Automated guided vehicles

Abstract

To provide an automated guided vehicle that can be made to have a low floor by mounting a high-stroke and flat lifting device, can be adapted to loads on low pass lines, and can handle a wide variety of load pass lines with a single vehicle. The automated guided vehicle includes a carriage equipped with drive wheels and configured to be freely runnable, and a lifting device 4 provided on the carriage so as to be freely raised and lowered, the lifting device 4 includes an equipment lifting section 13 having a load placement section S for placing a load and having a cam follower guide surface G1 on its underside parallel to the running surface of the carriage, an equipment base section 12 fixed at a fixed position below the equipment lifting section 13 and having a cam follower guide groove G2 extending in a direction parallel to the running surface of the carriage, a link mechanism 28 having first and second link arms 19, 20 connected at their intermediate sections by a pin in an X-shape so as to be rotatable with respect to each other about the joint, and a drive mechanism 29 for moving a first cam follower 22 of the first link arm 19.

Description

[Technical field]

[0001] The present invention relates to an automated guided vehicle. [Background technology]

[0002] In recent years, automated guided vehicles that can automatically move materials without human intervention are used in factories and logistics sites. Some of the automated guided vehicles used here are equipped with a lifting device. This automated guided vehicle with a lifting device goes under the target load, such as a box pallet, and then lifts the load with the lifting device and transports the load to the next transport location. For example, Patent Document 1 discloses a lift table for an automated guided vehicle that lifts and lowers a load by extending and contracting the link of a pantograph mechanism by raising and lowering a screw of a worm jack driven by a motor. Patent Document 2 discloses a guided automated vehicle that moves the swing fulcrum via the female screw member by driving a female screw member provided on a swing fulcrum member of a link mechanism and a male screw member screwed into the female screw member by a motor, thereby moving the swing fulcrum via the female screw member and performing the lifting and lowering operation of the link mechanism. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 62-244897 [Patent Document 2] Japanese Patent Application Publication No. 59-220446 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, the lifting device is required to lift and lower the load in response to a low pass line or a wide variety of pass lines. In contrast, the lift table described in Patent Document 1 employs a worm jack that moves vertically in the lifting operation, so it may be difficult to achieve both flattening of the lifting device and a high stroke depending on the height of the worm jack. In addition, since the output shaft of the motor is connected on a concentric axis to the input shaft of the jack stroke, the position of the motor is in the middle of the device, and depending on the size of the motor, it may affect the height dimension of the lifting device. This hinders flattening of the automated guided vehicle, and there are concerns that depending on the pass line of the load, the automated guided vehicle may not be able to get under the target load, and depending on the difference between multiple pass lines, it may be necessary to prepare different automated guided vehicles for each load. In the lifting device described in Patent Document 2, the horizontal linear motion mechanism consisting of a motor, a rotating screw shaft, etc. is connected to the swing fulcrum, so the position of the horizontal linear motion mechanism depends on the position of the swing fulcrum, which may affect the height dimension of the lifting device, and there are concerns about problems similar to those of Patent Document 1 mentioned above.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and the problem that the present invention aims to solve is to provide an unmanned guided vehicle that can realize a long-stroke, flat lifting device by locating the drive mechanism of the lifting device at a low position, and that can reduce the floor height of an unmanned guided vehicle by mounting this lifting device, thereby making it possible to accommodate loads on low pass lines and to handle a wide variety of load pass lines with a single vehicle. [Means for solving the problem]

[0006] In order to solve the above problems, the present invention employs the following means. That is, the automated guided vehicle of the present invention comprises a carriage equipped with drive wheels and configured to be freely movable, and a lifting device provided on the carriage so as to be freely raised and lowered, the lifting device having a load placement section for placing a load, an equipment lifting section having a cam follower guide surface on its underside parallel to the running surface of the carriage, an equipment base section fixed to a fixed position below the equipment lifting section and having a cam follower guide groove extending in a direction parallel to the running surface of the carriage, and first and second link arms having intermediate sections joined by a pin and connected to each other in an X-shape so as to be freely rotatable about the joint portion, a first end of the first link arm being rotatably supported at a fixed position on the equipment lifting section, and a first cam follower being attached to the second end of the first link arm. the first cam follower is engaged with the cam follower guide groove, a first end of the second link arm is supported at a fixed position on the equipment base so as to be rotatable, and a second cam follower is provided at the second end of the second link arm, and the second cam follower is engaged with the cam follower guide surface; and a drive mechanism for moving the first cam follower in the parallel direction, wherein the drive mechanism comprises: a screw shaft that is provided on the equipment base and extends in the parallel direction, a moving member that is screwed onto the screw shaft and supported so as not to be rotatable relative to the screw shaft, and the first cam follower is provided on the screw shaft, and a drive source that rotates and drives the screw shaft.

