Transport vehicle

Abstract

To provide a transport vehicle which enables reduction of vibration transmitted to a control unit.SOLUTION: In a transport vehicle, a plurality of wheels 2 includes at least one driving wheel 21 which is driven by a driving source D. A vehicle body frame 1 includes a first frame part 11 and a second frame part 12 which are disposed arranged side by side in a front-back direction Y. The transport vehicle includes: first connection parts 5 which connect the first frame part 11 with the second frame part 12 in a manner that enables these frame parts 11, 12 to swing around a first swing axis A1 along a width direction X; second connection parts 6 which connect the first frame part 11 with support frames 3 in a manner that enables these components to swing around a second swing axis A2 along the width direction X; and third connection parts 7 which connect the second frame part 12 with the support frames 3 in a manner that enables these components to swing around a third swing axis A3 along the width direction X and slide in the front-back direction Y. A control unit is supported by the vehicle body frame 1 through the support frames 3.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a transport vehicle comprising a body frame, a plurality of wheels supported by the body frame, a support frame connected to the body frame and configured to support an object to be transported above the body frame, and a control unit that controls on-board equipment. [Background technology]

[0002] An example of such a carrier vehicle is disclosed in the following Patent Document 1. In the following description of the background art, the reference numerals in Patent Document 1 will be cited in parentheses.

[0003] In the transport vehicle (100) of Patent Document 1, the vehicle body frame 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 support frame (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 support frame (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).

[0004] With this configuration, even if the traveling surface is uneven, 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]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-19348 Summary of the Invention [Problem to be solved by the invention]

[0006] Incidentally, in the transport vehicle (100) of Patent Document 1, when traveling on an uneven surface, vibrations are transmitted from the wheels, including the drive wheels (108), to the control units (101, 103). In general, the control units (101, 103) that control the on-board devices (106, 136) are relatively sensitive to vibrations, and therefore it is preferable to reduce the vibrations transmitted to the control units (101, 103). In this regard, Patent Document 1 does not disclose a configuration for reducing the vibrations transmitted to the control units (101, 103).

[0007] Therefore, it is desirable to realize a transport vehicle that can reduce the vibrations transmitted to the control unit. [Means for solving the problem]

[0008] In view of the above, the characteristic configuration of the transport vehicle is as follows: The body frame and A plurality of wheels supported by the body frame; a support frame connected to the body frame and configured to support an object to be transported above the body frame; A transport vehicle equipped with a control unit that controls on-board equipment, 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 vehicle body frame includes a first frame portion and a second frame portion arranged side by side in the front-rear direction, a first connecting portion that connects the first frame portion and the second frame portion so as to be swingable around a first swing axis along the width direction; a second connecting portion that connects the first frame portion and the support frame so as to be swingable around a second swing axis along the width direction; a third connecting portion that connects the second frame portion and the support frame so as to be swingable around a third swing axis along the width direction and slidable in the front-rear direction, The control unit is supported by the vehicle body frame via the support frame.

[0009] According to this characteristic configuration, the support frame is connected to the body frame via the second connecting portion and the third connecting portion. The control unit is supported on the body frame via the support frame. This structure makes it difficult for vibrations from the body frame that supports multiple wheels to be transmitted to the control unit, which is relatively susceptible to vibrations. Therefore, it is possible to reduce vibrations transmitted to the control unit. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a perspective view of a transport vehicle according to an embodiment; [Figure 2] FIG. 1 is a perspective view showing a part of a transport vehicle according to an embodiment; [Figure 3] FIG. 1 is a perspective view showing a configuration of a first coupling portion of a transport vehicle according to an embodiment; [Figure 4] FIG. 1 is a perspective view showing the configuration of a second connecting portion and a third connecting portion of a transport vehicle according to an embodiment; [Figure 5] FIG. 1 is a side view showing a part of a transport vehicle according to an embodiment; [Figure 6] FIG. 1 is a side view showing a part of a transport vehicle according to an embodiment; [Figure 7] FIG. 1 is a plan view showing a part of a transport vehicle according to an embodiment; [Figure 8] FIG. 1 is a perspective view showing a configuration of a driven wheel of a transport vehicle according to an embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0011] A guided vehicle 100 according to an embodiment will be described below with reference to the drawings. As shown in Fig. 1, the guided vehicle 100 includes a body frame 1, a plurality of wheels 2, a support frame 3, and a control unit 4. In this embodiment, the body frame 1, the plurality of wheels 2, a portion of the support frame 3, and the control unit 4 are covered by a cover C.

