Carts and transport devices

Abstract

This cart comprises: a cart body having a loading platform on which an object being transported is placed, and vehicle wheels for travel; a linking part for positioning the lateral-direction position of the cart body relative to a transport vehicle in a state in which the transport vehicle has approached the underside of the cart body and linking the cart body to the transport body in a state in which towing is enabled while permitting changes in the orientation of the cart body relative to the transport vehicle; and a bumper part provided to the longitudinal-direction front surface of the cart body, the bumper part coming into contact with at least two points that are laterally separated from a reference surface provided to a transport target when the cart body is towed by the transport vehicle and moves to the transport target, whereby the cart body is positioned at a prescribed longitudinal-direction position and is caused to face the reference surface.

Description

[Technical field]

[0001] The present specification relates to a carriage capable of moving with an object being carried thereon, and a conveying device including the carriage. [Background technology]

[0002] In recent years, in order to promote labor saving in logistics and production, the use of automated guided vehicles that transport objects in logistics warehouses and production factories has been promoted. In addition, to handle objects that exceed the maximum load weight or large and unstable objects, automated guided vehicles that travel while towing a cart carrying the objects are used. One technical example of this type of towing type cart and transport vehicle is disclosed in Patent Document 1.

[0003] The part conveying device disclosed in Patent Document 1 includes a cart (trolley) having a mounting portion on which a tray is mounted and wheels, and an automated guided vehicle connected to the cart via a connecting mechanism so as to be relatively movable. Furthermore, as one embodiment of the relatively movable connecting mechanism, a configuration is disclosed in which the cart has two sets of circular openings and shafts connected to the automated guided vehicle via elastic members, and the shafts move inside the openings. According to this, it is said that the trays holding a large number of parts can be conveyed and the parts can be appropriately managed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-91770 A Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, in the part conveying device disclosed in Patent Document 1, the relative positional relationship between the opening and the shaft may change due to the automatic guided vehicle changing direction or the expansion and contraction of the elastic member, and the cart and the automatic guided vehicle may travel in a state where the positional relationship and posture (orientation) do not match. As a result, even if the automatic guided vehicle stops at the correct stopping position and in the correct posture, the position and posture of the cart may shift. In this case, the tray on the cart may be difficult to load and unload due to the shift in position and posture.

[0006] Therefore, an object of this specification is to provide a cart capable of managing the position and posture when stopped with high precision, and a conveying device including this cart. [Means for solving the problem]

[0007] This specification discloses a trolley comprising: a trolley body having a loading platform for placing an item to be transported and wheels for running; a coupling section which positions the trolley body in the left-right direction relative to a transport vehicle that has entered under the trolley body and connects the trolley body to the transport vehicle so that it can be towed while allowing the posture of the trolley body to change relative to the transport vehicle; and a bumper section which is provided on the front of the trolley body in the forward-backward direction and which, when the trolley body is towed by the transport vehicle and moves to the transport target, abuts against a reference surface provided on the transport target at at least two points spaced apart in the left-right direction, thereby positioning the trolley body at a predetermined position in the forward-backward direction and facing the trolley body directly relative to the reference surface.

[0008] This specification also discloses a transport device including the above-mentioned cart and the transport vehicle capable of entering under the cart body. Effect of the Invention

[0009] In the disclosed cart and transport device, the cart body is positioned in the left-right direction relative to the connected transport vehicle, but the attitude (orientation) relative to the transport vehicle can change. Even so, when the cart is towed by the transport vehicle and moves to the transport target, at least two points spaced apart in the left-right direction of the bumper part abut against a reference surface, so that the cart body is positioned at a predetermined position in the front-rear direction and takes an attitude directly facing the reference surface. Therefore, the position and attitude when the cart stops can be managed with high precision. [Brief description of the drawings]

[0010] [Figure 1] 1 is a perspective view of a conveying device including a dolly according to an embodiment, showing a state in which an object to be conveyed is placed on the dolly. [Diagram 2] FIG. 2 is a perspective view of the bogie according to the embodiment. [Diagram 3] FIG. 2 is a perspective view of a single transport vehicle constituting the transport device. [Figure 4] FIG. 4 is a partial perspective view showing a configuration of a connecting portion. [Diagram 5] FIG. 4 is a partial perspective view showing a power receiving connector on the dolly side and a power supply connector on the transport vehicle side. [Figure 6] FIG. [Figure 7] FIG. [Figure 8] 4 is a partial perspective view illustrating a bumper portion, a support portion, an elastic member, and a detection portion that configure the positioning portion. FIG. [Figure 9] 11 is a partial perspective view showing a state in which a detection unit detects that a bumper portion has come into contact with a reference surface; FIG. [Figure 10] FIG. 13 is a perspective view showing a state in which the transport device has traveled to the transport target. [Figure 11] 3 is a plan view for illustrating the configurations and functions of a fixed-side communication unit and a movable-side communication unit. FIG. [Figure 12] 13 is a plan view for explaining a schematic operation when the carriage and the transport vehicle are in different postures and the left front end of the bumper portion abuts against a reference surface. FIG. [Figure 13]FIG. 4 is a plan view of a bumper portion having roller members. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] 1. Overview of the conveying device 1 First, an overview of a transport device 1 including a dolly 2 of an embodiment will be described with reference to FIG. 1. The transport device 1 includes a dolly 2 and a transport vehicle 3. As shown by the arrows in the upper right of FIG. 1, the front, rear, left and right of the transport device 1, dolly 2 and transport vehicle 3 are defined for the sake of convenience. The dolly 2 and transport vehicle 3 are configured to be roughly symmetrical with respect to a center line extending in the front-rear direction. The dolly 2 is connected to the transport vehicle 3 by a connector 4 (described in detail later). The transport vehicle 3 enters the underside of the dolly 2 from the rear, pulls and moves the connected dolly 2, and exits behind the dolly 2.