[0007] In one aspect of the present invention, an auxiliary cam follower is provided on the moving member in a traveling direction of the carriage and engaged with the cam follower guide groove at a distance from the first cam follower.

[0008] In one aspect of the present invention, the movable member is provided so as to extend in a width direction of the carriage, and the link mechanism is provided on each of the left and right ends of the movable member.

[0009] In one aspect of the present invention, the first and second lifting devices are provided spaced apart in the travel direction of the cart.

[0010] In one aspect of the present invention, the equipment lifting section comprises a lifting section main body with the second cam follower engaged on its underside, a load receiving platform placed on the lifting section main body, and a cover rotatably connected to one end of the load receiving platform in the front or rear of the carriage in the direction of travel, the cover having a lower end slidably abutting the upper surface of the carriage.

[0011] In one aspect of the present invention, the first cam follower comprises an outer ring and a fixed shaft portion that are arranged in the cam follower guide groove, the fixed shaft portion is fixed to the movable member, the movable member is provided with a cylindrical wall portion that surrounds the fixed shaft portion, and the first link arm is attached so as to be freely rotatable around the cylindrical wall portion. Effect of the Invention

[0012] According to the present invention, by positioning the drive mechanism of the lifting device at a low position, a long-stroke, flat lifting device can be realized, and by installing this lifting device, an unmanned guided vehicle can be made to have a low floor, making it possible to provide an unmanned guided vehicle that can be adapted to loads on low path lines and can handle the path lines of a wide variety of loads with the same vehicle. [Brief description of the drawings]

[0013] [Figure 1] FIG. 2 is a top view of an automated guided vehicle according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a side view of FIG. [Diagram 3] FIG. 2 is a top view of a lifting device according to an embodiment of the present invention. [Figure 4] FIG. 4 is a side view of FIG. [Diagram 5] FIG. 4 is a cross-sectional view taken along the line AA in FIG. [Figure 6] FIG. 5 is a cross-sectional view taken along the line BB in FIG. 4. [Figure 7] 5 is a cross-sectional view taken along the line CC in FIG. 4. [Figure 8] FIG. 2 is a side view showing the mounting relationship of a lifting device for an automatic guided vehicle according to an embodiment of the present invention. [Figure 9] FIG. 5 is a cross-sectional view taken along the line DD in FIG. 4. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. (Embodiment) A top view of the automated guided vehicle of this embodiment is shown in Fig. 1, and a side view of the same is shown in Fig. 2. An automated guided vehicle 10 of the present invention comprises a cart 1 equipped with drive wheels 2 and configured to be freely movable, and a lifting device 4 provided on the cart 1 so as to be able to rise and fall. The drive wheels 2 are arranged on the central side of the cart 1, and driven wheels 3 are arranged on the front and rear sides, and a total of one set (two) of lifting devices 4 are arranged at the front and rear of the cart 1. A load detection sensor 5 is arranged on the top of the lifting device 4.

[0015] A top view of the lifting device 4 is shown in Fig. 3, and a side view is shown in Fig. 4. A cross-sectional view taken along line AA of the top view (Fig. 3) is shown in Fig. 5, a cross-sectional view taken along line BB of the side view (Fig. 4) is shown in Fig. 6, and a cross-sectional view taken along line CC of the side view (Fig. 4) is shown in Fig. 7. For simplification, components designated by reference numerals 24 and 25 (link connecting members to be described later) are omitted from Fig. 6.

