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; and a connection device which connects the first dolly with the second dolly. The connection device has: a motor; and a self-locking device which transmits rotational driving force of the motor to swing 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 located on one side of the first cart in the fore-aft direction, and a coupling device that couples the first cart and the second cart and swings the second cart in the left-right direction relative to the first cart using a rotational driving force, wherein the coupling device has a motor that generates the rotational driving force, and a self-locking device that transmits the rotational driving force of the motor to the second cart to swing the second cart and suppresses changes in the orientation of the second cart relative to the first cart.

[0007] In this way, since the second carriage according to the present disclosure is disposed on one side of the first carriage in the front-rear direction, the width of the carriage transport device as a whole is more suppressed compared to the carriage transport device of Patent Document 1. Also, since a coupling device for swinging the second carriage relative to the first carriage is provided, the running tracking ability of the second carriage relative to the first carriage is improved. For example, when the traveling direction of the first carriage is turned to the right, the traveling direction of the second carriage is turned to the right relative to the first carriage. That is, by swinging the second carriage relative to the first carriage in the same direction as the turning direction of the first carriage, the running tracking ability of the second carriage is improved compared to the case where the second carriage is not swung.

[0008] In a preferred embodiment of the carriage transport apparatus, the self-locking device is a paradox planetary gear mechanism.

[0009] As the self-locking device, for example, a worm gear mechanism that combines a screw gear (worm shaft) and a helical gear (worm wheel), a paradox planetary gear mechanism, etc. Of these, the paradox planetary gear mechanism is preferable as the self-locking device because it can obtain a higher deceleration rate.

[0010] In a preferred embodiment of the cart transport device, the paradox planetary gear mechanism includes a fixed internal gear fixed to the first cart and having first internal teeth on its inner circumference, a movable internal gear fixed to the second cart and arranged opposite to one side in the vertical direction relative to the fixed internal gear and having second internal teeth on its inner circumference with a different number of teeth than the first internal teeth, a sun gear arranged on the inner circumference of the first internal teeth and connected to the output shaft of the motor, and a planetary gear arranged on the inner circumference of the first internal teeth and outside the sun gear, the planetary gear meshing with the sun gear, the first internal teeth, and the second internal teeth, and the movable internal gear oscillates around a central axis extending in the vertical direction relative to the fixed internal gear.

[0011] In the present disclosure, in the paradox planetary gear mechanism, a common planetary gear is meshed with two fixed internal gears and a movable internal gear having different numbers of teeth, so a high reduction ratio can be obtained. Therefore, since it is not necessary to use large gears in order to obtain a high reduction ratio, the coupling device can be made smaller.

[0012] In addition, in the paradox planetary gear mechanism of the present disclosure, the number of teeth of the first internal tooth of the fixed internal gear is different from the number of teeth of the second internal tooth of the movable internal gear. Therefore, compared with a gear mechanism having gears with the same number of teeth, the paradox planetary gear mechanism generates a so-called self-locking effect in which the relative orientation of the movable internal gear with respect to the fixed internal gear is unlikely to change when an external force is applied to the movable internal gear in the rotational direction. Therefore, for example, even if the second carriage hits an obstacle such as a pillar, the direction of travel of the second carriage does not easily change, and high running tracking ability is maintained, which is an advantage.

[0013] In a preferred embodiment of the cart transport device, the coupling device includes an attachment member provided at one end of the first cart in the fore-and-aft direction and extending toward that side, and the fixed internal gear is fixed to the attachment member.

[0014] In this manner, in the present disclosure, the mounting member extends toward one side in the front-rear direction, and the fixed internal gear is fixed to the mounting member. Therefore, the distance between the second bogie and the first bogie is longer than when the fixed internal gear is directly fixed to the first bogie. Therefore, when the orientation of the second bogie changes relative to the first bogie, the second bogie is less likely to hit the first bogie. That is, when the distance between the second bogie and the first bogie is short, the second bogie is more likely to hit the first bogie when changing the traveling direction. When the width of the second bogie or the first bogie is large, the second bogie is more likely to hit the first bogie. However, by increasing the distance between the second bogie and the first bogie, the second bogie is less likely to hit the first bogie, and thus the width of the second bogie or the first bogie can be made larger.