[0012] The conveying device 1 conveys an item C between a plurality of conveying targets. An example of the item C is a storage case with an opening on the rear side. This item C (storage case) becomes heavy when a large number of items are to be stored inside through the opening, and may exceed the maximum load capacity of the conveying vehicle 3. Therefore, the conveying device 1 conveys the item C by a method in which the conveying vehicle 3 pulls a cart 2 carrying the item C. An example of the conveying target is a storage device 8 (described in detail later) that stores the item C.

[0013] 2. Cart body 20 The dolly 2 of the embodiment is composed of a dolly body 20, a coupling section 4, a positioning section 5, etc. As shown in FIG. 2 etc., the dolly body 20 is composed of a platform 21, left and right side sections 22, left and right legs 23, two front wheels 24, and two rear wheels 25, etc. Also, part of the coupling section 4, the positioning section 5, and a movable side communication section (71, 72) are arranged on the platform 21 (these will be described separately later). The platform 21 is a portion on which the transported object C is placed. The platform 21 is formed in a roughly rectangular shape in a plan view, and is arranged horizontally away from the floor surface. The platform 21 has a loading / unloading section 6 on its upper surface.

[0014] The loading / unloading section 6 loads and unloads the transported goods C from the front of the loading platform 21 in the front-rear direction. The loading / unloading section 6 is composed of a main roller 61, six drive rollers 62, a guide roller 63, a locking mechanism 64, an operation panel 66, and a drive motor (not shown). The three types of rollers are columnar or cylindrical members extending in the left-right direction and supported rotatably around a central axis. From the front to the rear of the loading platform 21, the guide roller 63, the three drive rollers 62, the main roller 61, and the three drive rollers 62 are arranged in the order shown.

[0015] The main roller 61 is driven by forward and reverse rotation of the drive motor, and rotates in the forward and reverse directions. The six drive rollers 62 are connected to the main roller 61 by a transmission belt (not shown), and rotate synchronously at the same rotational direction and speed as the main roller 61. No driving force is applied to the guide roller 63, and it can rotate freely. The transported object C is loaded by the forward rotation of the main rollers 61 and drive rollers 62, and the transported object C is unloaded by their reverse rotation. The start and stop of the drive motor, as well as the rotation direction, are controlled by a cart control unit (not shown).

[0016] The locking mechanism 64 is disposed behind the rearmost driving roller 62. The locking mechanism 64 locks the stacked transported object C using a locking hook 65. The front side of the locking hook 65 is bent upward and supported by an elastic member so as to be swingable in the vertical direction. When the transported object C is stacked, the locking hook 65 descends once and then ascends, thereby automatically locking the locked portion provided at the rear end of the transported object C. Alternatively, the locking hook 65 automatically fits into the locked hole provided at the bottom of the transported object C. Meanwhile, just before the transported object C is lowered, the locking hook 65 is driven downward by an electromagnetic solenoid (not shown) to release the lock on the transported object C. The electromagnetic solenoid is controlled by the dolly control unit.

[0017] As described above, the loading and unloading operation of the loading and unloading unit 6 is mainly performed automatically under the control of the cart control unit. Meanwhile, the operation panel 66 arranged at the rear of the platform 21 is used for some of the manual operations related to the loading and unloading unit 6. For example, the operation panel 66 is used for an error release operation when the loading and unloading unit 6 stops due to an error, and for an emergency stop operation of the loading and unloading unit 6. In order for the loading and unloading unit 6 to perform stable loading and unloading operations, it is important that the cart 2 stops accurately at the stop position set for each transport target and faces the transport target directly.

[0018] The left and right side portions 22 are provided so as to extend downward from the left and right edges of the loading platform 21. A space for the transport vehicle 3 to enter is defined between the left and right side portions 22 on the underside of the loading platform 21. Left and right leg portions 23 extending in the front-to-rear direction are provided on the underside of each of the side portions 22. Front wheels 24 for running are provided on the front lower portion of the leg portions 23, and rear wheels 25 for running are provided on the rear lower portion of the leg portions 23. The total of four front wheels 24 and rear wheels 25 are free wheels whose running direction can be changed. In addition, stoppers 26 are attached to the two rear wheels 25.

[0019] The loading platform 21 further has a power receiving connector 27. As shown in FIG. 5, the power receiving connector 27 is provided on the rear right side of the upper surface of the bottom plate 45 of the loading platform 21. The power receiving connector 27 is fitted into a power supply connector 37 on the transport vehicle 3 side. The power supply connector 37 is connected to a battery (not shown) built into the transport vehicle 3 using a power cable 38. Therefore, the power receiving connector 27 is fitted into the power supply connector 37 and can receive power for driving the loading / unloading unit 6, the cart control unit, and the electromagnetic solenoid from the battery on the transport vehicle 3 side. This eliminates the need for a battery in the cart 2, thereby realizing a reduction in weight.

[0020] 3. Transport vehicle 3 As shown in Fig. 3 etc., the transport vehicle 3 is composed of a vehicle body 31, two drive wheels 32, two front wheels 34, two rear wheels 35, an operation panel 36, the power supply connector 37 mentioned above, a tape detection unit 39, and a running motor (not shown). The transport vehicle 3 also has the remaining parts of the coupling unit 4 arranged thereon (this will be described separately later). The vehicle body 31 is formed in a shape that is roughly a rectangular parallelepiped that is long in the front-rear direction and has rounded corners in a plan view. The vehicle body 31 is arranged horizontally and slightly spaced from the floor surface.

