 23 of the third modified example. In addition to the mecanum wheel 23, FIG. 16 also shows a motor 7 and a reducer 8. The motor 7 and the reducer 8 are attached to the wheel body 26 of the mecanum wheel 23. The motor 7 inputs rotation to the wheel body 26 of the mecanum wheel 23. The reducer 8 reduces the rotation input from the motor 7 and transmits the rotation to the wheel body 26. In the example shown in FIG. 16, the reducer 8 is located between the motor 7 and the wheel body 26. The reducer 8 is connected to the output shaft of the motor 7 and is connected to the wheel body 26. At least a part of the reducer 8 may be housed inside the wheel body 26. In the example shown in FIG. 16, a part of the reducer 8 is housed inside the wheel body 26.

[0129] 16, each roller 27 is supported by the wheel body 26 so as to be rotatable about a rotation axis By inclined with respect to the rotation axis Bx of the wheel body 26. The rotation axis By of the roller 27 forms an angle of approximately 45° with respect to the rotation axis Bx of the wheel body 26.

[0130] The bogie 1 has multiple Mecanum wheels 23 provided on the base portion 2, so that the bogie 1 can travel forward SB1 in the fore-and-aft direction DB and can rotate about a rotation axis C3 that passes through the inside of the bogie 1 and is perpendicular to the horizontal direction. The bogie 1 having multiple Mecanum wheels 23 can also travel in the vehicle width direction DC. The bogie 1 having multiple Mecanum wheels 23 can also travel in a direction parallel to the horizontal direction and non-parallel to the fore-and-aft direction DB and the vehicle width direction DC.

[0131] When the bogie 1 has multiple Mecanum wheels 23, the bogie 1 can travel in more directions without changing the direction of the bogie 1, compared to when the bogie 1 has two fixed wheels 21 and multiple drive wheels 22. On the other hand, the wheels used as the fixed wheels 21 and drive wheels 22 are relatively inexpensive compared to the Mecanum wheels 23. Therefore, when the bogie 1 has two fixed wheels 21 and multiple drive wheels 22, the cost required for manufacturing the bogie 1 can be kept low, compared to when the bogie 1 has multiple Mecanum wheels 23.

[0132] Among the embodiments disclosed in this specification, those that are composed of multiple objects may be integrated, and conversely, those that are composed of one object may be divided into multiple objects. Regardless of whether they are integrated or not, it is sufficient that they are configured to achieve the object of the invention.

[0133] The aspects of the present invention are not limited to the above-mentioned individual embodiments, but include various modifications that may be conceived by a person skilled in the art, and the effects of the present invention are not limited to the above-mentioned contents. In other words, various additions, modifications, and partial deletions are possible within the scope of the conceptual idea and intent of the present invention derived from the contents defined in the claims and their equivalents. [Explanation of symbols]

[0134] 1 Cart 10 Guidance device 11 Delivery location 12 Anti-tip platform 121 Protrusion 123 Top surface 124 Power Supply Mechanism 13 Curved surface 14 Guide section 142 Guide section power supply mechanism 15 Routes 2 Base 21 Fixed ring 22 Drive wheels 3 Lifting base 4 Lifting unit 5. Delivery Section 6 Mobile Units 100 Transport device A. Object

Claims

1. A guidance device that guides a dolly for delivering luggage to a delivery position where the luggage can be delivered from the dolly to an object on which the luggage is placed or the luggage on the object can be received by the dolly, A guide device including an anti-tip platform that supports the cart located at the transfer position.

2. The guiding device according to claim 1 , wherein the anti-tip platform has a pair of protrusions that horizontally sandwich at least a portion of the cart located at the transfer position.

3. The guiding device according to claim 1 or 2, wherein the anti-tip platform supports, on an upper surface thereof, the cart located at the transfer position.

4. The guidance device according to claim 1 or 2, wherein the tip-prevention platform has a power supply mechanism that supplies power to the cart located at the transfer position.

5. The guiding device according to claim 1 , further comprising a guide section that defines a route along which the carriage travels to the transfer position.

6. The guiding device according to claim 5 , wherein the guide section includes a guide section power supply mechanism that supplies power to the carriage located on the path.

7. 3. The guidance device according to claim 1, wherein the anti-tip platform allows the carriage located at the transfer position to rotate about a rotation axis that passes through an interior of the carriage and is perpendicular to the horizontal direction.

8. The guiding device according to claim 7 , wherein the anti-tip platform has a curved surface that is equidistant in the horizontal direction from the pivot axis of the carriage located at the transfer position.

9. A cart for delivering luggage, a guide device that guides the dolly to a delivery position where the dolly can deliver the luggage to an object on which the luggage is to be placed or where the dolly can receive the luggage from the object, The guide device is a conveying device having an anti-tip platform that supports the cart located at the transfer position.

10. The carriage is rotatable about a rotation axis that passes through the interior of the carriage and is perpendicular to the horizontal direction, A conveying device as described in claim 9, wherein, in the range in which the anti-tip platform is located in the vertical direction, the minimum horizontal distance between the pivot axis of the cart located at the transfer position and the anti-tip platform is greater than or equal to the maximum horizontal distance between the pivot axis and the end of the cart.

11. The carriage is rotatable about a rotation axis that passes through the interior of the carriage and is perpendicular to the horizontal direction, The cart has a base portion, two fixed wheels provided on the base portion and sandwiching the rotation axis in a horizontal direction, and a plurality of drive wheels provided on the base portion, Each of the two fixed wheels is rotatable about a first axis of rotation; Each of the first rotation axes is located on a straight line passing through the pivot axis and is fixed with respect to the base portion, Each of the plurality of drive wheels is driven to rotate about a second rotation axis by inputting rotation thereto, 11. The transport device according to claim 9 or 10, wherein each of the second axes of rotation is driven to rotate in a rotational direction parallel to a horizontal direction relative to the base portion.

Images