[0012] 2, the plurality of wheels 2 includes at least one driving wheel 21 driven by a driving source D. In this embodiment, the plurality of wheels 2 includes a pair of driving wheels 21, a pair of first driven wheels 22, and a pair of second driven wheels 23. In this embodiment, the driving source D is an electric motor.

[0013] In the following description, the direction along the drive axis Ad, which is the rotation axis of the drive wheel 21, is referred to as the "width direction X." Furthermore, the direction perpendicular to the drive axis Ad when viewed in the up-down direction is referred to as the "front-to-back direction Y." One side in the front-to-back direction Y is referred to as the "front side Y1," and the other side in the front-to-back direction Y is referred to as the "rear side Y2." Note that, in this application, the "up-to-down direction" refers to the vertical direction when the transport vehicle 100 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.

[0014] The body frame 1 includes a first frame portion 11 and a second frame portion 12. The first frame portion 11 and the second frame portion 12 are arranged side by side in the front-rear direction Y. In this embodiment, the first frame portion 11 is arranged rearward Y2 from the second frame portion 12.

[0015] In this embodiment, each of the first frame portion 11 and the second frame portion 12 is formed in a box shape with an open top. The first frame portion 11 includes a flat first bottom plate portion 111 and a first side plate portion 112 standing upward from the outer edge of the first bottom plate portion 111. The second frame portion 12 includes a flat second bottom plate portion 121 and a second side plate portion 122 standing upward from the outer edge of the second bottom plate portion 121.

[0016] In this embodiment, the first bottom plate portion 111 is formed in a rectangular shape with long sides along the width direction X and short sides along the front-rear direction Y when viewed in the up-down direction. The first side plate portion 112 includes a pair of first short surface portions 113 facing each other in the width direction X and a pair of first long surface portions 114 facing each other in the front-rear direction Y.

[0017] In this embodiment, the second bottom plate portion 121 is formed in a rectangular shape with long sides along the width direction X and short sides along the front-rear direction Y when viewed in the up-down direction. The second side plate portion 122 includes a pair of second short surface portions 123 facing each other in the width direction X and a pair of second long surface portions 124 facing each other in the front-rear direction Y.

[0018] As shown in FIG. 1 , the support frame 3 is connected to the body frame 1. The support frame 3 is configured to support the transport object W above the body frame 1. In this embodiment, the support frame 3 supports from below a transfer device 9 that transfers the transport object W to a predetermined location. The transfer device 9 has a placement section 91 on which the transport object W is placed. In this embodiment, the placement section 91 is configured by a belt conveyor that transports the placed transport object W in the width direction X.

[0019] In this embodiment, the support frame 3 includes a pair of first support columns 31 and a pair of second support columns 32.

[0020] The pair of first support columns 31 are formed to extend upward from the first frame portion 11. The pair of first support columns 31 are arranged spaced apart from each other in the width direction X. In this embodiment, each of the pair of first support columns 31 includes a first upper column portion 311 and a first lower column portion 312. The first upper column portion 311 and the first lower column portion 312 are fixed to each other so that the first upper column portion 311 extends upward from the first lower column portion 312. The first upper column portion 311 is connected to the transfer device 9 so as to support the transfer device 9 from below. The first lower column portion 312 is connected to one first short side portion 113 of the first frame portion 11 from the opposite side in the width direction X to the other first short side portion 113.

[0021] The pair of second support columns 32 are formed to extend upward from the second frame portion 12. The pair of second support columns 32 are arranged spaced apart from each other in the width direction X. In this embodiment, each of the pair of second support columns 32 includes a second upper column portion 321 and a second lower column portion 322. The second upper column portion 321 and the second lower column portion 322 are fixed to each other such that the second upper column portion 321 extends upward from the second lower column portion 322. The second upper column portion 321 is connected to the transfer device 9 so as to support the transfer device 9 from below. The second lower column portion 322 is connected to one second short side portion 123 of the second frame portion 12 from the side opposite to the other second short side portion 123 in the width direction X.

[0022] The control unit 4 is configured to control the in-vehicle equipment E. In this embodiment, the in-vehicle equipment E includes a driving source D and a driving source of the transfer device 9.

