Carrier

Abstract

To provide a system capable of reducing the size of a carrier and reducing the space of a work passage occupied by the carrier.SOLUTION: This carrier comprises: a car body; a rotation mechanism including an annular rail provided above the car body in a longitudinal direction, a crawler belt provided along the end surface of the annular rail, and first driving means connected to the crawler belt; a plurality of reception rods spaced apart on the side surface of the rotation mechanism, each reception rod including an inner rod connected to the crawler belt and an outer rod fitted around the inner rod; a docking auxiliary mechanism provided beside a docking station on the side surface of the rotation mechanism and including pushing means and positioning means for positioning the orientation of a target docking position; and a control mechanism for controlling the movement of the car body.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to the field of chemical fiber production technology, and in particular to a transport vehicle. [Background technology]

[0002] It is necessary to doff and transport the wound yarn package produced by the winding machine. When removing one rod of wound yarn package from the winding machine at a time, a receiving rod of the same width as the one rod of wound yarn package needs to be docked in the same direction as the winding yarn package rod of the winding machine, which makes the size of the entire receiving mechanism and the transport vehicle too large, occupying the work aisle during operation and making it impossible for people or other receiving mechanisms to pass through. Summary of the Invention [Problem to be solved by the invention]

[0003] The present disclosure provides a transport vehicle to solve or alleviate one or more technical problems in the prior art. [Means for solving the problem]

[0004] In a first aspect, the present disclosure provides a transport vehicle, the transport vehicle comprising: The car body and a rotation mechanism including an annular rail provided vertically above a vehicle body, a crawler belt provided along an end surface of the annular rail, and a first drive means connected to the crawler belt, the crawler belt being rotatable along the annular rail by being driven by the first drive means; A plurality of receiving rods provided at intervals on a side surface of the rotation mechanism, the receiving rods including an inner rod connected to the crawler belt and an outer rod fitted onto the inner rod; a docking assist mechanism provided near the docking station on a side of the rotation mechanism, the docking assist mechanism comprising a push means and a positioning means for determining the orientation of a target docking position, the push means comprising a push-pull rod and a second driving means, the rear end of the push-pull rod being connected to the second driving means, the second driving means driving the tip of the push-pull rod so that when the receiving rod rotates to the docking station, the tip of the push-pull rod pushes the outer rod, causing the outer rod to move horizontally together, so that the outer rod moves to the target docking position to receive the substance or material to be transported; and a control mechanism electrically connected to each of the vehicle body and the positioning means for controlling the movement of the vehicle body and adjusting the position of the vehicle body according to the orientation of the target docking position so that the docking station is aligned with the target docking position.

[0005] In one embodiment, a boss is provided at the rear end of the outer rod, and when the receiving rod rotates to the docking station, the tip of the push-pull rod corresponds to the position of the boss, and the second driving means drives the tip of the push-pull rod so that the tip of the push-pull rod protrudes horizontally toward the boss and pushes and moves the boss, thereby achieving horizontal movement of the outer rod.

[0006] In one embodiment, the outer rod has a plurality of expansion pieces having an arc-shaped cross section, the rear ends of the expansion pieces are connected to each other, the front ends of the expansion pieces are spaced apart from each other, and the rear ends of the expansion pieces are connected to a boss, and when the outer rod and the inner rod are in a first state, the front ends of the expansion pieces contract and approach each other, and when the outer rod and the inner rod are in a second state, the front ends of the expansion pieces are spaced apart from each other, thereby increasing the diameter of the outer rod.

[0007] In one embodiment, the tip of the inner rod has a conical portion, which is slidably disposed inside the outer rod, the diameter of the conical portion gradually increases from the tip to the rear end, the thickness of the expansion piece gradually decreases from the tip to the rear end so that the inner diameter of the tip of the outer rod is smaller than the inner diameter of the rear end, and when the rear end of the outer rod slides against the conical portion of the inner rod, the outer rod and the inner rod are in a first state relative to each other, and when the tip of the outer rod slides against the conical portion of the inner rod, the outer rod and the inner rod are in a second state relative to each other.

