Transport vehicle

Abstract

To realize a transport vehicle having a structure which can ease impact caused when the transport vehicle contacts with an obstacle.SOLUTION: A transport vehicle 10 includes: a frame 20; a first bumper part 51; and a second bumper part 52. The frame 20 includes: a first frame part 21 and a second frame part 22; and a first connection part 41 which connects the first frame part 21 with the second frame part 22 in a manner that enables these frame parts 21 and 22 to swing around a first swing axis B1 along a width direction Y. The first bumper part 51 is supported by the first frame part 21 and the second bumper part 52 is supported by the second frame part 22. Gaps (a first gap M1 and a second gap M2) are provided between the first bumper part 51 and the second bumper part 52 in a front-back direction X.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a transport vehicle having a first frame portion and a second frame portion. [Background technology]

[0002] In the transport vehicle (100) of Patent Document 1, the frame of the transport vehicle (100) includes a first frame portion (110) and a second frame portion (111) arranged side by side along the traveling direction of the transport vehicle (100). The first frame portion (110) and the second frame portion (111) are connected to each other so as to be swingable about an axis that coincides with the rotation axis of the drive wheel (108). The first frame portion (110) and the transport vehicle main body (110a) are connected to each other so as to be swingable about an axis that coincides with the rotation axis of the drive wheel (108). The second frame portion (111) and the transport vehicle main body (110a) are connected to each other so as to be swingable about an axis that coincides with the rotation axis of the drive wheel (108) and so as to be slidable in the traveling direction of the transport vehicle (100).

[0003] With this configuration, even if the traveling surface is uneven or has a change in inclination, the drive wheels (108) can be kept in contact with the traveling surface, allowing the transport vehicle (100) to travel appropriately. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-19348 Summary of the Invention [Problem to be solved by the invention]

[0005] The transport vehicle in Patent Document 1 is designed to anticipate the wheels colliding with steps or protrusions on the travel surface. However, it is undesirable for the first frame portion or the second frame portion to come into contact with obstacles, such as fallen objects on the travel surface or other transport vehicles, as this could easily lead to breakdowns or damage to the transport vehicle. Patent Document 1 does not specifically mention this point.

[0006] Therefore, it is desirable to realize a transport vehicle that has a structure that can absorb the impact even when the transport vehicle comes into contact with an obstacle. [Means for solving the problem]

[0007] The transport vehicle according to the present disclosure is a transport vehicle comprising a plurality of wheels, a frame supporting the plurality of wheels, and a bumper arranged to surround the frame and the plurality of wheels when viewed in the vertical direction, wherein the plurality of wheels includes at least one drive wheel driven by a drive source, wherein the direction along the drive axis which is the rotation axis of the drive wheel is the width direction, and the direction perpendicular to the drive axis when viewed in the vertical direction is the front-to-rear direction, and the frame comprises a first frame portion and a second frame portion arranged side by side in the front-to-rear direction, and a first connecting portion that connects the first frame portion and the second frame portion so as to be freely swingable around a first swing axis along the width direction, and the bumper is divided into a first bumper portion and a second bumper portion in the front-to-rear direction, the first bumper portion is supported by the first frame portion, and the second bumper portion is supported by the second frame portion, and a gap is provided between the first bumper portion and the second bumper portion in the front-to-rear direction.

[0008] According to this configuration, since the bumper is disposed so as to surround the body frame and the plurality of wheels in a vertical view, even if the transport vehicle comes into contact with an obstacle, the impact can be mitigated. Also, in a configuration in which the body frame includes a first frame portion and a second frame portion disposed side by side in the fore-and-aft direction and the first frame portion and the second frame portion are swingably connected by a first connecting portion, the bumper is divided into a first bumper portion and a second bumper portion in the fore-and-aft direction, the first bumper portion is supported by the first frame portion, the second bumper portion is supported by the second frame portion, and a gap is provided between the first bumper portion and the second bumper portion, so that the bumper is unlikely to impede the swinging of the first frame portion and the second frame portion about the first swing axis. [Brief explanation of the drawings]

[0009] [Figure 1] Top view of the transport vehicle [Figure 2] FIG. 2 is a diagram showing a first frame portion and a second frame portion provided on the transport vehicle of FIG. 1; [Figure 3] FIG. 2 is a diagram showing a support frame provided on the transport vehicle of FIG. 1; [Figure 4] FIG. 2 is a diagram showing a control unit provided in the transport vehicle of FIG. 1. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the transport vehicle will be described with reference to the drawings.

[0011] FIG. 1 is a diagram showing an example of the top surface of a transport vehicle 10. FIG. 2 is a diagram showing an example of a cross section of the transport vehicle 10. The transport vehicle 10 has a plurality of wheels. The plurality of wheels includes at least one drive wheel 12. The drive wheel 12 is driven by a drive motor 15. Examples of the transport vehicle 10 include an unmanned transport vehicle, a manned transport vehicle, an autonomous vehicle, a three-wheeled vehicle, a four-wheeled vehicle, a vehicle with three or more axles, and the like. In this embodiment, the transport vehicle 10 is a vehicle that travels on an indoor floor, but it may also be a vehicle that travels outdoors.

