Transport device

Abstract

To improve turning performance as well as achieving stable traveling.SOLUTION: A transport device includes: driving wheels 110 which have driving wheel pivots for turnably supporting drive wheels 15; driven wheels 210 which have driven wheel pivots for turnably supporting driven wheels 215; a left side base 101 in which the driving wheel and the driven wheel are arranged in front and back in an advancing direction A; a right side base 102 in which the driving wheel and the driven wheel are arranged in front and back in the advancing direction; a coupling member 103 which couples the left side base and the right side base, and in which respective driving wheels of the left side base and the right side base are arranged diagonally with its central unit as reference, and respective driven wheels of the left side base and the right side base are arranged diagonally; and suspension mechanisms 105 which support at least one of the left side base and the right side base so as to be swingable with respect to the coupling member through a support shaft 105A extending along a coupling direction (advancing direction) by the coupling members between the driving wheels and the driven wheels arranged on one base.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a conveying device. [Background technology]

[0002] BACKGROUND ART Conventionally, for example, Patent Document 1 discloses a transportation device having a drive wheel unit and a driven wheel unit provided at least in front of or behind the drive wheel unit.

[0003] BACKGROUND ART For example, Patent Document 2 discloses a conventional conveyance device having a vehicle body, a plurality of drive wheels supported by the vehicle body, and a plurality of driven wheels supported by the vehicle body. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-126936 [Patent Document 2] Japanese Patent Publication No. 2023-106685 Summary of the Invention [Problem to be solved by the invention]

[0005] In Patent Document 1, a driven wheel unit is provided in the front-rear direction of the drive wheel unit. The driven wheel unit is rotatable, and a ground-contact driven wheel and an auxiliary wheel are provided on a rotatable arm. The arm is biased by a spring, and rotates so that the ground-contact driven wheel touches the ground and the auxiliary wheel is lifted off the floor. This allows the mobile device in Patent Document 1 to travel over steps. For example, in a configuration such as that in Patent Document 1, where a drive wheel without a pivot that is driven forward and backward and a rotatable driven wheel are arranged, the rotation difference between the drive wheels generates the turning motion of the driven wheel, but this increases the turning radius, making it difficult to turn in a small space.

[0006] Patent Document 2 assumes that Mecanum wheels or omni-wheels are used as drive wheels. Such wheels are usually used in sets of four, and when crossing relatively uneven surfaces such as tactile paving blocks or door thresholds, if three or more wheels are not in contact with the ground, the vehicle may slip on the floor, preventing it from traveling in the desired direction. Furthermore, such wheels can also cause vibrations. Therefore, using such wheels may make stable traveling difficult.

[0007] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a transport device that can improve turning performance and achieve stable running. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, one embodiment of a conveying device of the present disclosure includes a drive wheel having a drive wheel pivot axis that rotatably supports the drive wheel, a driven wheel having a driven wheel pivot axis that rotatably supports the driven wheel, a left base that arranges the drive wheel and the driven wheel in front and behind the direction of travel, a right base that arranges the drive wheel and the driven wheel in front and behind the direction of travel, a connecting member that connects the left base and the right base, the connecting member connecting the drive wheels of the left base and the right base in a diagonal arrangement based on the center of the connecting member, and the connecting member connecting the drive wheels of the left base and the right base in a diagonal arrangement, and a suspension mechanism that supports at least one of the left base and the right base so that it can swing freely relative to the connecting member via a support shaft that extends in the connection direction by the connecting member between the drive wheel and the driven wheel arranged on one of the bases.

[0009] In a preferred embodiment of the above-described conveying device, the left base and the right base are supported via the support shaft so as to be able to swing freely.

[0010] In a preferred embodiment of the above-described conveying device, the suspension mechanism includes an abutment member that generates an elastic force that presses the drive wheel and the driven wheel against the floor surface while regulating the range of swinging of at least one of the left base and the right base relative to the connecting member. [Effects of the Invention]

[0011] According to the present disclosure, it is possible to improve cornering performance and achieve stable driving. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a perspective view of a conveying device according to an embodiment. [Figure 2] FIG. 2 is a side view of the transport device according to the embodiment. [Figure 3] FIG. 3 is a rear view of the transport device according to the embodiment. [Figure 4] FIG. 4 is a bottom view of the transport device according to the embodiment. [Figure 5] FIG. 5 is an exploded perspective view of a part of the conveying device according to the embodiment. [Figure 6] FIG. 6 is a schematic diagram of a driving wheel according to the embodiment. [Figure 7] FIG. 7 is a schematic diagram of a driven wheel according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] Preferred embodiments of the conveying device according to the present disclosure will be described in detail below with reference to the drawings. Note that the present invention is not limited to these embodiments, and when there are multiple embodiments, the present invention also includes configurations that combine the embodiments. Furthermore, the components in the embodiments include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range.

