Transport vehicle

Abstract

To provide a transport vehicle which enables downsizing to be achieved easily while securing high strength of a vehicle body frame.SOLUTION: A transport vehicle includes a vehicle body frame 1 and a plurality of wheels 2 supported by the vehicle body frame 1. The wheels 2 include at least one driving wheel 21 which is driven by a driving source D. The vehicle body frame 1 includes a first frame part 11 and a second frame part 12 which are arranged in a front-back direction Y. The transport vehicle includes 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 swing axis A1 along a width direction X. The first frame part 11 and the second frame part 12 include: bottom plate parts 111, 121 having flat plate shapes; and side plate parts 112, 122 erected upward from outer edges of the bottom plate parts 111, 121. The first frame part 11 and the second frame part 12 are formed in box shapes each of which is open on an upper surface.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a transport vehicle including a body frame and a plurality of wheels supported by the body frame. [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 able to swing freely around an axis (113) that is aligned with the rotation axis of the drive wheel (108). With this configuration, even if the traveling surface is uneven, the drive wheel (108) can maintain 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] In the above-described transport vehicle (100), the body frames (110, 111) are configured to support from below the support frame (110a) that supports the control units (101, 103), on-board equipment, etc. Therefore, depending on the structures of the control units (101, 103), on-board equipment, etc., it may be necessary to ensure that the body frames (110, 111) have sufficient strength.

[0006] The body frames (110, 111) are formed in a plate shape, and in order to ensure the strength of such body frames (110, 111), it is possible to consider increasing the thickness of the body frames (110, 111), but this is disadvantageous in that it would result in an increase in the size and weight of the transport vehicle (100).

[0007] Therefore, it is desirable to realize a transport vehicle that can be easily made smaller while ensuring high strength of the vehicle body frame. [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 vehicle body frame, 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 connecting portion that connects the first frame portion and the second frame portion so as to be swingable around a swing axis along the width direction, Each of the first frame portion and the second frame portion has a flat bottom plate portion and a side plate portion erected upward from the outer edge of the bottom plate portion, and is formed in a box shape with an open top.

[0009] According to this characteristic configuration, each of the first frame portion and the second frame portion is formed in a box shape with a flat bottom plate portion and side plate portions erected upward from the outer edge of the bottom plate portion, which makes it easy to ensure high strength while giving each of the first frame portion and the second frame portion a relatively simple shape. Furthermore, according to this characteristic configuration, each of the first and second frame sections is formed in a box shape with an open top. This allows the control unit and on-board equipment of the transport vehicle to be placed in the internal spaces of the first and second frame sections, each of which is formed in a box shape, from above the first and second frame sections through the open top. This makes it easier to reduce the size of the transport vehicle. Furthermore, according to this characteristic configuration, the first frame and the second frame are connected via the connecting part so as to be able to swing freely around the swing axis, so that even if the traveling surface is uneven, the drive wheels can maintain contact with the traveling surface, allowing the transport vehicle to travel properly. [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 plan view showing a part of a transport vehicle according to an embodiment; [Figure 4] FIG. 1 is a perspective view showing a configuration of a connecting portion of a transport vehicle according to an embodiment; [Figure 5] FIG. 1 is a perspective view showing a configuration of a driven wheel of a transport vehicle according to an embodiment; [Figure 6] FIG. 1 is a perspective view showing a connection structure between a body frame and a support frame of a transport vehicle according to an embodiment; [Figure 7] FIG. 1 is a side view showing a part of a transport vehicle according to an embodiment; [Figure 8] FIG. 1 is a side view showing a part 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 and a plurality of wheels 2. In this embodiment, the guided vehicle 100 further includes a support frame 3 and a control unit 4. 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 first driven wheel 22, and a second driven wheel 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] The first frame portion 11 is formed in a box shape with an open top. The first frame portion 11 includes a first bottom plate portion 111 and a first side plate portion 112.

[0016] The first bottom plate portion 111 is a flat bottom plate portion. In this embodiment, the first bottom plate portion 111 is formed in a rectangular shape with the long sides along the width direction X and the short sides along the front-rear direction Y when viewed in the up-down direction.

[0017] The first side plate portion 112 is a "side plate portion" standing upward from the outer edge of the first bottom plate portion 111. In this embodiment, the first side plate portion 112 includes a pair of first short side portions 113 facing each other in the width direction X, and a pair of first long side portions 114 facing each other in the front-rear direction Y. In this embodiment, the pair of first short side portions 113 and the pair of first long side portions 114 are formed to be continuous with each other. In other words, in this embodiment, the first side plate portion 112 is provided continuously over the entire outer edge of the first bottom plate portion 111.