[0021] The two drive wheels 32 are arranged side by side in the left-right direction at a central position in the front-rear direction on the underside of the vehicle body 31 (see Figs. 6 and 7). Each of the drive wheels 32 is driven by forward and reverse rotation of a traveling motor. The two drive wheels 32 are capable of rotating at different rotation speeds and in different rotation directions. This allows the transport vehicle 3 to move forward, backward, and change direction freely. The start, stop, and rotation direction of the traveling motor are controlled, and the driving force output by the traveling motor is adjusted by a transport vehicle control unit (not shown). Naturally, the rotation speed of the drive wheels 32 and the traveling speed of the transport vehicle 3 change as the driving force increases or decreases.

[0022] The two front wheels 34 are disposed on the lower front side of the vehicle body 31, spaced apart from each other on the left and right. The two rear wheels 35 are disposed on the lower rear side of the vehicle body 31, spaced apart from each other on the left and right. A total of four front wheels 34 and rear wheels 35 are free-wheeling wheels that can change the traveling direction. The front wheels 34 and rear wheels 35 rotate following the rotation of the two driving wheels 32. As shown in FIG. 6, the distance between the left and right wheels, i.e., the tread width, is maximum for the driving wheels 32, minimum for the front wheels 34, and intermediate for the rear wheels 35. Since the tread width of the driving wheels 32 is maximum, good steering performance of the transport vehicle 3 is ensured.

[0023] The tape detection units 39 are provided in a pair, front and rear, at positions toward the front and rear on the center line on the underside of the vehicle body 31 (see FIG. 6). The tape detection units 39 detect a route display tape 3A (see FIG. 10) provided on the floor surface and output the detection result to the guided vehicle control unit. The route display tape 3A displays the travel route of the guided vehicle 3. The guided vehicle control unit controls the guided vehicle 3 so that it travels along the route display tape 3A. A magnetic display tape or an optical display tape can be used as the route display tape 3A. The tape detection units 39 use a detection method that corresponds to the display method of the route display tape 3A.

[0024] Furthermore, the tape detection unit 39 can detect a branch point 3B of the travel route indicated by the route display tape 3A. The travel route after the transport vehicle 3 passes the branch point 3B is selected by the transport vehicle control unit. The transport vehicle control unit calculates and estimates the current position, attitude (direction), and travel speed of the transport vehicle 3 using the detection result of the route display tape 3A by the tape detection unit 39 and the control amount of the drive wheels 32, and controls the subsequent travel of the transport vehicle 3 based on these.

[0025] As described above, the transportation vehicle 3 travels automatically mainly under the control of the transportation vehicle control unit. Meanwhile, the operation panel 36 disposed at the rear of the upper surface of the vehicle body 31 is used for some manual operations related to the transportation vehicle 3. For example, the operation panel 36 is used for an error release operation when the transportation vehicle 3 stops due to an error, and for an emergency stop operation of the transportation vehicle 3.

[0026] 4.Connection part 4 As shown in Fig. 4, the connecting part 4 is disposed between the bottom plate 45 of the lower part of the platform 21 and the upper surface of the transport vehicle 3. The connecting part 4 connects the cart body 20 to the transport vehicle 3 in a state in which the cart body 20 is inserted under the platform 21 so as to be able to be towed. The connecting part 4 is composed of three connecting pins provided on the upper surface of the transport vehicle 3, a front locking member 46 provided on the bottom plate 45 of the platform 21, and a pair of left and right switching mechanisms 4A. The bottom plate 45 is seen through in Fig. 4.

[0027] As shown in Figures 3 and 4, a front connecting pin 41 is provided upright at a front position in the center in the left-right direction on the top surface of the transport vehicle 3. The front connecting pin 41 is formed by fitting cylindrical urethane rubber onto the outer periphery of a metallic round bar. In addition, a pair of left and right rear connecting pins 42 are provided upright at right rear positions and left rear positions on the top surface of the transport vehicle 3. The rear connecting pins 42 are formed of the same material and have the same shape as the front connecting pin 41. The rear connecting pin 42 is attached to the top surface of the transport vehicle 3 via a spacer 43, and is positioned higher than the front connecting pin 41.

[0028] Meanwhile, the front and rear edges of the bottom plate 45 of the loading platform 21 are bent downward. A front locking member 46 is provided on the underside of the bottom plate 45 at a position toward the front of the left-right center. The front locking member 46 is formed in a crank shape in a plan view and has a storage section that opens to the rear. The storage section of the front locking member 46 has a tapered inner wall surface that has a narrowest part at approximately the mid-height and widens at the top and bottom. The opening width dimension at the narrowest part of the front locking member 46 is set to be approximately equal to the diameter of the front connecting pin 41 or equal by allowing a negative tolerance.

[0029] When the transport vehicle 3 enters the underside of the dolly body 20, the front connecting pin 41 enters from the rear toward the inside of the housing of the front locking member 46. The front connecting pin 41 is inscribed in the narrowest part of the front locking member 46 and hardly comes into contact with the inner wall surface other than the narrowest part. In addition, when the front connecting pin 41 is inscribed in the narrowest part, minute deformation of the urethane rubber on the outer periphery is allowed. As a result, the housing of the front locking member 46 locks the front connecting pin 41 and does not allow it to move in the left-right direction. Therefore, the left-right position of the dolly body 20 relative to the transport vehicle 3 is determined. On the other hand, the housing of the front locking member 46 allows the front connecting pin 41 to tilt in the left-right direction and the front-back direction. Therefore, since the relative inclination of the dolly body 20 relative to the transport vehicle 3 in the left-right direction and the front-back direction is allowed, the transport vehicle 3 and the dolly 2 can run smoothly even if the floor surface is undulated. Further, the front connecting pin 41 is capable of moving relatively in the front-rear direction within the housing portion of the front locking member 46 .

[0030] Furthermore, a pair of left and right bar- or plate-shaped guide members 47 are provided below the bottom plate 45. The pair of left and right guide members 47 are arranged obliquely so as to gradually approach the accommodation portion of the front locking member 46 as they proceed from the rear side to the front side of the loading platform 21. The guide members 47 guide the front connecting pin 41 toward the accommodation portion of the front locking member 46 in the case where the center lines of the transport vehicle 3 and the front locking member 46 are misaligned when the transport vehicle 3 enters the underside of the dolly body 20.

