Running gear

Abstract

To provide a running gear capable of achieving high running stability thereof.SOLUTION: A running gear includes: a frame provided in the horizontal direction and having an opening part in a horizontal plane; a trailing arm rotatably supported on a rotating shaft mounted on the frame under the frame and extending toward a first direction which is a horizontal direction from the rotating shaft; a first wheel supported by the trailing arm; and at least one ballast provided on the trailing arm. The at least one ballast includes a first ballast that is fixed at a first fixed position which is a position on the first direction side nearer than the rotating shaft in the trailing arm, extends upward from the first fixed position and penetrates through the opening part from the lower side to the upper side of the frame.SELECTED DRAWING: Figure 4

Description

[Technical field]

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

[0002] Conventionally, there is known a traveling device that is equipped with traveling wheels and travels while loaded with luggage or tows a dolly loaded with luggage. For example, Patent Document 1 discloses a technology for stabilizing the traveling of the traveling device by providing a spring to a trailing arm to which the traveling wheels are attached. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-224654 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology, when the floor level is large or the load is heavy, the load of the wheels on the floor is insufficient, causing the wheels to slip. Thus, the running stability of the traveling device in the conventional technology is not sufficient.

[0005] An object of the present invention is to provide a traveling device capable of improving the traveling stability of the traveling device. [Means for solving the problem]

[0006] A traveling device according to one embodiment of the present invention comprises a frame arranged horizontally and having an opening in a horizontal plane, a trailing arm rotatably supported on a rotating shaft attached to the frame below the frame and extending from the rotating shaft in a first direction which is horizontal, a first wheel supported by the trailing arm, and at least one ballast provided on the trailing arm, wherein the at least one ballast includes a first ballast fixed to a first fixed position which is a position on the trailing arm closer to the first direction than the rotating shaft, extends upward from the first fixed position, and passes through the opening from below the frame to above the frame. Effect of the Invention

[0007] According to the present invention, it is possible to provide a traveling device capable of improving the traveling stability of the traveling device. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing the overall configuration of a traveling device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a side view showing the overall configuration of the traveling device according to the embodiment of the present invention. [Diagram 3] FIG. 3 is a side view showing the overall configuration of the traveling device and the bogie according to the embodiment of the present invention. [Figure 4] FIG. 4 is a perspective view showing the internal structure of the traveling device according to the embodiment of the present invention. [Figure 5A] FIG. 5A is a perspective view showing an overall configuration of a frame of a traveling device according to an embodiment of the present invention. [Figure 5B] FIG. 5B is a plan view showing the overall configuration of the frame of the traveling device according to the embodiment of the present invention. [Figure 6] FIG. 6 is a perspective view showing the overall configuration of the left and right drive sections of the traveling device according to the embodiment of the present invention. [Figure 7A]FIG. 7A is a perspective view showing an overall configuration of a left drive unit of a traveling device according to an embodiment of the present invention. [Figure 7B] FIG. 7B is a perspective view showing the overall configuration of the left drive unit of the traveling device according to the embodiment of the present invention. [Figure 7C] FIG. 7C is a side view showing the overall configuration of the left drive unit of the traveling device according to the embodiment of the present invention. [Figure 8A] FIG. 8A is a side view showing the overall configuration of the left drive unit of the traveling device according to the embodiment of the present invention. [Figure 8B] FIG. 8B is a side view showing the overall configuration of the left drive unit of the traveling device according to the embodiment of the present invention. [Figure 8C] FIG. 8C is a side view showing the overall configuration of the left drive unit of the traveling device according to the embodiment of the present invention. [Figure 9A] FIG. 9A is a side view showing an example of a traveling state of the traveling device according to the embodiment of the present invention. [Figure 9B] FIG. 9B is a side view showing an example of a traveling state of the traveling device according to the embodiment of the present invention. [Figure 9C] FIG. 9C is a side view showing an example of a traveling state of the traveling device according to the embodiment of the present invention. [Figure 10A] FIG. 10A is a perspective view showing an overall configuration of a left drive unit of a traveling device according to another embodiment of the present invention. [Figure 10B] FIG. 10B is a side view showing the overall configuration of the left drive unit of the traveling device according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. Note that the following embodiment is an example of the present invention, and is not intended to limit the technical scope of the present invention.

