Automated guided vehicles

Abstract

To provide an unmanned carrier capable of positioning well with respect to equipment and hardly wearing a floor surface in front of the equipment when positioning.SOLUTION: An unmanned carrier is provided with a coupling device for coupling the vehicle body and the trolley so that a carriage can move at least horizontally with respect to the vehicle body. The coupling device has a left-right movement mechanism 130, a rotating mechanism 140, and a vertical movement mechanism 150. The left / right moving mechanism 130 has left / right guide rails and left / right moving bodies slidable on the left / right guide rails. The rotating mechanism 140 has a left and right axis extending in the left and right directions, a front and rear axis 141 extending in the front and rear directions, and a rotating body rotatably engaged with the left and right axes and the front and rear axes 141. The vertical movement mechanism 150 has a first vertical guide rail 151a and a second vertical guide rail 151b extending in the vertical direction, and a vertical movement body 152 slidably engaged with the first vertical guide rail 151a and the second vertical guide rail 151b.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to an automated guided vehicle that transports luggage to a facility and delivers the luggage to and from the facility. [Background technology]

[0002] Conventionally, automated guided vehicles that automatically transport loads between multiple pieces of equipment have been used in factories and the like. The automated guided vehicle travels toward the equipment and automatically stops when it reaches a position in front of the equipment. After stopping, the automated guided vehicle delivers the load to the equipment or receives the load from the equipment. Here, if the position of the automated guided vehicle is misaligned with respect to the equipment, the load cannot be delivered properly. Therefore, conventionally, a positioning device has been used that positions the automated guided vehicle with respect to the equipment so that the positions of the automated guided vehicle and the equipment are aligned after the automated guided vehicle stops in front of the equipment.

[0003] Patent Document 1 describes a positioning device that includes a positioning pin and a pin hole having a tapered inner peripheral surface. The equipment includes a protrusion that protrudes downward, and the pin hole is formed at the lower end of the protrusion. The positioning pin is provided on an automated guided vehicle and protrudes upward. When positioning the automated guided vehicle, the equipment moves the pin hole downward, so that the positioning pin is inserted into the pin hole. Since the inner peripheral surface of the pin hole is tapered, if the axis of the positioning pin and the axis of the pin hole are misaligned, the positioning pin comes into contact with the inner peripheral surface of the pin hole as the pin hole moves downward. The positioning pin receives a downward force from the inner peripheral surface of the pin hole, and also receives a horizontal force so that the axis of the positioning pin and the axis of the pin hole coincide. The automated guided vehicle moves horizontally by receiving the above force. This eliminates the positional deviation of the automated guided vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Utility Model Application Publication No. 3-25908 Summary of the Invention [Problem to be solved by the invention]

[0005] In the above positioning device, the automated guided vehicle moves in a horizontal direction during positioning. During this movement, the wheels of the automated guided vehicle slide on the floor surface, generating friction between the wheels and the floor surface, which causes wear on the floor surface. Meanwhile, in factories and the like, delivery and receipt of goods is repeatedly performed between the automated guided vehicle and equipment. Positioning of the automated guided vehicle is performed many times for the same equipment. This poses a problem in that the floor surface in front of the equipment is prone to wear.

[0006] The present invention has been made in consideration of the above-mentioned points, and an object of the present invention is to provide an unmanned guided vehicle that can be well positioned relative to equipment and that is less likely to wear down the floor surface in front of the equipment during positioning. [Means for solving the problem]

[0007] The automated guided vehicle disclosed herein is an automated guided vehicle that transports luggage to equipment and transfers the luggage between the equipment. The automated guided vehicle includes a vehicle body having a driving source for traveling that generates driving force and drive wheels that rotate by receiving the driving force of the driving source for traveling. The automated guided vehicle includes a dolly having a platform for supporting the luggage and a positioning engagement portion that engages with the equipment to position the platform relative to the equipment. The automated guided vehicle includes a coupling device that couples the vehicle body and the dolly so that the dolly can move at least in a horizontal direction relative to the vehicle body.

