Coupling device and automatic traveling device

Abstract

To provide a coupling device and an automatic traveling device which are capable of connecting a towed vehicle by a simple structure.SOLUTION: A coupling device 2 comprises: a coupling motor 22; a gear mechanism 23 connected to the coupling motor 22; a coupling arm 24 connected to the gear mechanism 23; and a coupling control unit 21 for driving the coupling motor 22. When an automatic traveling device 1 reaches a predetermined coupling operation position, the coupling control unit 21 drives the coupling motor 22 to rotate the gear mechanism 23, thereby moving the coupling arm 24 from a non-coupling position to a coupling position in which it is coupled to a carriage 3.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a coupling device capable of coupling a towed vehicle such as a dolly, and an automatic driving device. [Background technology]

[0002] Conventionally, there are known automatic traveling devices (AGVs, traveling vehicles, etc.) that can travel to a destination according to a preset travel route. In addition, there are known automatic traveling devices that have a coupling device that can be coupled to a dolly (towed vehicle) and can travel while towing the dolly by coupling the coupling device to the dolly (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2013-208922 A Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional automatic traveling devices have two independent coupling devices on the left and right, and are structured so that the left coupling device is driven to couple the left arm to the left pipe of the dolly, and the right coupling device is driven to couple the right arm to the right side of the dolly. In this way, conventional coupling devices have a problem in that the structure becomes complicated because two independent coupling devices are provided on the automatic traveling device.

[0005] An object of the present disclosure is to provide a coupling device and an automatic driving device that are capable of coupling a towed vehicle with a simple structure. [Means for solving the problem]

[0006] A coupling device according to one aspect of the present disclosure is a device mounted on an automatic traveling device and capable of coupling a towed vehicle. The coupling device includes a drive motor, a gear mechanism connected to the drive motor, a coupling arm connected to the gear mechanism, and a control unit that drives the drive motor. When the automatic traveling device reaches a predetermined coupling operation position, the control unit drives the drive motor to rotate the gear mechanism, thereby moving the coupling arm from a non-coupled position to a coupled position where the coupling arm is coupled to the towed vehicle.

[0007] An automatic traveling device according to another aspect of the present disclosure includes a drive motor, a gear mechanism connected to the drive motor, a coupling arm connected to the gear mechanism, and a control unit for driving the drive motor, and includes a coupling device capable of coupling a towed vehicle. The automatic traveling device includes an output processing unit for outputting a drive signal to the coupling device when the automatic traveling device reaches a coupling operation position where the automatic traveling device performs an operation of coupling the towed vehicle. When the control unit receives the drive signal, the control unit drives the drive motor to rotate the gear mechanism, thereby moving the coupling arm from a non-coupled position to a coupled position where the coupling arm is coupled to the coupling part of the towed vehicle. Effect of the Invention

[0008] According to the present disclosure, it is possible to provide a coupling device and an automatic driving device that are capable of coupling a towed vehicle with a simple structure. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is an external perspective view of an automatic driving device according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a block diagram showing a configuration of an automatic driving device according to an embodiment of the present disclosure. [Diagram 3] FIG. 3 is a diagram for explaining a driving method of the automatic driving device according to the embodiment of the present disclosure. [Figure 4] FIG. 4 is a diagram illustrating an example of control information used in the automatic driving device according to the embodiment of the present disclosure. [Diagram 5] FIG. 5 is a diagram illustrating an example of a course set by the automatic driving device according to the embodiment of the present disclosure. [Figure 6] FIG. 6 is an external perspective view showing a coupled state of the automatic traveling device and the bogie according to the embodiment of the present disclosure. [Figure 7] FIG. 7 is a perspective view illustrating an internal structure of a coupling device in a non-coupling position according to an embodiment of the present disclosure. [Figure 8] FIG. 8 is a plan view illustrating the internal structure of a coupling device in a non-coupling position according to an embodiment of the present disclosure. [Figure 9] FIG. 9 is a perspective view illustrating an internal structure of a coupling device in a coupled position according to an embodiment of the present disclosure. [Figure 10] FIG. 10 is a plan view showing the internal structure of a coupling device in a coupled position according to an embodiment of the present disclosure. [Figure 11A] FIG. 11A is a partial enlarged view of a coupling device in an uncoupled position according to an embodiment of the present disclosure. [Figure 11B] FIG. 11B is a partial enlarged view of a coupling device in a coupled position according to an embodiment of the present disclosure. [Figure 12] FIG. 12 is a plan view showing a coupled state of the coupling device and the bogie according to the embodiment of the present disclosure. [Figure 13A] FIG. 13A is a partial enlarged view of a coupling device according to another embodiment of the present disclosure in an uncoupled position. [Figure 13B] FIG. 13B is a partial enlarged view of a coupling device according to another embodiment of the present disclosure in a coupled position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Note that the following embodiments are examples of the present disclosure and are not intended to limit the technical scope of the present disclosure.