[0010] Fig. 1 is a perspective view showing the overall configuration of a traveling device 100 according to an embodiment of the present invention. Fig. 2 is a side view showing the overall configuration of the traveling device 100.

[0011] The traveling device 100 is, for example, an automatic guided vehicle capable of traveling unmanned. As shown in FIG. 3, for example, the traveling device 100 slips under a dolly 200 equipped with traveling wheels and is connected to the dolly 200. Specifically, the traveling device 100 is equipped with a traction unit 110 capable of protruding upward from a top surface unit 101. FIG. 2 shows a state in which the traction unit 110 protrudes upward from the top surface unit 101. When the traction unit 110 protrudes upward, it fits into a fitting unit on the underside (rear surface) of the dolly 200, thereby connecting the traveling device 100 and the dolly 200 (see FIG. 3).

[0012] When the traveling device 100 is connected to the dolly 200, the traveling device 100 can move while towing the dolly 200 by driving the drive wheels 123. The traveling device 100 travels along a predetermined travel route according to, for example, an instruction from a management server, and transports the baggage loaded on the dolly 200 to the destination.

[0013] 4 shows the internal structure with the housing (exterior cover) covering the traveling device 100 removed. The traveling device 100 includes driving wheels 123 provided on the bottom surface of the device body, a driving unit 120 including the driving wheels 123, driven wheels 102 rotatably provided on the bottom surface of the device body, a distance measuring device (e.g., a lidar sensor) that detects obstacles around the traveling device 100, a battery 103 that supplies power to the device body, a traction unit 110, and the like.

[0014] Specifically, the driven wheels 102 are provided at the four corners of the traveling device 100, the left driving unit 120L is provided in an area between the pair of front and rear driven wheels 102 on the left side, and the right driving unit 120R is provided in an area between the pair of front and rear driven wheels 102 on the right side. The traveling device 100 is also provided with a frame 130 that is arranged horizontally and has openings 131 (left opening 131L, right opening 131R) in a horizontal plane (see Figs. 5A and 5B). The left driving unit 120L and the right driving unit 120R drive motors with power supplied from the battery 103 to rotate the respective driving wheels 123L, 123R.

[0015] As shown in Figures 5A and 5B, the frame 130 is a planar plate extending to the ends of the traveling device 100 in the front-rear and left-right directions. A left opening 131L and a right opening 131R are formed on the front side of the center of the frame 130, which are aligned parallel to each other in the left-right direction. Each of the front-rear and left-right ends of the frame 130 has a side plate extending in the up-down direction, and a housing (exterior cover) of the traveling device 100 is attached to each side plate. The frame 130 is disposed near the center of the traveling device 100 in the up-down direction (height direction) (see Figure 4).

[0016] Here, the internal space of the housing covering the entire traveling device 100 is divided into a first storage space (first storage space of the present invention) below the frame 130 and a second storage space (second storage space of the present invention) above the frame 130. The first storage space is an area between the frame 130 and the floor surface, and the second storage space is an area between the frame 130 and the top surface 101. The first storage space includes the driven wheels 102, the battery 103, a part (lower part) of the left drive unit 120L, a part (lower part) of the right drive unit 120R, and the like. The second storage space includes the traction unit 110, a part (upper part) of the left drive unit 120L, a part (upper part) of the right drive unit 120R, and the like. That is, the left drive unit 120L and the right drive unit 120R each extend across the first storage space and the second storage space via the frame 130.