[0023] As shown in FIGS. 2 and 3, the transport vehicle 100 includes a first connecting portion 5. The first connecting portion 5 is configured to connect the first frame portion 11 and the second frame portion 12 to each other so as to be swingable about a first oscillation axis A1 along the width direction X. In this embodiment, a pair of first connecting portions 5 are arranged side by side in the width direction X. In addition, in this embodiment, the first connecting portion 5 includes a first connecting element 51 and a second connecting element 52 that are arranged so as to be swingable relative to each other about the first oscillation axis A1. Note that, in this embodiment, the first oscillation axis A1 is located near the drive axis Ad and is arranged on a different axis from the drive axis Ad.

[0024] The first connecting element 51 is connected to the first frame portion 11 via a first connecting member 53. The first connecting member 53 includes a first fixing portion 531 fixed to the first frame portion 11, and a first mounting portion 532 to which the first connecting element 51 is attached.

[0025] The first fixing portion 531 is formed in a plate shape perpendicular to the front-rear direction Y. The first fixing portion 531 is fixed to the first long surface portion 114 on the front side Y1 of the first frame portion 11 by fastening a bolt from the front side Y1.

[0026] The first mounting portion 532 is formed in a plate shape perpendicular to the width direction X. The first connecting element 51 is fixed to the first mounting portion 532 by bolt fastening. In this embodiment, the first connecting element 51 in one first connecting portion 5 is arranged on the opposite side in the width direction X from the other first connecting portion 5 with respect to the first mounting portion 532 to which the first connecting element 51 is attached. The first connecting element 51 and the first mounting portion 532 are fixed together by the first bolt 55 so that the head of the first bolt 55 is located on the first connecting element 51 side. In the illustrated example, a pair of first bolts 55 are arranged on both sides of the first oscillation axis A1 in the front-rear direction Y.

[0027] The second connecting element 52 is connected to the second frame portion 12 via a second connecting member 54. The second connecting member 54 includes a second fixing portion 541 that is fixed to the second frame portion 12, and a second mounting portion 542 to which the second connecting element 52 is attached.

[0028] The second fixing portion 541 is formed in a plate shape perpendicular to the front-rear direction Y. The second fixing portion 541 is fixed to the second long surface portion 124 on the rear side Y2 of the second frame portion 12 by fastening a bolt from the rear side Y2.

[0029] The second mounting portion 542 is formed in a plate shape perpendicular to the width direction X. The second connecting element 52 is fixed to the second mounting portion 542 by bolt fastening. In this embodiment, the second connecting element 52 in one first connecting portion 5 is disposed on the opposite side in the width direction X from the other first connecting portion 5 with respect to the second mounting portion 542 to which the second connecting element 52 is attached, and is disposed on the same side in the width direction X as the other first connecting portion 5 with respect to the first mounting portion 532 to which the first connecting element 51 in one first connecting portion 5 is attached. That is, in this embodiment, the second connecting element 52 is disposed between the second mounting portion 542 and the first mounting portion 532 in the width direction X. The second connecting element 52 and the second mounting portion 542 are fixed by the second bolt 56 so that the head of the second bolt 56 is located on the side of the second mounting portion 542. In the illustrated example, a pair of second bolts 56 are disposed on both sides in the up-down direction with respect to the first oscillation axis A1.

[0030] 3, in this embodiment, the second mounting portion 542 has a through hole 54a through which the threaded portion of the first bolt 55 passes in the width direction X. The through hole 54a has an inner diameter larger than the outer diameter of the threaded portion of the first bolt 55. With this configuration, when the first connecting element 51 and the second connecting element 52 pivot relative to each other, the threaded portion of the first bolt 55 abuts against the inner circumferential surface of the through hole 54a, thereby limiting the range of pivoting of the first connecting element 51 and the second connecting element 52. Therefore, without providing a separate limiting mechanism in the first connecting portion 5 that limits the range of pivoting of the first connecting element 51 and the second connecting element 52, the first bolt 55 and the through hole 54a can function as a limiting mechanism.

[0031] As shown in FIG. 2, the transport vehicle 100 includes a second connecting portion 6 and a third connecting portion 7.