[0031] The rear edge of the bottom plate 45 is made up of a crank edge portion 48, the center of which is cut out into a crank shape, and left and right rear edge portions 49, which are not cut out. A switching mechanism 4A is provided on each of the left and right rear edge portions 49. Each of the pair of left and right switching mechanisms 4A is made up of a mechanism main body 4B, a rear locking member 4C, and an operation knob 4D.

[0032] The mechanism body 4B is fixed to the rear edge portion 49. The rear locking member 4C is a plate-like member bent into a mountain shape. The rear locking member 4C is supported by the mechanism body 4B so as to be slidable in the left-right direction (see arrow A1 in FIG. 4). In other words, the rear locking member 4C is supported so as to be movable between a locking position protruding from the mechanism body 4B in the direction of the center line and a non-locking position stored in the mechanism body 4B. In the initial state of the switching mechanism 4A, the rear locking member 4C is located in the non-locking position. The operation knob 4D is provided on the mechanism body 4B. By rotating the operation knob 4D, the rear locking member 4C moves between the non-locking position and the locking position.

[0033] When in the unlocked position, the rear locking member 4C allows the rear connecting pin 42 to pass in the front-rear direction, thereby allowing the transport vehicle 3 to enter and exit below the cart body 20. As shown in Fig. 4, when the transport vehicle 3 enters the underside of the cart body 20 and the front connecting pin 41 is locked by the front locking member 46, the pair of left and right rear connecting pins 42 enter into the crank shape of the crank edge portion 48 and protrude above the crank edge portion 48.

[0034] Here, when an operator rotates the operation knob 4D, the rear locking member 4C slides from the non-locking position to the locking position and is positioned behind the rear connecting pin 42. When in the locking position, the rear locking member 4C blocks the rear connecting pin 42 from passing backward, and does not allow the transport vehicle 3 to exit from under the cart body 20.

[0035] In this state, gaps corresponding to the play dimension in the front-rear direction are generated between the rear connecting pin 42 and the crank edge portion 48, and between the rear connecting pin 42 and the rear locking member 4C. In other words, the crank edge portion 48 and the rear locking member 4C lock the rear connecting pin so that it can move relatively in the front-rear direction within a range of a predetermined play dimension. Therefore, both the front connecting pin 41 and the rear connecting pin 42 are relatively movable in the front-rear direction. As a result, the position of the cart body 20 in the front-rear direction relative to the transport vehicle 3 is not determined.

[0036] Meanwhile, a gap corresponding to the left-right play dimension is generated between the rear connecting pin 42 and the crank edge 48. In other words, the crank edge 48 functions as a locking member that locks the rear connecting pin 42 so that it can move relatively within the range of the left-right play dimension. This allows the rear part of the cart body 20 to rotate left-right around the front connecting pin 41 as the center of rotation. In other words, the cart body 20 is allowed to change its posture relative to the transport vehicle 3.

[0037] Thereafter, the power receiving connector 27 and the power supply connector 37 are engaged, completing the process of connecting the trolley 2 and the transport vehicle 3. When the transport vehicle 3 moves forward while towing the trolley 2, the front connecting pin 41 pushes the front locking member 46. When the transport vehicle 3 moves backward while towing the trolley 2, the rear connecting pin 42 pushes the rear locking member 4C. When the transport vehicle 3 moves forward, backward, or changes direction, the front-to-rear position and attitude of the trolley 2 relative to the transport vehicle 3 may change from time to time.

[0038] Furthermore, even if the front connecting pin 41 is displaced by a predetermined amount in the vertical direction relative to the front locking member 46, the front locking member 46 continues to lock the front connecting pin 41. Similarly, even if the rear connecting pin 42 is displaced by a predetermined amount in the vertical direction relative to the crank edge portion 48 and the rear locking member 4C, the crank edge portion 48 and the rear locking member 4C continue to lock the rear connecting pin 42. The dimensions and shapes of the front connecting pin 41, the rear connecting pin 42, and other members are designed to achieve the above-mentioned functions.

[0039] According to this, the connecting portion 4 allows the carriage body 20 to change its vertical posture relative to the transport vehicle 3. In other words, the carriage body 20 is allowed to move up and down relative to the transport vehicle 3. Furthermore, when the transport vehicle 3 is in a horizontal posture, the carriage body 20 is allowed to be in an inclined posture inclined in the front-back or left-right direction, and conversely, when the transport vehicle 3 is in an inclined posture, the carriage body 20 is allowed to be in a horizontal posture. Therefore, even if the floor surface on which the transport vehicle 3 is traveling is uneven or has some steps, the transport vehicle 3 can continue traveling while towing the carriage 2.

[0040] 5. Positioning part 5 The positioning unit 5 is provided at the front of the platform 21 of the cart body 20 as shown in Fig. 8. The positioning unit 5 is a portion that makes the cart body 20 face a reference surface provided at the transport target. The positioning unit 5 is composed of a bumper unit 51, a support unit 53, an elastic member 55, a detection unit 56, and the like.

[0041] The bumper section 51 is provided on the front side of the loading platform 21 in the front-rear direction and extends in the left-right direction (see Figs. 2, 6, and 7). The bumper section 51 is formed in a horizontally disposed linear rod shape using, for example, metal or hard resin with high mechanical strength. Both ends of the front side of the bumper section 51 are rounded in a manner similar to chamfering.