[0017] The left drive unit 120L and the right drive unit 120R are arranged side by side in the left-right direction and are rotatably fixed to the frame 130 independently of each other. Fig. 6 shows an external perspective view of the left drive unit 120L and the right drive unit 120R. The left drive unit 120L and the right drive unit 120R have a symmetrical structure. The specific configuration will be described below using the left drive unit 120L as an example.

[0018] 7A to 7C show the overall configuration of the left driving unit 120L. The left driving unit 120L is rotatably supported by a rotating shaft 126L attached to the frame 130 below the frame 130 (first housing space), and includes a trailing arm 124L extending from the rotating shaft 126L toward the front (first direction of the present invention) in the horizontal direction, a driving wheel 123L (first wheel of the present invention) supported by the trailing arm 124L, and a first ballast 121L (first ballast of the present invention) and a second ballast 122L (second ballast of the present invention) provided on the trailing arm 124L. The left driving unit 120L also includes a motor 125L, gears, and the like. The driving wheel 123L, the trailing arm 124L, and the first ballast 121L are provided in an area between a pair of front and rear driven wheels 102.

[0019] As shown in FIG. 7C, the first ballast 121L is fixed to a first fixing position P1, which is a position on the trailing arm 124L that is forward of the rotation shaft 126L, and extends upward from the first fixing position P1, penetrating a left opening 131L (see FIG. 5A) from below the frame 130 to above the frame 130. The first ballast 121L is disposed on the tip side of the trailing arm 124L relative to the driving wheel 123L. The lower portion of the first ballast 121L is disposed below the frame 130 (first storage space), and the upper portion of the first ballast 121L is disposed in a space (second storage space) between the surface (upper surface) of the frame 130 and the top surface portion 101 of the traveling device 100.

[0020] As shown in Fig. 7C, the second ballast 122L is fixed to a second fixing position P2, which is a position above the frame 130 in the first ballast 121L, and extends rearward (toward the rotation shaft 126L) from the second fixing position P2. The second ballast 122L is disposed in a space (second housing space) between a surface (upper surface) of the frame 130 and the top surface portion 101 of the traveling device 100. The frame 130 extends between the second ballast 122L and the driving wheel 123L. In this way, the left driving unit 120L is generally formed in a U-shape in side view so as to sandwich the frame 130.

[0021] 7C, the second ballast 122L has a thickness D2 in the vertical direction at the rear side (the side of the rotating shaft 126L) that is greater than a thickness D1 in the vertical direction at the front side (the side of the tip of the trailing arm 124L). The thicknesses D1 and D2 of the second ballast 122L may be set by stacking a plurality of plate-shaped steel materials, or may be set by a single steel material. In this way, the thickness D1 of the tip side of the second ballast 122L, where the rotation distance when rotating around the rotating shaft 126L is large, is smaller than the thickness D2 of the rotating shaft 126L side, where the rotation distance is small.

[0022] Each of the first ballast 121L and the second ballast 122L is made of steel. Each of the first ballast 121L and the second ballast 122L is made of a plurality of plate-shaped steel materials. The combined structure (weight) of the first ballast 121L and the second ballast 122L makes it possible to apply a sufficient load to the driving wheel 123L in the direction of the floor surface. Each of the first ballast 121L and the second ballast 122L may be integrally formed of a single member, or may be formed of a plurality of members.

[0023] 6, the horizontal (left-right) width of the portion of the first ballast 121L that penetrates the left opening 131L is narrower than the horizontal (left-right) width of the second ballast 122L. Similarly, the horizontal (left-right) width of the portion of the first ballast 121R that penetrates the right opening 131R is narrower than the horizontal (left-right) width of the second ballast 122R. This makes it possible to minimize the sizes of the left opening 131L and the right opening 131R of the frame 130, thereby ensuring the strength of the frame 130.