[0008] According to the above-mentioned automated guided vehicle, the positioning engagement portion engages with the equipment, thereby preventing the trolley from shifting position relative to the equipment, and the trolley is positioned relative to the equipment. Although the trolley may be subjected to a horizontal force during positioning, the coupling device allows the trolley to move horizontally relative to the vehicle body. Therefore, even if the trolley is subjected to a horizontal force, the vehicle body does not move horizontally. Since the drive wheels of the vehicle body are prevented from slipping on the floor surface during positioning, wear on the floor surface in front of the equipment can be prevented.

[0009] The coupling device may couple the vehicle body and the bogie such that the bogie is movable relative to the vehicle body at least in the left-right direction of the vehicle.

[0010] When the automated guided vehicle travels from the side of the equipment toward the equipment and stops in front of the equipment (i.e., when it is pulled up alongside the equipment), the drive wheels face in the fore-and-aft direction of the vehicle, and the equipment is located to the side of the automated guided vehicle. If the positioning engagement portion receives a force in the left-right direction of the vehicle from the equipment during positioning, if the cart is unable to move in the left-right direction of the vehicle relative to the vehicle body, a force in the left-right direction of the vehicle will be applied to the drive wheels, and there is a risk that the drive wheels will slip in the left-right direction of the vehicle. However, according to the above, since the cart is able to move in the left-right direction of the vehicle relative to the vehicle body, the drive wheels are prevented from slipping on the floor surface. This makes it possible to prevent wear on the floor surface in front of the equipment.

[0011] The coupling device may have left and right guide rails extending in the left-right direction of the vehicle, and left and right movable bodies slidably engaged with the left and right guide rails. One of the left and right guide rails and the left and right movable bodies may be attached to the vehicle body, and the other may be attached to the bogie.

[0012] The dolly may have wheels supporting the loading platform. The coupling device may couple the vehicle body and the dolly such that the dolly is rotatable left and right relative to the vehicle body.

[0013] As the carriage has wheels, during the travel of the driverless transport vehicle, the load is supported by both the drive wheels of the vehicle body and the wheels of the carriage. The load applied to the drive wheels and the wheels can be reduced, and the load can be transported more stably. Further, since the carriage has wheels, when there are undulations or steps on the road surface, during the travel of the driverless transport vehicle, the drive wheels of the vehicle body or the wheels of the carriage may temporarily float, and a large load may be applied to the wheels or the drive wheels. However, according to the above matters, since the carriage can rotate left and right with respect to the vehicle body, it is possible to absorb undulations and steps on the road surface to a certain extent, and it is possible to suppress the drive wheels of the vehicle body and the wheels of the carriage from lifting. Since it is possible to suppress a large load from being applied to the wheels or the drive wheels, the load can be transported stably. Also, when the floor surface in front of the equipment is inclined left and right, by rotating the carriage left and right with respect to the vehicle body during positioning, the carriage can be placed in a horizontal posture. The carriage can be properly positioned with respect to the equipment.

[0014] The connecting device may have a longitudinal axis extending in the vehicle longitudinal direction and a left-right rotating body rotatably engaged with the longitudinal axis. Either one of the longitudinal axis and the left-right rotating body may be attached to the vehicle body, and the other may be attached to the carriage.

[0015] The carriage may have wheels for supporting the loading platform. The connecting device may connect the vehicle body and the carriage so that the carriage can rotate back and forth with respect to the vehicle body.

[0016] As a result, since the dolly has wheels, the luggage is supported by both the drive wheels of the vehicle body and the wheels of the dolly while the automated guided vehicle is traveling. The load applied to the drive wheels and wheels can be reduced, and the luggage can be transported more stably. Furthermore, since the dolly has wheels, if there are undulations or steps on the road surface, the drive wheels of the vehicle body or the wheels of the dolly may temporarily lift up while the automated guided vehicle is traveling, and a large load may be applied to the wheels or drive wheels. However, according to the above, since the dolly can rotate back and forth with respect to the vehicle body, the undulations and steps on the road surface can be absorbed to a certain extent, and the drive wheels of the vehicle body and the wheels of the dolly can be prevented from lifting up. Since the application of a large load to the wheels or drive wheels can be prevented, the luggage can be transported stably. Furthermore, if the floor surface in front of the equipment is inclined back and forth, the dolly can be rotated back and forth with respect to the vehicle body during positioning, so that the dolly can be placed in a horizontal position. The dolly can be appropriately positioned with respect to the equipment.

