Conveying device

Abstract

To provide a conveying device having a higher effect of suppressing interference with a conveyed object.SOLUTION: A conveyance device includes a device body having a connection part connected to an object to be conveyed and capable of traveling on a road surface by wheels, and a first sensor mechanism and a second sensor mechanism provided in the device body and detecting a surrounding obstacle. Each of the first sensor mechanism and the second sensor mechanism includes a swing mechanism to which a sensor is attached on a tip end side with respect to a fulcrum, and the swing mechanism swings in a direction in which the sensor approaches or separates from the road surface.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a transport device. [Background technology]

[0002] Patent Document 1 discloses a transport device that connects to a transported object such as a cart and transports the object. In detail, an operator moves the transport device via a remote control, for example, and connects it to the transported object. After connection, the transport device autonomously travels and transports the transported object to the destination. The transport device is equipped with a distance measurement sensor such as LiDAR, and the distance measurement sensor is used to suppress interference with obstacles during transport.

[0003] In the conveying device of Patent Document 1, one distance measuring sensor is embedded in the device body. In other words, the distance measuring sensor of Patent Document 1 is embedded in the device body of the conveying device. Therefore, the distance measuring sensor of Patent Document 1 can only measure the front side. Therefore, in order to measure in all directions of 360 degrees, four or more distance measuring sensors are required, which increases costs. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7367232 Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, in order to measure all directions at low cost, it is conceivable to use a structure in which two distance measuring sensors are provided and protrude from the device body, but if the distance measuring sensors are configured to protrude from the device body, there is a possibility that the distance measuring sensors may interfere with the transported object.

[0006] The present invention has been made in view of the above, and has an object to provide a conveying device that is more effective in suppressing interference with the conveyed object. [Means for solving the problem]

[0007] A conveying device according to one embodiment of the present invention comprises a device main body having a connection part connected to an object to be conveyed and capable of running on a road surface using wheels, and a first sensor mechanism and a second sensor mechanism provided on the device main body and arranged on either side of the connection part to detect surrounding obstacles, wherein at least one of the first sensor mechanism and the second sensor mechanism has a swinging mechanism that can swing on the device main body via a fulcrum and has a sensor attached further forward than the fulcrum, and the swinging mechanism swings in a direction that moves the sensor closer to or away from the road surface.

[0008] As mentioned above, in order to measure all directions at low cost, it is conceivable to provide two distance measuring sensors that protrude from the device body, but if the distance measuring sensors are configured to protrude from the device body, there is a possibility that the distance measuring sensors may interfere with the transported object.

[0009] In contrast, in the present disclosure, at least one of the first sensor mechanism and the second sensor mechanism includes a swing mechanism that can swing via a fulcrum on the device body and has a sensor attached distal to the fulcrum, and the swing mechanism swings in a direction in which the sensor approaches or moves away from the road surface. This configuration, for example, can prevent the sensor from interfering with the transported object when connecting the connector of the transporting device to the transported object by moving the transported object so that the sensor is positioned proximate to the road surface and the transported object is moved under the transported object. In particular, when the transported object has a low ground clearance from the road surface, interference of the sensor with the transported object is further reduced.

[0010] In one embodiment of the conveying device of the present invention, the device body has a top surface and a side surface extending from the edge of the top surface toward the road surface, and when viewed from the side, the sensor is capable of swinging between a first position located closer to the road surface than the top surface and a second position located above the top surface.

[0011] According to this, the sensor can be set to the first position when the transport device travels under the transported object to connect the connection part to the connected part of the transported object, and after the connection part is connected to the transported object, the swing mechanism can be swung to set the sensor to the second position. This further enhances the effect of preventing the sensor from interfering with the transported object when connecting the connection part of the transport device to the transported object. In addition, because the height position of the sensor can be made higher than the first position after connecting the connection part to the connected part, the sensor's sensing area is further prevented from being blocked by the transported object, and the sensing area is wider.