[0012] Here, the direction along the drive axis A1, which is the rotation axis of the drive wheel 12, is defined as the width direction Y. Furthermore, the direction perpendicular to the drive axis A1 when viewed from the up-down direction is defined as the front-rear direction X. In this embodiment, the drive wheels 12 are arranged in pairs spaced apart in the width direction Y. In this application, the up-down direction Z refers to the vertical direction when the transport vehicle 10 is positioned on a horizontal plane. Furthermore, in this application, "along" a reference direction or axis includes a state parallel to the reference direction or axis, and a state slightly inclined (for example, ±20°) relative to the reference direction or axis.

[0013] The plurality of wheels includes driven wheels. The driven wheels include a first driven wheel 14a and a second driven wheel 14b. The drive wheel 12 is disposed between the first driven wheel 14a and the second driven wheel 14b. In this embodiment, the plurality of driven wheels includes a pair of first driven wheels 14a. The pair of first driven wheels 14a are disposed spaced apart from each other in the width direction Y. In this embodiment, the plurality of driven wheels includes a pair of second driven wheels 14b. The pair of second driven wheels 14b are disposed spaced apart from each other in the width direction Y.

[0014] The transport vehicle 10 is equipped with a drive motor 15 that drives the drive wheels 12. In this embodiment, the drive motor 15 is arranged between the pair of drive wheels 12 in the width direction Y and at a position that overlaps with the pair of drive wheels 12 when viewed in the width direction along the width direction Y. In this embodiment, the pair of drive motors 15 are arranged spaced apart from each other in the width direction Y. Each of the pair of drive motors 15 is provided for each of the pair of drive wheels 12. The drive motor 15 corresponds to a "drive source."

[0015] The transport vehicle 10 is equipped with a power storage unit 16 that stores power to be supplied to the drive motor 15. Examples of the power storage unit 16 include a battery, a capacitor, or a battery and a capacitor. The power storage unit 16 may also be a battery unit further equipped with a battery bracket, a battery cover, etc.

[0016] The transport vehicle 10 is equipped with a reading device 17. The reading device 17 is arranged between the pair of drive motors 15 when viewed in the up-down direction Z. The reading device 17 is configured to detect a plurality of position information holders (not shown) arranged on the travel surface of the transport vehicle 10 and to read the position information held in the position information holders. As the position information holders, for example, barcodes, wireless tags, etc. can be used. If the position information holders are configured using barcodes, the reading device 17 may be configured as a barcode reader. If the position information holders are configured using wireless tags, the reading device 17 may be configured as a tag reader. The reading device 17 is supported by a first frame portion 21, which will be described later.

[0017] The transport vehicle 10 is equipped with a body frame 20 that supports a plurality of wheels. In this embodiment, the body frame 20 supports the drive wheels 12, the first driven wheels 14a, and the second driven wheels 14b. In this embodiment, the body frame 20 is integral with the floor panel, but it may be a ladder frame or a monocoque body that is integral with the body. The body frame 20 corresponds to the term "frame."

[0018] The body frame 20 includes a first frame portion 21 and a second frame portion 22 arranged side by side in the fore-and-aft direction X. In this embodiment, the second frame portion 22 is arranged on the front side X2 of the first frame portion 21 in the fore-and-aft direction X, but the second frame portion 22 may also be arranged on the rear side X1 of the first frame portion 21.

[0019] The drive wheels 12 are supported by the first frame portion 21 or the second frame portion 22. In this embodiment, the drive wheels 12 are supported by the first frame portion 21. The drive motor 15 is supported by the first frame portion 21 or the second frame portion 22. In this embodiment, the drive motor 15 is supported by the first frame portion 21. The power storage unit 16 is supported by the first frame portion 21 or the second frame portion 22. In this embodiment, the power storage unit 16 is supported by the first frame portion 21.

[0020] The plurality of driven wheels includes a first driven wheel 14a supported by the first frame portion 21. The first driven wheel 14a rotates around a first driven axis A2 (see FIG. 3). The first driven wheel 14a is connected to the first frame portion 21 so that the first driven axis A2 can swing freely around a vertical axis along the vertical direction Z. The first frame portion 21 has a first recess 21a recessed toward the upper side Z1. The first driven wheel 14a is connected to the first recess 21a and is disposed inside the first recess 21a. In this embodiment, the plurality of driven wheels includes a pair of first driven wheels 14a supported by the first frame portion 21.