[0008] In one embodiment, the push means further includes a push-pull groove provided at the tip of the push-pull rod, the push-pull groove being parallel to the direction of movement of the receiving rod in the docking station, and when the receiving rod moves to the docking station, the lower part of the boss of the receiving rod is positioned in the push-pull groove.

[0009] In one embodiment, the docking assist mechanism includes a first housing having the pushing means and the positioning means disposed therein, the first housing being disposed between the vehicle body and the rotation mechanism.

[0010] In one embodiment, a mounting groove is provided on a side surface of the first housing near the tip of the outer rod, the positioning means is arranged on a first inclined surface of the mounting groove, the first inclined surface is provided toward the tip side of the outer rod, and the positioning means is equipped with a camera.

[0011] In one embodiment, a first connecting post is provided on the inner periphery of the annular rail, and the first connecting post is connected to the car body via a second connecting post.

[0012] In one embodiment, the first drive means is provided in a second housing between the vehicle body and the rotation mechanism.

[0013] In the embodiment of the present disclosure, by adopting the above-mentioned solution, the size of the transport vehicle can be reduced, and the space occupied by the transport vehicle in the work aisle can be reduced.

[0014] The subject matter described herein is for illustrative purposes only and is not intended to be limiting in any manner. In addition to the exemplary aspects, embodiments, and features described above, further aspects, embodiments, and features of the present disclosure can be understood by reference to the accompanying drawings and the following detailed description.

[0015] In the accompanying drawings, unless otherwise stated, the same reference numerals represent the same or similar parts or elements throughout the several views. The accompanying drawings are not necessarily drawn to scale. It should be understood that the accompanying drawings illustrate only some embodiments provided in accordance with the present disclosure and should not be considered as limiting the scope of the present disclosure. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a perspective view showing a configuration of a transport vehicle according to an embodiment of the present disclosure. [Diagram 2] 1 is a side cross-sectional view of a docking station of a transport vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Several illustrative embodiments are briefly described below. Those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the spirit and scope of the present disclosure. Accordingly, the accompanying drawings and descriptions are to be regarded as illustrative in nature and not restrictive.

[0018] 1 is a perspective view showing a configuration of a transport vehicle according to an embodiment of the present disclosure. As shown in FIG. 1, the transport vehicle includes a vehicle body 10.

[0019] In the embodiment of the present disclosure, the vehicle body may be an automated guided vehicle (AGV), such as an inertial navigation AGV, a two-dimensional code navigation AGV, a laser navigation AGV, a GPS navigation AGV, etc. The vehicle body 10 is for moving to a designated receiving position according to a receiving command, and any vehicle body that can achieve this can be used as the vehicle body in the embodiment of the present disclosure. The receiving position is also called a target docking position, and is usually a loading position of the substance or material to be transported. In one example, the target docking position is a doffing position of a winding machine in a chemical fiber production device.

[0020] The rotation mechanism 20 includes an annular rail 21 provided vertically above the vehicle body 10, a crawler belt 22 provided along an end face of the annular rail 21, and a first drive means 40 connected to the crawler belt 22. Here, the crawler belt 22 can rotate along the annular rail 21 by being driven by the first drive means 40.

[0021] In the embodiment of the present disclosure, the longitudinal direction of the rotating mechanism 20 is arranged in the same direction as the longitudinal direction of the car body 10, and as the rotating mechanism 20 approaches one edge of the short side of the car body 10, the rotating mechanism 20 approaches the direction of the target docking position when receiving the substance or material to be transported, and this direction is called the docking direction. When receiving the substance or material, the longitudinal direction of the car body 10 and the rotating mechanism 20 is perpendicular to the direction of the winding package holding rod of the winding machine, that is, the docking direction is the short side direction of the car body, so that the size and occupied space of the car body in the docking direction can be reduced.

[0022] The shape of the annular rail 21 in the rotation mechanism 20 may be annular, such as a rounded rectangle, an ellipse having straight sides, a circle, etc. By arranging the annular rail 21 vertically, the vertical space can be fully utilized, the length of the transport vehicle can be shortened, and when multiple adjacent winding machines need to be doffed simultaneously, the doffing positions of the other winding machines can be reduced from being disturbed while the preceding transport vehicle is working.