[0017] The coupling device may have a left-right shaft extending in the left-right direction of the vehicle, and a front-rear rotating body rotatably engaged with the left-right shaft. One of the left-right shaft and the front-rear rotating body may be attached to the vehicle body, and the other may be attached to the bogie.

[0018] The dolly may have wheels supporting the loading platform. The coupling device may couple the vehicle body and the dolly such that the dolly is movable in a vehicle up-down direction relative to the vehicle body.

[0019] As a result, since the dolly has wheels, the luggage is supported by both the drive wheels of the vehicle body and the wheels of the dolly while the automated guided vehicle is traveling. Therefore, the load applied to the drive wheels and wheels can be reduced, and the luggage can be transported more stably. In addition, if there are undulations or steps on the road surface, the drive wheels of the vehicle body or the wheels of the dolly may temporarily lift up while the automated guided vehicle is traveling, and a large load may be applied to the wheels or drive wheels. However, according to the above, since the dolly can move in the vehicle up-down direction relative to the vehicle body, the undulations and steps on the road surface can be absorbed to a certain extent, and the drive wheels of the vehicle body and the wheels of the dolly can be prevented from lifting up. Since the application of a large load to the wheels or drive wheels can be prevented, the luggage can be transported stably. In addition, the height of the dolly is adjusted by moving the dolly in the vehicle up-down direction relative to the vehicle body during positioning. The dolly can be appropriately positioned with respect to the equipment.

[0020] The coupling device may have an upper and lower guide rail extending in the vertical direction of the vehicle, and an upper and lower movable body slidably engaged with the upper and lower guide rail. One of the upper and lower guide rail and the upper and lower movable body may be attached to the vehicle body, and the other may be attached to the bogie.

[0021] The loading platform may be disposed above the vehicle body. The coupling device may be disposed below the loading platform and above the vehicle body.

[0022] As a result, the loading platform and the vehicle body are vertically stacked, so that the dimensions of the automated guided vehicle in the front-rear and left-right directions can be reduced, and the automated guided vehicle can be made more compact.

[0023] The coupling device may be disposed at a center portion of the bogie in a vehicle front-rear direction and at a center portion of the bogie in a vehicle left-right direction.

[0024] This allows the bogie to be connected to the vehicle body in a well-balanced manner. Effect of the Invention

[0025] According to the present invention, it is possible to provide an automated guided vehicle that can be properly positioned relative to equipment and that is less likely to wear down the floor surface in front of the equipment during positioning. [Brief description of the drawings]

[0026] [Figure 1] FIG. 2 is a plan view of equipment and an unmanned transport vehicle in a factory or the like. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. 2 is a perspective view of an automated guided vehicle with the pallet removed. [Figure 6] FIG. 2 is a front view of the vehicle body and the coupling device. [Figure 7] FIG. 2 is a right side view of the vehicle body and the coupling device. [Figure 8] FIG. [Figure 9] FIG. [Figure 10] FIG. [Figure 11] FIG. [Figure 12] FIG. [Figure 13] FIG. [Figure 14] 1 is a front view of the facility and the automated guided vehicle when the automated guided vehicle is stopped in front of the facility. FIG. [Figure 15] FIG. [Figure 16] FIG. 4 is a vertical cross-sectional view of a first pinhole member. [Figure 17] 13 is a diagram showing a state when the fitting sensor detects that the first positioning pin is fitted into the first pin hole member. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, an automated guided vehicle 1 according to this embodiment is a vehicle that automatically transports a load 200 between a plurality of facilities 100 in a factory or the like. The automated guided vehicle 1 travels toward the facility 100, and automatically stops when it reaches a position 100P in front of the facility 100. In addition, the automated guided vehicle 1 automatically delivers the load 200 to and from the facility 100. Note that the delivery of the load 200 refers to the receipt and delivery of the load 200. In the following embodiment, the load 200 transported by the automated guided vehicle 1 is a processed part that is processed by the facility 100, and the facility 100 is a processing device that processes the processed part.