[0021] The plurality of driven wheels includes a second driven wheel 14b supported by the second frame portion 22. The second driven wheel 14b rotates around a second driven axis A3 (see FIG. 3). The second driven wheel 14b is connected to the second frame portion 22 so that the second driven axis A3 can swing freely around a vertical axis along the vertical direction Z. The second frame portion 22 has a second recess 22a recessed toward the upper side Z1. The second driven wheel 14b is connected to the second recess 22a and is disposed inside the second recess 22a. In this embodiment, the plurality of driven wheels includes a pair of second driven wheels 14b supported by the first frame portion 21.

[0022] The body frame 20 includes a first connecting portion 41 that connects the first frame portion 21 and the second frame portion 22 to be swingable about a first swing axis B1 along the width direction Y. In this embodiment, a pair of first connecting portions 41 are arranged side by side in the width direction Y.

[0023] In this embodiment, the first oscillation axis B1 and the drive axis A1 are parallel to each other, but they do not have to be parallel. The angle between the first oscillation axis B1 and the drive axis A1 is preferably within ±20 degrees, and more preferably within ±10 degrees. The first oscillation axis B1 and the drive axis A1 may be coaxial. In this embodiment, the first oscillation axis B1 is located close to the drive axis A1 when viewed in the width direction Y.

[0024] The first oscillation axis B1 is disposed at a position overlapping with the pair of drive wheels 12 when viewed in the width direction along the width direction Y. Here, in this application, with regard to the arrangement of two members, "overlapping when viewed in a specific direction" means that when an imaginary line parallel to the line of sight is moved in each direction perpendicular to the imaginary line, there is a region where the imaginary line intersects with both of the two members.

[0025] Fig. 3 is a side view showing an example of a support frame 30 provided in the transport vehicle 10. Fig. 1 to Fig. 3 show a state in which the first frame portion 21 and the second frame portion 22 are parallel to each other when viewed in the width direction Y, in other words, a state in which the angle between the first frame portion 21 and the second frame portion 22 around the first oscillation axis B1 is 0 degrees.

[0026] The transport vehicle 10 includes a support frame 30 configured to support an object W to be transported. The support frame 30 is connected to the vehicle body frame 20. Examples of the object W to be transported include vehicle parts, large parts, heavy objects, furniture, electronic parts, transport pallets, containers, etc. In FIG. 3, the object W to be transported is indicated by a two-dot chain line.

[0027] The transport vehicle 10 includes a cover 31 supported on the vehicle body frame 20 via a support frame 30. The cover 31 is omitted in FIGS. 1 and 2 and is indicated by a two-dot chain line in FIG. 3. In this embodiment, the cover 31 is configured to cover the upper parts of the drive wheel 12, the first driven wheel 14a, the second driven wheel 14b, the drive motor 15, the power storage unit 16, and the reading device 17. In the example shown in FIG. 3, the first driven wheel 14a and the second driven wheel 14b are each casters.

[0028] The transport vehicle 10 is equipped with a transfer device 32 that transfers the object W to be transported to a predetermined location. In this embodiment, the transfer device 32 is supported on the vehicle body frame 20 via a support frame 30. The transfer device 32 has a placement surface 32a on which the object W to be transported is placed. The second connecting portion 42 and the third connecting portion 43 are arranged on the lower side Z2 of the placement surface 32a. Examples of the transfer device 32 include a roller conveyor, a belt conveyor, a push-out device, a crane, a lifting device, a turntable, etc.

[0029] The transfer device 32 is equipped with a turntable 32b that rotates the transport object W around an axis along the vertical direction Z. The transfer device 32 is equipped with a lifting device 32c that raises and lowers the transport object W. In this embodiment, the lifting device 32c is equipped with a lifting platform on which the transport object W is placed. In this embodiment, the lifting platform is the turntable 32b, but it does not have to be the turntable 32b. In this embodiment, the lifting device 32c is configured to raise and lower the upper surface of the turntable 32b to a position lower and higher than at least the upper surface of the placement surface 32a.

[0030] The transfer device 32 receives the object W from the transfer target location by raising the lifting platform (turntable 32b) while entering the lower side Z2 of the object W supported on the transfer target location such as a cargo receiving platform. The transfer device 32 hands over the object W to the transfer target location by lowering the lifting platform (turntable 32b) at the transfer target location.

[0031] 4 is a diagram showing an example of the control unit 35 of the transport vehicle 10. The transport vehicle 10 is equipped with the control unit 35. The control unit 35 controls at least the drive motor 15. In this embodiment, the control unit 35 controls the drive motor 15 and the transfer device 32.

[0032] Although not shown, the control unit 35 is supported on the body frame 20 via the support frame 30. In this embodiment, the control unit 35 is supported in a suspended state from a support member (not shown) provided on the support frame 30. The support member is disposed on the upper side Z1 relative to a second connecting portion 42 and a third connecting portion 43, which will be described later. In this embodiment, the control unit 35 is distributed in multiple parts and supported in a suspended state from each support member.