[0024] In the left drive unit 120L, the trailing arm 124L functions to rotate a drive wheel 123L provided in front of a rotation shaft 126L fixed to the frame 130 in the vertical direction around the rotation shaft 126L. A first ballast 121L extending in the vertical direction and penetrating a left opening 131L of the frame 130 is provided in front of the left drive unit 120L, and a second ballast 122L extending from the front to the rear of the left drive unit 120L is provided, and a load according to the weights of the first ballast 121L and the second ballast 122L is applied to the contact surface between the drive wheel 123L and the floor surface.

[0025] Similarly, the right drive unit 120R (see FIG. 6) can rotate a drive wheel 123R provided in front of a rotation shaft fixed to the frame 130 in the vertical direction around the rotation shaft by the function of the trailing arm 124R. A first ballast 121R extending in the vertical direction and penetrating a right opening 131R of the frame 130 is provided in front of the right drive unit 120R, and a second ballast 122R extending from the front to the rear of the right drive unit 120R is provided, and a load according to the weight of the first ballast 121R and the second ballast 122R is applied to the contact surface between the drive wheel 123R and the floor surface.

[0026] Each of the left drive unit 120L and the right drive unit 120R is capable of rotating vertically about a rotation axis in response to steps, inclinations, etc. on the floor surface while the load of each ballast is applied to the floor surface.

[0027] 8A to 8C show an example of the rotational operation of the left drive unit 120L. Fig. 8A shows the left drive unit 120L in a normal position. In the normal position, the left drive unit 120L is capable of rotating in the vertical direction around a rotation shaft 126L.

[0028] 8B shows the left drive unit 120L in the lowest position (second position of the present invention). In the lowest position, the lower surface of the tip of the second ballast 122L of the left drive unit 120L abuts against the upper surface of the frame 130. When the trailing arm 124L rotates downward about the rotation shaft 126L, the lower surface of the tip of the second ballast 122L abuts against the upper surface of the frame 130, thereby stopping the downward rotation.

[0029] 8C shows the left drive unit 120L in the uppermost position (first position of the present invention). In the uppermost position, the upper surface of the cover covering the drive wheel 123L abuts against the lower surface (rear surface) of the frame 130. When the trailing arm 124L rotates upward around the rotation shaft 126L, the upper surface of the cover abuts against the lower surface (rear surface) of the frame 130, thereby stopping the upward rotation. Also, as shown in FIG. 8C, the height of the second ballast 122L is set so that a predetermined gap S1 is formed between the upper surface of the second ballast 122L and the lower surface of the top surface portion 101 in the uppermost position.

[0030] Moreover, the second ballast 122L is formed so that the upper surface of the second ballast 122L and the top surface 101 are parallel in the uppermost position. Specifically, the thickness D1 on the tip side of the second ballast 122L is smaller than the thickness D2 on the rotating shaft 126L side so that the upper surface of the second ballast 122L and the top surface 101 are parallel by the upward rotation of the trailing arm 124L (see FIG. 7C), and the upper surface of the second ballast 122L is inclined downward toward the front (the tip side of the trailing arm 124L) in the normal position (see FIG. 8A). The inclined surface of the second ballast 122L may be formed by stacking a plurality of plates or may be formed from a single steel material.

[0031] In this way, the rotational range of the trailing arm 124L is set between the lowest position (second position of the present invention) and the highest position (first position of the present invention).

[0032] With the configurations of the drive units (left drive unit 120L, right drive unit 120R) described above, the traveling device 100 can ensure a sufficient load of the drive wheels against the floor surface even when the floor surface has a large step or the load is heavy, thereby improving the traveling stability of the traveling device 100. Figures 9A to 9C show an example of the traveling state of the traveling device 100.

[0033] 9A shows a traveling state when the traveling device 100 travels on a flat floor surface. In this case, the driving wheel 123L and the driven wheel 102 travel on the flat surface, and the left driving part 120L is in the normal posture (see FIG. 8A).