[0028] In the following description, unless otherwise specified, the front, rear, left, and right of the automated guided vehicle 1 are respectively referred to as the front, rear, left, and right. Arrows F, Rr, L, and R in the figure represent the front, rear, left, and right, respectively. When the automated guided vehicle 1 moves between multiple facilities 100, it travels toward the front.

[0029] Fig. 2 is a perspective view of the automated guided vehicle 1. Fig. 3 is a front view of the automated guided vehicle 1. Fig. 4 is a right side view of the automated guided vehicle 1. The automated guided vehicle 1 comprises a vehicle body 2, a dolly 3, a coupling device 20 that couples the vehicle body 2 and the dolly 3, and a pallet 80 on which cargo 200 is placed. Fig. 5 is a perspective view of the automated guided vehicle 1 with the pallet 80 removed.

[0030] Fig. 6 is a front view of the vehicle body 2 and the coupling device 20. Fig. 7 is a right side view of the vehicle body 2 and the coupling device 20. The vehicle body 2 is configured to be capable of automatic running. The vehicle body 2 includes a chassis 2A, left and right electric motors (hereinafter simply referred to as motors) 4 fixed to the chassis 2A, left and right drive wheels 5 attached to the chassis 2A, left and right front wheels 5F attached to the chassis 2A, and left and right rear wheels 5B attached to the chassis 2A. The vehicle body 2 also includes a front bumper 9 fixed to the chassis 2A.

[0031] The motor 4 is an example of a "driving source for driving" that generates a driving force for driving. In this embodiment, the left driving wheel 5 is connected to the left motor 4, and the right driving wheel 5 is connected to the right motor 4. However, the number of motors that drive the left and right driving wheels 5 is not limited to two. For example, the vehicle body 2 may be provided with a single motor as a driving source for driving, and the left and right driving wheels 5 may be connected to a single motor. The front wheels 5F and the rear wheels 5B are driven wheels and are not connected to the motor 4. In this embodiment, the driving wheels 5 are arranged behind the front wheels 5F and in front of the rear wheels 5B. However, the position of the driving wheels 5 is not particularly limited.

[0032] The dolly 3 is a vehicle towed by the vehicle body 2. The dolly 3 is loaded with luggage 200 (see FIG. 1). As shown in FIG. 2, the dolly 3 according to this embodiment is arranged so as to cover the vehicle body 2. In a plan view of the vehicle, at least a portion of the dolly 3 overlaps with the vehicle body 2. As shown in FIG. 5, the dolly 3 includes a loading platform 8 and a transport mechanism 30A that transports a pallet 80 (see FIG. 2).

[0033] Fig. 8 is a front view of the dolly 3. Fig. 9 is a right side view of the dolly 3. The dolly 3 is equipped with a right front support 7FR, a right rear support 7BR, a left front support 7FL, and a left rear support 7BL that support the loading platform 8. In Fig. 9, the left rear support 7BL is located behind the right rear support 7BR and overlaps with the right rear support 7BR. The right rear support 7BR is disposed rearward of the right front support 7FR. The left front support 7FL is disposed to the left of the right front support 7FR. The left rear support 7BL is disposed to the left of the right rear support 7BR and rearward of the left front support 7FL.

[0034] The right front wheel 6FR, the left front wheel 6FL, the right rear wheel 6BR, and the left rear wheel 6BL are rotatably connected to the lower ends of the right front support pillar 7FR, the left front support pillar 7FL, the right rear support pillar 7BR, and the left rear support pillar 7BL, respectively. Note that in Fig. 9, the left rear wheel 6BL is located behind the right rear wheel 6BR and overlaps with the right rear wheel 6BR.