[0011] FIG. 1 shows the appearance of an automatic driving device 1 according to this embodiment. The automatic driving device 1 is introduced into a facility such as a warehouse or a manufacturing line. Within the facility, the automatic driving device 1 travels along a guide guide (e.g., a magnetic tape L) corresponding to a pre-set course (travel route). When the automatic driving device 1 detects a marker M on the magnetic tape L to which control information (control parameters) is set, the automatic driving device 1 performs an operation according to the control information. The magnetic tape L and the marker M are installed on the floor surface of the facility by a user based on the course. Note that the automatic driving device of the present disclosure does not need to have a function of detecting the marker M.

[0012] Fig. 2 shows a functional block diagram illustrating the configuration of the automatic driving device 1. As shown in Fig. 2, the automatic driving device 1 includes a vehicle control unit 11, a memory unit 12, a line sensor 13, a marker sensor 14, a drive unit 15, a communication unit 16, a coupling device 2, and the like. The coupling device 2 is installed on the top plate of the automatic driving device 1, and is a device that couples a dolly 3 (an example of a towed vehicle of the present disclosure). When the coupling device 2 is coupled to the dolly 3 (see Fig. 6), the automatic driving device 1 travels while towing the dolly 3. The coupling device 2 is connected to the automatic driving device 1 via a wire or wirelessly so as to be able to communicate data.

[0013] The communication unit 16 is a communication interface for wirelessly connecting the automatic driving device 1 to a communication network and for executing data communication in accordance with a predetermined communication protocol with external devices such as an operation terminal and a server via the communication network.

[0014] The drive unit 15 includes left and right drive wheels, a driving motor, a battery, etc. The drive unit 15 drives the driving motor with the power of the battery, and the driving force of the driving motor rotates the drive wheels to drive the automatic driving device 1. The battery is a rechargeable battery, and is charged by an automatic charger (not shown). For example, the automatic driving device 1 can charge the battery by the automatic charger at a predetermined charging position while traveling along a set course.

[0015] The line sensor 13 is a detection sensor that detects the magnetic tape L installed on the floor of the facility. Fig. 3 shows a schematic diagram of the magnetic tape L and markers M installed on the floor of the facility, and the automatic traveling device 1 traveling within the facility. As shown in Fig. 3, the line sensor 13 is provided on the bottom surface of the automatic traveling device 1, and includes a plurality of detection elements (not shown) arranged in a line in a direction perpendicular to the traveling direction of the automatic traveling device 1. Each detection element outputs a detection signal when the magnetic tape L is present at the opposite position.

[0016] The marker sensor 14 detects the marker M placed on the course. As shown in FIG. 3, the marker sensor 14 is provided at a position where it can face the marker M when the automatic driving device 1 is traveling. In addition, an RFID sensor capable of communicating with an RFID tag used as the marker M is used as the marker sensor 14. Note that, if communication with the marker M is possible, the marker sensor 14 may be provided at a position shifted from the position facing the marker M. In addition, the marker sensor 14 can be appropriately changed depending on the type of communication tag used as the marker M. In addition, the marker M may be configured as a two-dimensional code, and the marker sensor 14 may be configured as a camera capable of reading the two-dimensional code.

[0017] Identification information (e.g., marker number, marker ID, etc.) of the marker M is recorded in a readable state on the marker M. For example, the marker sensor 14 detects the marker M placed on the course, thereby acquiring the marker number recorded on the marker M. Specifically, the marker sensor 14 acquires the marker number recorded on the marker M by communicating with the marker M while the automatic driving device 1 is traveling.

[0018] By using a communication tag such as an RFID tag as the marker M, communication can be performed between the marker sensor 14 and the marker M for a predetermined period while passing near the marker M (a period longer than the period during which the marker sensor 14 faces the marker M). Therefore, even while the automatic driving device 1 is traveling, the marker number recorded in the marker M can be obtained with high accuracy. The vehicle control unit 11 obtains the marker number from the marker sensor 14.

[0019] The storage unit 12 is a non-volatile storage unit that stores various types of information, such as a hard disk drive (HDD), a solid state drive (SSD), a flash memory, etc. The storage unit 12 stores data such as control information D1.

[0020] FIG. 4 is a diagram showing an example of control information D1. Control information D1 is information that specifies the driving operation of automatic driving device 1. As shown in FIG. 4, control information D1 includes information such as "operation order," "marker number," "driving operation," "speed," and "specific operation." The operation order is information that indicates the order of driving operations of automatic driving device 1, and for example, automatic driving device 1 performs driving operations in the order of numbers 1 to 10. The marker number is identification information of marker M, and corresponds to the marker number recorded in marker M. A marker ID may be registered in control information D1 instead of the marker number.