[0032] The second connecting portion 6 is configured to connect the first frame portion 11 and the support frame 3 so as to be swingable about a second oscillation axis A2 along the width direction X. In this embodiment, the second connecting portion 6 connects the first frame portion 11 and the first lower pillar portion 312 of the first support pillar 31 in the support frame 3 so as to be swingable about the second oscillation axis A2. Therefore, in this embodiment, a pair of second connecting portions 6 are arranged spaced apart from each other in the width direction X in correspondence with the pair of first support pillars 31.

[0033] The third connecting portion 7 is configured to connect the second frame portion 12 and the support frame 3 so as to be swingable about a third swing axis A3 along the width direction X and slidable in the front-rear direction Y. In this embodiment, the third connecting portion 7 connects the second frame portion 12 and the second lower pillar portion 322 of the second support pillar 32 in the support frame 3 so as to be swingable about the third swing axis A3 and slidable in the front-rear direction Y. Therefore, in this embodiment, a pair of third connecting portions 7 are arranged spaced apart from each other in the width direction X in correspondence with the pair of second support pillars 32. Furthermore, the pair of third connecting portions 7 are arranged further forward Y1 than the pair of second connecting portions 6.

[0034] As shown in FIG. 4, in this embodiment, the second connecting portion 6 includes a second holding member 61, a second bearing 62, a second connecting bolt 63, and a second connecting nut 64.

[0035] The second holding member 61 is a member that holds the second bearing 62 in a state in which relative movement of the second bearing 62 in a direction perpendicular to the second oscillation axis A2 is restricted. The second holding member 61 has a second holding hole 61a in which the second bearing 62 is held. The second holding hole 61a has a shape similar to the outer shape of the second bearing 62 so as to restrict relative movement of the second bearing 62 in a direction perpendicular to the second oscillation axis A2. The second holding hole 61a is formed to penetrate the second holding member 61 in the width direction X.

[0036] In this embodiment, the second holding member 61 is formed in a plate shape perpendicular to the width direction X. The second holding member 61 is fixed to the first short surface portion 113 of the first frame portion 11 from the side opposite to the first support column 31 in the width direction X.

[0037] The second bearing 62 is disposed on the second oscillation axis A2. The second bearing 62 is a radial bearing. In this embodiment, a first through hole 11a, whose dimension in a direction perpendicular to the second oscillation axis A2 is the same as or larger than that of the second retaining hole 61a, is formed to penetrate the first short surface portion 113 of the first frame portion 11 in the width direction X. The second bearing 62 is disposed across both the first through hole 11a and the second retaining hole 61a.

[0038] The second connecting bolt 63 and the second connecting nut 64 are members for connecting the second bearing 62 and the first support pillar 31 to the first frame portion 11. In this embodiment, the second bearing 62 is disposed in the first through hole 11a and the second retaining hole 61a, and the second connecting bolt 63 is inserted through the second bearing 62 and the first lower support pillar 312 with the first lower support pillar 312 of the first support pillar 31 in contact with the first short face 113 of the first frame portion 11. The second connecting bolt 63 has a threaded portion formed at its tip end, and the second connecting nut 64 is screwed onto the threaded portion.

[0039] In this embodiment, the third connecting portion 7 includes a third holding member 71 , a third bearing 72 , a third connecting bolt 73 , and a third connecting nut 74 .

[0040] The third retaining member 71 is a member that holds the third bearing 72 in a state in which the third bearing 72 is allowed to move relatively within a certain range in the front-to-rear direction Y while restricting the relative movement of the third bearing 72 in the up-and-down direction. The third retaining member 71 has a third retaining hole 71a that holds the third bearing 72. The third retaining hole 71a is formed in the shape of an elongated hole that extends in the front-to-rear direction Y so as to allow the third bearing 72 to move relatively within a certain range in the front-to-rear direction Y while restricting the relative movement of the third bearing 72 in the up-and-down direction. The third retaining hole 71a is formed to penetrate the third retaining member 71 in the width direction X.

[0041] In this embodiment, the third holding member 71 is formed in a plate shape perpendicular to the width direction X. The third holding member 71 is fixed to the second short surface portion 123 of the second frame portion 12 from the side opposite to the second support column 32 in the width direction X.

[0042] The third bearing 72 is disposed on the third oscillation axis A3. The third bearing 72 is a radial bearing. In this embodiment, a second through hole 12a, whose dimension in a direction perpendicular to the third oscillation axis A3 is the same as or larger than that of the third retaining hole 71a, is formed to penetrate the second short surface portion 123 of the second frame portion 12 in the width direction X. The third bearing 72 is disposed across both the second through hole 12a and the third retaining hole 71a.