[0035] The conveying mechanism 30A is configured to be able to convey the pallet 80 from the loading platform 8 to the equipment 100. The conveying mechanism 30A is also configured to be able to convey the pallet 80 from the equipment 100 to the loading platform 8. As shown in FIG. 5, the conveying mechanism 30A includes an engagement portion 41 that detachably engages with the pallet 80, an actuator 30 that moves the engagement portion 41 left and right, and a plurality of rotatable rollers 60 that support the pallet 80. When the actuator 30 moves the engagement portion 41 to the right, the pallet 80 engaged with the engagement portion 41 can be sent from the loading platform 8 to the equipment 100. When the actuator 30 moves the engagement portion 41 to the left, the pallet 80 engaged with the engagement portion 41 can be pulled from the equipment 100 to the loading platform 8.

[0036] As described above, the dolly 3 is disposed so as to cover the vehicle body 2. As shown in FIG. 6, the coupling device 20 is connected to the upper part of the vehicle body 2. The coupling device 20 is disposed above the vehicle body 2. As shown in FIG. 8, the coupling device 20 is disposed below the loading platform 8. In a plan view of the vehicle, the coupling device 20 overlaps with the dolly 3 and the vehicle body 2. The coupling device 20 couples the vehicle body 2 and the dolly 3 so that the dolly 3 can move in the left-right direction and the up-down direction of the vehicle relative to the vehicle body 2. In this embodiment, the dolly 3 and the vehicle body 2 cannot move relative to each other in the front-rear direction of the vehicle. In addition, the coupling device 20 couples the vehicle body 2 and the dolly 3 so that the dolly 3 can rotate left-right and forward-rear relative to the vehicle body 2. However, the movement range and rotation range of the dolly 3 relative to the vehicle body 2 are limited in advance so that the position of the dolly 3 relative to the vehicle body 2 does not shift significantly. Next, a detailed configuration of the coupling device 20 will be described.

[0037] As shown in Fig. 7, the coupling device 20 is disposed in the center of the bogie 2 in the vehicle front-rear direction. In a side view of the bogie 2, a center line 2ML passing through the center of the bogie 2 in the vehicle front-rear direction intersects with the coupling device 20. Also, as shown in Fig. 6, the coupling device 20 is disposed in the center of the bogie 2 in the vehicle left-right direction. In a front view of the bogie 2, a center line 2MW passing through the center of the bogie 2 in the vehicle left-right direction intersects with the coupling device 20.

[0038] FIG. 10 is an exploded perspective view of the main parts of the coupling device 20. The coupling device 20 has a left-right movement mechanism 130, a rotation mechanism 140, and a vertical movement mechanism 150. The left-right movement mechanism 130, the rotation mechanism 140, and the vertical movement mechanism 150 are arranged in this order from bottom to top. The left-right movement mechanism 130 connects the vehicle body 2 and the bogie 3 so that the bogie 3 can move left and right relative to the vehicle body 2. The rotation mechanism 140 connects the vehicle body 2 and the bogie 3 so that the bogie 3 can rotate left and right and forward and backward relative to the vehicle body 2. The vertical movement mechanism 150 connects the vehicle body 2 and the bogie 3 so that the bogie 3 can move up and down relative to the vehicle body 2.

[0039] FIG. 11 is a perspective view showing a schematic configuration of the left-right movement mechanism 130. As shown in FIG. 11, the left-right movement mechanism 130 has left-right guide rails 131 extending in the left-right direction of the vehicle, a left-right moving body 132 slidably engaged with the left-right guide rails 131, and a spring 135 that biases the left-right moving body 132 to a neutral position. The left-right guide rails 131 are directly or indirectly attached to the vehicle body 2. The left-right moving body 132 is indirectly attached to the bogie 3 via a rotation mechanism 140 and a vertical movement mechanism 150. The left-right moving body 132 has a slide plate 133 and a ball bush 134 fixed to the lower part of the slide plate 133. The ball bush 134 slidably engaged with the left-right guide rails 131. The spring 135 is made of a compression coil spring and is arranged around the left-right guide rails 131. The springs 135 are disposed on the left and right sides of the front ball bush 134 and on the left and right sides of the rear ball bush 134. When the left and right mover 132 receives a left and right force, it moves in the left and right direction of the vehicle along the left and right guide rails 131. When the left and right force disappears, the left and right mover 132 is held in a neutral position by the springs 135.