[0018] The second frame portion 12 is formed in a box shape with an open top. The second frame portion 12 includes a second bottom plate portion 121 and a second side plate portion 122.

[0019] The second bottom plate portion 121 is a flat bottom plate portion. In this embodiment, the second bottom plate portion 121 is formed in a rectangular shape with the long sides along the width direction X and the short sides along the front-rear direction Y when viewed in the up-down direction.

[0020] The second side plate portion 122 is a "side plate portion" standing upward from the outer edge of the second bottom plate portion 121. In this embodiment, the second side plate portion 122 includes a pair of second short side portions 123 facing each other in the width direction X, and a pair of second long side portions 124 facing each other in the front-rear direction Y. In this embodiment, the pair of second short side portions 123 and the pair of second long side portions 124 are formed to be continuous with each other. In other words, in this embodiment, the second side plate portion 122 is provided continuously over the entire outer edge of the second bottom plate portion 121.

[0021] 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.

[0022] In this embodiment, the support frame 3 includes a pair of first support columns 31 and a pair of second support columns 32.

[0023] 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 side opposite to the other first short side portion 113 in the width direction X (see FIG. 2).

[0024] 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 (see FIG. 2).

[0025] 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.

[0026] 3, the first side plate portion 112 of the first frame portion 11 has a first opposing portion F1 facing the second frame portion 12 in the front-rear direction Y. In this embodiment, the first long surface portion 114 on the front side Y1 corresponds to the first opposing portion F1.

[0027] The second side plate portion 122 of the second frame portion 12 faces the first frame portion 11 in the front-rear direction Y and has a second opposing portion F2 opposing the first opposing portion F1. In this embodiment, the second long surface portion 124 on the rear side Y2 corresponds to the second opposing portion F2.

[0028] As shown in FIGS. 3 and 4, the transport vehicle 100 includes a first connecting portion 5. The first connecting portion 5 is a "connecting portion" that connects the first frame portion 11 and the second frame portion 12 to be swingable about a first oscillation axis A1 that serves as an "oscillation axis" along the width direction X. In this embodiment, a pair of first connecting portions 5 are arranged spaced apart from each other in the width direction X. Furthermore, in this embodiment, the first connecting portion 5 includes a first connecting element 51 and a second connecting element 52 that are arranged to be swingable 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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 of one first connecting portion 5 is disposed on the opposite side of the other first connecting portion 5 in the width direction X with respect to the second mounting portion 542 to which the second connecting element 52 is attached, and is disposed on the same side of the other first connecting portion 5 in the width direction X with respect to the first mounting portion 532 to which the first connecting element 51 of the 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 example shown in FIG. 4 , a pair of second bolts 56 are disposed on both sides in the up-down direction with respect to the first oscillation axis A1.

[0035] Thus, in this embodiment, the first connecting portion 5 is configured to connect the first opposing portion F1 (here, the first long surface portion 114 on the front side Y1) and the second opposing portion F2 (here, the second long surface portion 124 on the rear side Y2).

[0036] As shown in FIG. 4 , 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 pivoting range 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.

[0037] 3, the pair of drive wheels 21 are attached to the first opposing portion F1 or the second opposing portion F2. In this embodiment, each of the pair of drive wheels 21 is attached to the second opposing portion F2 (here, the second long surface portion 124 on the rear side Y2) via a third connecting member 24. The third connecting member 24 includes a third fixing portion 241 fixed to the second opposing portion F2 and a third mounting portion 242 to which the drive wheels 21 are attached.

[0038] 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.

[0039] 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.

[0040] In this embodiment, the pair of first connecting portions 5 are arranged separately on both sides in the width direction X, with the center of the width direction X of the body frame 1 in between. The pair of first connecting portions 5 are arranged closer to the center than the end portions in the width direction X of the body frame 1. In this embodiment, the pair of drive wheels 21 are arranged separately on both sides in the width direction X, with the pair of first connecting portions 5 in between.

[0041] In this embodiment, the drive source D that drives one of the drive wheels 21 is attached to the third attachment portion 242 so as to extend from the third attachment portion 242 to which the drive wheel 21 is attached toward the other drive wheel 21 in the width direction X. Each of the pair of drive sources D is disposed between the first long surface portion 114 on the front side Y1 and the second long surface portion 124 on the rear side Y2 in the front-rear direction Y, and between the third attachment portion 242 and the first connecting portion 5 in the width direction X.