[0043] The third connecting bolt 73 and the third connecting nut 74 are members for connecting the third bearing 72 and the second support pillar 32 to the second frame portion 12. In this embodiment, the third bearing 72 is disposed in the second through hole 12a and the third retaining hole 71a, and the third connecting bolt 73 is inserted through the third bearing 72 and the second lower pillar portion 322 with the second lower pillar portion 322 of the second support pillar 32 in contact with the second short face portion 123 of the second frame portion 12. The third connecting nut 74 is screwed onto a threaded portion formed at the tip of the third connecting bolt 73.

[0044] As shown in FIGS. 1 and 5, in this embodiment, the support frame 3 includes a support member 33.

[0045] The support member 33 is disposed above the second connecting portion 6 and the third connecting portion 7. In this embodiment, the support member 33 is connected to a pair of first support columns 31 and a pair of second support columns 32. The support member 33 is formed in a plate shape that is perpendicular to the up-down direction.

[0046] The control unit 4 is supported by the vehicle body frame 1 via the support frame 3. In this embodiment, the control unit 4 is supported in a state in which it is suspended from a support member 33.

[0047] At least a part of the control unit 4 is disposed in an area surrounded by the pair of first columns 31 and the pair of second columns 32. In this embodiment, the entire control unit 4 is disposed in an area surrounded by the pair of first columns 31 and the pair of second columns 32.

[0048] 2 and 5, in this embodiment, the first lower pillar portion 312 of each first support pillar 31 includes a first mounting portion 313. Each of the pair of first mounting portions 313 is formed in the shape of a plate that is perpendicular to the up-down direction. The pair of first mounting portions 313 extend in the width direction X from the upper ends of the pair of first lower pillar portions 312 so as to approach each other.

[0049] In this embodiment, the second lower pillar portions 322 of each second support pillar 32 include second mounting portions 323. Each of the pair of second mounting portions 323 is formed in the shape of a plate that is perpendicular to the up-down direction. The pair of second mounting portions 323 extend in the width direction X from the upper ends of the pair of second lower pillar portions 322 so as to approach each other.

[0050] 5, in this embodiment, the support member 33 is placed on the pair of first mounting portions 313 and the pair of second mounting portions 323, and is fixed to the pair of first mounting portions 313 and the pair of second mounting portions 323. In this embodiment, the power storage unit 8 that stores power to be supplied to the in-vehicle device E is connected to the pair of second lower pillar portions 322.

[0051] As shown in FIG. 6, in this embodiment, the control unit 4 includes a first suspending member 41, a second suspending member 42, a third suspending member 43, a fourth suspending member 44, a first board 45, a second board 46, and a third board 47.

[0052] The first suspending member 41 is supported in a suspended state from the support member 33. The first suspending member 41 is formed in a plate shape that is perpendicular to the up-down direction. In this embodiment, the first suspending member 41 is connected to the support member 33 via a vibration-isolating elastic member 34. The elastic member 34 may be made of, for example, rubber, urethane, a spring, or the like.

[0053] In this embodiment, the first hanging member 41 has a pair of rising portions 41a formed so as to extend upward from both end portions in the front-rear direction Y. Furthermore, the support member 33 has a pair of rising portions 33a formed so as to extend downward from both end portions in the front-rear direction Y.

[0054] In this embodiment, the falling portion 33a on the front side Y1 is disposed further forward on the front side Y1 than the rising portion 41a on the front side Y1. The falling portion 33a on the front side Y1 and the rising portion 41a on the front side Y1 are connected to each other with an elastic member 34 disposed between them in the front-to-rear direction Y. Preferably, a plurality of elastic members 34 are arranged side by side in the width direction X between the falling portion 33a on the front side Y1 and the rising portion 41a on the front side Y1 in the front-to-rear direction Y.

[0055] In this embodiment, the falling portion 33a on the rear side Y2 is disposed further rearward on the rear side Y2 than the rising portion 41a on the rear side Y2. The falling portion 33a on the rear side Y2 and the rising portion 41a on the rear side Y2 are connected to each other with an elastic member 34 disposed between them in the front-rear direction Y. Preferably, a plurality of elastic members 34 are arranged side by side in the width direction X between the falling portion 33a on the rear side Y2 and the rising portion 41a on the rear side Y2 in the front-rear direction Y.