[0033] Returning to FIG. 3, the connection structure between the body frame 20 and the support frame 30 includes a second connection portion 42. The second connection portion 42 is connected so as to be swingable about a second swing axis B2 along the width direction Y. In this embodiment, a pair of second connection portions 42 are arranged side by side in the width direction Y. In this embodiment, the first swing axis B1 and the second swing axis B2 are parallel to each other, but they do not have to be parallel to each other.

[0034] The connecting structure between the body frame 20 and the support frame 30 includes a third connecting portion 43. The third connecting portion 43 is connected so as to be swingable about a third swing axis B3 along the width direction Y. In this embodiment, a pair of third connecting portions 43 are arranged side by side in the width direction Y. In this embodiment, the first swing axis B1 and the third swing axis B3 are parallel to each other, but they do not have to be parallel to each other.

[0035] The third connecting portion 43 is connected so as to be movable in the front-rear direction X. In this embodiment, the third connecting portion 43 is connected so as to be swingable about a third swing axis B3 along the width direction Y and slidable in the front-rear direction X.

[0036] The target connecting portion, which is either the second connecting portion 42 or the third connecting portion 43, is supported by the first frame portion 21. The other of the second connecting portion 42 or the third connecting portion 43 is supported by the second frame portion 22. In this embodiment, the second connecting portion 42 is the target connecting portion, but the third connecting portion 43 may also be the target connecting portion.

[0037] The target connecting portion is arranged at a position overlapping with the power storage unit 16 when viewed in the width direction Y. In this embodiment, the power storage unit 16 is arranged between a pair of target connecting portions in the width direction Y. In this embodiment, the target connecting portion (second connecting portion 42) is attached to the upper surface of the first recess 21a. In this embodiment, the other connecting portion (third connecting portion 43) is attached to the upper surface of the second recess 22a.

[0038] In this embodiment, the first frame portion 21 and the support frame 30 are connected at the second connecting portion 42 to be rotatable relative to each other about the second oscillation axis B2. In this embodiment, the second frame portion 22 and the support frame 30 are connected at the third connecting portion 43 to be rotatable relative to each other about the third oscillation axis B3. The second connecting portion 42 and the third connecting portion 43 each include a bearing (not shown), which enables the above-mentioned relative rotation. The bearing of the third connecting portion 43 is allowed to move relative to either the second frame portion 22 or the support frame 30 within a certain range in the front-rear direction X.

[0039] As shown in Fig. 2, the power storage unit 16 is disposed between the pair of first driven wheels 14a in the width direction Y. In this embodiment, the power storage unit 16 is disposed at a position overlapping with the pair of first driven wheels 14a when viewed in the width direction along the width direction Y. In the example shown in Fig. 3, the power storage unit 16 is disposed at a position overlapping with the first driven axis A2 when viewed in the width direction along the width direction Y.

[0040] 2, the power storage unit 16 is disposed between the pair of drive wheels 12 in the width direction Y. In this embodiment, the power storage unit 16 is disposed at a position overlapping with the pair of drive wheels 12 as viewed in the width direction along the width direction Y.

[0041] 2, the power storage unit 16 is disposed at a position overlapping with the drive motor 15 when viewed in the front-rear direction X. The power storage unit 16 is disposed at a position overlapping with the reading device 17 when viewed in the front-rear direction X.

[0042] 2, the transport vehicle 10 is provided with a bumper 50. The bumper 50 is arranged to surround a plurality of wheels when viewed in the vertical direction. In this embodiment, the bumper 50 is arranged to surround the drive wheels 12, the first driven wheels 14a, and the second driven wheels 14b when viewed in the vertical direction.

[0043] 2, the bumper 50 is disposed so as to surround the body frame 20 when viewed in the vertical direction. The bumper 50 is configured to reduce the impact when the transport vehicle 10 comes into contact with an obstacle. The bumper 50 is configured to reduce the impact when the entire transport vehicle 10 rotates around an axis along the vertical direction Z and the side of the transport vehicle 10 comes into contact with an obstacle.

[0044] The bumper 50 is divided in the front-rear direction X into a first bumper portion 51 and a second bumper portion 52. The first bumper portion 51 is supported by the first frame portion 21. The second bumper portion 52 is supported by the second frame portion 22. A gap is provided between the first bumper portion 51 and the second bumper portion 52 in the front-rear direction X. In this embodiment, a pair of gaps are provided, separated on both sides of the body frame 20 in the width direction Y.

[0045] The first bumper portion 51 is supported by the first frame portion 21 via a first bumper mounting member 53 so that a space is formed between the first frame portion 21 and the first bumper portion 51 when viewed in the vertical direction. The second bumper portion 52 is supported by the second frame portion 22 via a second bumper mounting member 54 so that a space is formed between the second frame portion 22 and the second bumper portion 52 when viewed in the vertical direction.