[0021] The driving operations are information that represent operations to be executed by the automatic driving device 1. "Forward" represents an operation to drive the automatic driving device 1 forward. "Right spin" represents an operation to turn the automatic driving device 1 90 degrees to the right (spin turn). "Right tracking" represents an operation to give the steering angle of the automatic driving device 1 a specified angle to the right and turn the automatic driving device 1 to the right. "Center tracking" represents an operation to give the steering angle of the automatic driving device 1 in the center direction and move the automatic driving device 1 forward. "Stop" represents an operation to stop the automatic driving device 1.

[0022] The speed is information on the traveling speed of the automatic traveling device 1. The specific operation is information indicating a specific operation to be executed by the automatic traveling device 1. The specific operation includes a charging operation for charging the automatic traveling device 1, a coupling operation for coupling a coupling object (e.g., the cart 3) to the automatic traveling device 1, and the like.

[0023] In the control information D1, the operation order, the driving operation, the speed, and the specific operation are each registered in association with the marker number. The control information D1 is set, for example, in an operation terminal (not shown), and is output (transferred) from the operation terminal to the automatic driving device 1. When the automatic driving device 1 acquires the control information D1 from the operation terminal, it stores it in the storage unit 12, and drives the set course while executing the driving operation according to the control information D1.

[0024] The storage unit 12 also stores a control program for causing the vehicle control unit 11 to execute various control processes. For example, the control program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD, read by a reading device (not shown) provided in the automatic driving device 1, and stored in the storage unit 12. The control program may be distributed from a cloud server and stored in the storage unit 12.

[0025] The vehicle control unit 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The vehicle control unit 11 controls the automatic driving device 1 by executing various control programs stored in the ROM or the storage unit 12 in advance with the CPU. The vehicle control unit 11 functions as the various processing units by executing various processes according to the control programs with the CPU. In addition, a part or all of the processing units may be composed of electronic circuits. The control program may be a program for causing a plurality of processors to function as the processing units.

[0026] Specifically, the vehicle control unit 11 controls the driving operation of the automatic driving device 1. For example, when the vehicle control unit 11 acquires control information D1 (see FIG. 4) from an operation terminal, the vehicle control unit 11 stores the control information D1 in the storage unit 12. Furthermore, the vehicle control unit 11 causes the automatic driving device 1 to drive along the magnetic tape L based on the detection result of the line sensor 13 (see FIG. 3).

[0027] Furthermore, when the marker sensor 14 detects the marker M, the vehicle control unit 11 causes the automatic driving device 1 to execute a driving operation corresponding to the marker M. Specifically, when the marker sensor 14 detects the marker M and reads the marker number recorded in the marker M, the vehicle control unit 11 refers to the control information D1 (see FIG. 4) and causes the automatic driving device 1 to execute a driving operation associated with the marker number.

[0028] Fig. 5 shows a specific example of a course (driving route) corresponding to the control information D1 shown in Fig. 4. After setting the course and control information D1, the user places a magnetic tape L on the floor of the facility based on the set course, and places an RFID tag corresponding to a marker M on the magnetic tape L. The automatic driving device 1 starts driving from the position (starting point) of marker number "2", proceeds in the direction of the arrow a1, and stops at the position (ending point) of marker number "2".

[0029] Specifically, when the automatic traveling device 1 detects the marker M with marker number "2", it starts moving forward at a speed of 10 m / min, and when it detects the subsequent marker M with marker number "3", it changes the speed to 30 m / min and continues moving forward. Next, when the automatic traveling device 1 detects the marker M with marker number "4", it turns right while searching for the magnetic tape L, and resumes moving forward when it detects the magnetic tape L, and when it detects the subsequent marker M with marker number "5", it turns further right while searching for the magnetic tape L, and resumes moving forward when it detects the magnetic tape L. Next, when the automatic traveling device 1 detects the marker M with marker number "6", it changes the speed to 10 m / min and moves forward, and when it detects the subsequent marker M with marker number "7", it pauses and performs a coupling operation with the bogie 3. Next, when the autonomous driving device 1 detects marker M with marker number "8", it switches to driving control suitable for turning right and changes the speed to 20 m / min to turn. Next, when the autonomous driving device 1 detects marker M with marker number "9", it continues driving control suitable for turning right, and when it detects the next marker M with marker number "1", it switches to driving control suitable for straight driving. Finally, when the autonomous driving device 1 detects marker number "2", it stops and performs charging operation.

[0030] In this manner, the automatic driving device 1 performs automatic driving based on the preset course and control information D1. Note that, although all courses may be configured with magnetic tape, there are also cases where the magnetic tape is used only in places that require high accuracy, such as coupling with a dolly or docking with an automatic charger, and the automatic driving device 1 performs autonomous driving with a high degree of freedom by driving on a virtual route formed by self-location estimation in other places.