[0056] The second hanging member 42 is supported in a state where it is suspended from the first hanging member 41. The second hanging member 42 is formed in a plate shape that is perpendicular to the width direction X. The second hanging member 42 supports the first substrate 45 from one side in the width direction X. In the present embodiment, the second hanging member 42 is fixed from below to a central portion of the first hanging member 41 in the front-rear direction Y.

[0057] The third hanging member 43 is supported in a state where it is suspended from the first hanging member 41. The third hanging member 43 is formed in a plate shape that is perpendicular to the front-rear direction Y. The third hanging member 43 supports the second substrate 46 from the rear side Y2. In the present embodiment, the third hanging member 43 is fixed to the first hanging member 41 from below, on the front side Y1 of the second hanging member 42.

[0058] The fourth hanging member 44 is supported in a state where it is suspended from the first hanging member 41. The fourth hanging member 44 is formed in a plate shape that is perpendicular to the up-down direction. The fourth hanging member 44 supports the third substrate 47 from below. In the present embodiment, the fourth hanging member 44 is fixed to the first hanging member 41 from below on a side Y2 rearward of the second hanging member 42, and is fixed to the third hanging member 43 from the rear side Y2 on a side Y1 frontward of the second hanging member 42.

[0059] In this manner, in this embodiment, the control unit 4 is connected to the support frame 3 via the elastic member 34 for vibration isolation.

[0060] As shown in FIG. 7 , in this embodiment, the transport vehicle 100 further includes a reading device 10. The reading device 10 is configured to detect a plurality of position information holders (not shown) arranged on the travel surface of the transport vehicle 100 and read the position information held in the position information holders. In this embodiment, the reading device 10 is arranged between a pair of first connecting portions 5 in the width direction X. Note that, for example, a barcode, a wireless tag, or the like can be used as the position information holder. If the position information holder is configured using a barcode, the reading device 10 may be configured as a barcode reader. If the position information holder is configured using a wireless tag, the reading device 10 may be configured as a tag reader.

[0061] In this embodiment, the pair of drive wheels 21 are arranged separately on both sides in the width direction X, sandwiching the pair of first coupling portions 5. Each of the pair of drive wheels 21 is attached to the second frame portion 12 via a third connecting member 24. The third connecting member 24 includes a third fixing portion 241 fixed to the second frame portion 12 and a third mounting portion 242 to which the drive wheels 21 are attached.

[0062] The third fixing portion 241 is formed in a plate shape perpendicular to the front-rear direction Y. In this embodiment, the third fixing portion 241 is fixed to the second long surface portion 124 on the rear side Y2 of the second frame portion 12 by fastening a bolt from the rear side Y2.

[0063] The third mounting portion 242 is formed in a plate shape perpendicular to the width direction X. In this embodiment, one of the drive wheels 21 is disposed on the opposite side of the third mounting portion 242 to which the drive wheel 21 is attached in the width direction X from the other drive wheel 21.

[0064] In this embodiment, the driving source D that drives one of the driving wheels 21 is attached to the third mounting portion 242 so as to extend from the third mounting portion 242 to which the driving wheel 21 is attached toward the other driving wheel 21 in the width direction X. Each of the pair of driving sources D is disposed between the first frame portion 11 and the second frame portion 12 in the front-rear direction Y, and between the third mounting portion 242 and the first connecting portion 5 in the width direction X.

[0065] In this embodiment, the pair of first driven wheels 22 are arranged separately on both sides in the width direction X, sandwiching a fourth swing axis A4 along the front-rear direction Y. The pair of first driven wheels 22 are attached to a first mounting member 25. The first mounting member 25 is attached to the first frame portion 11 via a first swing mechanism 26. The first swing mechanism 26 is configured to connect the first mounting member 25 to the first frame portion 11 so as to be swingable around the fourth swing axis A4.

[0066] In this embodiment, the pair of second driven wheels 23 are arranged separately on both sides of the fourth oscillation axis A4 in the width direction X. The pair of second driven wheels 23 are attached to a second mounting member 27. The second mounting member 27 is attached to the second frame portion 12 via a second oscillation mechanism 28. The second oscillation mechanism 28 is configured to connect the second mounting member 27 to the second frame portion 12 so as to be able to oscillate freely around the fourth oscillation axis A4.