[0040] FIG. 12 is a perspective view showing a schematic configuration of the rotation mechanism 140. As shown in FIG. 12, the rotation mechanism 140 has a front-rear shaft 141 extending in the front-rear direction of the vehicle, a left-right shaft 142 extending in the left-right direction of the vehicle, and a rotor 143 provided at the center of the front-rear shaft 141 and the left-right shaft 142. Bearing units 144A are attached to both ends of the front-rear shaft 141. The bearing unit 144A rotatably supports the front-rear shaft 141. Bearing units 144B are attached to both ends of the left-right shaft 142. The bearing unit 144B rotatably supports the left-right shaft 142. The bearing unit 144A is fixed to the slide plate 133. The bearing unit 144B is fixed to a first connecting plate 145 (see FIG. 13). With this configuration, the rotor 143 can rotate left and right around the front-rear shaft 141 and can rotate front and rear around the left-right shaft 142.

[0041] FIG. 13 is a perspective view showing a schematic configuration of the vertical movement mechanism 150. As shown in FIG. 13, the vertical movement mechanism 150 has a first vertical guide rail 151a and a second vertical guide rail 151b extending in the vertical direction of the vehicle, a vertical moving body 152 slidably engaged with the first vertical guide rail 151a and the second vertical guide rail 151b, and a spring 155. A second connecting plate 156 is disposed on the first connecting plate 145. The second connecting plate 156 is fixed to the first connecting plate 145. The lower ends of the first vertical guide rail 151a and the second vertical guide rail 151b are fixed to the second connecting plate 156. The vertical moving body 152 is directly or indirectly attached to the bogie 3. A ball bush 153 that engages with the first vertical guide rail 151a is attached to the vertical moving body 152. A stopper 154 is provided at the upper end of the second vertical guide rail 151b. The stopper 154 prevents the vertical moving body 152 from coming off the first vertical guide rail 151a and the second vertical guide rail 151b. The spring 155 is made of a compression coil spring, and is disposed around the second vertical guide rail 151b. The vertical moving body 152 is supported by the spring 155. With this configuration, the vertical moving body 152 can move in the vertical direction of the vehicle along the first vertical guide rail 151a and the second vertical guide rail 151b.

[0042] As described above, the automated guided vehicle 1 automatically travels toward the facility 100, and automatically stops when it reaches a position 100P (see FIG. 1) in front of the facility 100. However, if the position of the automated guided vehicle 1 is misaligned with respect to the facility 100, the automated guided vehicle 1 cannot properly deliver the load 200 to the facility 100. Therefore, the automated guided vehicle 1 and the facility 100 according to this embodiment are provided with a positioning device 10 that positions the automated guided vehicle 1 with respect to the facility 100.

[0043] FIG. 14 is a front view of the automated guided vehicle 1 stopped at position 100P in front of the facility 100. In this embodiment, the automated guided vehicle 1 delivers and receives the load 200 on the right side of the dolly 3. When the automated guided vehicle 1 is stopped at position 100P, the right side of the automated guided vehicle 1 faces the facility 100. Hereinafter, the surface of the facility 100 that faces the right side of the automated guided vehicle 1 will be referred to as the front of the facility 100. FIG. 15 is a front view of the facility 100. In other words, FIG. 15 is a view of the facility 100 viewed from the left to the right of the automated guided vehicle 1.