[0031] Here, a specific example of a coupling operation for coupling the bogie 3 will be described. The automatic traveling device 1 can tow the bogie 3 equipped with freely rotatable casters (wheels). As shown in FIG. 1, the automatic traveling device 1 is equipped with a coupling device 2 for coupling the bogie 3. The automatic traveling device 1 can couple the bogie 3 with the coupling device 2 at a predetermined coupling operation position while traveling along a set course (see FIG. 6), and travel while towing the bogie 3. Note that the bogie 3 is placed at the coupling operation position in advance. For example, when the vehicle control unit 11 detects a marker M (marker number "7" shown in FIG. 4) associated with information indicating a coupling operation with the bogie 3, it temporarily stops the automatic traveling device 1 at the coupling operation position and outputs a command (drive signal) for the coupling operation to the coupling device 2. The vehicle control unit 11 is an example of an output processing unit in the present disclosure.

[0032] The coupling device 2 executes a coupling operation when it receives the drive signal (coupling operation command). As shown in Fig. 1, the coupling device 2 is installed on the rear side (or the front side) of the top plate of the automatic driving device 1. As shown in Fig. 2, the coupling device 2 includes a coupling control unit 21, a coupling motor 22 (an example of a drive motor of the present disclosure), a gear mechanism 23, a coupling arm 24, and the like. The coupling motor 22, the gear mechanism 23, and the coupling arm 24 are built into a housing 20 (cover) (see Fig. 1).

[0033] The connection control unit 21 functions as the various processing units by executing various processes according to a control program with a CPU. In addition, some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing a plurality of processors to function as the processing units. The connection control unit 21 controls the operation of the coupling device 2. For example, when the connection control unit 21 acquires a coupling operation command (drive signal) from the vehicle control unit 11, it drives the coupling motor 22, the gear mechanism 23, and the coupling arm 24 to perform the coupling operation. The connection control unit 21 is an example of a control unit of the present disclosure.

[0034] Specifically, when the automatic driving device 1 reaches a predetermined connecting operation position, the connection control unit 21 drives the connecting motor 22 to rotate the gear mechanism 23, thereby moving the connecting arm 24 from the non-connecting position (see Figure 1) to the connecting position (see Figure 6) where it is connected to the trolley 3.

[0035] Fig. 7 shows the internal structure in the non-coupled position (non-coupled posture) with the housing 20 of the coupling device 2 removed. Fig. 8 shows a plan view (top view) of the internal structure in Fig. 7. Fig. 9 shows the internal structure in the coupled position (coupled posture) with the housing 20 of the coupling device 2 removed. Fig. 10 shows a plan view (top view) of the internal structure in Fig. 9. Fig. 11A shows a partial enlarged view in the non-coupled position, and Fig. 11B shows a partial enlarged view in the coupled position.

[0036] The coupling motor 22 includes a gear 22M attached to a rotation shaft, and rotates the gear 22M according to commands from the coupling control unit 21. The gear 22M rotates horizontally, that is, rotates clockwise and counterclockwise when the automatic traveling device 1 is viewed from above.

[0037] The gear mechanism 23 is disposed so as to mesh with the gear 22M of the connection motor 22, and rotates in conjunction with the rotation of the gear 22M. Specifically, the gear mechanism 23 includes a left gear 23L disposed on the left side in the traveling direction when the automatic traveling device 1 is viewed from above, and a right gear 23R disposed on the right side in the traveling direction, and the left gear 23L and the right gear 23R are disposed so as to directly or indirectly mesh with each other so as to rotate in conjunction with each other.

[0038] For example, as shown in Fig. 7 and Fig. 8, the gear mechanism 23 includes a left gear 23L and a right gear 23R, and an inner gear 23A and an inner gear 23B arranged between the left gear 23L and the right gear 23R. The left gear 23L, the inner gear 23A, the inner gear 23B, and the right gear 23R are arranged in this order in a straight line in the left-right direction (an example of the first direction of the present disclosure). That is, the left gear 23L, the inner gear 23A, the inner gear 23B, and the right gear 23R are arranged in a straight line in a direction perpendicular to the traveling direction of the automatic traveling device 1. The inner gear 23A is an example of the first inner gear of the present disclosure, and the inner gear 23B is an example of the second inner gear of the present disclosure.

[0039] In addition, the left gear 23L and the inner gear 23A are arranged in mesh with each other, the inner gear 23A and the inner gear 23B are arranged in mesh with each other, and the inner gear 23B and the right gear 23R are arranged in mesh with each other. Gear 22M, left gear 23L, inner gear 23A, inner gear 23B, and right gear 23R are each arranged to rotate in the horizontal direction.