[0042] 3, the first side plate portion 112 of the first frame portion 11 further includes a third opposing portion F3 that faces the opposite side of the first opposing portion F1 in the front-rear direction Y with respect to the first bottom plate portion 111 of the first frame portion 11. In this embodiment, the first long surface portion 114 on the rear side Y2 corresponds to the third opposing portion F3.

[0043] The second side plate portion 122 of the second frame portion 12 has a fourth opposing portion F4 that faces the opposite side of the second opposing portion F2 in the front-rear direction Y with respect to the second bottom plate portion 121 of the second frame portion 12. In this embodiment, the second long surface portion 124 on the front side Y1 corresponds to the fourth opposing portion F4.

[0044] The first driven wheel 22 is supported by the first frame portion 11. In this embodiment, the first driven wheel 22 is attached to the third opposing portion F3 (here, the first long surface portion 114 on the rear side Y2).

[0045] The second driven wheel 23 is supported by the second frame portion 12. In this embodiment, the second driven wheel 23 is attached to the fourth opposing portion F4 (here, the second long surface portion 124 on the front side Y1).

[0046] In this embodiment, a 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 long surface portion 114 on the rear side Y2 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 about the fourth swing axis A4.

[0047] In this embodiment, the pair of second driven wheels 23 are arranged separately on both sides in the width direction X, sandwiching the fourth swing axis A4. 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 long surface portion 124 on the front side Y1 via a second swing mechanism 28. The second swing mechanism 28 is configured to connect the second mounting member 27 to the second frame portion 12 so as to be swingable around the fourth swing axis A4.

[0048] As shown in FIG. 5, in this embodiment, the first mounting member 25 includes a wheel support portion 251 and a swing coupling portion 252.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] In this embodiment, the multiple wheels 2 include a first side wheel 2A attached to the first side plate portion 112 of the first frame portion 11 and a second side wheel 2B attached to the second side plate portion 122 of the second frame portion 12.

[0056] As described above, in this embodiment, the driving wheel 21 is attached to the second opposing portion F2 (here, the second long surface portion 124 on the rear side Y2) of the second side plate portion 122. In addition, the first driven wheel 22 is attached to the third opposing portion F3 (here, the first long surface portion 114 on the rear side Y2) of the first side plate portion 112, and the second driven wheel 23 is attached to the fourth opposing portion F4 (here, the second long surface portion 124 on the front side Y1) of the second side plate portion 122. Therefore, in this embodiment, the first driven wheel 22 corresponds to the first lateral wheel 2A, and the driving wheel 21 and the second driven wheel 23 each correspond to the second lateral wheel 2B.

[0057] As shown in FIG. 3 , in this embodiment, the transport vehicle 100 further includes a reading device 10. A plurality of position information holders (not shown) are arranged on the running surfaces of the plurality of wheels 2. Each of the plurality of position information holders holds its own corresponding position information. The reading device 10 is configured to be able to read the position information held by the position information holders. In this embodiment, the reading device 10 is arranged between the 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.

[0058] As shown in FIG. 2, in this embodiment, the transport vehicle 100 further includes a second connecting portion 6 and a third connecting portion 7.

[0059] 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.

[0060] 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.

[0061] As shown in FIG. 6, 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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 .

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] As shown in FIGS. 1 and 7, in this embodiment, the support frame 3 includes a support member 33.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 2 and 7, 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.

[0076] 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.

[0077] 7, 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.

[0078] As shown in FIG. 8, 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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. Furthermore, in the present embodiment, the lower parts of the third hanging member 43 and the second substrate 46 are disposed in the internal space of the second frame portion 12, which is formed in a box shape, through the open upper surface of the second frame portion 12.

[0085] 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.

[0086] Other Embodiments (1) In the above embodiment, the first bottom plate portion 111 and the second bottom plate portion 121 are each formed in a rectangular shape with the long sides along the width direction X and the short sides along the front-rear direction Y when viewed in the up-down direction. However, the present invention is not limited to such a configuration. For example, the first bottom plate portion 111 and the second bottom plate portion 121 may each be formed in a rectangular shape with the short sides along the width direction X and the long sides along the front-rear direction Y when viewed in the up-down direction. Alternatively, the first bottom plate portion 111 and the second bottom plate portion 121 may each be formed in a shape other than a rectangle, such as a semicircle or a trapezoid when viewed in the up-down direction.