[0015] In a desirable embodiment of the cart transport device, the connecting device includes a protrusion provided at the other end of the second cart in the fore-and-aft direction and extending toward the other side, and the movable internal gear is provided with a U-shaped engaging portion when viewed from above, and the protrusion is engaged with the engaging portion to fix the movable internal gear to the second cart.

[0016] In this way, since the fitting portion has a U-shape in a plan view, by inserting the protruding portion from the opening side of the fitting portion, the operation of fitting the protruding portion into the fitting portion becomes easy. Effect of the Invention

[0017] 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]

[0018] [Figure 1] FIG. 1 is a perspective view showing a carriage transport device according to an embodiment. [Diagram 2] FIG. 2 is a perspective view showing a part of FIG. [Diagram 3] FIG. 3 is a perspective view showing a part of FIG. [Figure 4] FIG. 4 is a perspective view showing the connecting device of the embodiment. [Diagram 5] FIG. 5 is a perspective view showing a drive unit and a paradox planetary gear mechanism in the coupling device. [Figure 6] FIG. 6 is a perspective view showing a state in which the movable internal gear is removed from FIG. [Figure 7] FIG. 7 is a perspective view showing a state in which the planetary carrier is removed from FIG. [Figure 8] FIG. 8 is a perspective view showing a planetary carrier. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] 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.

[0020] 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.

[0021] FIG. 1 is a perspective view showing a carriage transport device of an embodiment. FIG. 2 is a perspective view showing a part of FIG. 1. FIG. 3 is a perspective view showing a part of FIG. 1. FIG. 4 is a perspective view showing a coupling device of an embodiment. FIG. 5 is a perspective view showing a drive device and a paradox planetary gear mechanism in the coupling device. FIG. 6 is a perspective view showing a state in which a movable internal gear is removed from FIG. 5. FIG. 7 is a perspective view showing a state in which a planetary carrier is removed from FIG. 6. FIG. 8 is a perspective view showing a planetary carrier.

[0022] 1, the cart transport device 100 includes a first cart 2, a second cart 1, and a coupling device 120. The cart transport device 100 is applicable to, for example, a cage cart transported within a factory, an AGV (Automated Guided Vehicle), a home delivery robot, and the like.

[0023] As shown in FIG. 1, the first cart 2 is a cart that pulls the second cart 1 in a forward direction F in FIG. 1 or pushes it in a backward direction R in FIG. 1 by the manual power of an operator 110. The first cart 2 includes a floor surface portion 21, legs 22, a support bar 23, and wheels 25. The floor surface portion 21 of the first cart 2 is 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 pressing the buttons rotates the drive device 5 described later. For example, when switch A is pressed, the second cart 1 changes its direction of travel to the right relative to the first cart 2, and when switch B is pressed, the second cart 1 changes its direction of travel to the left relative to the first cart 2. This control will be described later.

[0024] The second cart 1 is, for example, 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, arranged on the rear side of the first cart 2 in the traveling direction. In other words, the second cart 1 is, for example, arranged on one side of the first cart 2 in the front-rear direction. Here, in the above-mentioned first mode (mode in which the cart transport 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 transport device 100 moves backward in the rear direction R), the first cart 2 pushes the second cart 1 in the rear direction R. The second cart 1 and the floor surface portion 11 are 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 portion 11. The side portion 12 is formed in a lattice shape having thin metal strips arranged in the vertical direction and thin metal strips arranged in the horizontal direction. As shown in Figures 1 to 3, the second cart 1 and the first cart 2 are connected via a connecting device 120.

[0025] 3, the coupling device 120 includes a mounting member 3, a support plate 4, a driving device 5, and a self-locking device 130. The coupling device 120 uses a rotational driving force to rock the second cart 1 relative to the first cart 2. This will be described in detail below.