[0046] 3, the first bumper portion 51 is supported by the first frame portion 21 so that a space is formed between the first bumper portion 51 and the cover 31. In this embodiment, the first bumper portion 51 is supported by the first frame portion 21 so that at least the outer surface of the first bumper portion 51 is positioned outward of the cover 31 in the front-rear direction X. The lower end of the first bumper portion 51 is positioned on the lower side Z2 of the lower end of the cover 31. The first bumper portion 51 is positioned outward of the lower end of the cover 31 in the width direction Y.

[0047] 3, the second bumper portion 52 is supported by the second frame portion 22 so that a space is formed between the second bumper portion 52 and the cover 31. In this embodiment, the second bumper portion 52 is supported by the second frame portion 22 so that at least the outer surface of the second bumper portion 52 is positioned outward of the cover 31 in the front-rear direction X. The lower end of the second bumper portion 52 is positioned on the lower side Z2 of the lower end of the cover 31. The second bumper portion 52 is positioned outward of the lower end of the cover 31 in the width direction Y.

[0048] A first space M3 is formed on the upper side Z1 of the first bumper portion 51. In this embodiment, the first space M3 is formed between the first bumper portion 51 and the cover 31. The first space M3 is formed so that the first bumper portion 51 does not interfere with the cover 31, etc. when the first frame portion 21 swings around the first swing axis B1. In this embodiment, the first space M3 is formed so that the first bumper portion 51 does not interfere with the cover 31, etc. when the first frame portion 21 swings around the first swing axis B1 to the maximum angle assumed.

[0049] A second space M4 is formed on the upper side Z1 of the second bumper portion 52. In the present embodiment, the second space M4 is formed between the second bumper portion 52 and the cover 31. The second space M4 is formed so that the second bumper portion 52 does not interfere with the cover 31, etc. when the second frame portion 22 of the second bumper portion 52 pivots about the first pivot axis B1. In the present embodiment, the second space M4 is formed so that the second bumper portion 52 does not interfere with the cover 31, etc. when the second frame portion 22 pivots about the first pivot axis B1 to the maximum angle assumed.

[0050] In this embodiment, the power storage unit 16 is arranged at a position overlapping with the first bumper portion 51 or the second bumper portion 52 when viewed in the width direction along the width direction Y. In this embodiment, the lower end of the power storage unit 16 is arranged at a position overlapping with the first bumper portion 51 or the second bumper portion 52.

[0051] Here, one of the pair of gaps is referred to as a first gap M1, and the other of the pair of gaps is referred to as a second gap M2. The first bumper portion 51 is formed so as to continue from the end on the first gap M1 side to the end on the second gap M2 side. The second bumper portion 52 is formed so as to continue from the end on the first gap M1 side to the end on the second gap M2 side.

[0052] The range of the first bumper portion 51 in the width direction Y is provided continuously or intermittently so as to include the range of the first frame portion 21 in the width direction Y. The range of the first bumper portion 51 in the front-rear direction X is provided continuously or intermittently so as to include the range of the first driven wheel 14a in the front-rear direction X.

[0053] The range of the second bumper portion 52 in the front-rear direction X is provided continuously or intermittently so as to include the range of the second driven wheel 14b in the front-rear direction X. The range of the second bumper portion 52 in the width direction Y is provided continuously or intermittently so as to include the range of the second frame portion 22 in the width direction Y.

[0054] The range of the bumper 50 in the fore-and-aft direction X is provided discontinuously by the first bumper portion 51 and the second bumper portion 52 so as to include the range of the drive wheels 12 in the fore-and-aft direction X, but the first bumper portion 51 or the second bumper portion 52 may be provided continuously so as to include the range of the drive wheels 12 in the fore-and-aft direction X.

[0055] The end of the first bumper portion 51 on the first gap M1 side and the end of the second bumper portion 52 on the first gap M1 side are arranged to face each other in the front-rear direction X, with the first gap M1 in between. In this embodiment, no bumpers 50 are provided on either side of the first gap M1 in the width direction Y, but the outside of the first gap M1 in the width direction Y may be covered by the first bumper portion 51 or the second bumper portion 52.

[0056] The end of the first bumper portion 51 on the second gap M2 side and the end of the second bumper portion 52 on the second gap M2 side are arranged to face each other in the front-rear direction X, with the second gap M2 in between. In this embodiment, no bumpers 50 are provided on either side of the second gap M2 in the width direction Y, but the outside of the second gap M2 in the width direction Y may be covered by the first bumper portion 51 or the second bumper portion 52.

[0057] In this embodiment, the first bumper portion 51 and the second bumper portion 52 are each U-shaped when viewed from the up-down direction, but they may also be arc-shaped or polygonal. In this embodiment, the first bumper portion 51 and the second bumper portion 52 are strip-shaped members with rectangular cross sections, but they may also be round bar-shaped members or irregularly shaped members.

[0058] 3, the range of the gaps (first gap M1, second gap M2) in the front-rear direction X is set to include the position of the first oscillation axis B1 in the front-rear direction X. In this embodiment, the first gap M1 and the second gap M2 are each provided so as to overlap with the first oscillation axis B1 when viewed in the width direction, but they may each be provided above Z1 or below Z2 the first oscillation axis B1 when viewed in the width direction.