[0087] (2) In the above embodiment, an example has been described in which the first side plate portion 112 is provided continuously over the entire outer edge of the first bottom plate portion 111. However, the present invention is not limited to such a configuration, and the first side plate portion 112 may not be provided on part of the outer edge of the first bottom plate portion 111. With regard to the shape of the first frame portion 11, the phrase "open-top box-like" refers to the first side plate portion 112 being provided over half or more of the entire outer edge of the first bottom plate portion 111. For example, if the first bottom plate portion 111 is rectangular when viewed from the top-bottom direction, the first side plate portion 112 is provided so as to correspond to at least two adjacent sides out of the four sides, and this corresponds to the "open-top box-like" shape. The same applies to the second side plate portion 122.

[0088] (3) In the above embodiment, a configuration in which a pair of drive wheels 21 are attached to the second opposing portion F2 has been described as an example. However, the present invention is not limited to such a configuration, and for example, a pair of drive wheels 21 may be attached to the first opposing portion F1. Also, one drive wheel 21 may be attached to the first opposing portion F1, and the other drive wheel 21 may be attached to the second opposing portion F2. Alternatively, the drive wheels 21 may be attached to at least one of the first bottom plate portion 111 and the second bottom plate portion 121.

[0089] (4) In the above embodiment, the first driven wheel 22 is attached to the third opposing portion F3, and the second driven wheel 23 is attached to the fourth opposing portion F4. However, the present invention is not limited to such a configuration. For example, the first driven wheel 22 may be attached to the first bottom plate portion 111, and the second driven wheel 23 may be attached to the second bottom plate portion 121.

[0090] (5) 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.

[0091] (6) 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.

[0092] [Summary of this embodiment] The following provides an overview of the above-described transport vehicle.

[0093] The transport vehicle is The body frame and a plurality of wheels supported by the vehicle body frame, 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 connecting portion that connects the first frame portion and the second frame portion so as to be swingable around a swing axis along the width direction, Each of the first frame portion and the second frame portion has a flat bottom plate portion and a side plate portion erected upward from the outer edge of the bottom plate portion, and is formed in a box shape with an open top.

[0094] According to this configuration, each of the first frame portion and the second frame portion is formed in a box shape with a flat bottom plate portion and side plate portions standing upright from the outer edge of the bottom plate portion, which makes it easy to ensure high strength while giving each of the first frame portion and the second frame portion a relatively simple shape. Furthermore, according to this configuration, each of the first and second frame sections is formed in a box shape with an open top. This allows the control unit and on-board equipment of the transport vehicle to be placed in the internal spaces of the first and second frame sections, each of which is formed in a box shape, from above the first and second frame sections through the open tops. This makes it easier to reduce the size of the transport vehicle. Furthermore, with this configuration, the first frame and the second frame are connected via the connecting part so as to be able to swing freely around the swing axis, so that even if the traveling surface is uneven, the drive wheels can maintain contact with the traveling surface, allowing the transport vehicle to travel properly.

[0095] Here, it is preferable that the plurality of wheels include a first side wheel attached to the side plate portion of the first frame portion and a second side wheel attached to the side plate portion of the second frame portion.

[0096] According to this configuration, the height of the bottom plate can be easily reduced while the vehicle body frame is supported by a plurality of wheels, which makes it easier to reduce the size of the transport vehicle.

[0097] In the above configuration, the side plate portion of the first frame portion includes a first opposing portion facing the second frame portion in the front-rear direction, the side plate portion of the second frame portion faces the first frame portion in the front-rear direction and includes a second opposing portion facing the first opposing portion, the connecting portion is configured to connect the first opposing portion and the second opposing portion, The drive wheel is preferably attached to the first opposing portion or the second opposing portion.

[0098] This configuration makes it easy to reduce the height of the bottom plate portion, which makes it easy to reduce the size of the transport vehicle.

[0099] In the above configuration, the plurality of wheels include the pair of drive wheels, a first driven wheel supported by the first frame portion, and a second driven wheel supported by the second frame portion; The pair of drive wheels are arranged separately on both sides in the width direction with the connecting portion between them, the side plate portion of the first frame portion further includes a third opposing portion facing the opposite side of the bottom plate portion of the first frame portion in the front-rear direction from the first opposing portion, the side plate portion of the second frame portion further includes a fourth opposing portion facing the opposite side of the bottom plate portion of the second frame portion in the front-rear direction from the second opposing portion, the first driven wheel is the first side wheel attached to the third opposing portion, The second driven wheel is preferably the second side wheel attached to the fourth opposing portion.