[0014] The conveying device 1 of the embodiment is applied as a conveying platform that carries an object to be conveyed and travels on a floor surface. Although not shown in the drawings, the conveying device 1 is used as a conveying auxiliary device such as an automatic guided vehicle (AGV), an autonomous mobile robot (AMR), or a conveying auxiliary drive device. The object to be conveyed may be, for example, a hand lifter, a forklift, a picking robot, or medical equipment.

[0015] As shown in FIGS. 1 to 5, the conveyance device 1 includes a base 100, a driving wheel 110, and a driven wheel 210.

[0016] The base 100 is the base of the transport device 1 on which the drive wheels 110 and the driven wheels 210 are arranged.

[0017] The base 100 includes a left base 101 , a right base 102 , a connecting member 103 , and a suspension mechanism 105 .

[0018] The left base 101 and the right base 102 are provided independently and each are formed in a plate shape. At least a pair of a drive wheel 110 and a driven wheel 210 is arranged on each of the left base 101 and the right base 102. The left base 101 and the right base 102 are arranged side by side in a width direction (indicated by arrow B in the figure) that is perpendicular to or intersects with the reference traveling direction (indicated by arrow A in the figure) of the conveyance device 1. The drive wheels 110 and the driven wheels 210 arranged on the left base 101 and the right base 102 are arranged side by side in the front-to-back direction along the reference traveling direction (indicated by arrow A in the figure) of the conveyance device 1. Here, the reference traveling direction may be, for example, when a sensor that detects the turning angle of the drive wheel 110 is at the zero angle position.

[0019] The connecting member 103 connects the left base 101 and the right base 102. The connecting member 103 is formed in a rod shape, extends along the traveling direction of the conveying device 1, and is attached to the upper surfaces of the left base 101 and the right base 102 so as to connect the left base 101 and the right base 102 that are aligned along the width direction. The connecting member 103 is attached to the left base 101 and the right base 102 via a suspension mechanism 105. The connecting member 103 is attached to the left base 101 and the right base 102 at the center of the traveling direction A along the width direction B. To the upper part of this connecting member 103, for example, storage equipment such as a loading platform or shelf is attached as the transported object 500.

[0020] The connecting member 103 also connects the left base 101 and the right base 102 so that the connecting member 103 is disposed between the drive wheel 110 and the driven wheel 210 of the left base 101 and between the drive wheel 110 and the driven wheel 210 of the right base 102, with the connecting member 103 as the boundary. The connecting member 103 also connects the left base 101 and the right base 102 so that the drive wheel 110 of the left base 101 and the drive wheel 110 of the right base 102 are disposed on opposite sides (front and rear) of the traveling direction A, with the connecting member 103 as the boundary, and the driven wheel 210 of the left base 101 and the driven wheel 210 of the right base 102 are disposed on opposite sides (front and rear) of the traveling direction A, with the connecting member 103 as the boundary. Therefore, the connecting member 103 connects the left base 101 and the right base 102, and as shown in Figure 4, the driving wheels 110 of the left base 101 and the right base 102 are arranged diagonally relative to the connected central part O, and the driven wheels 210 of the left base 101 and the right base 102 are arranged diagonally relative to the connected central part O.

[0021] 1 to 5, the suspension mechanism 105 is provided on the left base 101 and the right base 102. The suspension mechanism 105 has a support shaft 105A, a support bearing member 105B, a support shaft fixing member 105C, a swing restriction mechanism 105D, and a thrust washer 105E.

[0022] The support shaft 105A is formed in a cylindrical shape and is arranged along the direction in which the connecting member 103 extends (width direction B: connecting direction: also referred to as the longitudinal direction). A pair (two shafts) of support shafts 105A are provided corresponding to the left base 101 and the right base 102.