[0059] 3, the range of the gaps (first gap M1, second gap M2) in the front-rear direction X is set to include the position of the drive axis A1 in the front-rear direction X. In this embodiment, the first gap M1 and the second gap M2 are each provided below the drive axis A1 on the Z2 side when viewed in the width direction, but they may each be provided above the first oscillation axis B1 on the Z1 side when viewed in the width direction or so as to overlap with the first oscillation axis B1.

[0060] The dimensions of the gaps (first gap M1, second gap M2) in the front-rear direction X are set so that the gap-side end of the first bumper portion 51 does not interfere with the gap-side end of the second bumper portion 52 when the first frame portion 21 and the second frame portion 22 swing about the first swing axis B1. In this embodiment, the dimensions of the first gap M1 and the second gap M2 in the front-rear direction X are set so that the gap-side end of the first bumper portion 51 does not interfere with the gap-side end of the second bumper portion 52 when the first frame portion 21 and the second frame portion 22 swing about the first swing axis B1 to the maximum expected angle.

[0061] In this embodiment, the cover 31 is positioned so that the gap-side end of the first bumper portion 51 and the gap-side end of the second bumper portion 52 do not interfere with the cover 31 due to the swinging of the first frame portion 21 and the second frame portion 22 around the first swing axis B1.

[0062] In this embodiment, the cover 31 is positioned so that when the first frame portion 21 and the second frame portion 22 swing around the first swing axis B1 to the maximum expected angle, the cover 31 does not interfere with the gap-side end of the first bumper portion 51 and the gap-side end of the second bumper portion 52.

[0063] The dimensions of the first gap M1 and the second gap M2 in the front-rear direction X are set to, for example, 100 mm or less, 50 mm or less, 25 mm or less, 10 mm or less, etc. In the illustrated example, the dimensions of the first gap M1 and the second gap M2 in the front-rear direction X are set to be smaller than the diameter of the axle 55 of the drive wheel 12. In this way, it is possible to reduce the impact when coming into contact with an obstacle larger than at least the above dimensions.

[0064] Other Embodiments Next, other embodiments of the transport vehicle 10 will be described.

[0065] (1) In the above embodiment, an example has been described in which the drive wheel 12 and the first driven wheel 14a are supported by the first frame portion 21, and the second driven wheel 14b is supported by the second frame portion 22. However, without being limited to such an example, for example, the first driven wheel 14a may be supported by the first frame portion 21, and the drive wheel 12 and the second driven wheel 14b may be supported by the second frame portion 22. Furthermore, for example, the first driven wheel 14a may be supported by the first frame portion 21, the drive wheel 12 may be supported by the second frame portion 22, and the transport vehicle 10 may not include the second driven wheel 14b.

[0066] (2) In the above embodiment, the drive motor 15 and the reader 17 are supported by the first frame portion 21 of the vehicle body frame 20. However, the present invention is not limited to such an example. For example, the drive motor 15 and the reader 17 may be supported by the second frame portion 22. Furthermore, for example, the drive motor 15 and the reader 17 may be supported by the vehicle body frame 20 via the support frame 30. Furthermore, for example, the transport vehicle 10 does not need to be equipped with the reader 17.

[0067] (3) In the above embodiment, the connection structure between the body frame 20 and the support frame 30 includes the second connecting portion 42 that connects them so as to be swingable about the second swing axis B2 and the third connecting portion 43 that connects them so as to be swingable about the third swing axis B3 and slideable in the front-rear direction X. However, the present invention is not limited to such an example. For example, the connection structure between the body frame 20 and the support frame 30 may be configured with a different link mechanism or the like. Furthermore, for example, the body frame 20 and the support frame 30 may be connected by an air spring or a coil spring. Furthermore, for example, the transport vehicle 10 may not include the support frame 30.

[0068] (4) In the above embodiment, an example has been described in which the dimension of the gap in the front-rear direction X is set so that the gap-side end of the first bumper portion 51 does not interfere with the gap-side end of the second bumper portion 52 due to the swing of the first frame portion 21 and the second frame portion 22 around the first swing axis B1. However, without being limited to such an example, for example, a configuration may be adopted in which the swing of the first frame portion 21 and the second frame portion 22 is limited by the gap-side end of the first bumper portion 51 interfering with the gap-side end of the second bumper portion 52.

[0069] (5) In the above embodiment, the range of the gap in the front-rear direction X is set to include the position of the first oscillation axis B1 in the front-rear direction X. However, the present invention is not limited to such an example. For example, the range of the gap in the front-rear direction X may include the range of the first driven wheel 14a or the second driven wheel 14b in the front-rear direction X.