[0023] In one example, the circular rail 21 has two layers, an inner layer and an outer layer, and the crawler belt 22 is sandwiched between the two layers of the circular rail 21. In another example, the crawler belt 22 is provided on the inner or outer circumference of the circular rail 21. The crawler belt 22 can slide on the circular rail 21 without being spaced apart. The crawler belt 22 is made up of a number of links (also called plates or chain links) connected to each other, and these links form a loop. Each link has a certain degree of curvature to fit the curved portion of the circular rail 21. These links may be made of metal, rubber, or other materials.

[0024] A plurality of receiving rods 50 are provided at intervals on the side of the rotation mechanism 20, and the receiving rods 50 include an inner rod 51 and an outer rod 53 fitted onto the inner rod 51, and the inner rod 51 is connected to the crawler belt 22.

[0025] In the embodiment of the present disclosure, a plurality of receiving rods may be provided at equal intervals on the side of the rotating mechanism 20, specifically, on the side in the docking direction. The inner rod 51 is fixedly connected to the crawler belt 22. The number of receiving rods 50 corresponds to the number of materials to be received and transported at one time. In one example, when the winding machine can produce 12 wound yarn packages at the same time, i.e., when 12 wound yarn packages need to be transported at one time, the number of docking rods 50 is at least 12.

[0026] The docking assist mechanism 30 is provided beside the docking station 60 on the side of the rotation mechanism 20, and includes a push means 31 and a positioning means 32 for determining the orientation of a target docking position. The push means 31 includes a push-pull rod 311 and a second driving means 312 connected to the rear end of the push-pull rod 311, and when the receiving rod 50 rotates to the docking station 60, the second driving means 312 drives the tip of the push-pull rod 31 so that the tip of the push-pull rod 311 pushes the outer rod 53, so that the outer rod 53 moves horizontally together with the tip of the push-pull rod 311, so that the outer rod 53 moves to the target docking position to receive the substance or material to be transported.

[0027] In the embodiment of the present disclosure, the docking station 60 is a preparation area for docking the receiving rod 50 at the target docking position, and specifically, the docking station 60 is provided at the position where the docking assist mechanism 30 is located. By driving the rotation mechanism 20, any of the receiving rods 50 reaches the position where the docking assist mechanism 30 is located, and is further docked at the target docking position by cooperation of the docking assist mechanism 30. The pushing means 31 is for driving the outer rod 53 to move back and forth in the docking direction described above. The positioning means 32 may be an optical means for determining the orientation of the target docking position, and a marker for facilitating optical positioning can be provided at the target docking position.

[0028] The control mechanism is electrically connected to the vehicle body 10 and the positioning means 32, respectively, for controlling the movement of the vehicle body 10 and adjusting the position of the vehicle body 10 according to the orientation of the target docking position determined by the positioning means 32 so that the docking station 60 is aligned with the target docking position.

[0029] In an embodiment of the present disclosure, after the vehicle body 10 moves close to the target winding machine, the control mechanism determines the orientation information of the target docking position by the positioning means 32, and then generates and sends a position adjustment command to the vehicle body 10, and the vehicle body 10 further adjusts its own position to align the docking station 60 with the target docking position.

[0030] According to the solution of the embodiment of the present disclosure, the transport vehicle for receiving the wound yarn package is changed from one that receives one rod's worth of wound yarn package in the longitudinal direction of the yarn package holding rod of the winding machine to one that receives the wound yarn packages one by one in the longitudinal direction, thereby reducing the lateral dimension of the transport vehicle that receives the wound yarn package and reducing the space occupied by the transport vehicle that receives the wound yarn package in the working passage. At the same time, by circulating and rotating the receiving rod in the longitudinal direction by the rotation mechanism, the longitudinal dimension of the transport vehicle is also reduced, and the overall dimension of the transport vehicle is also significantly reduced, making it more flexible to move in a limited space.

[0031] In one embodiment, a boss 52 is provided at the rear end of the outer rod 53, and when the receiving rod 50 rotates to the docking station 60, the boss 52 moves to the tip of the push-pull rod 311, and the second driving means 312 drives the tip of the push-pull rod 311 so that the tip of the push-pull rod 311 protrudes horizontally relative to the position of the boss 52 and pushes and moves the boss 52, thereby realizing horizontal movement of the outer rod 53.