[0026] The mounting member 3 is attached to the rear end 21a (see Figs. 1 and 2) of the floor surface portion 21 of the first bogie 2. In detail, the mounting member 3 is attached to the center of the rear end 21a in the width direction W. The mounting member 3 is provided at an end portion on one side (e.g., the rear side) in the front-rear direction of the first bogie 2. The extending direction of the mounting member 3 is the front-rear direction. The mounting member 3 extends toward one side (e.g., the rear side) in the front-rear direction. Specifically, the mounting member 3 has a pillar body 31 and a pillar body 32. The pillar body 31 extends from the rear end portion 21a of the floor surface portion 21 in the rear direction R. The pillar body 32 extends downward from the rear end portion 31a of the pillar body 31. That is, the upper end portion 32a of the pillar body 32 is fixed to the end portion 31a of the pillar body 31.

[0027] The support plate 4 includes a first support plate 41 and a second support plate 42. The first support plate 41 includes an upper support plate 411 and a lower support plate 412.

[0028] As shown in Fig. 3, the upper support plate 411 has an L-shape when viewed from the side. That is, the upper support plate 411 has a vertical surface portion 411a and a horizontal surface portion 411b, and the vertical surface portion 411a and the horizontal surface portion 411b form an L-shape. The vertical surface portion 411a is fixed to the rear surface of the end portion 31a. The horizontal surface portion 411b extends rearward from the lower end portion of the vertical surface portion 411a.

[0029] The lower support plate 412 has a T-shape when viewed from the side, as shown in Figures 3 and 4. That is, as shown in Figure 4, the lower support plate 412 has a mounting plate 413 fixed to the rear side surface of the pillar body 32, and a lower support plate 412 extending from the vertical center of the mounting plate 413 toward the rear side.

[0030] The second support plate 42 is also referred to as a protrusion. As shown in Fig. 3, the second support plate (protrusion) 42 is provided at a front end (end) 11a in the forward direction F (the other side in the front-rear direction) of the second bogie 1 and extends toward the forward direction F (the other side). Specifically, the second support plate 42 includes an upper support plate 421 and a lower support plate 422.

[0031] As shown in FIG. 3, the upper support plate 421 extends in the forward direction F from the front end portion 11a of the floor surface portion 11. The lower support plate 422 is located below the upper support plate 421. The lower support plate 422 also extends in the forward direction F from the front end portion 11a of the floor surface portion 11. As shown in FIG. 4, the upper support plate 421 and the lower support plate 422 are vertically connected via a connecting shaft 423. As shown in FIG. 3, the connecting shaft 423 is inserted into a through hole (not shown) provided in the horizontal surface portion 411b and the disk portion 411c of the upper support plate 411. The horizontal surface portion 411b and the disk portion 411c are disposed between the upper support plate 421 and the lower support plate 422.

[0032] 6 and 7, the driving device 5 includes a motor 51. The motor 51 serves as a source of rotational driving force. The motor 51 has an output shaft 511 at its tip.

[0033] The self-locking device 130 transmits the rotational driving force of the motor 51 to the second bogie 1 to swing the second bogie 1, and has the function of suppressing a change in the relative orientation of the second bogie 1 with respect to the first bogie 2. As described above, the self-locking device 130 can be, for example, a worm gear mechanism combining a screw gear (worm shaft) and a helical gear (worm wheel), and a paradox planetary gear mechanism 6. In this embodiment, an example in which the paradox planetary gear mechanism 6 is applied will be described. The paradox planetary gear mechanism 6 transmits the rotational driving force of the motor 51 to swing the second bogie 1. The paradox planetary gear mechanism 6 includes a fixed internal gear 61, a movable internal gear 62, a sun gear 631, and a planetary gear 632. The paradox planetary gear mechanism 6 has a high holding force while swinging the second bogie 1 without rotating from the output shaft 511 side, i.e., the movable internal gear 62 side, i.e., has a feature of self-locking. A specific description will be given below.