[0012] In the transport device according to one aspect of the present invention, the swing mechanism is swung by an actuator, which is convenient as it eliminates the need for an operator to manually operate the swing mechanism. [Effects of the Invention]

[0013] According to the present disclosure, it is possible to provide a conveying device that is more effective in suppressing interference with the object being conveyed. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a perspective view showing a conveying device and a conveyed object according to an embodiment. [Figure 2] FIG. 2 is an enlarged side view of a portion of the conveying device shown in FIG. [Figure 3] FIG. 3 is a schematic diagram showing a connecting portion of the transport device and a connected portion of the transported object. [Figure 4] 4 is a side view showing a state before the conveying device shown in FIG. 1 is connected to an object to be conveyed. [Figure 5] 5 is a side view showing a state after the conveying device shown in FIG. 1 has been connected to the object to be conveyed. [Figure 6] FIG. 6 is a plan view showing the sensing area when the transport device is connected to the transported object. [Figure 7] FIG. 7 is a side view showing the sensing area when the transport device is connected to the transported object. [Figure 8] FIG. 8 is an enlarged side view of a part of a transport device according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0015] Modes (embodiments) for carrying out the present invention will be described in detail with reference to the drawings. The present invention is not limited to the contents described in the following embodiments. Furthermore, the components described below include those that can be easily imagined by a person skilled in the art and those that are substantially the same. Furthermore, the components described below can be combined as appropriate.

[0016] In the drawings showing the embodiments, components other than those related to the invention are omitted as appropriate. In the following description, the X direction is also referred to as the front-to-rear direction, the Y direction as the left-to-right direction, and the Z direction as the up-down direction. The Y direction intersects (is perpendicular to) the X direction. The Z direction intersects (is perpendicular to) the X and Y directions. The X1 side is also referred to as the front side, the X2 side as the rear side, the Y1 side as the left side, the Y2 side as the right side, the Z1 side as the upper side, and the Z2 side as the lower side.

[0017] [Embodiment] First, the configuration of a conveying device 100 and a conveyed object 6 according to the embodiment will be described with reference to the drawings. Fig. 1 is a perspective view showing the conveying device and the conveyed object according to the embodiment. Fig. 2 is an enlarged side view of a portion of the conveying device shown in Fig. 1. Fig. 3 is a schematic diagram showing a connecting portion of the conveying device and a connected portion of the conveyed object.

[0018] (Configuration of the transport device) 1 and 2, the conveying device 100 includes an apparatus main body 2 and a sensor device 5. In the embodiment, for example, an operator remotely controls the conveying device 100 to travel until the conveying device 100 is connected to the transported object 6, and after the conveying device 100 is connected to the transported object 6, the conveying device 100 travels autonomously while connected to the transported object 6, and automatically transports the transported object 6 to a predetermined position.

[0019] The device main body 2 has a box-shaped housing, and travels on a road surface 110 by the rotation of wheels 21. The housing has a top surface 23, side surfaces 24 and 25, and a bottom surface 26. The side surface 25 extends from the X1-side edge of the top surface 23 toward the Z2 side. The lower part of the side surface 25 is formed as a curved portion 25a that approaches the X2 side as it approaches the Z2 side. A control unit 22 is provided inside the X2-side end of the device main body 2. The control unit 22 receives a signal from, for example, a remote control and drives the wheels 21 in accordance with the signal. A sensor device 5 is provided at each of the X1-side and X2-side ends of the device main body 2. The sensor device 5 has a first sensor mechanism 51 and a second sensor mechanism 52. The first sensor mechanism 51 and the second sensor mechanism 52 are arranged on either side of the connection portion 3. Specifically, the first sensor mechanism 51 is provided at the end of the device body 2 on the X1 side, and the second sensor mechanism 52 is provided at the end of the device body 2 on the X2 side. A sensor 50 is provided at the tip of each of the first sensor mechanism 51 and the second sensor mechanism 52. Furthermore, each of the first sensor mechanism 51 and the second sensor mechanism 52 has a swing mechanism 4.