[0023] A pair of support bearing members 105B are provided corresponding to the left base 101 and the right base 102. The support bearing members 105B are aligned in the longitudinal direction of the support shaft 105A, rotatably support the support shaft 105A, and are attached to the lower part of the connecting member 103. Therefore, each support shaft 105A extends along the width direction (connecting direction) B, and is rotatably provided via the support bearing members 105B at the lower part of the connecting member 103. Note that the support shaft 105 does not have to be divided into two parts, but may be configured as a single continuous piece.

[0024] The shaft fixing members 105C are fixed to both ends of each shaft 105A. The shaft fixing members 105C are fixed to the upper surfaces of the left base 101 and the right base 102. As described above, the connecting member 103 is provided between the driving wheel 110 and the driven wheel 210 on the left base 101 and the right base 102, with the connecting member 103 as the boundary. In other words, the shaft 105A attached to the connecting member 103 via the support bearing member 105B is also provided between the driving wheel 110 and the driven wheel 210 on the left base 101 and the right base 102, with the connecting member 103 fixed to the left base 101 and the right base 102 by the shaft fixing members 105C.

[0025] Therefore, the left side base 101 and the right side base 102 are each suspended from a rotatable support shaft 105A via a support bearing member 105B on the connecting member 103, and a drive wheel 110 is provided on one side of the travel direction A separated by the support shaft 105A, and a driven wheel 210 is provided on the other side of the travel direction A separated by the support shaft 105A, so that the drive wheel 110 and the driven wheel 210 are arranged to be swingable in both the travel direction A and the direction of travel A around the support shaft 105A.

[0026] The swing restriction mechanism 105D has a bracket member 105Da and abutment members 105Db. The bracket members 105Da are fixed to the lower part of the connecting member 103 and are provided extending on both sides of each shaft fixing member 105C in the traveling direction A so as to sandwich one shaft fixing member 105C in the traveling direction A. The abutment members 105Db are fixed to the bracket members 105Da and are provided on both sides of the shaft fixing member 105C in the traveling direction A, and are arranged at a distance from the shaft fixing member 105C. The abutment members 105Db are made of an elastic member such as rubber, for example. Therefore, the swing restriction mechanism 105D restricts the swing range of the left base 101 and the right base 102 by causing the abutment member 105Db to abut against the shaft fixing member 105C as the left base 101 and the right base 102 swing about the shaft 105A. If the abutment member 105Db is an elastic member, the swing restriction mechanism 105D can cushion the shock of the abutment of the shaft fixing member 105C and apply an elastic force to return in the opposite direction to the abutment. Furthermore, the abutment member 105Db, which is made of an elastic member, applies its elastic force to the drive wheel 110 and the driven wheel 210 via the left base 101 and the right base 102, thereby pressing the drive wheel 110 and the driven wheel 210 against the floor surface and preventing unevenness of the floor surface from being transmitted to the right base 102.

[0027] 1 to 3 and 5, the thrust washer 105E is inserted into the support shaft 105A and is disposed between the support shaft fixing member 105C and the support bearing member 105B. The thrust washer 105E prevents wear of the support shaft fixing member 105C and the support bearing member 105B when the support shaft fixing member 105C slides around the support shaft 105A relative to the support bearing member 105B.

[0028] Therefore, the suspension mechanism 105 supports the left base 101 and the right base 102 so that they can swing freely relative to the connecting member 103 via the support shaft 105A that extends in the connecting direction (width direction B) by the connecting member 103 between the driving wheel 110 and the driven wheel 210 that are arranged on the left base 101 and the right base 102. Note that the connecting member 103 may be configured to support at least one of the left base 101 and the right base 102 so that they can swing freely.

[0029] As described above, the drive wheels 110 are disposed on the left base 101 and the right base 102. As shown in FIG. 6 , the drive wheels 110 include a drive mechanism 11, a swivel unit 12, a transmission mechanism 13, a power conversion mechanism 14, and drive wheels 15.

[0030] The drive mechanism 11 inputs rotational force and is mainly provided on the upper surface side of the left base 101 or the right base 102. The swivel unit 12 is mainly disposed on the lower side of the left base 101 or the right base 102. The transmission mechanism 13 transmits the rotational force input by the drive mechanism 11. The power conversion mechanism 14 transmits the rotational force of the transmission mechanism 13 to the drive wheels 15. The drive wheels 15 are rotatable by the rotational force input via the drive mechanism 11, the transmission mechanism 13, and the power conversion mechanism 14, and can be steered by the swivel unit 12.