[0034] 9B shows a traveling state when the traveling device 100 travels on a floor surface having a concave portion. In this case, the driving wheel 123L moves downward in accordance with the downward rotation of the trailing arm 124L in the concave portion. In FIG. 9B, the left driving unit 120L is in the normal posture (see FIG. 8A) just before the lowest position (see FIG. 8B).

[0035] 9C shows a traveling state when the traveling device 100 travels on a floor surface having a convex portion. In this case, the driving wheel 123L moves upward in accordance with the upward rotation of the trailing arm 124L on the convex portion. In FIG. 9C, the left driving unit 120L is in the normal position (see FIG. 8A) just before the uppermost position (see FIG. 8C).

[0036] According to the configuration of this embodiment, in any of the running states of Figures 9A to 9C, a sufficient load corresponding to the weights of the first ballast 121L and the second ballast 122L can be applied to the contact surface between the drive wheel 123L and the floor surface.

[0037] Furthermore, according to the configuration of this embodiment, the first ballast 121L and the second ballast 122L can be efficiently arranged by utilizing the internal space of the traveling device 100. In particular, by providing an opening (left opening 131L) in the frame 130, the first ballast 121L can be arranged below (first storage space) and above (second storage space) the frame 130 by penetrating the opening in the vertical direction.

[0038] Furthermore, a second ballast 122L fixed to the first ballast 121L and extending rearward can be disposed above the frame 130 (in the second housing space). This allows a sufficient load to be applied to the drive wheel 123L.

[0039] In this manner, the traveling device 100 according to this embodiment has a structure in which a load is applied to the driving wheel 123L by arranging ballast (weight) by effectively utilizing the internal space.

[0040] In addition, in the traveling device 100 according to this embodiment, the left drive unit 120L and the right drive unit 120R each have an independent ballast structure. Therefore, the left drive unit 120L and the right drive unit 120R can rotate independently according to the condition of the floor surface, so that it is possible to prevent the traveling device 100 and the carriage 200 from tilting or only one of the driving wheels 123 from spinning freely. This makes it possible to improve the traveling stability of the traveling device 100. In addition, since it is not necessary to provide the traveling device 100 with a spring or the like to ensure the load of the driving wheel 123L, the structure can be simplified. In addition, as another embodiment, the traveling device 100 may be provided with a spring that applies a downward biasing force to the driving wheel 123L in addition to the above-mentioned structure.

[0041] The traveling device of the present invention is not limited to the above-mentioned embodiment. As another embodiment of the present invention, the traveling device 100 may omit the second ballasts 122L, 122R. Specifically, as shown in FIG. 10A and FIG. 10B, the traveling device 100 includes a frame 130 having an opening 131 (left opening 131L, right opening 131R), a trailing arm 124 (124L, 124R) rotatably supported by a rotating shaft 126 (rotating shaft 126L, 126R) attached to the frame 130 below the frame 130 and extending from the rotating shaft toward the horizontal forward direction, driving wheels (123L, 123R) supported by the trailing arm 124, and a first ballast 121 (121L, 121R) provided on the trailing arm 124. The first ballast 121 is fixed to a first fixing position P1, which is a position on the trailing arm 124 further forward than the rotation shaft 126, and extends upward from the first fixing position P1, penetrating an opening 131 from below the frame 130 to above the frame 130. In the traveling device 100 shown in Figures 10A and 10B, the second ballasts 122L, 122R are omitted.

[0042] 10A and 10B, the first ballast 121L can apply a sufficient load downward to the driving wheel 123L, thereby improving the running stability of the traveling device 100.

[0043] In this way, in the traveling device 100 of the present invention, the drive wheel 123, the trailing arm 124, and lower portions of at least one ballast (e.g., the first ballast 121L) are accommodated in the first accommodation space below the frame 130. Also, the upper portion of at least one ballast (e.g., the first ballast 121L) is accommodated in the second accommodation space above the frame 130.

