Dolly transport device

Abstract

To provide a dolly transport device which enables reduction of a width of an entire part of the dolly transport device and can achieve higher traveling followability of a second dolly following a first dolly.SOLUTION: A dolly transport device includes: a first dolly; a second dolly which is disposed at one side in a front-back direction relative to the first dolly and swingably connected to the first dolly through a connection member; and a linear actuator which is telescopically provided and connects the first dolly with the second dolly.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a carriage transport device. [Background technology]

[0002] A cart transport device that transports on the floor surface in a factory, a warehouse, etc. is known (see, for example, Patent Document 1). The cart transport device in Patent Document 1 includes a first cart (towing cart), a second cart (cage cart), and a holding device (arm). Specifically, the holding device (arm) that holds the second cart is attached to the first cart. The first cart is placed to the side of the second cart, and the first cart holds the second cart via the holding device. In this state, the second cart can be towed by running the first cart. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-201184 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the cart transport device of Patent Document 1, the first cart is arranged to the side of the second cart, which increases the width of the cart transport device as a whole. Even if the second cart is arranged behind the first cart in order to reduce the width of the device as a whole in Patent Document 1, when the first cart steers to change its traveling direction to the left or right, the second cart at the rear has low tracking ability because the connecting part is fixed, making it difficult to smoothly change the traveling direction.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a cart transporting device that reduces the overall width of the cart transporting device and has better tracking ability of the second cart relative to the first cart. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, a cart transport device of one embodiment of the present disclosure comprises a first cart, a second cart arranged on one side of the first cart in the fore-and-aft direction and swingably connected to the first cart via a connecting member, and a linear actuator that is extendable and contracts and connects the second cart and the first cart, wherein the connecting member has a first mounting member fixed to the first cart, a second mounting member fixed to the second cart, and a first joint that swingably connects the first mounting member and the second mounting member, and the linear actuator does not overlap the connecting member in a planar view.

[0007] In this way, since the second cart is disposed on one side of the first cart in the front-rear direction, the width of the entire cart transport device is more restricted compared to the cart transport device of Patent Document 1. Also, since the linear actuator is provided so as to be extendable and connect the first cart and the second cart, the running follow-up ability of the second cart relative to the first cart is higher. That is, when the traveling direction of the first cart is turned to the right, for example, the linear actuator is controlled to be contracted in the longitudinal direction, and when the traveling direction of the first cart is turned to the left, for example, the linear actuator is controlled to be extended in the longitudinal direction, thereby making it possible to improve the running follow-up ability of the second cart relative to the first cart.

[0008] In a preferred embodiment of the cart transport device, when a direction intersecting the fore-and-aft direction of the first cart and the second cart is defined as a width direction, the first mounting member is positioned in the center of the first cart in the width direction, the second mounting member is positioned in the center of the second cart in the width direction, and the connecting member is positioned on one side of the width direction relative to the linear actuator in a plan view.

[0009] In this way, the connecting member is disposed at the center in the width direction of the cart transporting device. When the first cart steers to change its traveling direction, the second cart swings about the first joint, thereby following the first cart and changing its traveling direction. Therefore, compared to a mode in which the connecting member is disposed at the end of the cart transporting device in the width direction, when the first cart steers to change its traveling direction, the second cart can change its traveling direction more smoothly by following the first cart.

[0010] A cart transport device of one embodiment of the present disclosure comprises a first cart, a second cart arranged on one side of the first cart in the fore-and-aft direction and swingably connected to the first cart via a connecting member, and a linear actuator that is extendable and connects the first cart and the second cart, wherein the connecting member is a non-extendable elongated member that connects a fourth joint provided on the first cart and a fifth joint provided on the second cart, the elongated member being swingably supported by each of the first cart and the second cart at the fourth joint and the fifth joint, and the linear actuator does not overlap with the elongated member in a planar view.

[0011] In this manner, a long member may be used as the connecting member. The connecting member described above includes the first attachment member, the second attachment member, and the first joint, and therefore has the advantage of having a smaller number of parts.