[0031] The drive mechanism 11 includes a first drive mechanism 22A and a second drive mechanism 22B. The first drive mechanism 22A includes a first drive unit 23A, a first drive pulley 24A, a first input shaft 25A, a first driven pulley 26A, and a first drive belt 27A. The first drive unit 23A is configured with a motor. The first drive unit 23A is fixed to the left base 101 or the right base 102. The first drive unit 23A has a drive shaft 23Aa extending in the vertical direction. The first drive pulley 24A is fixed to the drive shaft 23Aa. The first input shaft 25A extends in the vertical direction parallel to the drive shaft 23Aa and is supported rotatably about an axis O1. The first driven pulley 26A is fixed to the first input shaft 25A. The first drive belt 27A is formed in an annular shape and is wound around the first driven pulley 26A and the first drive pulley 24A. Therefore, in the first drive mechanism 22A, the first drive pulley 24A rotates when driven by the first drive unit 23A, and this rotation is transmitted from the first drive pulley 24A to the first driven pulley 26A via the first drive belt 27A, causing the first input shaft 25A to rotate.

[0032] The second drive mechanism 22B includes a second drive unit 23B, a second drive pulley 24B, a second input shaft 25B, a second driven pulley 26B, and a second drive belt 27B. The second drive unit 23B is configured with a motor. The second drive unit 23B is fixed to the left base 101 or the right base 102. The second drive unit 23B has a drive shaft 23Ba extending in the vertical direction. The second drive pulley 24B is fixed to the drive shaft 23Ba. The second drive pulley 24B is formed to have the same diameter as the first drive pulley 24A. The second input shaft 25B is provided extending in the vertical direction parallel to the drive shaft 23Ba and is supported rotatably about an axis O1. The second input shaft 25B is cylindrical and passes through the first input shaft 25A. The second input shaft 25B is disposed on the first input shaft 25A via a bearing so as to rotate independently of the first input shaft 25A. The second driven pulley 26B is fixed to the second input shaft 25B. The second driven pulley 26B is formed to have the same diameter as the first driven pulley 26A. The second drive belt 27B is formed in an annular shape and is wound around the second driven pulley 26B and the second drive pulley 24B. Therefore, when the second drive mechanism 22B drives the second drive unit 23B, the second drive pulley 24B rotates, and this rotation is transmitted from the second drive pulley 24B to the second driven pulley 26B via the second drive belt 27B, thereby rotating the second input shaft 25B.

[0033] The swivel unit 12 has a drive wheel swivel shaft 35 and a support member 36. The drive wheel swivel shaft 35 has an axis O1 and is rotatably supported via bearings on the left base 101 and the right base 102 so as to be able to rotate infinitely. The drive wheel swivel shaft 35 is supported so as to be rotatable relative to the left base 101 and the right base 102 about the axis O1, regardless of the rotation of the first input shaft 25A and the second input shaft 25B. The support members 36 are provided in pairs below the drive wheel swivel shaft 35 and extend below the left base 101 and the right base 102. The support members 36 support the drive wheels 15.

[0034] The drive wheel 15 is integrally provided with an axle 37 that extends along an axis O2 that is perpendicular to the direction in which the axis O1 extends (the up-down direction). Each end of the axle 37 along the axis O2 is rotatably supported by a corresponding support member 36 via a bearing. In addition, the rotation axis O5 of the drive wheel 15, which extends along the vertical direction intersecting the axis O2 of the axle 37, is offset from the axis O1 of the drive wheel turning shaft 35 in the horizontal direction perpendicular to the axis O2 of the axle 37.

[0035] The transmission mechanism 13 has a first transmission mechanism 13A and a second transmission mechanism 13B. The first transmission mechanism 13A is configured to include a first transmission drive gear 38A, a first transmission driven gear 39A, and a first output shaft 40A. The second transmission mechanism 13B is configured to include a second transmission drive gear 38B, a second transmission driven gear 39B, and a second output shaft 40B. In this embodiment, the first transmission drive gear 38A, the first transmission driven gear 39A, the second transmission drive gear 38B, and the second transmission driven gear 39B are configured as spur gears.