[0040] The coupling motor 22 is connected to the inner gear 23A. That is, the gear 22M and the inner gear 23A are arranged in mesh with each other. The coupling motor 22 may be connected to the inner gear 23B, and the gear 22M and the inner gear 23B may be arranged in mesh with each other.

[0041] The connecting arm 24 includes a left connecting arm 24L connected to the left gear 23L and a right connecting arm 24R connected to the right gear 23R. As shown in Figures 7 and 8, one end of the left connecting arm 24L is fixed to the upper surface of the left gear 23L with a fastener L1 such as a bolt, and one end of the right connecting arm 24R is fixed to the upper surface of the right gear 23R with a fastener R1 such as a bolt.

[0042] The connection control unit 21 drives the connection motor 22 to rotate the left gear 23L, the inner gear 23A, the inner gear 23B, and the right gear 23R in conjunction with each other, thereby moving each of the left connection arm 24L and the right connection arm 24R from the non-connected position (see Figs. 7 and 8) to the connected position (see Figs. 9 and 10). For example, as shown in Fig. 8, the connection control unit 21 drives the connection motor 22 to rotate the gear 22M in the d1 direction (clockwise). As a result, the inner gear 23A meshing with the gear 22M rotates in the arrow direction (counterclockwise), the left gear 23L meshing with the inner gear 23A rotates in the arrow direction (clockwise), the inner gear 23B meshing with the inner gear 23A rotates in the arrow direction (clockwise), and the right gear 23R meshing with the inner gear 23B rotates in the arrow direction (counterclockwise).

[0043] As a result, the left connecting arm 24L fixed to the left gear 23L rotates leftward from the center position in the left-right direction as the left gear 23L rotates clockwise (see Figs. 10, 11A, and 11B). Also, the right connecting arm 24R fixed to the right gear 23R rotates rightward from the center position in the left-right direction as the right gear 23R rotates counterclockwise (see Figs. 10, 11A, and 11B).

[0044] As shown in Fig. 12, when the left connecting arm 24L and the right connecting arm 24R rotate and move to the connecting position, the left connecting arm 24L and the right connecting arm 24R are connected to the trolley 3. Specifically, as shown in Fig. 6, the trolley 3 has a connecting part 31 made of a pipe-shaped member and a bar-shaped member. The connecting part 31 has a left connecting part 31L and a right connecting part 31R that extend vertically in the up-down direction, and the left connecting part 31L is disposed on the left side of the front (or rear) of the trolley 3, and the right connecting part 31R is disposed on the right side of the front (or rear) of the trolley 3. In addition, the left connecting part 31L and the right connecting part 31R are disposed at a predetermined interval in the left-right direction.

[0045] The left connecting arm 24L has a left hook portion 241L (see FIG. 10) at its tip, and when the left connecting arm 24L rotates and moves, it passes through the space between the left connecting portion 31L and the right connecting portion 31R of the dolly 3 and at the connecting position, the left hook portion 241L receives the left connecting portion 31L. As a result, the left connecting portion 31L is engaged with the left hook portion 241L (see FIG. 6 and FIG. 12).

[0046] The right connecting arm 24R has a right hook portion 241R (see FIG. 10) at its tip, and when the right connecting arm 24R rotates and moves, it passes through the space between the left connecting portion 31L and the right connecting portion 31R of the dolly 3, and at the connecting position, the right hook portion 241R receives the right connecting portion 31R. As a result, the right connecting portion 31R is engaged with the right hook portion 241R (see FIG. 6 and FIG. 12). As a result, the coupling device 2 is coupled to the dolly 3.

[0047] In this way, the connection control unit 21 rotates the left connecting arm 24L and the right connecting arm 24R in directions away from each other at the connection position, thereby connecting them to the dolly 3. Specifically, the connection control unit 21 rotates the left gear 23L and the right gear 23R in opposite directions in cooperation with each other. For example, as shown in FIG. 8, the connection control unit 21 rotates the left gear 23L clockwise and rotates the right gear 23R counterclockwise. As a result, as shown in FIG. 10, the connection control unit 21 rotates the left connecting arm 24L from the center to the left and rotates the right connecting arm 24R from the center to the right at the connection position, thereby connecting them to the dolly 3.

[0048] As described above, the coupling device 2 is equipped with one coupling motor 22, and by rotating multiple gears directly or indirectly connected to the coupling motor 22 in a coordinated manner, the coupling arm is moved from the non-coupled position to the coupled position and coupled to the trolley 3.

[0049] The connecting device 2 includes a housing 20, and the connecting motor 22 and the gear mechanism 23 are housed in the housing 20. The connecting arm 24 is housed in the housing 20 at the non-connecting position, and moves from the non-connecting position inside the housing 20 to the connecting device outside the housing 20 in response to the rotational operation of the gear mechanism 23.