[0016] As shown in Fig. 4, the lifting device 4 includes a device lifting section 13, a device base section 12, a link mechanism 28, and a drive mechanism 29. The device lifting section 13 has a load placement section S on which a load is placed, and is provided with a cam follower guide surface G1 on its lower surface that is parallel to the running surface of the dolly. The device base section 12 is fixed to a fixed position below the device lifting section 13, and has a cam follower guide groove G2 that extends in a direction parallel to the running surface of the dolly 1. The link mechanism 28 has a first link arm 19 and a second link arm 20 which are connected in an X-shape with their intermediate portions pin-jointed and rotatably connected to each other around the joint portion, and a first end 19a of the first link arm 19 is rotatably supported at a fixed position on the device lifting section 13, a first cam follower 22 is provided at the second end 19b of the first link arm 19 and the first cam follower 22 is engaged with the cam follower guide groove G2, a first end 20a of the second link arm 20 is rotatably supported at a fixed position on the device base section 12, and a second cam follower 21 is provided at the second end 20b of the second link arm 20 and the second cam follower 21 is engaged with the cam follower guide surface G1.

[0017] The driving mechanism 29 moves the first cam follower 22 in a direction parallel to the running surface of the carriage 1. As shown in Fig. 5, the driving mechanism 29 is provided on the device base part 12, and includes a screw shaft 14 extending in a direction parallel to the running surface of the carriage 1, a moving member 15 screwed to the screw shaft 14 and supported so as not to be rotatable relative to the screw shaft 14, and to which the first cam follower 22 shown in Fig. 4 is coupled, and a motor (driving source) 11 that drives and rotates the screw shaft 14.

[0018] As shown in Figs. 4 and 7, the moving member 15 is provided with an auxiliary cam follower 23 spaced from the first cam follower 22 in the traveling direction of the carriage 1 and engaged with the cam follower guide groove G2. As shown in FIG. 6, the moving member 15 is provided so as to extend in the width direction of the dolly 1 (the vertical direction on the paper), and link mechanisms 28, 28 are provided on both the left and right ends of the moving member 15, respectively. As shown in FIGS. 1 and 2, first and second lifting devices 4, 4 are provided spaced apart in the traveling direction of the carriage 1.

[0019] Fig. 8 is a side view showing the mounting relationship of the lifting device 4 of the automated guided vehicle 10 according to this embodiment. As shown in Fig. 8, the device lifting section 13 includes a lifting section main body 30 with the second cam follower 21 engaged on its underside, a load receiving platform 31 placed on the lifting section main body 30, and a cover 32 rotatably connected to one end of the load receiving platform 31 in the front or rear direction of travel of the cart 1 and having a lower end slidably abutted against the upper surface of the cart 1. Note that the cover 32 and members related thereto are omitted in Figs. 4 and 5 for simplification.

[0020] The components of the automated guided vehicle 10 configured as described above will now be described in further detail. As shown in Figures 4 to 7, the device base 12 is composed of a bottom plate 12a and a guide member 12b that rises vertically upward from the bottom plate 12a in a plate shape, with the body of the motor 11 fixed to the bottom plate 12a and a fixed shaft member 17 fixed to the guide member 12b. The guide member 12b is provided with a cam follower guide groove G2 that extends in a direction parallel to the running surface of the carriage 1, and the first cam follower 22 and the auxiliary cam follower 23 are engaged with each other. The cam follower guide groove G2 is provided with a rolling surface Y, and is shaped to sandwich the upper and lower outer rings of the first cam follower 22 and the auxiliary cam follower 23.

[0021] 5, a screw shaft 14 is coupled to the output shaft of the motor 11. A moving member 15 is provided with a female thread corresponding to the screw shaft 14, and is connected to the screw shaft 14 by threaded engagement.

[0022] As shown in Figures 6 and 7, two sets of link mechanisms 28, 28 consisting of members 16 to 23 are arranged on both sides of the moving member 15. A fixed shaft portion (inner ring bearing shaft) of the auxiliary cam follower 23 and a fixed shaft portion (inner ring bearing shaft) of the first cam follower 22 shown in Figure 4 are fixed to the moving member 15. A second link arm 20 is connected to the fixed shaft member 17 in a state having a degree of freedom of rotation about the axis of 17. A first link arm 19 is rotatably attached to the fixed shaft portion of the first cam follower 22.