[0032] Please note that the terms leading edge, trailing edge, and the front and rear sides described below are described based on the docking direction. When docking, the direction toward the target docking position is the leading edge, and the opposite direction is the trailing edge.

[0033] In the embodiment of the present disclosure, the boss 52 is used to cooperate with the push-pull rod 311 to obtain the driving force of the second driving means 312. In order to detect whether the boss 52 has reached the docking station 50, the docking station 50 may be provided with a magnetic switch, an optical switch, a limit switch, etc.

[0034] In one embodiment, the outer rod 53 has a plurality of spreading pieces 531 having an arc-shaped cross section, the rear ends of the spreading pieces 531 are connected to each other and the front ends are spaced apart, and the rear ends of the spreading pieces 531 are connected to the boss 52, and when the outer rod 53 and the inner rod 51 are in a first state, the front ends of the plurality of spreading pieces 531 contract and approach each other. When the outer rod 53 and the inner rod 51 are in a second state, the front ends of the plurality of spreading pieces 531 are spaced apart from each other, thereby increasing the diameter of the outer rod 53.

[0035] In the embodiment of the present disclosure, after the outer rod 53 acquires the material (wound yarn package) to be transported, the wound yarn package is disk-shaped with a circular hole at the center, and the diameter of the tip of the outer rod may be made large in order to prevent the wound yarn package from slipping off when the circular hole of the wound yarn package is fitted into the outer rod 53. Specifically, when the outer rod is extended to dock (first state), the diameter of the tip of the outer rod is made smaller than the diameter of the circular hole of the wound yarn package, and when the outer rod is retracted (second state), the diameter of the tip of the outer rod is made larger than the diameter of the circular hole of the wound yarn package, thereby restraining the wound yarn package to the receiving rod 50.

[0036] In one embodiment, as shown in FIG. 2, the tip of the inner rod 51 has a cone portion 511, which is slidably disposed inside the outer rod 53, and the diameter of the cone portion 511 gradually expands from the tip to the rear end. The thickness of the expansion piece 531 gradually decreases from the tip to the rear end so that the inner diameter of the tip of the outer rod 53 is smaller than the inner diameter of the rear end. Here, when the rear end of the outer rod 53 slides on the cone portion 511 of the inner rod 51, the outer rod 53 and the inner rod 51 are in a first state. When the tip of the outer rod 53 slides on the cone portion 511 of the inner rod 51, the outer rod 53 and the inner rod 51 are in a second state.

[0037] In an embodiment of the present disclosure, the expansion pieces of the outer rod and the conical portion of the inner rod cooperate to open and close the expansion pieces, thereby changing the diameter of the tip of the outer rod, so that after the receiving rod acquires the wound yarn package, the wound yarn package can be fixed to the receiving rod.

[0038] In one embodiment, the push means 31 further has a push-pull groove 313 provided at the tip of the push-pull bar 311, and the push-pull groove 313 is provided parallel to the movement direction of the receiving rod 50 in the docking station 60, and when the receiving rod 50 moves to the docking station 60, the lower part of the boss 52 of the receiving rod 50 is positioned in the push-pull groove 313.

[0039] In the embodiment of the present disclosure, the lower part of the boss 52 is disposed in the push-pull groove 313, so that the boss and the outer rod can be driven more stably by the push-pull rod. In one example, the direction of the groove body of the push-pull groove 313 and the moving direction of the crawler belt in the docking station are parallel, and the push-pull groove may be provided with a limit block 314 at a downstream position in the moving direction of the crawler belt, and the limit block 314 is provided at the front or rear of the inner surface of the push-pull groove 313, and has an opening between the limit block and the opposite side of the push-pull groove 313 that is larger than the width of the boss 52. Since the receiving rod 50 moves along the circular rail on a fixed track, the forward and backward positions of the push-pull groove 313 can be changed to position the limit block 314 on or off the moving path of the boss, thereby realizing blocking or releasing the receiving rod 50, and the receiving rod 50 can be held in a fixed position in the docking station 60, which can facilitate accurate docking.