[0042] The bumper portion 51 is located rearward of the front end of the loading platform 21. Even so, the bumper portion 51 abuts against a reference surface provided on the loading target before the loading platform 21 collides with the loading target. At this time, the bumper portion 51 can abut against the reference surface at least two points spaced apart in the left-right direction. The bumper portion 51 has a pair of left and right support rods 52 that extend rearward from symmetrical positions on the left and right sides of its rear surface. The support rods 52 can be, for example, round bars made of metal or hard resin.

[0043] Meanwhile, a pair of left and right support parts 53 are provided on the front of the loading platform 21 of the dolly body 20 (see FIG. 8). The support parts 53 have a support hole penetrating in the front-rear direction, and support the support rod 52 so that it can move in the front-rear direction using this support hole. In other words, the support parts 53 support the bumper part 51 so that it can move parallel to the front-rear direction relative to the dolly body 20. The support rod 52 has a backing plate 54 on the rear side that passes through the support parts 53. The backing plate 54 is formed to be larger than the outer diameter of the support hole, and prevents the support rod 52 from slipping out of the support parts 53 to the front side.

[0044] The elastic member 55 is provided between the bumper portion 51 and the support portion 53, and surrounds the outer circumferential surface of the support rod 52. A cylindrical coil spring is used for the elastic member 55. The elastic member 55 has elasticity that expands and contracts in the front-rear direction, and is assembled in a compressed state. In other words, the elastic member 55 biases the bumper portion 51 forward relative to the bogie body 20. This maintains the contact state of the backing plate 54 against the support portion 53 under normal conditions. The elastic member 55 is further compressed when the bumper portion 51 contacts the reference surface, and serves as a buffer material that absorbs shocks.

[0045] The detection unit 56 detects when the bumper portion 51 abuts against a reference surface. The detection unit 56 is composed of a sensor dog 57, a light-blocking detection sensor 58, and the like. The sensor dog 57 is formed of a bent plate material, and is attached to the rear surface of the contact plate 54. The sensor dog 57 extends upward from the rear surface of the contact plate 54, and is further bent forward. The light-blocking detection sensor 58 is provided on the upper side of the support portion 53. The light-blocking detection sensor 58 has a light-projecting portion and a light-receiving portion spaced apart in the vertical direction, and detects whether the detection light projected in the vertical direction is blocked or not.

[0046] 8, when the contact plate 54 is in contact with the support portion 53 under normal circumstances, the sensor dog 57 enters between the light emitting portion and the light receiving portion of the light blocking detection sensor 58. Therefore, the light blocking detection sensor 58 detects a light blocking state. In this embodiment, the light blocking state detected by the light blocking detection sensor 58 indicates that the bumper portion 51 is not in contact with the reference surface.

[0047] On the other hand, when the cart 2 is towed and the bumper portion 51 abuts against the reference surface, a driving force for traveling is applied from the transport vehicle 3 to the cart 2. This driving force for traveling presses the bumper portion 51 against the reference surface, compressing the elastic member 55. As a result, as shown in FIG. 9, the bumper portion 51, the support rod 52, the contact plate 54, and the sensor dog 57 move backward relative to the cart body 20. At this time, the sensor dog 57 moves out from between the light-emitting portion and the light-receiving portion of the light-blocking detection sensor 58. Therefore, the light-blocking detection sensor 58 detects a light-receiving state. In this embodiment, the light-receiving state detected by the light-blocking detection sensor 58 indicates that the bumper portion 51 abuts against the reference surface.

[0048] The light blocking detection sensor 58 outputs the detection result to the trolley control unit. Therefore, the trolley control unit can recognize the state in which the bumper portion 51 abuts against the reference surface. As described above, the trolley 2 includes two sets of support portions 53 and elastic members 55 arranged at symmetrical positions in the left-right direction of the bumper portion 51. This facilitates the relative retreating movement of the bumper portion 51 with respect to the trolley body 20. In addition, the detection portion 56 is preferably provided in a pair on the left and right to correspond to the asymmetrical movement of the bumper portion 51, but may be simplified to only one side, either the left or right side.

[0049] 6. Containment device 8 etc. Next, the storage device 8, which is an example of a transport target, will be described with reference to Figs. 10 and 11. The storage device 8 is a device having a roughly rectangular parallelepiped shape, and can store two transported objects C. The storage device 8 has a first storage position 81, a second storage position 82, a reference plane 84, a first fixed side communication unit 85, and a second fixed side communication unit 86. In Figs. 10 and 11, the cart 2 and the transport vehicle 3 face the reference plane 84 behind the second storage position 82. Note that "face" refers to the center line of the cart 2 and the transport vehicle 3 being exactly perpendicular to the reference plane 84.

[0050] The first storage position 81 corresponds to a rectangular parallelepiped storage space that is defined in the upper left part of the storage device 8 and opens to the rear. The second storage position 82 corresponds to a rectangular parallelepiped storage space that is defined in the upper right part of the storage device 8 and opens to the rear. A roller conveyor 83 is provided on the lower inside of each of the first storage position 81 and the second storage position 82. The roller conveyor 83 is disposed at approximately the same height as the loading / unloading unit 6 on the cart 2 side. The roller conveyor 83 is driven by a drive motor (not shown) controlled by a storage control unit (not shown). The roller conveyor 83 operates in coordination with the loading / unloading unit 6 to load and unload the transported object C.

[0051] The reference surface 84 is provided below and behind the rear ends of the first storage position 81 and the second storage position 82. The reference surface 84 is arranged upright in the vertical direction including the height of the bumper portion 51 on the dolly 2 side, and extends long in the left-right direction. By providing the reference surface 84 behind the first storage position 81 and the second storage position 82, the bumper portion 51 abuts against the reference surface 84 before the loading platform 21 of the dolly 2 reaches the first storage position 81 and the second storage position 82. This ensures an appropriate positional relationship between the storage device 8 and the dolly 2.