[0050] According to the above configuration, it is possible to couple the dolly 3 with a simple structure. Furthermore, the automatic traveling device 1 can easily couple and tow the dolly 3.

[0051] When the cart 3 is to be separated from the automatic traveling device 1, the vehicle control unit 11 outputs a command (drive signal) for a disconnection operation to the coupling device 2. For example, when the automatic traveling device 1 reaches a predetermined disconnection position, the vehicle control unit 11 temporarily stops the automatic traveling device 1 at the disconnection position and outputs a disconnection command to the coupling device 2. When the coupling control unit 21 acquires a disconnection command from the vehicle control unit 11, it rotates the gear 22M of the coupling motor 22 counterclockwise. As a result, the left gear 23L, the inner gear 23A, the inner gear 23B, and the right gear 23R rotate, and the left coupling arm 24L and the right coupling arm 24R are disengaged from the coupling unit 31 of the cart 3 and move from the connected position (see FIG. 6) to the uncoupled position (see FIG. 1) and are accommodated in the housing 20.

[0052] [Other embodiments] The coupling device 2 of the present disclosure is not limited to the above-described embodiment, and may have the following configuration. In the gear mechanism 23, a predetermined gap (backlash) is provided between the meshing gears to allow the gears to rotate smoothly. Therefore, when the coupling arm 24 is coupled to the cart 3 and the automatic traveling device 1 tows the cart 3, rattling due to the backlash may occur.

[0053] Therefore, the gear mechanism 23 may have a configuration for suppressing the rattle. For example, as shown in FIG. 13A, the left connecting arm 24L has a spring 242L (one example of an elastic member of the present disclosure) inside the left hook portion 241L at the tip. The spring 242L is provided so as to apply a predetermined biasing force in the left direction at the connecting position. As shown in FIG. 13B, when the left hook portion 241L is engaged with the left connecting portion 31L at the connecting position, the connection control portion 21 drives the connecting motor 22 to rotate the gear mechanism 23 so that the spring 242L applies a predetermined pressing force against the biasing force to the left connecting portion 31L. As a result, the pressing force acts on the left gear 23L via the left connecting arm 24L, so that rattle between the left gear 23L and the inner gear 23A can be suppressed. The same applies to the right connecting arm 24R.

[0054] In the above-described embodiment, the gear mechanism 23 includes four gears (left gear 23L, inner gear 23A, inner gear 23B, and right gear 23R). In another embodiment, the gear mechanism 23 may be configured with two gears, the left gear 23L and the right gear 23R. In this case, the left gear 23L and the right gear 23R are arranged to mesh with each other, and the left gear 23L or the right gear 23R is arranged to mesh with the gear 22M of the connection motor 22.

[0055] That is, the coupling device 2 may be configured such that the left gear 23L and the right gear 23R are arranged side by side in the left-right direction (first direction) and in mesh with each other, the coupling motor 22 is connected to the left gear 23L or the right gear 23R, and the coupling arm 24 includes a left coupling arm 24L connected to the left gear 23L and a right coupling arm 24R connected to the right gear 23R. In this case, the coupling control unit 21 drives the coupling motor 22 to rotate the left gear 23L and the right gear 23R in conjunction with each other, thereby moving each of the left coupling arm 24L and the right coupling arm 24R from the non-coupled position to the coupled position.

[0056] In the above-described embodiment, the left gear 23L, the inner gear 23A, the inner gear 23B, and the right gear 23R are arranged linearly in the left-right direction, and the bogie 3 is connected to the rear (or front) of the automatic traveling device 1. In another embodiment, the left gear 23L, the inner gear 23A, the inner gear 23B, and the right gear 23R may be arranged linearly in the front-rear direction, and the bogie 3 may be connected to the side (left side or right side) of the automatic traveling device 1.

[0057] In the above embodiment, the left connecting arm 24L and the right connecting arm 24R are connected to the dolly 3 by rotating from the inside to the outside in a direction away from each other. In another embodiment, the left connecting arm 24L and the right connecting arm 24R may be connected to the dolly 3 by rotating from the outside to the inside in a direction toward each other. For example, in Fig. 8, the hook portions of the left connecting arm 24L and the right connecting arm 24R are arranged in the opposite directions from front to back and the gear 22M of the connecting motor 22 is configured to rotate counterclockwise, thereby reversing the connecting direction (connecting so as to sandwich the connecting portion 31 of the dolly 3 from the outside on the left and right).

[0058] In the above-described embodiment, the gear 22M of the coupling motor 22 is arranged to mesh with the inner gear 23A or the inner gear 23B. In another embodiment, the gear 22M may be arranged to mesh with the left gear 23L or the right gear 23R. In another embodiment, the coupling device 2 may include a plurality of coupling motors 22, or may include a plurality of gears 22M.