[0020] As shown in Fig. 2, the swing mechanism 4 is a mechanism that swings around a fulcrum 43. A sensor 50 is fixed to the tip of the swing mechanism 4. Therefore, the swing mechanism 4 swings in a direction in which the sensor 50 approaches or moves away from the road surface 110. The sensor 50 is capable of detecting surrounding obstacles. Examples of the sensor 50 include a camera, a LiDAR (Light Detection and Ranging), a radar, a sonar, or other ranging sensor.

[0021] The swing mechanism 4 includes a first member 41 and a second member 42. The second member 42 includes divided bodies 421 and 422. The divided body 422 is L-shaped when viewed from the Y direction. The divided body 422 is attached to the device body 2, spanning the top surface 23 and the side surface 25. The divided body 421 is V-shaped when viewed from the Y direction. The divided body 421 is attached to the divided body 422.

[0022] The first member 41 has one end 49, a flat plate portion 48, a bent portion 47, and the other end 46. The one end 49 is supported by the second member 42 via a fulcrum 43 so as to be able to swing. The flat plate portion 48 extends linearly from the one end 49 when viewed in the Y direction. The bent portion 47 bends and extends clockwise in FIG. 2 relative to the flat plate portion 48. The other end 46 bends and extends clockwise in FIG. 2 relative to the bent portion 47. As described above, the first member 41 is supported by the second member 42 via the fulcrum 43 so as to be able to swing at one end 49, and the sensor 50 and the bracket 44 are attached to the other end 46. The sensor 50 and the bracket 44 are attached to the first member 41 with the other end 46 sandwiched between them. In this way, the first member 41 to which the sensor 50 and the bracket 44 are attached swings around the fulcrum 43.

[0023] In other words, as shown in FIG. 2, the sensor 50 can swing clockwise or counterclockwise (indicated by arrow R1 in FIG. 2) between a first position P1 and a second position P2. The first position P1 is indicated by a two-dot chain line, and the second position P2 is indicated by a solid line. At the first position P1, the sensor 50 is located closer to the road surface 110 (Z2 side) than the top surface 23 in the Z direction, which is the height direction, as viewed from the Y direction. Specifically, the Z-direction height between the top surface 23 of the device main body 2 and the road surface 110 is height H1. At the first position P1, the Z-direction height between the upper end of the sensor 50 and the road surface 110 is height H2. Height H2 is lower than height H1. At the second position P2, as viewed from the Y direction, the bracket 44 is placed on the top surface 23, and the sensor 50 is located above the bracket 44. That is, at the second position P2, the sensor 50 is located above the top surface 23.

[0024] At the second position P2, the bent portion 47 of the first member 41 and the divided body 421 are fixed together via a tightening bolt 45. The tightening bolt 45 is tightened manually by, for example, a worker performing the transport work.

[0025] (Configuration of transported object) As shown in FIG. 1, the transported object 6 includes a main body 60, casters 61, positioning guides 69a and 69b, and an attachment 650.

[0026] The main body 60 includes a base 60A, a frame 60B, and a connecting member 60C. The base 60A has a generally H-shaped planar shape when viewed from the Z direction. The base 60A includes a Y1-side caster holding member 64a, a Y2-side caster holding member 64b, and a first connecting member 66. The caster holding members 64a and 64b each extend in the X direction. The first connecting member 66 extends in the Y direction and connects the caster holding members 64a and 64b together. A total of four casters 61 are attached to each of the caster holding members 64a and 64b. That is, a caster 61 is attached to the X1-side end and the X2-side end of the caster holding member 64a, and a caster 61 is attached to the X1-side end and the X2-side end of the caster holding member 64b.

[0027] Four frames 60B are provided at intervals in the Y direction. Each frame 60B has a horizontal beam 62 and a vertical beam 63. The horizontal beam 62 extends linearly in the X direction. The vertical beams 63 extend linearly from the X1-side end of the horizontal beam 62 and the X2-side end of the horizontal beam 62 toward the Z1 side. The horizontal beam 62 of the frame 60B closest to the Y1 side is positioned away from the caster holding member 64a on the Z1 side. The horizontal beam 62 of the frame 60B closest to the Y2 side is positioned away from the caster holding member 64b on the Z1 side.