[0012] In a preferred embodiment of the cart transport device, when a direction intersecting the fore-and-aft direction of the first cart and the second cart is defined as a width direction, the fourth joint is arranged on one side of the width direction of the first cart, the fifth joint is arranged on one side of the width direction of the second cart, and the linear actuator is arranged on the other side of the width direction relative to the elongated member in a plan view.

[0013] In this way, by arranging the long member on one side of the width of the cart transport device and the linear actuator on the other side of the width, the number of parts of the long member which is the connecting member can be reduced and the length of the linear actuator can be shortened. Effect of the Invention

[0014] According to the present disclosure, it is possible to provide a cart transporting apparatus in which the width of the entire cart transporting apparatus is reduced and the second cart has higher running follow-up ability relative to the first cart. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a perspective view showing a carriage transport device according to the first embodiment. [Diagram 2] FIG. 2 is a perspective view showing a part of FIG. [Diagram 3] FIG. 3 is a plan view of FIG. [Figure 4] FIG. 4 is a perspective view, partly in section, of the linear actuator. [Diagram 5] FIG. 5 is a perspective view showing the carriage transport device of the second embodiment. [Figure 6] FIG. 6 is a perspective view showing the carriage transport device of the second embodiment. [Figure 7] FIG. 7 is a plan view of FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, a mode for carrying out the invention (hereinafter, referred to as an embodiment) will be described in detail with reference to the drawings. Note that the present invention is not limited to the following embodiment. Furthermore, the components in the following embodiment include those that a person skilled in the art can easily imagine, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the components disclosed in the following embodiment can be appropriately combined.

[0017] In the drawings, the forward direction of the cart transport device 100 is indicated by F, and the backward direction is indicated by R. The forward direction F or the backward direction R is the traveling direction of the cart transport device 100. That is, the cart transport device 100 includes a first mode in which it advances toward the forward direction F, and a second mode in which it reverses toward the backward direction R. The first mode is a mode in which the first cart 2 pulls the second cart 1 toward the forward direction F, and the second mode is a mode in which the first cart 2 pushes the second cart 1 toward the backward direction R. In addition, the direction perpendicular (intersecting) to the forward direction F or the backward direction R is indicated as the width direction W. Note that the plan view is a view from above, for example, a view from the normal direction of the floor surface portion 21 described later.

[0018] [First embodiment] Fig. 1 is a perspective view showing a carriage transport device of a first embodiment, Fig. 2 is a perspective view showing a part of Fig. 1, Fig. 3 is a plan view of Fig. 2.

[0019] 1 and 2, the cart transport device 100 includes a first cart 2, a second cart 1, a connecting member 3, and a linear actuator 4. The cart transport device 100 is applicable to, for example, a cage cart for transporting within a factory, an AGV (Automated Guided Vehicle), a home delivery robot, and the like.

[0020] As shown in FIG. 1 and FIG. 2, the first cart 2 is a cart that pulls the second cart 1 in the forward direction F in FIG. 1 or pushes it in the backward direction R in FIG. 1 by the manual power of the worker 110. The first cart 2 includes a floor surface portion 21, legs 22, a support bar 23, and wheels 25. The first cart 2 and the floor surface portion 21 are substantially rectangular in a plan view. The legs 22 are fixed to the four corners of the floor surface portion 21. The legs 22 are arranged in the vertical direction. Of the four legs 22, two legs 22 in the forward direction F are connected to each other in the width direction W via the support bar 23. A control switch portion 24 is attached to the support bar 23. A plurality of buttons are arranged on the control switch portion 24, and the linear actuator 4 is extended or retracted by the worker 110 pressing the buttons.