[0059] The left gear 23L, the inner gear 23A, the inner gear 23B, and the right gear 23R may be the same size or different sizes. For example, the inner gear 23A and the inner gear 23B may be the same size, and the left gear 23L and the right gear 23R may be the same size and larger than the inner gear 23A and the inner gear 23B.

[0060] Further, in the above-described embodiment, an example has been shown in which the coupling device 2 is applied to the automatic driving device 1, but the coupling device of the present disclosure can also be used for other purposes.

[0061] [Disclosure Note] The following will provide an overview of the disclosure extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0062] <Appendix 1> A coupling device mounted on an automatic driving device and capable of coupling a towed vehicle, A drive motor; A gear mechanism connected to the drive motor; A connecting arm connected to the gear mechanism; A control unit that drives the drive motor; Equipped with When the automatic traveling device reaches a predetermined coupling operation position, the control unit drives the drive motor to rotate the gear mechanism, thereby moving the coupling arm from the non-coupling position to a coupling position where the coupling arm is coupled to the towed vehicle. Coupling device.

[0063] <Appendix 2> the gear mechanism includes a left gear disposed on the left side and a right gear disposed on the right side when viewed from above the automatic driving device, The left gear and the right gear are arranged to directly or indirectly mesh with each other so as to rotate in conjunction with each other. 2. A coupling device as described in claim 1.

[0064] <Appendix 3> The left gear and the right gear are arranged side by side in a first direction and in mesh with each other, The drive motor is connected to the left gear or the right gear; the connecting arm includes a left connecting arm connected to the left gear and a right connecting arm connected to the right gear, The control unit drives the drive motor to rotate the left gear and the right gear in conjunction with each other, thereby moving each of the left connecting arm and the right connecting arm from the non-connected position to the connected position. 3. A coupling device as described in claim 2.

[0065] <Appendix 4> The gear mechanism further includes a first inner gear and a second inner gear disposed between the left gear and the right gear, the left gear, the first inner gear, the second inner gear, and the right gear are arranged linearly in a first direction in this order, the left gear and the first inner gear are arranged in mesh with each other, the first inner gear and the second inner gear are arranged in mesh with each other, and the second inner gear and the right gear are arranged in mesh with each other, the drive motor is connected to the first inner gear or the second inner gear; the connecting arm includes a left connecting arm connected to the left gear and a right connecting arm connected to the right gear, The control unit drives the drive motor to rotate the left gear, the first inner gear, the second inner gear, and the right gear in an interlocking manner, thereby moving each of the left connecting arm and the right connecting arm from the non-connected position to the connected position. 3. A coupling device as described in claim 2.

[0066] <Appendix 5> The first direction is a direction perpendicular to the traveling direction of the automatic driving device. 5. A coupling device according to claim 3 or 4.

[0067] <Appendix 6> The control unit rotates the left connecting arm and the right connecting arm in directions away from each other at the connecting position to connect them to the towed vehicle. 6. A coupling device according to any one of claims 3 to 5.

[0068] <Appendix 7> The control unit rotates the left gear and the right gear in opposite directions in cooperation with each other. A coupling device according to any one of claims 2 to 6.

[0069] <Appendix 8> The connecting arm includes a hook portion that is engaged with the connecting portion of the towed vehicle, and an elastic member that is provided on the hook portion, the control unit drives the drive motor to rotate the gear mechanism so that a predetermined pressing force is applied by the elastic member to the connecting portion when the hook portion is engaged with the connecting portion at the connecting position. A coupling device according to any one of claims 1 to 7.

[0070] <Appendix 9> The coupling device includes a housing; the drive motor and the gear mechanism are housed within the housing; the connecting arm is housed in the housing at the non-connecting position, and moves from the non-connecting position in the housing to the connecting device outside the housing in response to a rotational operation of the gear mechanism; A coupling device according to any one of claims 1 to 8.

[0071] <Appendix 10> An automatic traveling device including a drive motor, a gear mechanism connected to the drive motor, a connecting arm connected to the gear mechanism, and a control unit that drives the drive motor, and including a coupling device capable of coupling a towed vehicle, an output processing unit that outputs a drive signal to the coupling device when the automatic traveling device reaches a coupling operation position where the automatic traveling device performs an operation of coupling the towed vehicle; When the control unit receives the drive signal, the control unit drives the drive motor to rotate the gear mechanism, thereby moving the connecting arm from the non-connected position to a connecting position where the connecting arm is connected to the connecting part of the towed vehicle. Automatic driving device.