[0040] In one embodiment, the docking assistance mechanism 30 includes a first housing 33 arranged between the vehicle body 10 and the rotation mechanism 20, and a pushing means 31 and a positioning means 32 are arranged inside the first housing 33.

[0041] In the embodiment of the present disclosure, the first housing 33 accommodates the pushing means and the positioning means, and also functions as a support member for the rotation mechanism.

[0042] In one embodiment, a mounting groove is provided on a side surface of the first housing 33 near the tip of the outer rod 53, the positioning means 32 is arranged on a first inclined surface of the mounting groove, the first inclined surface is provided toward the tip of the outer rod 53, and the positioning means 32 is equipped with a camera.

[0043] In the embodiment of the present disclosure, the first inclined surface faces the tip of the outer rod 53, and therefore the attached camera also faces the tip of the outer rod 53, providing an angle and field of view that is easier to observe when photographing and recognizing the target docking position.

[0044] In one embodiment, a first connecting pillar is provided on the inner periphery of the annular rail 21, and the first connecting pillar is connected to the car body 10 via a second connecting pillar.

[0045] In the embodiment of the present disclosure, the first connecting pillar is used to reinforce the structural strength of the upper and lower sections of the circular rail, and the second connecting pillar is used to enhance the vertical stability of the entire rotating mechanism.

[0046] In one example, a set of the rotation mechanism 20, the docking assist mechanism 30, the first drive means 40 and a plurality of receiving rods 50 are provided on each side of the vehicle body 10 in the short direction, so that both the left and right sides of the vehicle body 10 can be used for receiving, doubling the receiving capacity of the transport vehicle. The two sets of the rotation mechanisms 20 may be connected by using a connecting column.

[0047] In one embodiment, the first driving means 40 is provided in a second housing between the vehicle body 10 and the rotation mechanism 20.

[0048] In the embodiment of the present disclosure, the second housing accommodates the first driving means 40 and also functions as a support member for the rotation mechanism 20. The crawler belt 22 and the first driving means 40 are connected by forming an opening at the portion where the circular rail 21 and the second housing are connected.

[0049] In one embodiment, the control mechanism may be provided inside the first housing 33, and the control mechanism may be electrically connected to the first actuation means 40 and the second actuation means 312.

[0050] In the description herein, the orientations or positional relationships indicated by terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "up," "down," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like, are based on the orientations or positional relationships shown in the drawings and are intended merely to facilitate and simplify the description of the present disclosure, and are not intended to indicate or suggest that the devices or elements referred to have a particular orientation, be configured, or operate in a particular orientation, and therefore are not to be construed as limitations of the present disclosure.

[0051] Additionally, the terms "first" and "second" are used for descriptive purposes only and should not be construed to indicate or imply relative importance, nor should they be construed to imply the number of technical features depicted. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present disclosure, "plurality" means two or more, unless otherwise specified.

[0052] In this disclosure, unless otherwise clearly specified and limited, the terms "attached", "coupled", "connected", "fixed" and the like should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection. It may be a mechanical connection, an electrical connection, or a communication connection, it may be a direct connection, an indirect connection through an intermediate medium, or an internal connection or an interactive relationship between two elements. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific situation.

[0053] In this disclosure, unless expressly specified and limited otherwise, a first feature being "above" or "below" a second feature can include direct contact between the first and second features, and can include contact between the first and second features through an additional feature between them, rather than direct contact. Also, a first feature being "above," "above," and "on the top surface" of a second feature includes the first feature being directly above or diagonally above the second feature, or only indicates that the horizontal height of the first feature is higher than the horizontal height of the second feature. A first feature being "below," "below," and "on the bottom surface" of a second feature includes the first feature being directly below and diagonally below the second feature, or only indicates that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0054] In the above disclosure, various different embodiments or examples are provided for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, components and configurations of specific examples are described. Of course, these are merely examples and are not intended to limit the present disclosure. Furthermore, the present disclosure may repeat reference numerals and / or reference alphabets in different examples for the purpose of brevity and clarity, without showing the relationship between the various embodiments and / or configurations being discussed.