[0100] According to this configuration, the first driven wheel and the second driven wheel are arranged toward both ends in the front-rear direction of the body frame so as to be spaced apart from each other in the front-rear direction. The pair of drive wheels are arranged on either side in the width direction, sandwiching the connecting portion, between the first driven wheel and the second driven wheel in the front-rear direction. This allows the pair of drive wheels and the first and second driven wheels to stably support the body frame.

[0101] It is also preferable that the side plate portions are provided continuously over the entire outer edge of the bottom plate portion in each of the first frame portion and the second frame portion.

[0102] This configuration can enhance the reinforcing effect of the side plate portions in each of the first frame portion and the second frame portion, making it easy to ensure high strength for each of the first frame portion and the second frame portion with a simple configuration.

[0103] Further, a plurality of position information holders are arranged on the running surfaces of the plurality of wheels, each of the plurality of position information holders holds position information corresponding to itself; The pair of connecting portions are arranged spaced apart from each other in the width direction, It is preferable that a reading device for reading the position information held by the position information holder be provided between the pair of connecting portions in the width direction.

[0104] According to this configuration, since a pair of connecting portions are provided, the first frame portion and the second frame portion can be appropriately connected to each other so as to be freely swingable about the swing axis. Furthermore, with this configuration, the pair of connecting parts are spaced apart in the width direction, and the reading device is placed in the space between them, which makes it possible to appropriately position the reading device while preventing the transport vehicle from becoming too large. [Industrial Applicability]

[0105] The technology disclosed herein can be used in a transport vehicle that includes a body frame and a plurality of wheels supported by the body frame. [Explanation of symbols]

[0106] 100: Transport vehicle 1: Body frame 11: First frame section 111: 1st bottom plate part (bottom plate part) 112: First side plate part (side plate part) 12: Second frame section 121: 2nd bottom plate part (bottom plate part) 122: Second side plate part (side plate part) 2: Wheels 2A: 1st lateral ring 2B: 2nd lateral ring 21: Drive wheel 22: First driven wheel 23: Second driven wheel 5: 1st connection part (connection part) 10: Reading device F1: First opposing part F2: Second opposing part F3: Third opposing part F4: Fourth opposing part D: Drive source E: In-vehicle equipment W: Transported object Ad: Drive shaft center A1: First oscillation axis (oscillating axis) X: Width direction Y: Front-to-rear direction

Claims

1. The body frame and a plurality of wheels supported by the vehicle body frame, 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 connecting portion that connects the first frame portion and the second frame portion so as to be swingable around a swing axis along the width direction, A transport vehicle in which each of the first frame portion and the second frame portion has a flat bottom plate portion and a side plate portion erected upward from the outer edge of the bottom plate portion, and is formed in a box shape with an open top.

2. The transport vehicle of claim 1, wherein the plurality of wheels include a first side wheel attached to the side plate portion of the first frame portion and a second side wheel attached to the side plate portion of the second frame portion.

3. the side plate portion of the first frame portion includes a first opposing portion facing the second frame portion in the front-rear direction, the side plate portion of the second frame portion faces the first frame portion in the front-rear direction and includes a second opposing portion facing the first opposing portion, the connecting portion is configured to connect the first opposing portion and the second opposing portion, The transport vehicle according to claim 2 , wherein the drive wheels are attached to the first opposing portion or the second opposing portion.

4. the plurality of wheels include a pair of the drive wheels, a first driven wheel supported by the first frame portion, and a second driven wheel supported by the second frame portion; The pair of drive wheels are arranged separately on both sides in the width direction with the connecting portion between them, the side plate portion of the first frame portion further includes a third opposing portion facing a side opposite to the first opposing portion in the front-rear direction with respect to the bottom plate portion of the first frame portion, the side plate portion of the second frame portion further includes a fourth opposing portion facing a side opposite to the second opposing portion in the front-rear direction with respect to the bottom plate portion of the second frame portion, the first driven wheel is the first side wheel attached to the third opposing portion, The transport vehicle according to claim 3 , wherein the second driven wheel is the second side wheel attached to the fourth opposing portion.

5. The transport vehicle according to claim 1 , wherein the side plate portions are provided continuously over the entire outer edge of the bottom plate portion in each of the first frame portion and the second frame portion.

6. A plurality of position information holders are arranged on the running surfaces of the plurality of wheels, each of the plurality of position information holders holds position information corresponding to itself; The pair of connecting portions are arranged spaced apart from each other in the width direction, The transport vehicle according to claim 1 , further comprising a reading device disposed between the pair of connecting portions in the width direction to read the position information held by the position information holder.

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