[0034] 6 and 7, the fixed internal gear 61 has first internal teeth 611 on its inner circumference. The fixed internal gear 61 is attached to the column body 32 of the first carriage 2 via a lower support plate 412. In this way, the fixed internal gear 61 is fixed to the first carriage 2.

[0035] As shown in FIG. 8, the movable internal gear 62 has second internal teeth 621 on its inner circumference. The number of teeth of the second internal teeth 621 is different from the number of teeth of the first internal teeth 611. The movable internal gear 62 has a top plate 622 and a fitting portion 623. As shown in FIG. 5, the fitting portion 623 is fixed to the upper side of the top plate 622 and is U-shaped in a plan view. The movable internal gear 62 is also disposed opposite to the upper side of the fixed internal gear 61. As shown in FIG. 4, the lower support plate 422 is fitted into the fitting portion 623. As shown in FIG. 5, the fitting portion 623 is U-shaped in a plan view, and the lower support plate 422 is inserted from the opening side of the fitting portion 623. Thereafter, a fastening member (e.g., a bolt) (not shown) is inserted through a through hole 623a of the fitting portion 623 and fastened, thereby fixing the fitting portion 623 to the lower support plate 422. This causes the movable internal gear 62 to be attached to the second carriage 1.

[0036] 7, the sun gear 631 is connected to the output shaft 511 of the motor 51. The sun gear 631 is disposed inside the fixed internal gear 61. The output shaft 511 of the motor 51 and the fixed internal gear 61 rotate in a direction around a central axis AX. The central axis AX extends in the vertical direction.

[0037] As shown in FIG. 7, for example, three planetary gears 632 are provided. The planetary gears 632 are disposed inside the fixed internal gear 61 and outside the sun gear 631. The planetary gears 632 rotate around the sun gear 631 while rotating on their own axis. The planetary gears 632 mesh with the sun gear 631, the first internal teeth 611 of the fixed internal gear 61, and the second internal teeth 621 (see FIG. 8) of the movable internal gear 62. In this way, since the planetary gears 632 mesh with both the movable internal gear 62 and the fixed internal gear 61, the movable internal gear 62 oscillates relative to the fixed internal gear 61 in the direction around the central axis AX shown in FIG. 4. Note that, as shown in FIG. 6, the shafts of the three planetary gears 632 are connected via a planetary carrier 633.

[0038] Next, the movement of the coupling device 120 will be briefly described. First, as shown in FIG. 1, when the worker 110 pulls the first cart 2 in the forward direction F, for example, if the worker wants to turn to the right, the button A of the control switch unit 24 is pressed to rotate the motor 51 shown in FIG. 7 in the clockwise direction (CW direction) as viewed from the output shaft 511. When the output shaft 511 and the sun gear 631 rotate in the clockwise direction, the planetary gear 632 meshing with the sun gear 631 rotates (rotates) in the counterclockwise direction. Specifically, since the fixed internal gear 61 is fixed and does not rotate, the planetary gear 632 revolves in the clockwise direction around the inner circumference of the fixed internal gear 61 while meshing with the first internal teeth 611 of the fixed internal gear 61. That is, the planetary gear 632 revolves in the clockwise direction while rotating in the counterclockwise direction. The planetary gear 632 also meshes with the second internal teeth 621 of the movable internal gear 62 shown in FIG. 8. Therefore, when the number of teeth of the second internal teeth 621 is greater than the number of teeth of the first internal teeth 611, the movable internal gear 62 rotates in a clockwise direction relative to the fixed internal gear 61. In this manner, the movable internal gear 62 including the fitting portion 623 swings in a clockwise direction around the central axis AX relative to the fixed internal gear 61. Since the lower support plate 422 is fitted into the fitting portion 623, the traveling direction of the second carriage 1 changes to the right side relative to the first carriage 2. Note that, when the number of teeth of the second internal teeth 621 is less than the number of teeth of the first internal teeth 611, the movable internal gear 62 including the fitting portion 623 swings in a counterclockwise direction around the central axis AX relative to the fixed internal gear 61, and the traveling direction of the second carriage 1 changes to the left side relative to the first carriage 2.