[0028] The connecting member 60C has second connecting members 67 and 68. The second connecting member 67 connects in the Z direction the X-direction center of the horizontal beam 62 of the frame 60B closest to the Y1 side to the X-direction center of the caster holding member 64a. The second connecting member 68 connects in the Z direction the X-direction center of the horizontal beam 62 of the frame 60B closest to the Y2 side to the X-direction center of the caster holding member 64b.

[0029] The positioning guides 69a and 69b are a pair of members attached to the first connecting member 66. When viewed from the Z direction, the positioning guide 69a bends toward the Y1 side as it approaches the X2 side. When viewed from the Z direction, the positioning guide 69b bends toward the Y2 side as it approaches the X2 side. In other words, the distance between the positioning guides 69a and 69b in the Y direction becomes smaller toward the X1 side. As a result, the positioning guides 69a and 69b act as guides that adjust the Y direction position of the conveyance device 100 traveling toward the X1 side.

[0030] The attachment 650 is attached to the first connecting member 66. In detail, as shown in FIG. 3, the attachment 650 fits the first connecting member 66 along the outer periphery of the first connecting member 66. The attachment 650 includes a connected portion 65. In contrast, the conveying device 100 includes a connecting portion 3. The connecting portion 3 is connected to the connected portion 65. A brief explanation will be given below.

[0031] 3, the connection part 3 has a base 31 and a fitting part 32. The base 31 is attached to the device body 2 via an actuator (not shown). The fitting part 32 is attached to the upper side of the base 31. The base 31 and the fitting part 32 are raised and lowered in the Z direction relative to the device body 2 by the actuator.

[0032] The connected portion 65 has a tapered portion 651. The tapered portion 651 has a distance in the X direction that decreases toward the Z1 side. In other words, the tapered portion 651 has a shape that tapers toward the upper side.

[0033] Here, when the base 31 and the fitting portion 32 are moved upward (toward Z1) by the actuator, the fitting portion 32 enters the connected portion 65 while being guided by the tapered portion 651. Since the connected portion 65 is provided with a fitted portion (not shown), the fitting portion 32 fits into the fitted portion. As a result, the connecting portion 3 is connected to the connected portion 65.

[0034] (Procedure for connecting the transport device and the transported object) Next, a procedure for connecting the conveying device and the object to be conveyed will be described. Fig. 4 is a side view showing the state of the conveying device shown in Fig. 1 before being connected to the object to be conveyed. Fig. 5 is a side view showing the state of the conveying device shown in Fig. 1 after being connected to the object to be conveyed.

[0035] As shown in FIG. 4, the height in the Z direction between the lower end of the caster holding member 64b and the road surface 110 is height H3. Height H3 is higher than heights H1 and H2. Therefore, the worker places the first member 41 of the swing mechanism 4 in the most counterclockwise position in FIG. 2 (the position where the sensor 50 is at first position P1). Next, the worker operates a remote control (not shown) to cause the transport device 100 to travel in the X1 direction as shown by the arrow in FIG. 4. Here, because height H3 is higher than heights H1 and H2, the transport device 100 is less likely to interfere with the caster holding member 64b when the transport device 100 is traveling.

[0036] 5, when the connection part 3 of the transport device 100 is positioned below the connection part 65 of the transported object 6, the transport device 100 stops traveling, and the connection part 3 is connected to the connection part 65 by remote control. After that, the transport device 100 transports the transported object 6 independently and carries the transported object 6 to the target position.

[0037] (Regarding the positions of the first and second sensor mechanisms and the sensing area) Fig. 6 is a plan view showing the sensing area when the transport device is connected to the transported object, and Fig. 7 is a side view showing the sensing area when the transport device is connected to the transported object.