[0023] Here, the coupled state of the moving member 15, the first cam follower 22, and the first link arm 19 will be described in more detail. Fig. 9 is a cross-sectional view taken along the line DD in Fig. 4. As shown in Fig. 4, the first cam follower 22 includes an outer ring 53 and a fixed shaft portion 51 that are disposed in the cam follower guide groove G2. The outer ring 53 is mounted with a plurality of needle rollers 55 interposed therebetween so that the outer ring 53 can rotate around the fixed shaft portion 51 while rolling the plurality of needle rollers 55.

[0024] The moving member 15 is provided with a cylindrical wall portion 41 that protrudes to the side, and the fixed shaft portion 51 of the first cam follower 22 is inserted into the inside of the cylindrical wall portion 41. A male screw is formed at the tip portion 57 of the fixed shaft portion 51, and is screwed into a female screw formed on the inside of the moving member 15. The first link arm 19 is fitted to the outer periphery of the cylindrical wall portion 41 of the moving member 15 with a circular opening K formed at its second end portion 19b and a bearing 42 interposed therein. A spacer 43 is disposed between the first link arm 19 and the moving member 15, and is configured so that the gap between the first link arm 19 and the moving member 15 is constant. With this configuration, the first link arm 19 is rotatably attached around the cylindrical wall portion 41 via the cylindrical bearing 42.

[0025] The outer ring 53 is movable in the front-to-back direction of the paper (direction perpendicular to the paper) along the cam follower guide groove G2 provided in the device base part 12. With this configuration, when the moving member 15 moves in the front-to-back direction of the paper, the outer ring 53 of the first cam follower 22 moves while being guided by the cam follower guide groove G2. Meanwhile, the first link arm 19 rotates with respect to the bearing 42, and the first link arm 19 swings around the axis of a fixed shaft member 18 (FIG. 4) described later.

[0026] The swing shaft member 16 is fixed to the first link arm 19, and the second link arm 20 is connected to the swing shaft member 16 while having a degree of rotational freedom about the axis of the swing shaft member 16. As a result, the first link arm 19 and the second link arm 20 are connected while having a degree of rotational freedom about the swing axis X in FIG.

[0027] As shown in Figures 4 and 5, a fixed shaft portion (inner ring bearing shaft) of a second cam follower 21 is fixed to a second end portion 20b of the second link arm 20. A set (two pieces) of first link arms 19 are fixed by a link connecting member 24. A set (two pieces) of second link arms 20 are fixed by a link connecting member 25. A fixed shaft member 18 is fixed to the device lifting section 13. A cam follower guide surface G1 is provided on the device lifting section 13, and is configured to come into contact with the upper side of the outer ring of the second cam follower 21. The first link arm 19 is connected to the fixed shaft member 18 in a state in which it has a degree of freedom of rotation about the axis of the fixed shaft member 18.

[0028] As shown in Fig. 8, the device base 12 of the lifting device 4 is fixed to the bogie 1. In order to flatten the vehicle, a partial cutout hole is provided in the bottom surface of the bogie 1 so that part of the device base 12 of the lifting device can be brought as close as possible to the running floor side. A load receiving platform 31 is installed on the upper part of the lifting section main body 30 of the lifting device 4. A cover 32 is connected to the load receiving platform 31 via a hinge 33. Since the hinge 33 has a degree of freedom of rotation, the part of the cover 32 opposite the fixed part of the hinge 33 is in contact with the upper surface of the bogie 1.

[0029] The operation of the automatic guided vehicle configured as above will now be described. The vehicle travels by rotating the drive wheels 2, and the vehicle is steered by the speed difference between the pair (two) of drive wheels 2. After the automated guided vehicle 10 stops traveling under the target load, it drives the lifting device 4 to lift a part of itself and lifts the load. At this time, the pair (two) of lifting devices 4, 4 operate independently. The load detection sensor 5 is used to monitor whether the load has been lifted normally, and a control device (not shown) of the automated guided vehicle 10 makes a judgment based on the signal output state of the load detection sensor 5. The movement of the automated guided vehicle may be performed by any method, such as line tracing, landmark, or SLAM (Simultaneous Localization and Mapping), and a description of such a method will be omitted here as it is a known technology.