[0052] Note that the reference surface 84 may be inclined and the front surface of the bumper portion 51 may also be inclined, so that when the bumper portion 51 abuts against the reference surface 84, a downward reaction force acts on the bumper portion 51 from the reference surface 84. In this way, when the dolly 2 moves forward and the bumper portion 51 abuts against the reference surface 84, the dolly 2 is less likely to move backward.

[0053] The first fixed side communication unit 85 is provided facing backward at a position near the left end on the lower side of the reference surface 84 (see Figs. 10 and 11). The first fixed side communication unit 85 is provided below the first storage position 81. The second fixed side communication unit 86 is provided below the right end on the lower side of the reference surface 84 (see Fig. 11). The second fixed side communication unit 86 is provided below the second storage position 82. The first fixed side communication unit 85 and the second fixed side communication unit 86 are controlled by the storage control unit. It should be noted that a fixed side communication unit cannot be provided near the center on the lower side of the reference surface 84 due to an obstruction caused by a structure (not shown).

[0054] On the other hand, as shown in Fig. 6, the cart body 20 (cargo platform 21) is provided with a first movable side communication unit 71 and a second movable side communication unit 72. The first movable side communication unit 71 is disposed facing forward at a position lower than the bumper portion 51 on the left side of the front surface of the cart body 20. The second movable side communication unit 72 is disposed facing forward at a position lower than the bumper portion 51 on the right side of the front surface of the cart body 20. The first movable side communication unit 71 and the second movable side communication unit 72 are controlled by the cart control unit.

[0055] As shown in FIG. 10 and FIG. 11, when the dolly 2 is located behind the second storage position 82, the second fixed side communication unit 86 and the second movable side communication unit 72 face each other. Therefore, the second fixed side communication unit 86 and the second movable side communication unit 72 can transmit and receive using an optical signal propagating in a direction perpendicular to the reference plane 84. This allows the second movable side communication unit 72 and the dolly control unit to confirm that the dolly 2 is located behind the second storage position 82. On the other hand, the second fixed side communication unit 86 and the storage control unit can confirm that the dolly 2 has arrived behind the second storage position 82. At this time, the first fixed side communication unit 85 and the first movable side communication unit 71 do not have a communication partner facing them.

[0056] Also, when the dolly 2 is located behind the first storage position 81, the first fixed side communication unit 85 and the first movable side communication unit 71 face each other. Therefore, the first fixed side communication unit 85 and the first movable side communication unit 71 can transmit and receive using an optical signal propagating in a direction perpendicular to the reference plane 84. This allows the first movable side communication unit 71 and the dolly control unit to confirm that the dolly 2 is located behind the first storage position 81. On the other hand, the first fixed side communication unit 85 and the storage control unit can confirm that the dolly 2 has arrived behind the first storage position 81. At this time, the second fixed side communication unit 86 and the second movable side communication unit 72 have no communication partner facing them.

[0057] By checking using optical signals, the accommodation control unit and the cart control unit can accurately and quickly check the arrival position and arrival time of the cart 2. This allows the accommodation control unit to operate the side of the two sets of roller conveyors 83 where the cart 2 has arrived without fail. In addition, the roller conveyors 83 and the loading / unloading unit 6 operate in coordination through cooperative control by the accommodation control unit and the cart control unit, so that the transported goods C can be loaded and unloaded efficiently.

[0058] If there are no obstructing structures and the second fixed side communication unit 86 can be provided in a position near the center below the reference plane 84 as shown by the dashed line in Fig. 11, the second movable side communication unit 72 can be omitted. In this embodiment, when the first fixed side communication unit 85 can communicate with the first movable side communication unit 71, it can be confirmed that the trolley 2 is located behind the first storage position 81, and when the second fixed side communication unit 86 can communicate with the first movable side communication unit 71, it can be confirmed that the trolley 2 is located behind the second storage position 82.

[0059] 7. Operation and Function of the Conveyor Device 1 and the Cart 2 Next, the operation and function of the transport device 1 and the cart 2 will be described using as an example a case where the cart 2 moves to the storage device 8 and stops there. In this case, the transport vehicle 3 travels along the route display tape 3A while pulling the cart 2 connected by the connector 4, and approaches the storage device 8 from a direction directly facing the reference surface 84. At this point, the left-right position of the cart 2 is fixed and does not change thereafter. In addition, after approaching the reference surface 84, the transport vehicle 3 makes the traveling drive force constant and abuts the bumper portion 51 against the reference surface 84 at a constant speed. The constant speed at this time may be the normal traveling speed of the transport vehicle 3 or may be a speed slower than that. When the bumper portion 51 abuts against the reference surface 84, the cart 2 is not always in the same posture (orientation) as the transport vehicle 3; in other words, the cart 2 is not always facing the reference surface 84.

[0060] For example, in the example shown in Fig. 12, the attitude of the cart 2 is tilted to the right with respect to the transport vehicle 3, and the left side of the cart 2 protrudes forward. Here, as shown by the arrow in the upper right of Fig. 12, the right direction of the transport vehicle 3 is the X-axis direction, and the forward direction is the Y-axis direction. In this case, the reference plane 84 extends parallel to the X-axis. Also, in Fig. 12, the tilt of the attitude of the cart 2 is exaggerated in order to easily explain the action of automatic correction of the attitude of the cart 2.

[0061] As shown in the figure, when the cart 2 is inclined rightward relative to the transport vehicle 3, the left front end 59 of the bumper portion 51 first comes into contact with the reference surface 84. At this time, a traveling drive force F1, which is generated when the front connecting pin 41 of the transport vehicle 3 pushes the front locking member 46 of the cart 2, acts on the bumper portion 51 from the cart body 20 via the elastic member 55. This traveling drive force F1 can be considered to be divided into a component force F2 in the diagonally left front direction toward the left front end 59, and a component force F3 in the diagonally right front direction. Furthermore, the component force F2 can be considered to be divided into a component force F2Y in the Y-axis direction and a component force F2X in the negative X-axis direction.