[0036] In the first transmission mechanism 13A, the first transmission drive gear 38A, the first transmission driven gear 39A, and the first output shaft 40A are disposed on the support member 36 of the swivel unit 12. The first transmission drive gear 38A is fixed to the lower end of the first input shaft 25A, which passes through the second input shaft 25B. The first transmission driven gear 39A meshes with the first transmission drive gear 38A. The first transmission driven gear 39A is fixed to the first output shaft 40A. The first output shaft 40A is supported on the support member 36 so as to be rotatable about an axis O3.

[0037] In the second transmission mechanism 13B, the second transmission drive gear 38B, the second transmission driven gear 39B, and the second output shaft 40B are disposed on another support member 36 of the swivel unit 12. The second transmission drive gear 38B is fixed to the lower end of the second input shaft 25B. The second transmission driven gear 39B meshes with the second transmission drive gear 38B. The second transmission driven gear 39B is fixed to the second output shaft 40B. The second output shaft 40B is supported on the support member 36 so as to be rotatable about an axis O4.

[0038] The power conversion mechanism 14 has a first power conversion mechanism 14A and a second power conversion mechanism 14B. The first power conversion mechanism 14A is composed of a first conversion drive gear 41A and a first conversion driven gear 42A. The second power conversion mechanism 14B is composed of a second conversion drive gear 41B and a second conversion driven gear 42B. In this embodiment, the first conversion drive gear 41A, the first conversion driven gear 42A, the second conversion drive gear 41B, and the second conversion driven gear 42B are composed of bevel gears.

[0039] In the first power converting mechanism 14A, the first converted driving gear 41A is fixed to the lower end of the first output shaft 40A. The first converted driven gear 42A is fixed to one end of the axle 37. The first converted driving gear 41A meshes with the first converted driven gear 42A. Therefore, the first power converting mechanism 14A converts rotation around the axis O3 of the first output shaft 40A into rotation around the axis O2 of the axle 37.

[0040] In the second power converting mechanism 14B, the second conversion driving gear 41B is fixed to the lower end of the second output shaft 40B. The second conversion driven gear 42B is fixed to the other end of the axle 37. The second conversion driving gear 41B meshes with the second conversion driven gear 42B. Therefore, the second power converting mechanism 14B converts rotation about the axis O4 of the second output shaft 40B into rotation about the axis O2 of the axle 37.

[0041] The drive mechanism 11 rotates the first input shaft 25A and the second input shaft 25B, thereby rotating and steering the drive wheels 15. For example, the drive wheels 110 can rotate the drive wheels 15 without steering them by rotating the first input shaft 25A and rotating the second input shaft 25B in the opposite direction to the first input shaft 25A, and by making the rotational speeds (rotational speeds) of the first input shaft 25A and the second input shaft 25B the same. At this time, by making the rotational speeds (rotational speeds) of the first input shaft 25A and the second input shaft 25B different, the drive wheels 15 can be steered while rotating or stopped.

[0042] Specifically, when the first input shaft 25A of the drive wheel 110 rotates in the A1 direction, the first transmission drive gear 38A rotates in the same direction, the first transmission driven gear 39A rotates in the A2 direction together with the first output shaft 40A, and the first conversion drive gear 41A rotates in the same direction. Then, the first conversion driven gear 42A rotates in the A3 direction, causing the axle 37 to rotate in the same direction. Meanwhile, when the second input shaft 25B of the drive wheel 110 rotates in the B1 direction, opposite to the A1 direction, the second transmission drive gear 38B rotates in the same direction, the second transmission driven gear 39B rotates in the B2 direction together with the second output shaft 40B, causing the second conversion drive gear 41B to rotate in the same direction. Then, the second conversion driven gear 42B rotates in the B3 direction, causing the axle 37 to rotate in the same direction. Here, since the A3 direction and the B3 direction are the same rotation direction, if the first input shaft 25A and the second input shaft 25B have the same rotation speed, the drive wheels 15 rotate without turning.