[0038] As shown in FIG. 6 , in a plan view seen from the Z direction, the first sensor mechanism 51 is located at a position on the X1 side of the device body 2, the second sensor mechanism 52 is located at a position on the X2 side of the device body 2, and the connection portion 3 is located midway between the first sensor mechanism 51 and the second sensor mechanism 52. That is, the first sensor mechanism 51 and the second sensor mechanism 52 are arranged as a pair with the connection portion 3 sandwiched between them. The first sensor mechanism 51 is located at the end of the device body 2 on the X1 side and in the center in the Y direction. More specifically, in the plan view of FIG. 6 , the first sensor mechanism 51 is located on a line connecting the caster 61 attached to the end of the caster holding member 64a on the X1 side and the caster 61 attached to the end of the caster holding member 64b on the X1 side. The second sensor mechanism 52 is located at the end of the device body 2 on the X2 side and in the center in the Y direction. 6, the second sensor mechanism 52 is located on a straight line connecting the caster 61 attached to the end of the caster holding member 64a on the X2 side and the caster 61 attached to the end of the caster holding member 64b on the X2 side. When an obstacle is located in the sensing area of ​​the first sensor mechanism 51 and the second sensor mechanism 52, the obstacle can be detected and the direction of travel can be changed or travel can be stopped.

[0039] As shown in FIG. 6, the sensing area S1 of the first sensor mechanism 51 is on the X1 side of the center line CL that passes through the center of the first connecting member 66 in the X direction and extends in the Y direction. In other words, the sensing area S1 is located on the side of the first sensor mechanism 51 opposite to the side on which the connection portion 3 is located. The sensing area S1 is an area surrounded by contours S11, S12, and S13. The contour S11 is an arc centered on the first sensor mechanism 51. The contour S12 is a straight line connecting the first sensor mechanism 51 and the intersection point S200. The contour S13 is a straight line connecting the first sensor mechanism 51 and the intersection point S100.

[0040] Furthermore, the sensing area S2 of the second sensor mechanism 52 is on the X2 side with respect to the center line CL. In other words, the sensing area S2 is located on the side of the second sensor mechanism 52 opposite to the side on which the connection portion 3 is located. The sensing area S2 is an area surrounded by contours S21, S22, and S23. The contour S21 is an arc centered on the second sensor mechanism 52. The contour S22 is a straight line connecting the second sensor mechanism 52 and the intersection point S200. The contour S23 is a straight line connecting the second sensor mechanism 52 and the intersection point S100.

[0041] 7, the positions of the first sensor mechanism 51 and the second sensor mechanism 52 in the Z direction are between the cross bar 62 and the caster holding members 64a, 64b. Therefore, the sensing area S1 of the first sensor mechanism 51 and the sensing area S2 of the second sensor mechanism 52 do not interfere with the cross bar 62 and the caster holding members 64a, 64b.

[0042] As described above, the conveying device 100 includes the device main body 2 having the connection part 3, and the first sensor mechanism 51 and the second sensor mechanism 52 arranged on either side of the connection part 3. Each of the first sensor mechanism 51 and the second sensor mechanism 52 has a swinging mechanism 4. The swinging mechanism 4 swings the sensor 50 in a direction approaching or moving away from the road surface 110.

[0043] According to this, for example, by positioning the sensor 50 close to the road surface 110 and running the conveying device 100 so as to get under the conveyed object 6, it is possible to prevent the sensor 50 from interfering with the conveyed object 6 when connecting the connection part 3 to the connection part 65 of the conveyed object 6. In particular, when the minimum ground clearance of the conveyed object 6 from the road surface 110 is low, interference of the sensor 50 with the conveyed object 6 is further prevented.

[0044] Furthermore, the sensor 50 can swing between a first position P1 located closer to the road surface 110 than the top surface 23, and a second position P2 located above the top surface 23.

[0045] According to this, when the transport device 100 travels so as to get under the transported object 6 and connects the connection part 3 to the connection part 65 of the transported object 6, the sensor 50 of the first sensor mechanism 51 can be set to the first position P1, and after the connection part 3 is connected to the transported object 6, the swing mechanism 4 can be swung to set the sensor 50 to the second position P2. This further enhances the effect of preventing the sensor 50 from interfering with the transported object 6 when connecting the connection part 3 of the transport device 100 to the transported object 6. In addition, after connecting the connection part 3 to the connection part 65, the height position of the sensor 50 can be set to the second position P2, which is higher than the first position P1, so that the sensing area of ​​the sensor 50 is further prevented from being blocked by the transported object 6, and the sensing area is wider.