[0070] (6) In the above embodiment, the first bumper portion 51 and the second bumper portion 52 are each formed continuously from the end on the first gap M1 side to the end on the second gap M2 side. However, the present invention is not limited to such an example. For example, the first bumper portion 51 or the second bumper portion 52 may be formed discontinuously from the end on the first gap M1 side to the end on the second gap M2 side. Furthermore, for example, the gaps do not have to be provided as a pair on both sides of the body frame 20 in the width direction Y.

[0071] (7) In the above embodiment, a configuration has been described as an example in which the second connecting portion 42 is arranged at a position overlapping the power storage unit 16 when viewed in the width direction. However, the present invention is not limited to such an example, and for example, the third connecting portion 43 may be arranged at a position overlapping the power storage unit 16 when viewed in the width direction. Furthermore, for example, the second connecting portion 42 and the third connecting portion 43 do not have to be arranged at a position overlapping the power storage unit 16 when viewed in the width direction.

[0072] (8) In the above embodiment, a configuration has been described in which a pair of drive wheels 12 and drive motors 15 are arranged spaced apart in the width direction Y. However, the present invention is not limited to such an example, and, for example, only one drive wheel 12 may be provided in the center of the width direction Y. Also, for example, a configuration in which one drive motor 15 drives a pair of drive wheels 12 may be used. Also, for example, the transport vehicle 10 may not have the first driven wheel 14a and the second driven wheel 14b, and all of the wheels provided on the transport vehicle 10 may be drive wheels 12.

[0073] (9) In the above embodiment, a configuration in which the first driven wheel 14a and the second driven wheel 14b are arranged as a pair and spaced apart in the width direction Y has been described as an example. However, the present invention is not limited to such an example, and, for example, there may be only one second driven wheel 14b. Also, for example, there may be only one first driven wheel 14a. Also, for example, a driven wheel other than the pair of second driven wheels 14b may be supported on the second frame portion 22. Also, for example, a driven wheel other than the pair of first driven wheels 14a may be supported on the first frame portion 21.

[0074] (10) In the above embodiment, an example has been described in which the power storage unit 16 is disposed at a position that overlaps with the pair of drive wheels 12 as viewed in the width direction and with the pair of drive motors 15 as viewed in the front-rear direction. However, the present invention is not limited to such an example. For example, the power storage unit 16 may be disposed at a position that does not overlap with the pair of drive wheels 12 as viewed in the width direction. Furthermore, for example, the power storage unit 16 may be disposed at a position that does not overlap with the drive motors 15 as viewed in the front-rear direction. Furthermore, for example, the power storage unit 16 does not have to be disposed between the pair of drive wheels 12 in the width direction Y.

[0075] (11) In the above embodiment, a configuration has been described in which the first connecting portion 41, the second connecting portion 42, and the third connecting portion 43 are arranged in pairs spaced apart in the width direction Y. However, the present invention is not limited to such an example, and there may be, for example, only one first connecting portion 41. There may also be, for example, only one second connecting portion 42. There may also be, for example, only one third connecting portion 43. There may also be, for example, three or more second connecting portions 42 and / or third connecting portions 43 arranged in the width direction Y.

[0076] (12) In the above embodiment, the cover 31 and the control unit 35 are supported on the body frame 20 via the support frame 30. However, the present invention is not limited to this example. For example, the first frame portion 21 or the second frame portion 22 may support the cover 31 and the control unit 35.

[0077] (13) In the above embodiment, an example has been described in which the cover 31 covers the upper parts of the drive wheels 12, the first driven wheels 14a, the second driven wheels 14b, the drive motor 15, the power storage unit 16, the reading device 17, and the control unit 35. However, without being limited to such an example, for example, the cover 31 may not cover the upper parts of one or more of the drive wheels 12, the first driven wheels 14a, the second driven wheels 14b, the drive motor 15, the power storage unit 16, the reading device 17, and the control unit 35.

[0078] (14) In the above embodiment, the transfer device 32 includes the turntable 32b and the lifting device 32c. However, the present invention is not limited to such an example. For example, the transfer device 32 does not need to include the turntable 32b or the lifting device 32c. Furthermore, for example, the transport vehicle 10 does not need to include the transfer device 32.

[0079] (15) The configurations disclosed in the above-described embodiments may be combined with configurations disclosed in other embodiments as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications may be made as appropriate within the scope of the present disclosure.

[0080] Summary of the above embodiment The transport vehicle according to the present disclosure will be described below.

[0081] In one embodiment, a transport vehicle is provided with a plurality of wheels, a frame supporting the plurality of wheels, and a bumper arranged to surround the frame and the plurality of wheels when viewed in the vertical direction, wherein the plurality of wheels includes at least one drive wheel driven by a drive source, wherein the direction along the drive axis which is the rotation axis of the drive wheel is the width direction, and the direction perpendicular to the drive axis when viewed in the vertical direction is the front-to-rear direction, and the frame is provided with a first frame portion and a second frame portion arranged side by side in the front-to-rear direction, and a first connecting portion that connects the first frame portion and the second frame portion so that they can swing freely around a first swing axis along the width direction, and the bumper is divided into a first bumper portion and a second bumper portion in the front-to-rear direction, the first bumper portion is supported by the first frame portion, and the second bumper portion is supported by the second frame portion, and a gap is provided between the first bumper portion and the second bumper portion in the front-to-rear direction.