[0021] As shown in FIG. 1 and FIG. 2, the second cart 1 is a cart on which an object can be loaded. The second cart 1 is, for example, a cage cart. The second cart 1 is, for example, disposed rearward of the first cart 2. Here, in the above-mentioned first mode (mode in which the cart transporting device 100 advances in the forward direction F), the first cart 2 pulls the second cart 1 in the forward direction F. Also, in the above-mentioned second mode (mode in which the cart transporting device 100 moves backward in the rear direction R), the first cart 2 pushes the second cart 1 in the rear direction R. The floor surface portion 11 of the second cart 1 is substantially rectangular in plan view. The second cart 1 includes the floor surface portion 11, a side portion 12, and wheels 13. The side portion 12 is attached to the edge of the floor surface portion 11. The side portion 12 is formed in a lattice shape having thin metal pieces arranged in the vertical direction and thin metal pieces arranged in the horizontal direction. The first cart 2 and the second cart 1 are connected via a connecting member 3 and a linear actuator 4. Specifically, the floor surface portion 21 of the first cart 2 and the floor surface portion 11 of the second cart 1 are connected via the connecting member 3 and the linear actuator 4.

[0022] As shown in FIG. 3, the connecting member 3 connects the rear end 21a of the floor surface portion 21 of the first bogie 2 and the front end 11a of the floor surface portion 11 of the second bogie 1 in the front-rear direction. The connecting member 3 includes a first mounting member 31, a second mounting member 32, and a pin (first joint) 33. The first mounting member 31 is fixed to the center of the width direction W at the rear end 21a of the floor surface portion 21. The longitudinal direction of the first mounting member 31 is the front-rear direction, and the front end of the first mounting member 31 is fixed to the rear end 21a of the floor surface portion 21. The second mounting member 32 is fixed to the center of the width direction W at the front end 11a of the floor surface portion 11. The longitudinal direction of the second mounting member 32 is the front-rear direction, and the rear end of the second mounting member 32 is fixed to the front end 11a of the floor surface portion 11. Here, as described above, the width direction W is a direction perpendicular (intersecting) to the forward direction F. The first mounting member 31 and the second mounting member 32 are connected via a pin 33 so as to be able to swing.

[0023] The linear actuator 4 connects the floor surface portion 21 of the first bogie 2 and the floor surface portion 11 of the second bogie 1 in the front-rear direction. That is, the longitudinal direction of the linear actuator 4 is the front-rear direction. The linear actuator 4 is extendable in the longitudinal direction (front-rear direction). The linear actuator 4 connects the first bogie 2 and the second bogie 1. The linear actuator 4 is supported on the floor surface portion 11 of the second bogie 1 via the second joint 41 so as not to be able to swing. The second joint 41 is a fixed joint, and the linear actuator 4 is not able to swing around the second joint 41. Note that the present invention is not limited to this, and the linear actuator 4 may be supported on the second bogie 1 so as to be able to swing at the second joint 41. The linear actuator 4 is also supported on the floor surface portion 21 of the first bogie 2 so as to be able to swing via the third joint 42.

[0024] Here, as shown in FIG. 3, a straight line passing through the center of the width direction W at the front end 11a of the floor surface portion 11 of the second bogie 1 and perpendicular to the front end 11a is defined as a first straight line L1. In a plan view, the first mounting member 31, the second mounting member 32, and the pin 33 overlap with the first straight line L1. In addition, a straight line passing through the center of the width direction W at the rear end 21a of the floor surface portion 21 and perpendicular to the rear end 21a is defined as a second straight line L2. In a plan view, the first mounting member 31, the second mounting member 32, and the pin 33 overlap with the second straight line L2. The distance from the left end of the rear end 21a to the second straight line L2 is a distance D1. The distance from the right end of the rear end 21a to the second straight line L2 is a distance D2. The distance D1 and the distance D2 are equal.

[0025] In plan view, the linear actuator 4 does not overlap with the connecting member 3. Specifically, the connecting member 3 is disposed on one side in the width direction W, that is, on the left side, relative to the linear actuator 4, in plan view.