[0072] <Appendix 11> A coupling method for coupling a coupling device including a drive motor, a gear mechanism connected to the drive motor, a coupling arm connected to the gear mechanism, and a control unit that drives the drive motor to a towed vehicle, comprising: When the automatic traveling device reaches a coupling operation position where the automatic traveling device performs an operation of coupling the towed vehicle, outputting a drive signal to the coupling device; When the drive signal is received, the drive motor is driven to rotate the gear mechanism, thereby moving the connecting arm from a non-connected position to a connected position where the connecting arm is connected to the connecting portion of the towed vehicle; A linking method executed by one or more processors. [Explanation of symbols]

[0073] 1: Automatic driving device 2: Connecting device 3: Cart 11: Vehicle control unit 12: Storage section 13: Line sensor 14: Marker sensor 15: Drive unit 16: Communications Department 20: Housing 21: Connection control section 22: Coupling motor 22M: Gears 23: Gear mechanism 23A: Internal gear 23B: Internal gear 23L: Left gear 23R: Right gear 24: Connecting arm 24L: Left connecting arm 24R: Right connecting arm 31:Connection part 31L: Left side connection part 31R: Right side connection part 241L: Left hook 241R: Right hook 242L: Spring

Claims

1. A coupling device mounted on an automatic driving device and capable of coupling a towed vehicle, A drive motor; A gear mechanism connected to the drive motor; A connecting arm connected to the gear mechanism; A control unit that drives the drive motor; Equipped with When the automatic traveling device reaches a predetermined coupling operation position, the control unit drives the drive motor to rotate the gear mechanism, thereby moving the coupling arm from the non-coupling position to a coupling position where the coupling arm is coupled to the towed vehicle. Coupling device.

2. the gear mechanism includes a left gear disposed on the left side and a right gear disposed on the right side when viewed from above the automatic driving device, The left gear and the right gear are arranged to directly or indirectly mesh with each other so as to rotate in conjunction with each other. The coupling device of claim 1 .

3. The left gear and the right gear are arranged side by side in a first direction and in mesh with each other, The drive motor is connected to the left gear or the right gear; the connecting arm includes a left connecting arm connected to the left gear and a right connecting arm connected to the right gear, The control unit drives the drive motor to rotate the left gear and the right gear in conjunction with each other, thereby moving each of the left connecting arm and the right connecting arm from the non-connected position to the connected position. The coupling device of claim 2.

4. The gear mechanism further includes a first inner gear and a second inner gear disposed between the left gear and the right gear, the left gear, the first inner gear, the second inner gear, and the right gear are arranged linearly in a first direction in this order, the left gear and the first inner gear are arranged in mesh with each other, the first inner gear and the second inner gear are arranged in mesh with each other, and the second inner gear and the right gear are arranged in mesh with each other, the drive motor is connected to the first inner gear or the second inner gear; the connecting arm includes a left connecting arm connected to the left gear and a right connecting arm connected to the right gear, the control unit drives the drive motor to rotate the left gear, the first inner gear, the second inner gear, and the right gear in an interlocking manner, thereby moving each of the left connecting arm and the right connecting arm from the non-connected position to the connected position. The coupling device of claim 2.

5. The first direction is a direction perpendicular to a traveling direction of the automatic driving device. A coupling device according to claim 3 or 4.

6. The control unit rotates the left connecting arm and the right connecting arm in directions away from each other at the connecting position to connect the left connecting arm and the right connecting arm to the towed vehicle. A coupling device according to claim 3 or 4.

7. The control unit rotates the left gear and the right gear in opposite directions in cooperation with each other. A coupling device according to any one of claims 2 to 4.

8. The connecting arm includes a hook portion that is engaged with the connecting portion of the towed vehicle, and an elastic member that is provided on the hook portion, the control unit drives the drive motor to rotate the gear mechanism so that a predetermined pressing force is applied by the elastic member to the connecting portion when the hook portion is engaged with the connecting portion at the connecting position. A coupling device according to any one of claims 1 to 4.

9. The coupling device includes a housing; the drive motor and the gear mechanism are housed within the housing; the connecting arm is housed in the housing at the non-connecting position, and moves from the non-connecting position in the housing to the connecting device outside the housing in response to a rotational operation of the gear mechanism; A coupling device according to any one of claims 1 to 4.

10. An automatic traveling device including a drive motor, a gear mechanism connected to the drive motor, a connecting arm connected to the gear mechanism, and a control unit that drives the drive motor, and a coupling device that can couple a towed vehicle, an output processing unit that outputs a drive signal to the coupling device when the automatic traveling device reaches a coupling operation position where the automatic traveling device performs an operation of coupling the towed vehicle; When the control unit receives the drive signal, the control unit drives the drive motor to rotate the gear mechanism, thereby moving the connecting arm from the unconnected position to a connecting position where the connecting arm is connected to the connecting part of the towed vehicle. Automatic driving device.

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