[0082] According to this configuration, since the bumper is disposed so as to surround the body frame and the plurality of wheels in a vertical view, even if the transport vehicle comes into contact with an obstacle, the impact can be mitigated. Also, in a configuration in which the body frame includes a first frame portion and a second frame portion disposed side by side in the fore-and-aft direction and the first frame portion and the second frame portion are swingably connected by a first connecting portion, the bumper is divided into a first bumper portion and a second bumper portion in the fore-and-aft direction, the first bumper portion is supported by the first frame portion, the second bumper portion is supported by the second frame portion, and a gap is provided between the first bumper portion and the second bumper portion, so that the bumper is unlikely to impede the swinging of the first frame portion and the second frame portion about the first swing axis.

[0083] In one embodiment, the longitudinal dimension of the gap is set so that the end of the first bumper portion on the gap side and the end of the second bumper portion on the gap side do not interfere with each other due to the swinging of the first frame portion and the second frame portion around the first swing axis.

[0084] With this configuration, interference between the first bumper and the second bumper can be prevented even when the first frame portion and the second frame portion swing around the first swing axis due to unevenness or inclination of the floor surface, etc. Therefore, the swing of the first frame portion and the second frame portion around the first swing axis can be prevented from being hindered by the bumper.

[0085] In one embodiment, the range of the gap in the front-rear direction is set to include the position of the first oscillation axis in the front-rear direction.

[0086] According to this configuration, a gap is provided between the first bumper portion and the second bumper portion in the front-rear direction, and the front-rear range of the gap is set to include the front-rear position of the first swing axis, so that when the first frame portion and the second frame portion swing around the first swing axis, the amount of vertical movement of the gap-side ends of the first bumper portion and the second bumper portion can be easily kept small, thereby making it easy to avoid interference between the gap-side ends of the first bumper portion and the second bumper portion and the floor surface or other components of the transport vehicle.

[0087] In one embodiment, the gaps are provided in pairs, separated on both sides of the width direction of the frame, one of the pair of gaps being a first gap and the other of the pair of gaps being a second gap, the first bumper portion being formed so as to continue from the end on the first gap side to the end on the second gap side, and the second bumper portion being formed so as to continue from the end on the first gap side to the end on the second gap side.

[0088] According to this configuration, the entire area around the vehicle body frame and the wheels, except for the gaps, can be surrounded by the bumper, thereby appropriately absorbing impact when the transport vehicle comes into contact with an obstacle.

[0089] It is sufficient for the transport vehicle according to the present disclosure to achieve at least one of the above-described effects. [Explanation of symbols]

[0090] 10: Transport vehicle 12: Drive wheel 15: Drive source 20: Body frame (frame) 21: First frame section 22: Second frame part 41: 1st connection part 50: Bumper 51: First bumper section 52: Second bumper section A1: Drive shaft center B1: 1st swing axis M1: Gap 1 M2: Second gap

Claims

1. Multiple wheels and a frame supporting a plurality of the wheels; a bumper disposed to surround the frame and the plurality of wheels when viewed in the up-down direction; A transport vehicle equipped with The plurality of wheels includes at least one drive wheel driven by a drive source, The direction along the drive shaft center, which is the rotation axis of the drive wheel, is defined as the width direction, and the direction perpendicular to the drive shaft center when viewed in the up-down direction is defined as the front-rear direction, the frame includes a first frame portion and a second frame portion arranged side by side in the front-rear direction, and a first connecting portion connecting the first frame portion and the second frame portion to be swingable about a first swing axis along the width direction, The bumper is divided into a first bumper portion and a second bumper portion in the front-rear direction, the first bumper portion is supported by the first frame portion, the second bumper portion is supported by the second frame portion, A transport vehicle, wherein a gap is provided between the first bumper portion and the second bumper portion in the front-rear direction.

2. The transport vehicle described in claim 1, wherein the longitudinal dimension of the gap is set so that the end of the first bumper portion on the gap side and the end of the second bumper portion on the gap side do not interfere with each other due to the swinging of the first frame portion and the second frame portion around the first swing axis.

3. The transport vehicle according to claim 1 or 2, wherein the longitudinal range of the gap is set to include the longitudinal position of the first swing axis.

4. The gap is provided as a pair on both sides of the frame in the width direction, one of the pair of gaps is a first gap, and the other of the pair of gaps is a second gap; the first bumper portion is formed to be continuous from an end portion on the first gap side to an end portion on the second gap side, The transport vehicle according to claim 1 or 2, wherein the second bumper portion is formed so as to be continuous from an end portion on the first gap side to an end portion on the second gap side.

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