[0026] In a plan view, the intersection angle between the first straight line L1 and the second straight line L2 is the intersection angle between the forward direction F of the first bogie 2 and the forward direction F of the second bogie 1. Therefore, in Fig. 3, the first bogie 2 is located in front of the second bogie 1, and the first bogie 2 is steered to the right.

[0027] Next, the structure of the linear actuator 4 will be briefly described. Fig. 4 is a perspective view of a part of the linear actuator in cross section. As shown in Fig. 4, the linear actuator 4 includes a motor 43, a screw shaft 44, a nut 45, a cylindrical member 46, and a housing 47. The linear actuator 4 according to this embodiment is an example of an actuator using a sliding screw.

[0028] Components such as the motor 43 and the screw shaft 44 are accommodated inside the housing 47. A male thread is formed on the outer periphery of the screw shaft 44, and a female thread is formed on the inner periphery of the nut 45, which meshes with the male thread. Therefore, when the screw shaft 44 rotates, the nut 45 moves in the axial direction. The cylindrical member 46 is provided on the outer periphery of the screw shaft 44 and is fixed to the nut 45.

[0029] A gear 48a is provided on the axial end of the screw shaft 44. Gears 48b and 48c are disposed between the gear 48a and an output shaft 48d of the motor 43. The gear 48a meshes with the gear 48b, the gear 48b meshes with the gear 48c, and the gear 48c meshes with the output shaft 48d.

[0030] Therefore, when the motor 43 is driven and the output shaft 48d rotates, the gear 48a rotates via the gears 48c and 48b. Since the gear 48a is fixed to the screw shaft 44, the screw shaft 44 rotates together with the gear 48a. This causes the nut 45 and the cylindrical member 46 to move in the axial direction. Since the third joint 42 is fixed to the cylindrical member 46, the third joint 42 also moves in the axial direction together with the cylindrical member 46. When a ball screw is used as the linear actuator 4, a so-called self-locking (automatic locking) mechanism is used. The self-locking mechanism is a mechanism in which the output shaft 48d does not rotate (does not rotate in the reverse direction) when the motor 43 is stopped, as shown in FIG. 4.

[0031] In this way, when the motor 43 is driven, there are two situations in which the distance between the second joint 41 and the third joint 42 increases (the linear actuator 4 extends in the longitudinal direction) and there are two situations in which the distance between the second joint 41 and the third joint 42 decreases (the linear actuator 4 contracts in the longitudinal direction).

[0032] When the linear actuator 4 extends in the longitudinal direction, the second cart 1 is bent to the right relative to the first cart 2. When the linear actuator 4 retracts in the longitudinal direction, the second cart 1 is bent to the left relative to the first cart 2. Therefore, when the worker 110 turns the traveling direction of the first cart 2, for example, to the right, the linear actuator 4 is controlled to retract in the longitudinal direction.

[0033] As described above, the cart transport device 100 of the first embodiment comprises a first cart 2, a second cart 1 swingably connected to the first cart 2 via a connecting member 3, and a linear actuator 4 connecting the first cart 2 and the second cart 1.

[0034] In this way, since the second carriage 1 is disposed on the rear side (one side in the front-rear direction) of the first carriage 2, the width of the carriage transport device as a whole is more suppressed compared to the carriage transport device of Patent Document 1. In addition, since the linear actuator 4 is provided so as to be extendable in the front-rear direction and connects the second carriage 1 and the first carriage 2, the traveling follow-up ability of the second carriage 1 with respect to the first carriage 2 is higher. That is, for example, in the first aspect described above, when the traveling direction of the first carriage 2 is turned to the right, the linear actuator 4 is controlled to be contracted in the longitudinal direction, for example, and when the traveling direction of the first carriage 2 is turned to the left, the linear actuator 4 is controlled to be extended in the longitudinal direction, for example, thereby making it possible to improve the traveling follow-up ability of the second carriage 1 with respect to the first carriage 2.