[0067] As shown in FIG. 8, in this embodiment, the first mounting member 25 includes a wheel support portion 251 and a swing coupling portion 252.

[0068] The wheel support portion 251 supports a pair of first driven wheels 22. In this embodiment, the wheel support portion 251 is formed in a plate shape that is perpendicular to the up-down direction. The pair of first driven wheels 22 is disposed below the wheel support portion 251. In this embodiment, each of the pair of first driven wheels 22 is supported so as to be rotatable around an axis that is aligned in the up-down direction.

[0069] The swinging connector 252 is connected to the first swing mechanism 26. In this embodiment, the swinging connector 252 is formed in a plate shape that is perpendicular to the front-rear direction Y. The swinging connector 252 is disposed so as to face the first long surface portion 114 on the rear side Y2 of the first frame portion 11 from the rear side Y2. In this embodiment, the swinging connector 252 is formed so as to extend downward from the end of the wheel support portion 251 on the front side Y1.

[0070] In this embodiment, the first swing mechanism 26 includes a first swing element 261 and a second swing element 262 that are arranged to be swingable relative to each other about a fourth swing axis A4.

[0071] The first swing element 261 is fixed to the swing connecting portion 252 of the first mounting member 25. In this embodiment, the first swing element 261 is disposed on the rear side Y2 with respect to the swing connecting portion 252.

[0072] The second swing element 262 is fixed to the first long surface portion 114 on the rear side Y2 of the first frame portion 11. In this embodiment, the second swing element 262 is disposed on the rear side Y2 of the first long surface portion 114 on the rear side Y2 and on the front side Y1 of the swing connecting portion 252. That is, in this embodiment, the second swing element 262 is disposed between the first long surface portion 114 on the rear side Y2 and the swing connecting portion 252 in the front-rear direction Y.

[0073] The second mounting member 27 is configured similarly to the first mounting member 25, and the second swing mechanism 28 is configured similarly to the first swing mechanism 26, so detailed description thereof will be omitted.

[0074] Other Embodiments (1) In the above embodiment, the first frame portion 11 is disposed on the rear side Y2 of the second frame portion 12. However, the present invention is not limited to such a configuration, and the first frame portion 11 may be disposed on the front side Y1 of the second frame portion 12.

[0075] (2) In the above embodiment, the multiple wheels 2 include a pair of drive wheels 21, a pair of first driven wheels 22, and a pair of second driven wheels 23. However, the present invention is not limited to such a configuration, and may include, for example, one or three or more drive wheels 21. Furthermore, all of the wheels 2 may be drive wheels 21.

[0076] (3) In the above embodiment, the first oscillation axis A1 is disposed on a different axis from the drive axis Ad. However, the present invention is not limited to such a configuration, and the first oscillation axis A1 may be disposed coaxially with the drive axis Ad.

[0077] (4) In the above embodiment, a configuration has been described in which the pair of second connecting portions 6 and the pair of third connecting portions 7 are spaced apart from each other in the width direction X. However, the present invention is not limited to such a configuration, and at least one of the second connecting portions 6 and the third connecting portions 7 may be configured such that three or more of them are arranged in the width direction X, or such that only one of them is arranged.

[0078] (5) The configurations disclosed in the above-described embodiments can be applied in combination 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 can be made as appropriate within the scope of the present disclosure.

[0079] [Summary of this embodiment] The following provides an overview of the above-described transport vehicle.

[0080] The transport vehicle is The body frame and A plurality of wheels supported by the body frame; a support frame connected to the body frame and configured to support an object to be transported above the body frame; A transport vehicle equipped with a control unit that controls on-board equipment, 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 vehicle body frame includes a first frame portion and a second frame portion arranged side by side in the front-rear direction, a first connecting portion that connects the first frame portion and the second frame portion so as to be swingable around a first swing axis along the width direction; a second connecting portion that connects the first frame portion and the support frame so as to be swingable around a second swing axis along the width direction; a third connecting portion that connects the second frame portion and the support frame so as to be swingable around a third swing axis along the width direction and slidable in the front-rear direction, The control unit is supported by the vehicle body frame via the support frame.