[0039] In addition, when button B is pressed, the rotation direction of the output shaft 511 of the motor 51 changes to the left (CCW) direction when viewed from the output shaft 511, so that the rotation direction of the planetary gear 632 meshing with the sun gear 631 also reverses, and the direction of travel of the second cart 1 changes to the left relative to the first cart 2.

[0040] As described above, the cart transport device 100 according to this embodiment includes the first cart 2, the second cart 1, and the coupling device 120 that couples the first cart 2 and the second cart 1. The coupling device 120 has a motor 51 and a self-locking device 130. The self-locking device 130 transmits the rotational driving force of the motor 51 to the second cart 1 to rock the second cart 1, and has the effect of suppressing changes in the relative orientation of the second cart 1 with respect to the first cart 2. The self-locking device 130 is, for example, a paradox planetary gear mechanism 6.

[0041] In this way, since the second carriage 1 according to this embodiment is disposed in the rear direction R (one side in the front-rear direction) with respect to 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 coupling device 120 that swings the second carriage 1 with respect to the first carriage 2 is provided, the running followability of the second carriage 1 with respect to the first carriage 2 is improved. For example, when the traveling direction of the first carriage 2 is turned to the right, the traveling direction of the second carriage 1 is turned to the right with respect to the first carriage 2. That is, by swinging the second carriage 1 with respect to the first carriage 2 in the same direction as the turning direction of the first carriage 2, the running followability of the second carriage 1 is improved compared to the case where the second carriage 1 is not swung.

[0042] The paradox planetary gear mechanism 6 has a fixed internal gear 61 attached to the first carriage 2 and having first internal teeth 611 on its inner circumference, a movable internal gear 62 attached to the second carriage 1 and having second internal teeth 621 on its inner circumference, a sun gear 631 disposed inside the inner circumference side of the first internal teeth 611 and connected to the output shaft of the motor 51, and a planetary gear 632 meshing with the sun gear 631, the first internal teeth 611, and the second internal teeth 621. The movable internal gear 62 oscillates relative to the fixed internal gear 61 about a central axis AX extending in the vertical direction.

[0043] In the paradox planetary gear mechanism 6, a common planetary gear 632 is meshed with two different numbers of teeth, the fixed internal gear 61 and the movable internal gear 62, to obtain a high deceleration ratio. Therefore, since it is not necessary to use large gears in order to obtain a high deceleration ratio, the coupling device 120 can be made smaller.

[0044] Furthermore, in the paradox planetary gear mechanism 6, the number of teeth of the first internal teeth 611 of the fixed internal gear 61 and the number of teeth of the second internal teeth 621 of the movable internal gear 62 are different. Therefore, compared to a gear mechanism having gears with the same number of teeth, in the paradox planetary gear mechanism 6, when an external force is applied to the movable internal gear 62 in the rotational direction, the relative orientation of the movable internal gear 62 with respect to the fixed internal gear 61 is unlikely to change, resulting in a so-called self-locking effect. Therefore, for example, even if the second cart 1 hits a pillar or the like, the direction of travel of the second cart 1 does not easily change, and high running tracking ability is maintained, which is an advantage.

[0045] The coupling device 120 includes a mounting member 3 that is provided on the rear end portion 21a of the first carriage 2 and extends in the rear direction R. A fixed internal gear 61 is fixed to the mounting member 3.