[0035] The connecting member 3 includes a first mounting member 31 fixed to the first bogie 2, a second mounting member 32 fixed to the second bogie 1, and a pin (first joint) 33 that swingably connects the first mounting member 31 and the second mounting member 32. The linear actuator 4 does not overlap the connecting member 3 in a plan view.

[0036] When the linear actuator 4 overlaps with the connecting member 3 in plan view, for example, the linear actuator 4 intersects with the connecting member 3 in an X-shape in plan view. In this mode, the length of the linear actuator 4 is longer than in a mode in which the linear actuator 4 and the connecting member 3 do not intersect.

[0037] Therefore, in this embodiment, the linear actuator 4 does not overlap with the connecting member 3 in a planar view, which has the advantage that the length of the linear actuator 4 is shorter than when the linear actuator 4 overlaps with the connecting member 3 in a planar view.

[0038] If a direction intersecting the front-rear direction of the first bogie 2 and the second bogie 1 is defined as a width direction W, the first mounting member 31 is disposed in the center of the first bogie 2 in the width direction W, and the second mounting member 32 is disposed in the center of the second bogie 1 in the width direction W. The connecting member 3 is disposed on the left side (one side in the width direction) of the linear actuator 4 in a plan view.

[0039] In this way, the connecting member 3 is disposed at the center in the width direction W of the cart transporting device 100. For example, in the first embodiment described above, when the first cart 2 turns the rudder to change its traveling direction, the second cart 1 swings about the pin (first joint) 33, and the second cart 1 changes its traveling direction following the first cart 2. Therefore, compared to the embodiment in which the connecting member 3 is disposed at the end of the width direction W of the cart transporting device 100, when the first cart 2 turns the rudder to change its traveling direction, the second cart 1 can change its traveling direction more smoothly following the first cart 2.

[0040] [Second embodiment] Next, a second embodiment will be described. Fig. 5 is a perspective view showing the carriage transport device of the second embodiment. Fig. 6 is a perspective view showing the carriage transport device of the second embodiment. Fig. 7 is a plan view of Fig. 6.

[0041] The cart transporting apparatus 100A according to the second embodiment differs from the cart transporting apparatus 100 according to the first embodiment in that a long member 5 is used as a connecting member. The following description will mainly focus on this difference.

[0042] As shown in Figs. 5 to 7, a fourth joint 52 is provided at the rear end 21a of the floor surface portion 21 of the first bogie 2. A fifth joint 51 is provided at the floor surface portion 11 of the second bogie 1. The fourth joint 52 and the fifth joint 51 are, for example, pins. In this embodiment, a long member 5 is used as the connecting member. The long member 5 has a longitudinal direction in the front-rear direction. The long member 5 cannot expand or contract in the longitudinal direction. The long member 5 is supported by the first bogie 2 and the second bogie 1 at the fourth joint 52 and the fifth joint 51 so as to be able to swing.

[0043] 7, the linear actuator 4 does not overlap with the elongated member 5 in plan view. Specifically, the linear actuator 4 is disposed on the right side (the other side in the width direction) of the elongated member 5 in plan view.

[0044] The fourth joint 52 is disposed on the left side (one side in the width direction) of the third joint 42 of the linear actuator 4. The fifth joint 51 is disposed on the left side (one side in the width direction) of the second joint 41 of the linear actuator 4. In addition, the distance between the fourth joint 52 and the third joint 42 in a plan view is greater than the distance between the fifth joint 51 and the second joint 41. As shown in FIG. 7, when the second joint 41, the third joint 42, the fourth joint 52, and the fifth joint 51 are connected by straight lines in a plan view, the shape is substantially trapezoidal.

[0045] In the second embodiment as well, when the linear actuator 4 extends in the longitudinal direction, the second carriage 1 is bent to the right relative to the first carriage 2. When the linear actuator 4 retracts in the longitudinal direction, the second carriage 1 is bent to the left relative to the first carriage 2. Therefore, when the worker 110 turns the traveling direction of the first carriage 2, for example, to the right, the linear actuator 4 is controlled to retract in the longitudinal direction.