[0046] [Variations] Next, a transport device 100A according to a modified example will be described. Fig. 8 is an enlarged side view of a part of the transport device according to the modified example.

[0047] In the embodiment, the rocking mechanism 4 is operated manually, but in a modified example, the rocking mechanism 4A includes an actuator 40A and is operated automatically. This will be described in detail below.

[0048] 8, a swing mechanism 4A according to a modified example includes an actuator 40A. The actuator 40A includes a motor 44A, a worm gear 46A, and a worm wheel 47A. The worm gear 46A is attached to an output shaft 45A of the motor 44A. The worm gear 46A meshes with the worm wheel 47A.

[0049] A fourth member 43A is fixed to the inner surface of the side surface 25 of the device body 2, and a motor 44A is fixed to the fourth member 43A. A holding member 48A extending in the Z direction is fixed to the outer surface of the side surface 25 of the device body 2. A support shaft 481A is provided at the lower end of the holding member 48A. A worm wheel 47A is rotatably attached to the holding member 48A via the support shaft 481A. In addition, a third member 41A is fixed to the outer peripheral surface of the worm wheel 47A. A first sensor mechanism 51 and a bracket 44 are attached to the tip of the third member 41A.

[0050] When the output shaft 45A of the motor 44A is driven to rotate, the worm gear 46A rotates, and the worm wheel 47A meshing with the worm gear 46A also rotates in the direction indicated by arrow R2 in Fig. 8. As a result, the third member 41A and the first sensor mechanism 51 fixed to the worm wheel 47A also automatically swing in the direction indicated by arrow R1.

[0051] As described above, according to the modified example, the swing mechanism 4A is swung by the actuator 40A, which is convenient as it eliminates the need for an operator to manually operate the swing mechanism. [Explanation of symbols]

[0052] 2. Device body 21 wheels 22 Control Unit 23 Top 24, 25 Side 25a curved section 26 Bottom side 3 Connection 31 Foundation 32 Fitting part 4. Oscillating mechanism 41 First member 42 Second member 421, 422 split field 43 Fulcrum 44 Bracket 45 Tightening bolt 46 End 47 Bend 48 Flat plate part 49 End 4A Swing Mechanism 40A actuator 41A Third member 43A Fourth member 44A motor 45A output shaft 46A worm gear 47A Worm Wheel 48A Retaining member 481A Support shaft 5. Sensor Device 50 sensors 51 First sensor mechanism 52 Second sensor mechanism 6. Transported object 60 Main body 60A base 60B frame 60C Connecting member 61 Caster 62 Horizontal Bar 63 Vertical Bar 64a, 64b Caster holding members 65 Connected part 650 Attachment 651 Tapered part 66 First connecting member 67, 68 Second connecting member 69a, 69b Positioning guide 100, 100A conveying device 110 Road surface S1, S2 sensing area S11, S12, S13, S21, S22, S23 Contour S100, S200 intersection

Claims

1. a device body having a connection part to be connected to the object to be transported and capable of traveling on a road surface by wheels; a first sensor mechanism and a second sensor mechanism that are provided in the device body and disposed on either side of the connection portion and that detect surrounding obstacles, At least one of the first sensor mechanism and the second sensor mechanism is a swing mechanism that is swingable via a fulcrum on the device body and has a sensor attached to the tip side of the fulcrum, The swing mechanism swings the sensor in a direction approaching or moving away from the road surface. Conveying device.

2. the device body has a top surface and a side surface extending from an edge of the top surface toward the road surface, When viewed from the side, the sensor The seat cushion is swingable between a first position located closer to the road surface than the top surface and a second position located above the top surface. The conveying device according to claim 1 .

3. The swing mechanism is swung by an actuator.

3. The conveying device according to claim 1 or 2.

Images