[0030] In the lifting device 4, the screw shaft 14 rotates in conjunction with the rotation of the output shaft of the motor 11. The rotation of the screw shaft 14 causes the moving member 15, which is connected by a screw engagement, to move in the axial direction of the screw shaft 14. As the moving member 15 moves, the first cam follower 22 and the auxiliary cam follower 23, which are coupled to the moving member 15, move in the cam follower guide groove G2 along the rolling surface Y. When the moving member 15 moves, a moment acts on the screw shaft 14 because the position of the first cam follower 22 is shifted from the central axis of the screw shaft 14. However, in this configuration, by adding the auxiliary cam follower 23, the moment acting on the screw shaft 14 is supported by the rolling surface Y of the auxiliary cam follower 23 and the cam follower guide groove G2. When the moving member 15 moves, the second end 19b of the first link arm 19 also moves in conjunction with the movement of the first cam follower 22.

[0031] The first link arm 19 is connected to the device lifting section 13 by a fixed shaft member 18 while having a degree of rotational freedom, and the second link arm 20 is connected to the device base section 12 by a fixed shaft member 17 while having a degree of rotational freedom. The first link arm 19 and the second link arm 20 are connected to each other via a swing shaft member 16 while having a degree of rotational freedom. Furthermore, the moving member 15 and the fixed shaft portion 51 of the first cam follower 22 are fixedly attached, and the fixed shaft portion 51 of the first cam follower 22 and the first link arm 19 are connected to each other while having a degree of rotational freedom. Therefore, when the first cam follower 22 moves due to the movement of the moving member 15, the first link arm 19 rotates about the axis of the fixed shaft member 18, and at the same time, the fixed shaft portion 51 of the first cam follower 22 fixed to the moving member 15 and the first link arm 19 rotate about the axis of the first cam follower 22, and the swing shaft member 16 also moves. In conjunction with this movement, the second link arm 20 rotates about the fixed shaft member 17.

[0032] These operations cause the device lifting / lowering unit 13, which is joined to the first link arm 19 with a degree of rotational freedom, to move vertically via the fixed shaft member 18. The posture of the device lifting / lowering unit 13 is kept horizontal by supporting the cam follower guide surface G1 provided on the device lifting / lowering unit 13 with the outer ring of the second cam follower 21 joined to the second link arm 20. Link connecting members 24 and 25 improve the mechanical strength by connecting the link arms 19 and 20, respectively.

[0033] The vertical movement of the device lifting unit 13 causes the load receiving platform 31 installed on the top surface of the lifting unit main body 30 to move vertically in conjunction with the load receiving platform 31. The load receiving platform 31 maintains contact with the load receiving platform 31 only by its own weight. Therefore, if a structure enters between the load receiving platform 31 and the cart 1, only the load receiving platform 31's own weight acts as a force on the structure, and the load receiving platform 31 itself is separated from the lifting unit main body 30. However, the degrees of freedom of the automated guided vehicle 10 in the straight line and lateral directions are such that horizontal movement beyond a certain level cannot occur due to the shapes of the members of both the lifting unit main body 30 and the load receiving platform 31. The load receiving platform 31 comes into contact with the bottom surface of the load to be transported by the automated guided vehicle 10, and moves (lifts) the load vertically. The cover 32 fixed to the load receiving platform 31 via hinges 33 has a degree of rotational freedom, so that the cover 32 can be folded down while contacting the upper part of the cart 1 by its own weight in conjunction with the vertical movement of the load receiving platform 31. This reduces the gap / space between the load receiving platform 31 and the cart 1 that occurs when the lifting device 4 moves vertically, and blocks the path for structures to enter the inside of the lifting device 4.

[0034] As described above, the lifting device 4 mounted on the automatic guided vehicle 10 of this embodiment performs lifting and lowering operations by moving the first cam follower 22 located below the link mechanism 28, so that the drive mechanism 29 for moving the first cam follower 22 can be disposed below the lifting device 4, shifted from directly below the link mechanism 28. This structure and the cutout hole in the carriage 1 allow the actuator (the motor in this invention) to be disposed at the bottom of the device, so that the device can be made flatter than the lifting device of Patent Document 2, in which the drive mechanism is located at the swing fulcrum (the position of the swing shaft member 16 in this application). The structure of Patent Document 1, in which the screw shaft 14 is disposed parallel to the running surface of the carriage 1 without using a vertical linear motion device such as a worm jack, reduces the height restriction due to the shaft stroke, so that the stroke of the device can be increased.