[0046] As described above, in the second embodiment, the connecting member is the inextensible elongated member 5. The elongated member 5 connects the fourth joint 52 and the fifth joint 51. The elongated member 5 is supported by the first cart 2 and the second cart 1 at the fourth joint 52 and the fifth joint 51 so as to be able to swing. The linear actuator 4 does not overlap with the elongated member in a plan view.

[0047] In this manner, the long member 5 may be used as the connecting member. Since the connecting member 3 of the first embodiment includes the first attachment member 31, the second attachment member 32, and the pin (first joint) 33, the long member 5 of the second embodiment has the advantage of having a smaller number of parts.

[0048] If a direction intersecting the front-rear direction of the first cart 2 and the second cart 1 is defined as a width direction W, the fourth joint 52 is disposed on the left side (one side in the width direction) of the first cart 2, and the fifth joint 51 is disposed on the left side (one side in the width direction) of the second cart 1. The linear actuator 4 is disposed on the right side (the other side in the width direction) of the elongated member 5 in a plan view.

[0049] In this way, by arranging the long member 5 on one side of the width direction W of the cart conveying device 100A and arranging the linear actuator 4 on the other side of the width direction W, the number of parts of the long member 5, which is the connecting member, can be reduced and the length of the linear actuator 4 can be shortened.

[0050] In addition, although a linear actuator using a sliding screw has been described in the explanation of the embodiment of the present invention, the present invention is not limited to this, and a linear actuator using a ball screw, etc. can also be applied to the present invention, and the present invention is not limited to the operating type of the actuator. [Explanation of symbols]

[0051] 1 Second bogie 2. First cart 3 Connecting members 4. Linear Actuator 5 Long members (connecting members) 11 Floor section 11a Front end 12 Side 13 wheels 21 Floor section 21a Rear end 22 Legs 23 Support bar 24 Control switch section 25 wheels 31 First mounting member 32 Second mounting member 33 Pin (1st joint) 41 Second Joint 42 3rd Joint 43 Motor 44 Screw shaft 45 Nut 46 Cylindrical member 47 Housing 48a Gear 48b Gear 48c gear 48d output shaft 51 5th Joint 52 4th Joint 100, 100A Cart Transport Device 110 Worker L1 1st straight line L2 2nd straight line

Claims

1. A first carriage; a second carriage that is disposed on one side of the first carriage in a front-rear direction and is swingably connected to the first carriage via a connecting member; a linear actuator that is extendable and contractible and connects the second carriage and the first carriage; The connecting member is a first mounting member fixed to the first carriage; a second mounting member fixed to the second carriage; a first joint that swingably connects the first mounting member and the second mounting member, The linear actuator does not overlap with the connecting member in a plan view. Cart transport device.

2. When a direction intersecting the front-rear direction of the first cart and the second cart is defined as a width direction, The first mounting member is disposed at a center portion of the first carriage in the width direction, The second mounting member is disposed at a center portion of the second carriage in the width direction, The connecting member is disposed on one side in the width direction with respect to the linear motion actuator in a plan view. The carriage transport device according to claim 1 .

3. A first carriage; a second carriage that is disposed on one side of the first carriage in a front-rear direction and is swingably connected to the first carriage via a connecting member; a linear actuator that is extendable and contractible and connects the first carriage and the second carriage; The connecting member is a non-stretchable elongated member connecting a fourth joint provided on the first carriage and a fifth joint provided on the second carriage, the elongated member is supported swingably by the first carriage and the second carriage at the fourth joint and the fifth joint, respectively; The linear actuator does not overlap with the elongated member in a plan view. Cart transport device.

4. When a direction intersecting the front-rear direction of the first cart and the second cart is defined as a width direction, the fourth joint is disposed on one side of the first bogie in the width direction, The fifth joint is disposed on one side of the second bogie in the width direction, The linear actuator is disposed on the other side of the elongated member in the width direction in a plan view. The carriage transport device according to claim 3.

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