[0043] At this time, when the rotation speed of the second input shaft 25B is reduced relative to the rotation speed of the first input shaft 25A, the rotation speed input from the second conversion drive gear 41B to the axle 37 via the second conversion driven gear 42B becomes lower than the rotation speed input from the first conversion drive gear 41A to the axle 37 via the first conversion driven gear 42A. This causes the drive wheel turning shaft 35 to rotate by the rotation speed difference, turning and steering the drive wheels 15. Furthermore, when the rotation of the second input shaft 25B is stopped, the rotation speed input from the second conversion drive gear 41B to the axle 37 via the second conversion driven gear 42B becomes zero, and the drive wheels 15 turn and steer without rotating.

[0044] The drive wheels 110 have a differential omnidirectional movement mechanism. That is, the rotational force of the first input shaft 25A and the second input shaft 25B is transmitted to the first output shaft 40A and the second output shaft 40B via the first transmission mechanism 13A and the second transmission mechanism 13B, and is then transmitted from the first output shaft 40A and the second output shaft 40B to each end of the axle 37 via the first power conversion mechanism 14A and the second power conversion mechanism 14B. The drive wheels 110 can switch between the rotation and steering of the drive wheels 15 by adjusting the rotation speed of the first input shaft 25A and the second input shaft 25B. Therefore, the conveyance device 1 equipped with the drive wheels 110 is capable of omnidirectional movement.

[0045] Furthermore, the drive wheel 110 is arranged such that the rotation axis O5 of the drive wheel 15, which is along the vertical direction intersecting the axis O2 of the axle 37, is offset in the horizontal direction perpendicular to the axis O2 of the axle 37 with respect to the axis O1 of the drive wheel turning shaft 35. Therefore, when the drive wheel 110 is not driving the drive wheel 15, the drive wheel 15 can passively turn due to an external force acting from the horizontal direction. In other words, the drive wheel 110 can automatically travel and steer, and can also be manually traveled and steered by an operator.

[0046] As described above, the driven wheels 210 are disposed on the left base 101 and the right base 102. The driven wheels 210 include a swivel portion 212 and a driven wheel 215, as shown in FIG.

[0047] The swivel unit 212 has a driven wheel swivel shaft 235 and a support member 236. The driven wheel swivel shaft 235 has an axis O21 and is rotatably supported via bearings on the left base 101 and the right base 102 so as to be able to rotate infinitely. The support members 236 are provided in pairs below the driven wheel swivel shaft 235 and extend below the left base 101 and the right base 102. The support members 236 support the driven wheels 215.

[0048] The driven wheel 215 is integrally provided with an axle 237 extending along an axis O22 perpendicular to the direction in which the axis O21 extends (up and down direction). Each end of the axle 237 along the axis O22 is rotatably supported by a corresponding support member 236 via a bearing. Furthermore, the rotation axis O25 of the driven wheel 215 along the vertical direction intersecting the axis O22 of the axle 237 is offset in the horizontal direction perpendicular to the axis O22 of the axle 237 with respect to the axis O21 of the driven wheel turning shaft 235. Therefore, the driven wheel 210 can passively turn by an external force acting on the driven wheel 215 from the horizontal direction. In other words, the driven wheel 210 is steered passively.

[0049] The conveying device 1 of the above-described embodiment is characterized by having a driving wheel 110 having a driving wheel pivot shaft 35 that rotatably supports the driving wheel 15, a driven wheel 210 having a driven wheel pivot shaft 235 that rotatably supports the driven wheel 215, a left base 101 that arranges the driving wheel 110 and the driven wheel 210 at the front and rear of the traveling direction A, a right base 102 that arranges the driving wheel 110 and the driven wheel 210 at the front and rear of the traveling direction A, and a connecting member 103 that connects the left base 101 and the right base 102, The system includes a connecting member 103 that connects the left and right bases 101, 102 in a manner that arranges the drive wheels 110 of the left and right bases 101, 102 diagonally relative to the center and also arranges the driven wheels 210 of the left and right bases 101, 102 diagonally, and a suspension mechanism 105 that supports at least one of the left and right bases 101, 102 so that it can swing freely relative to the connecting member 103 via a support shaft 105A that extends in the connecting direction by the connecting member 103 between the drive wheels 110 and driven wheels 210 arranged on one base 101, 102.