[0044] In the above embodiment, the driving wheels 123L, 123R are disposed in the region between the front and rear driven wheels 102, but in another embodiment, the driving wheels 123L, 123R may be disposed on the front end side or the rear end side of the traveling device 100. That is, the traveling device 100 may be provided with the driving wheels 123L, 123R at, for example, two front corners among the four corners, and the driven wheels 102 at two rear corners. In this case, the openings 131 (left opening 131L, right opening 131R) in the frame 130 are formed on the front end side.

[0045] In addition, as another embodiment of the present invention, the ballast structure may be applied to the driven wheel 102. Thereby, for example, the first ballast 121 and the second ballast 122 can apply a sufficient downward load to the driven wheel 102.

[0046] In another embodiment of the present invention, at least one of the first ballast 121 and the second ballast 122 may be a component of the trailing arm 124L. For example, at least one of the first ballast 121 and the second ballast 122 may be formed integrally with the trailing arm 124L.

[0047] In another embodiment of the present invention, frame 130 may be formed in a lattice shape by a plurality of bars extending in the front-rear direction and a plurality of bars extending in the left-right direction. In this case, the plurality of openings formed in lattice-shaped frame 130 include left opening 131L and right opening 131R.

[0048] The traveling device according to the present invention can be constructed by freely combining the above-described embodiments, or by appropriately modifying or partially omitting each embodiment, within the scope of the invention described in each claim. [Explanation of symbols]

[0049] 100: Running gear 101:Top section 102: Driven wheel 110: Traction part 120: Drive unit 121: First ballast 122: Second ballast 123: Driving wheel 124: Trailing arm 126: Rotation axis 130: Frame 131: Opening 200: Cart

Claims

1. A frame disposed horizontally and having an opening in a horizontal plane; a trailing arm that is rotatably supported on a rotation shaft attached to the frame below the frame and extends from the rotation shaft in a first direction that is a horizontal direction; a first wheel supported by the trailing arm; At least one ballast provided on the trailing arm; Equipped with The at least one ballast includes a first ballast that is fixed to a first fixed position that is a position on the trailing arm closer to the first direction than the rotation axis, extends upward from the first fixed position, and passes through the opening from below the frame to above the frame. Running gear.

2. The at least one ballast further includes a second ballast fixed to a second fixed position, which is a position of the first ballast above the frame, and extending from the second fixed position in a second direction opposite to the first direction. The traveling device according to claim 1.

3. The second ballast has a thickness in the vertical direction on the second direction side that is greater than a thickness in the vertical direction on the first direction side. The traveling device according to claim 2.

4. A horizontal width of a portion of the first ballast that passes through the opening is narrower than a horizontal width of the second ballast. The traveling device according to claim 2 or 3.

5. Further, a top surface portion covering an upper portion of the traveling device is provided, The height of the ballast is set so that a predetermined gap is formed between the upper surface of the ballast and the lower surface of the top surface portion in a first posture in which the trailing arm rotates upward and abuts against the lower surface of the frame. The traveling device according to any one of claims 1 to 4.

6. In the first attitude state, the upper surface of the ballast and the top surface portion are parallel to each other. The traveling device according to claim 5.

7. A rotational range of the trailing arm is between the first attitude state and a second attitude state in which the trailing arm rotates downward and the ballast abuts against an upper surface of the frame. The traveling device according to claim 5 or 6.

8. A pair of second wheels is provided at the front and rear of the traveling device, The first wheel, the trailing arm, and the at least one ballast are provided in a region between the pair of front and rear second wheels. The traveling device according to any one of claims 1 to 7.

9. Further comprising a housing for covering the entire traveling device, an internal space of the housing is divided by the frame into a first storage space below the frame and a second storage space above the frame; The first storage space accommodates the first wheel, the trailing arm, and a portion of the at least one ballast below the frame, The second storage space accommodates a portion of the at least one ballast above the frame. The traveling device according to any one of claims 1 to 8.

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