[0062] The force component F2Y is balanced and cancelled out by the reaction force from the reference surface 84. Due to the action of the force component F2X, the left front end 59 of the bumper portion 51 moves leftward while sliding against the reference surface 84. On the other hand, the X-axis direction component of the force component F3 is balanced and cancelled out by the ground contact friction resistance of the front wheels 24 and the rear wheels 25. Furthermore, the dolly 2 is driven in the Y-axis direction by the action of the Y-axis component of the force component F3. Therefore, while the left front end 59 of the bumper portion 51 moves leftward, the dolly 2 advances in the Y-axis direction without moving in the X-axis direction (left-right direction).

[0063] 12 around the front connecting pin 41 as the center of rotation, and is automatically corrected to a position parallel to the transport vehicle 3. As a result, the trolley 2 assumes a position parallel to the transport vehicle 3, and the entire front surface, including the left front end 59 and the right front end of the bumper portion 51, abuts against the reference surface 84. In other words, the trolley 2 can have the trolley main body 20 directly facing the reference surface 84 by abutting the bumper portion 51 against the reference surface 84 at least at two points spaced apart in the left-right direction. Therefore, the trolley 2 faces the reference surface 84 directly.

[0064] Furthermore, as the carriage 2 advances, the elastic member 55 is compressed. Finally, the carriage 2 and the carriage 3 stop at a predetermined position when the driving force F1 from the carriage 3 and the reaction force due to the compression of the elastic member 55 are balanced. This stopped state is detected by the light blocking detection sensor 58 of the detection unit 56 and recognized by the carriage control unit.

[0065] Here, since the traveling driving force F1 is constant every time the vehicle stops, the bumper portion 51 is pressed against the reference surface 84 with a predetermined pressing force by the elastic member 55. This makes the compression amount of the elastic member 55 constant, and the stopping position of the cart 2 in the front-rear direction is stabilized. As described above, the cart 2 can be made to face the reference surface 84 directly, and further, the stopping position of the cart 2 can be stabilized.

[0066] If the driving force F1 is set to a larger constant value, the predetermined position where the cart 2 stops will be closer to the reference surface 84, and if the driving force F1 is set to a smaller constant value, the predetermined position will be farther away from the reference surface 84. The magnitude of the shock when the bumper portion 51 abuts against the reference surface 84 varies depending on the driving force F1. For this reason, the magnitude of the driving force F1 is set to an appropriate constant value based on the type and shape of the transport target, the shock resistance of the transported object C, etc.

[0067] In the dolly 2 and the transport device 1 of the embodiment, the dolly body 20 is positioned in the left-right direction relative to the coupled transport vehicle 3, but the attitude (orientation) relative to the transport vehicle 3 can change. Even so, when the dolly 2 is towed by the transport vehicle 3 and moves to the storage device 8, at least two points of the bumper portion 51 spaced apart in the left-right direction come into contact with the reference surface 84, so that the dolly body 20 is positioned at a predetermined position in the front-rear direction and takes an attitude directly facing the reference surface 84. Therefore, the position and attitude of the dolly 2 when it stops can be managed with high precision.

[0068] 8. Application example of bumper part 5A Next, the bumper part 5A of the applied example will be described with reference to Fig. 13. The size of the bumper part 5A of the applied example is similar to that of the bumper part 51 of the embodiment, but it differs from the embodiment in that it has two roller members 5B. The roller members 5B are respectively disposed at the left front end position and the right front end position of the bumper part 5A.

[0069] The roller member 5B is formed in a columnar or cylindrical shape centered on the vertical axis 5C. The roller member 5B is attached to the bumper portion 5A so as to be rotatable about the vertical axis 5C. A portion of the roller member 5B protrudes forward from the outer surface of the left front end and the outer surface of the right front end of the bumper portion 5A and is capable of abutting against the reference surface 84.

[0070] In the applied example, the action of automatically correcting the posture of the cart 2 described with reference to Fig. 12 occurs in the same manner. Also, when the bumper portion 5A moves in the left-right direction along the reference surface 84, the roller members 5B come into contact with the reference surface 84. Therefore, when the bumper portion 5A moves in the left-right direction, the rolling friction resistance is smaller than the sliding friction resistance, and smooth movement is possible. As a result, the action of automatically correcting the posture of the cart 2 becomes more reliable.

[0071] 9. Positioning part of modified example In the positioning portion of the modified example, bumper portion 51 or bumper portion 5A is used, and the rear end of support rod 52 is directly fixed to cart body 20. With this modification, support portion 53, contact plate 54, elastic member 55, and detection portion 56 are omitted. Since elastic member 55 is omitted in the modified example, measures are taken to address concerns about misalignment and change in attitude of cart 2 caused by shock when bumper portion 51 abuts against reference surface 84.

[0072] Specifically, when the transport vehicle 3 tows the dolly 2 to the storage device 8, the transport vehicle 3 approaches the reference surface 84 from a direction directly facing the reference surface 84 while decelerating, and brings the bumper portion (51, 5A) into contact with the reference surface 84 at a speed slower than the normal traveling speed. This reduces the shock and eliminates the above-mentioned concerns.

[0073] In the modified example, the action of automatically correcting the posture of the cart 2 described with reference to Fig. 12 occurs in the same way. Also, since there is no need to consider the amount of compression of the omitted elastic member 55, the transport vehicle 3 only needs to move at a low speed each time it stops, and does not need to move at a constant speed. Nevertheless, since the cart 2 stops with at least two points of the bumper portion (51, 5A) spaced apart in the left-right direction abutting on the reference surface 84, the stopping position and stopping posture of the cart 2 are stabilized.