[0046] In this way, the mounting member 3 extends toward the rear direction R, and the fixed internal gear 61 is fixed to the mounting member 3. Therefore, the distance between the second bogie 1 and the first bogie 2 is longer than when the fixed internal gear 61 is directly fixed to the rear end portion 21a of the first bogie 2. Therefore, when the orientation of the second bogie 1 changes relative to the first bogie 2, the second bogie 1 is less likely to hit the first bogie 2. That is, when the distance between the second bogie 1 and the first bogie 2 is short, the second bogie 1 is more likely to hit the first bogie 2 when changing the traveling direction. When the width of the second bogie 1 or the first bogie 2 is large, the second bogie 1 is more likely to hit the first bogie 2. However, by increasing the distance between the second bogie 1 and the first bogie 2, the second bogie 1 is less likely to hit the first bogie 2, and thus the width of the second bogie 1 or the first bogie 2 can be made larger.

[0047] The coupling device 120 includes a second support plate (protruding portion) 42 provided at the front end portion 11a of the second bogie 1 and extending in the forward direction F. The movable internal gear 62 is provided with a fitting portion 623 that is U-shaped in a plan view, and the lower support plate 422 of the second support plate 42 fits into the fitting portion 623, whereby the movable internal gear 62 is attached to the second bogie 1.

[0048] In this way, since the fitting portion 623 has a U-shape in a plan view, by inserting the lower support plate 422 from the opening side of the fitting portion 623, the operation of fitting the second support plate 42 into the fitting portion 623 becomes easy. [Explanation of symbols]

[0049] 1 Second bogie 11 Floor section 11a Front end 12 Side 13 wheels 100 Cart transport device 110 Worker 120 Coupling device 130 Self-locking device 2. First cart 21 Floor section 21a Rear end 22 Legs 23 Support bar 24 Control switch section 25 wheels 3 Mounting parts 31 Column 31a End 32 Column 32a end 4 Support Plate 41 First support plate 411 Upper support plate 411a Vertical section 411b Lateral section 411c Disc section 412 Lower Support Plate 413 Mounting plate 42 Second support plate (protruding portion) 421 Upper support plate 422 Lower Support Plate 423 Connecting shaft 5. Drive unit 51 Motor 511 Output shaft 6. Mysterious Planetary Gear Mechanism 61 Fixed internal gear 611 First inner tooth 62 Movable internal gear 621 Second inner tooth 622 Tabletop 623 Fitting part 631 Sun Gear 632 Planetary Gear 633 Planet carrier

Claims

1. A first carriage; a second carriage located on one side in a front-rear direction with respect to the first carriage; a coupling device that couples the first cart and the second cart and swings the second cart in a left-right direction relative to the first cart using a rotational driving force, The coupling device comprises: A motor that generates the rotational driving force; A self-locking device that transmits the rotational driving force of the motor to the second cart to rock the second cart and suppresses a change in the relative orientation of the second cart with respect to the first cart. Cart transport device.

2. The self-locking device is a paradox planetary gear mechanism. The carriage transport device according to claim 1 .

3. The paradox planetary gear mechanism includes: a fixed internal gear fixed to the first carriage and having first internal teeth on an inner circumference; a movable internal gear fixed to the second carriage, arranged to face one side of the fixed internal gear in the up-down direction, and having second internal teeth on an inner circumference, the second internal teeth having a different number of teeth than the first internal teeth; a sun gear disposed on an inner peripheral side of the first internal teeth and connected to an output shaft of the motor; a planetary gear disposed on an inner peripheral side of the first internal teeth and on an outer peripheral side of the sun gear, the planetary gear meshing with the sun gear, the first internal teeth, and the second internal teeth; The movable internal gear oscillates around a central axis extending in the vertical direction relative to the fixed internal gear. The carriage transport device according to claim 2.

4. The coupling device comprises: A mounting member is provided at an end portion of one side in the front-rear direction of the first bogie and extends toward the one side, The fixed internal gear is fixed to the mounting member. The carriage transport device according to claim 3.

5. The coupling device comprises: a protrusion provided at an end portion on the other side in the front-rear direction of the second bogie and extending toward the other side, The movable internal gear is provided with a fitting portion having a U-shape in a plan view, The protruding portion is fitted into the fitting portion, and the movable internal gear is fixed to the second carriage. The carriage transport device according to claim 3 or 4.

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