[0055] The above are only specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto, and any person skilled in the art can easily think of various modifications or replacements of the present disclosure within the technical scope disclosed in the present disclosure, which should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be in accordance with the scope of protection of the claims. [Explanation of symbols]

[0056] 10 car body, 20 rotation mechanism, 21 circular rail, 22 crawler belt, 30 docking assist mechanism, 31 push means, 32 positioning means, 33 first housing, 311 push-pull rod, 312 second driving means, 313 push-pull groove, 314 limit block, 40 first driving means, 50 receiving rod, 51 inner rod, 52 boss, 53 outer rod, 511 conical portion, 531 expansion piece, 60 docking station.

Claims

1. The car body and A rotation mechanism including an annular rail provided vertically above the vehicle body, a crawler belt provided along an end surface of the annular rail, and a first drive means connected to the crawler belt, the crawler belt being rotatable along the annular rail by being driven by the first drive means; A plurality of receiving rods provided at intervals on a side surface of the rotation mechanism, the receiving rods including an inner rod connected to the crawler belt and an outer rod fitted onto the inner rod; a docking assist mechanism provided near the docking station on a side of the rotation mechanism, the docking assist mechanism comprising a push means and a positioning means for determining an orientation of a target docking position, the push means comprising a push-pull rod and a second driving means, the rear end of the push-pull rod being connected to the second driving means, and the second driving means driving the tip of the push-pull rod such that the tip of the push-pull rod pushes the outer rod, causing the outer rod to move horizontally together when the receiving rod rotates to the docking station, so that the outer rod is moved to the target docking position to receive the substance or material to be transported; a control mechanism electrically connected to the vehicle body and the positioning means, respectively, for controlling the movement of the vehicle body and adjusting the position of the vehicle body according to the orientation of the target docking position so that the docking station is aligned with the target docking position; Transport vehicle.

2. a boss is provided at the rear end of the outer rod, and when the receiving rod rotates to the docking station, the boss moves to the tip of the push-pull rod, and the second driving means drives the tip of the push-pull rod so that the tip of the push-pull rod protrudes horizontally to push and move the boss, thereby realizing the horizontal movement of the outer rod; The transport vehicle according to claim 1 .

3. The outer rod has a plurality of spreading pieces having an arc-shaped cross section, the rear ends of the spreading pieces are connected to each other, the front ends of the spreading pieces are spaced apart from each other, and the rear ends of the spreading pieces are connected to the boss, and when the outer rod and the inner rod are in a first state, the front ends of the plurality of spreading pieces contract and approach each other, and when the outer rod and the inner rod are in a second state, the front ends of the plurality of spreading pieces are spaced apart from each other, thereby increasing the diameter of the outer rod. The transport vehicle according to claim 2.

4. The tip of the inner rod has a conical portion, the conical portion is slidably disposed inside the outer rod, the diameter of the conical portion gradually increases from the tip to the rear end, the thickness of the expansion piece gradually decreases from the tip to the rear end so that the inner diameter of the tip of the outer rod is smaller than the inner diameter of the rear end, when the rear end of the outer rod slides against the conical portion of the inner rod, the outer rod and the inner rod are in a first state with respect to each other, and when the tip of the outer rod slides against the conical portion of the inner rod, the outer rod and the inner rod are in a second state with respect to each other. The transport vehicle according to claim 3.

5. the push means further has a push-pull groove provided at the tip of the push-pull rod, the push-pull groove being provided parallel to the moving direction of the receiving rod in the docking station, and when the receiving rod moves to the docking station, a lower part of the boss of the receiving rod is disposed in the push-pull groove; The transport vehicle according to claim 2.

6. The docking assist mechanism includes a first housing in which the pushing means and the positioning means are disposed, and the first housing is disposed between the vehicle body and the rotation mechanism. The transport vehicle according to claim 1 .

7. a mounting groove is provided on a side surface of the first housing close to the tip of the outer rod, the positioning means is disposed on a first inclined surface of the mounting groove, the first inclined surface is provided toward the tip side of the outer rod, and the positioning means includes a camera; The transport vehicle according to claim 6.

8. The first connecting pillar is provided on the inner periphery of the annular rail, and the first connecting pillar is connected to the car body via a second connecting pillar. The transport vehicle according to claim 1 .

9. The first driving means is provided in a second housing between the vehicle body and the rotation mechanism. The transport vehicle according to claim 1 .

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