[0050] According to this transport device 1, the drive wheel 110 rotatably supports the drive wheel 15 via the drive wheel pivot shaft 35, and the driven wheel 210 rotatably supports the driven wheel 215 via the driven wheel pivot shaft 235, so that the turning radius can be made smaller than in a configuration in which the drive wheel 110 does not turn, and control torque control on flat ground is not required, thereby reducing the cost of control calculations. Moreover, according to this transport device 1, the drive wheel 110 and the driven wheel 210 can flexibly overcome steps by using a lightweight, low-cost suspension mechanism 105 with a simple structure that swings between the drive wheel 110 and the driven wheel 210 via a support shaft 105A on at least one of the left base 101 and the right base 102, ensuring stable running performance. Moreover, according to this conveyance device 1, the drive wheels 110 of the left base 101 and the right base 102 are arranged diagonally, and the driven wheels 210 of the left base 101 and the right base 102 are arranged diagonally, so that the drive wheels 110 and the driven wheels 210 are arranged diagonally on the front and rear wheels side even when traveling in any direction, which improves the ground contact of the drive wheels 110 and the driven wheels 210 on each base 101, 102 and ensures stable running performance, and since the conveyance device 1 turns based on the center O connecting the left base 101 and the right base 102, it can improve turning performance in narrow spaces. As a result, the conveyance device 1 of the embodiment can improve turning performance and achieve stable running. Furthermore, according to this conveying device 1, at least one of the left base 101 and the right base 102 is supported so as to be able to swing freely between the drive wheels 110 and the driven wheels 210 arranged at the front and rear in the traveling direction A, so there is no vibration in the width direction B, and it is possible to travel in a relatively narrow area in the width direction B. Furthermore, the conveying device 1 of the embodiment can reduce vibrations caused by the drive wheels compared to a configuration in which all the wheels are drive wheels.

[0051] In addition, in the transport device 1 of the embodiment, the left base 101 and the right base 102 are supported via a support shaft 105A so as to be able to swing freely.

[0052] According to this conveying device 1, the left base 101 and the right base 102 are supported by the support shaft 105A so that they can swing freely, allowing the driving wheels 110 and the driven wheels 210 on both the left base 101 and the right base 102 to flexibly overcome steps, thereby ensuring more stable running performance.

[0053] In addition, in the embodiment of the conveying device 1, the suspension mechanism 105 includes an abutment member 105Da that generates an elastic force that presses the drive wheel 110 and the driven wheel 210 against the floor surface while regulating the swing range when at least one of the left base 101 and the right base 102 swings relative to the connecting member 103.

[0054] According to this conveying device 1, the suspension mechanism 105 generates an elastic force that presses the drive wheels 110 and driven wheels 210 against the floor surface, so that when crossing relatively uneven surfaces such as tactile paving blocks or door thresholds, three or more wheels are kept in sufficient contact with the floor surface and the unevenness of the floor surface is not transmitted to the oscillating base, ensuring stable running performance. [Explanation of symbols]

[0055] 1. Conveyor device 15 Drive wheels 35 Drive wheel pivot 101 Left side base 102 Right side base 103 Connecting member 105 Suspension mechanism 105A spindle 105Db Contact member 110 Drive Wheel 210 Driven Wheel 215 Driven wheels 235 Driven wheel pivot shaft

Claims

1. a drive wheel having a drive wheel pivot shaft that rotatably supports the drive wheel; a driven wheel having a driven wheel pivot shaft that rotatably supports the driven wheel; a left base on which the drive wheels and the driven wheels are disposed in front and behind in the direction of travel; a right base on which the drive wheels and the driven wheels are disposed in front and behind the vehicle in the traveling direction; a connecting member that connects the left base and the right base, the connecting member connecting the drive wheels of the left base and the right base diagonally arranged with respect to a center of the connecting member, and the driven wheels of the left base and the right base diagonally arranged with respect to a center of the connecting member; a suspension mechanism that supports at least one of the left base and the right base so as to be swingable relative to the connecting member via a support shaft that extends in a connecting direction by the connecting member between the drive wheel and the driven wheel that are arranged on one of the bases; A conveying device comprising:

2. The left base and the right base are supported via the support shaft so as to be able to swing freely. The conveying device according to claim 1 .

3. the suspension mechanism includes a contact member that generates an elastic force that presses the drive wheel and the driven wheel against a floor surface while restricting a swing range when at least one of the left base and the right base swings relative to the connecting member. The conveying device according to claim 1 .

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