[0074] 10. Modifications and Applications of the Embodiments The bumper portion (51, 5A) is not limited to the straight rod shape described in the embodiment. For example, the bumper portion may be a curved shape with the left and right front ends protruding forward and the center portion recessed backward, or may be a separate type separated into left and right. In addition, the configuration of the positioning portion 5 including the bumper portion (51, 5A) can be applied to a dolly that is connected to the rear or front of the transport vehicle 3.

[0075] Furthermore, the front connecting pin 41 and the rear connecting pin 42 constituting the connecting portion 4 may be provided on the cart 2 side, and the front locking member 46 and the switching mechanism 4A may be provided on the transport vehicle 3 side. The travel route of the transport vehicle 3 may be determined by something other than the route display tape 3A. The first movable side communication unit 71 and the second movable side communication unit 72 may be provided on the transport vehicle 3 instead of the cart 2. Various other modifications and applications of the embodiment are possible. [Explanation of symbols]

[0076] 1: Transport device 2: Cart 20: Cart body 21: Loading platform 24: Front wheel 25: Rear wheel 27: Power receiving connector 3: Transport vehicle 31: Vehicle body 32: Drive wheel 37: Power supply connector 4: Connection part 41: Front connecting pin 42: Rear connecting pin 45: Bottom plate 46: Front locking member 48: Crank edge 4A: Switching mechanism 4C: Rear locking member 5: Positioning part 51: Bumper part 53: Support part 55: Elastic member 56: Detection part 57: Sensor dog 58: Shading detection sensor 5A: Bumper part 5B: Roller member 6: Loading / unloading part 71: First movable side communication part 72: Second movable side communication part 8: Storage device 84: Reference surface 85: First fixed side communication part 86: Second fixed side communication part C: Transported object

Claims

1. A carriage body having a platform for carrying an object to be transported and wheels for traveling; a coupling section that determines a left-right position of the carriage body with respect to the transport vehicle that has entered under the carriage body and couples the carriage body to the transport vehicle so as to be towable while allowing a change in posture of the carriage body with respect to the transport vehicle; a bumper section that is provided on a front side of the carriage body in a front-rear direction, and that, when the carriage body is towed by the transport vehicle and moves to a transport target, contacts with a reference surface provided on the transport target at at least two points spaced apart in the left-right direction, thereby positioning the carriage body at a predetermined position in the front-rear direction and facing the carriage body directly to the reference surface; A trolley equipped with:

2. A support portion that supports the bumper portion so as to be movable in parallel in a front-rear direction relative to the carriage body; The bogie according to claim 1 , further comprising: an elastic member that biases the bumper portion forward relative to the bogie body.

3. The bogie according to claim 2 , comprising a plurality of pairs of the support portions and the elastic members disposed at symmetrical positions in the left-right direction of the bumper portion.

4. The cart according to claim 2 or 3, wherein the bumper portion is pressed against the reference surface with a predetermined pressing force by the elastic member when the transport vehicle moves to the transport target by towing the cart body.

5. The bogie according to any one of claims 1 to 4, further comprising a detection unit that detects when the bumper portion abuts against the reference surface.

6. A carriage body having a platform for carrying an object to be transported and wheels for traveling; A coupling portion that couples the carriage body to a transport vehicle so as to be towable; A bumper portion provided on the carriage body and capable of contacting a reference surface provided on a conveyance target; a detection unit that detects when the bumper portion abuts on the reference surface, The bumper portion has a roller member that is rotatable and can contact the reference surface. Trolley.

7. The connecting portion is A connecting pin provided vertically on one of the lower surface of the carriage body and the upper surface of the transport vehicle; a locking member provided on the other of the lower surface of the carriage body and the upper surface of the transport vehicle, and locking the connecting pin so as to be relatively movable within a range of a predetermined play dimension in at least one of a left-right direction and a front-rear direction, Allowing a change in the horizontal attitude of the carriage body relative to the transport vehicle; A trolley according to any one of claims 1 to 6.

8. A switching mechanism is provided for switching the locking member between a locking position and a non-locking position, A trolley as described in claim 7, wherein when the locking member is in the locking position, it does not allow the transport vehicle to exit from under the trolley body, and when the locking member is in the non-locking position, it allows the transport vehicle to exit from under the trolley body.

9. The cart according to any one of claims 1 to 8, wherein the connecting portion allows a change in the vertical attitude of the cart body relative to the transport vehicle.

10. A carriage body having a platform for carrying an object to be transported and wheels for traveling; A coupling portion that couples the carriage body to a transport vehicle so as to be towable; A bumper portion provided on the carriage body and capable of contacting a reference surface provided on a conveyance target; a detection unit that detects when the bumper portion abuts on the reference surface, The loading platform is: A loading and unloading unit that loads and unloads the transported object from the front in a front-rear direction; a power receiving connector that is fitted into a power supply connector of the transport vehicle to receive power for driving the loading / unloading unit, Trolley.

11. The cart according to any one of claims 1 to 10, further comprising a movable side communication unit provided on the cart body and facing directly to a fixed side communication unit provided on the transport target to communicate with the fixed side communication unit.

12. the transport target includes a plurality of storage positions for storing the transported object, and a plurality of the fixed-side communication units provided corresponding to each of the storage positions; The movable-side communication unit is capable of communicating with any one of the fixed-side communication units to confirm the storage position to which the carriage body faces.

12. The dolly according to claim 11.

13. The dolly according to claim 11 or 12, wherein the movable-side communication unit and the fixed-side communication unit transmit and receive optical signals propagating in a direction intersecting the reference plane.

14. A dolly according to any one of claims 1 to 13; The transport vehicle capable of entering under the carriage body; A conveying device comprising:

15. The transport device according to claim 14, wherein when the transport vehicle tows the cart to the transport target, the transport vehicle approaches the reference surface from a direction directly facing the reference surface while decelerating, and abuts the bumper portion against the reference surface at a speed slower than the normal traveling speed.

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