[0081] According to this configuration, the support frame is connected to the body frame via the second and third connecting portions. The control unit is supported on the body frame via the support frame. This structure makes it difficult for vibrations from the body frame that supports multiple wheels to be transmitted to the control unit, which is relatively susceptible to vibrations. Therefore, it is possible to reduce vibrations transmitted to the control unit.

[0082] wherein the support frame includes a support member disposed above the second connecting portion and the third connecting portion, The control unit is preferably supported in a state suspended from the support member.

[0083] According to this configuration, the control unit is supported in a state in which it is suspended from the support member, so that vibrations transmitted to the control unit can be effectively reduced. Furthermore, with this configuration, the structure of the support frame can be simplified while still properly supporting the control unit.

[0084] In the above configuration, The support frame further includes a pair of first support columns spaced apart from each other in the width direction and extending upward from the first frame portion, and a pair of second support columns spaced apart from each other in the width direction and extending upward from the second frame portion, a pair of the second connecting portions are provided to connect the first frame portion and the pair of the first support columns so as to be swingable around the second swing axis, a pair of the third connecting portions are provided to connect the second frame portion and the pair of the second support columns so as to be swingable around the third swing axis and slidable in the front-rear direction, the support member is connected to the pair of first support columns and the pair of second support columns, It is preferable that at least a part of the control unit is disposed in an area surrounded by the pair of first support columns and the pair of second support columns.

[0085] According to this configuration, the support member is connected to a pair of first support columns connected to the first frame portion via a pair of second connection portions, and a pair of second support columns connected to the second frame portion via a pair of third connection portions. This allows the control unit to be stably supported in a suspended state from the support member. Therefore, vibrations transmitted to the control unit can be effectively reduced.

[0086] It is also preferable that the control unit is connected to the support frame via a vibration-isolating elastic member.

[0087] According to this configuration, the vibrations transmitted from the support frame to the control unit can be reduced by the elastic member, and therefore the vibrations transmitted to the control unit can be effectively reduced. [Industrial Applicability]

[0088] The technology disclosed herein can be used in a transport vehicle that includes a body frame, a plurality of wheels supported by the body frame, a support frame connected to the body frame and configured to support an object to be transported above the body frame, and a control unit that controls on-board equipment. [Explanation of symbols]

[0089] 100: Transport vehicle 1: Body frame 11: First frame section 12: Second frame section 2: Wheels 21: Drive wheel 3: Support frame 31:1st pillar 32:Second pillar 33: Support member 34: Elastic member 4: Control unit 5: 1st connection part 6:Second connection part 7:Third connection part D: Drive source E: In-vehicle equipment W: Transported object Ad: Drive shaft center A1: First oscillation axis A2: 2nd swing axis A3: Third oscillation axis X: Width direction Y: Front-to-rear direction

Claims

1. The body frame and a plurality of wheels supported by the body frame; a support frame connected to the vehicle body frame and configured to support an object to be transported above the vehicle body frame; A transport vehicle equipped with a control unit that controls on-board equipment, 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 vehicle body frame includes a first frame portion and a second frame portion arranged side by side in the front-rear direction, a first connecting portion that connects the first frame portion and the second frame portion to each other so as to be swingable about a first swing axis along the width direction; a second connecting portion that connects the first frame portion and the support frame so as to be swingable about a second swing axis along the width direction; a third connecting portion that connects the second frame portion and the support frame so as to be swingable about a third swing axis along the width direction and slidable in the front-rear direction, The control unit is supported by the vehicle body frame via the support frame.

2. the support frame includes a support member disposed above the second connecting portion and the third connecting portion, The transport vehicle according to claim 1 , wherein the control unit is supported in a state suspended from the support member.

3. The support frame further includes a pair of first support columns spaced apart from each other in the width direction and extending upward from the first frame portion, and a pair of second support columns spaced apart from each other in the width direction and extending upward from the second frame portion, a pair of the second connecting portions are provided to connect the first frame portion and the pair of the first support columns so as to be swingable around the second swing axis, a pair of the third connecting portions are provided to connect the second frame portion and the pair of the second support columns so as to be swingable around the third swing axis and slidable in the front-rear direction, the support member is connected to the pair of first support columns and the pair of second support columns, The transport vehicle according to claim 2 , wherein at least a portion of the control unit is disposed in an area surrounded by the pair of first support columns and the pair of second support columns.

4. The transport vehicle according to claim 1 , wherein the control unit is connected to the support frame via a vibration-isolating elastic member.

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