[0035] Due to the relationship between the lifting unit main body 30 and the load receiving platform 31, if a structure intrudes between the load receiving platform 31 and the dolly 1 while the lifting device is operating without handling a load, the load on the structure can be limited to the load receiving platform 31 only. Also, due to the structure consisting of the dolly 1, the load receiving platform 31, the cover 32, and the hinges 33, the part that cannot be covered by the relationship between the lifting unit main body 30 and the load receiving platform 31 alone can be physically blocked off from the intrusion path, thereby preventing the intrusion of the structure.

[0036] Thus, by locating the drive mechanism of the lifting device at a low position, a long-stroke and flat lifting device can be realized, and by mounting this lifting device, an automated guided vehicle can be made to have a low floor, and an automated guided vehicle can be provided that is adaptable to loads on low path lines and can handle the path lines of a wide variety of loads with the same vehicle.In the above embodiment, the screw shaft 14 and the moving member 15 are engaged with each other in a male-female thread relationship, but a ball screw may also be used here.

[0037] In addition, the configurations given in the above embodiments can be selected or changed as appropriate without departing from the spirit of the present invention. [Explanation of symbols]

[0038] 1 Cart 2 Drive wheels 4 Lifting device 10 Automated Guided Vehicle 11 Motor (drive source) 12 Equipment basics 13 Equipment lifting section 14 Screw shaft 15 Moving parts 19 First link arm 19a: first end of first link arm 19b second end of the first link arm 20 Second link arm 20a: first end of second link arm 20b second end of second link arm 21 Second Cam Follower 22 First cam follower 23 Auxiliary cam follower 28 Link mechanism 29 Drive mechanism 30 Lifting unit main body 31 Loading platform 32 Cover 33 Hinge 41 Cylindrical wall 51 Fixed shaft portion of first cam follower 53 Outer ring of first cam follower G1 Cam follower guide surface G2 Cam follower guide groove S loading section

Claims

1. A bogie equipped with drive wheels and configured to be freely movable; A lifting device provided on the cart so as to be capable of rising and falling, The lifting device is An apparatus lifting section having a load placement section for placing a load and having a cam follower guide surface on a lower surface thereof parallel to the running surface of the carriage; A device base part is fixed at a fixed position below the device lifting part and has a cam follower guide groove extending in a direction parallel to the running surface of the carriage; a link mechanism having first and second link arms connected to each other in an X-shape by pin joints at intermediate portions and rotatably connected to each other around the joint portion, a first end portion of the first link arm being rotatably supported at a fixed position on the device lifting section, a first cam follower being provided at a second end portion of the first link arm and engaging with the cam follower guide groove, a first end portion of the second link arm being rotatably supported at a fixed position on the device base section, a second cam follower being provided at a second end portion of the second link arm and engaging with the cam follower guide surface; a drive mechanism that moves the first cam follower in the parallel direction, The drive mechanism includes: a screw shaft provided on the device base portion and extending in the parallel direction; a moving member that is screwed onto the screw shaft, supported so as not to be rotatable relative to the screw shaft, and provided with the first cam follower; A drive source that rotates the screw shaft; Equipped with The equipment lifting section is an unmanned guided vehicle comprising a lifting section main body with the second cam follower engaged on its underside, a load receiving platform placed on the lifting section main body, and a cover rotatably connected to one end of the load receiving platform in the front or rear of the travel direction of the carriage, the cover having a lower end slidably abutting the upper surface of the carriage.

2. 2. The automated guided vehicle according to claim 1, wherein an auxiliary cam follower is provided on the moving member in a traveling direction of the carriage and engaged with the cam follower guide groove at a distance from the first cam follower.

3. 3. The automated guided vehicle according to claim 1, wherein the movable member is provided so as to extend in a width direction of the carriage, and the link mechanism is provided on each of the left and right ends of the movable member.

4. The automated guided vehicle according to claim 3 , wherein the first and second lifting devices are provided spaced apart in the traveling direction of the carriage.

5. the first cam follower includes an outer ring and a fixed shaft portion disposed in the cam follower guide groove, the fixed shaft portion being fixed to the moving member, 3. The automated guided vehicle according to claim 1, wherein the movable member is provided with a cylindrical wall portion surrounding the fixed shaft portion, and the first link arm is attached so as to be rotatable around the cylindrical wall portion.

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