[0044] As shown in Fig. 15, the positioning device 10 includes a first positioning pin 11A extending upward, a first actuator 13A that drives the first positioning pin 11A up and down, a second positioning pin 11B that extends upward, and a second actuator 13B that drives the second positioning pin 11B up and down. The types of the first actuator 13A and the second actuator 13B are not particularly limited, and for example, a solenoid, an air cylinder, or the like can be suitably used. The first positioning pin 11A, the first actuator 13A, the second positioning pin 11B, and the second actuator 13B are provided in the equipment 100.

[0045] As described above, FIG. 4 is a right side view of the automated guided vehicle 1. As shown in FIG. 4, the positioning device 10 includes a first pin hole member 12A and a second pin hole member 12B. The first pin hole member 12A and the second pin hole member 12B are provided on the automated guided vehicle 1. FIG. 16 is a vertical cross-sectional view of the first pin hole member 12A. As shown in FIG. 16, the first pin hole member 12A has an opening 12C that opens downward. The first pin hole member 12A has a tapered inner peripheral surface 12D whose inner diameter becomes smaller toward the upper side. Inside the first pin hole member 12A, a pin hole 12E into which the first positioning pin 11A can be fitted is formed. The first pin hole member 12A and the second pin hole member 12B are an example of a "positioning engagement portion" that engages with the equipment 100 to position the loading platform 8 relative to the equipment 100.

[0046] As shown in Fig. 17, the positioning device 10 is provided with an engagement sensor 18 that detects that the first positioning pin 11A is fitted into the first pin hole member 12A. The engagement sensor 18 has a dog 16 inserted into the first pin hole member 12A so as to be vertically movable, an arm member 15 that engages with the dog 16, and a limit switch 14 to which the arm member 15 is attached so as to be swingable. When the first positioning pin 11A is fitted into the pin hole 12E, the dog 16 is pushed up by the first positioning pin 11A (see Fig. 16). When the dog 16 rises, the arm member 15 swings, and the limit switch 14 is switched ON / OFF.

[0047] The configuration of the second pin hole member 12B is the same as that of the first pin hole member 12A. Therefore, the description of the second pin hole member 12B will be omitted. The second positioning pin 11B and the second pin hole member 12B are also provided with a fitting sensor 18 similar to the fitting sensor 18 described above.

[0048] The above is the configuration of the automatic guided vehicle 1.

[0049] The automated guided vehicle 1 stops when it reaches a position 100P in front of the facility 100 in order to transfer the load 200 between the facility 100 and the automated guided vehicle 1. When the automated guided vehicle 1 stops in front of the facility 100, the first actuator 13A and the second actuator 13B are driven. Then, the first positioning pin 11A rises and is inserted into the first pinhole member 12A (see FIG. 14). Also, the second positioning pin 11B rises and is inserted into the second pinhole member 12B.

[0050] Here, as shown in FIG. 16, when the axis 11X of the first positioning pin 11A and the axis 12X of the first pin hole member 12A are misaligned, the first positioning pin 11A contacts the inner peripheral surface 12D of the first pin hole member 12A. At this time, the first pin hole member 12A receives a force from the first positioning pin 11A. Since the inner peripheral surface 12D is formed in a tapered shape, the first pin hole member 12A receives an upward force from the first positioning pin 11A as well as a horizontal force. Due to this horizontal force, the cart 3 moves in the horizontal direction so that the axis 11X of the first positioning pin 11A and the axis 12X of the first pin hole member 12A coincide with each other. Although the explanation is omitted, the same is true for the second positioning pin 11B and the second pin hole member 12B. As a result, the cart 3 is positioned with respect to the equipment 100.

[0051] When the automated guided vehicle 1 is stopped in front of the facility 100, the wheels of the automated guided vehicle 1 (i.e., the drive wheels 5, front wheels 5F, and rear wheels 5B of the vehicle body 2, and the left front wheel 6FL, right front wheel 6FR, left rear wheel 6BL, and right rear wheel 6BR of the cart 3) face in the front-rear direction (see FIG. 4). Therefore, when the cart 3 receives a force in the front-rear direction, the wheels rotate, causing the cart 3 to move in the front-rear direction together with the vehicle body 2.

[0052] On the other hand, the dolly 3 is movable in the left-right direction relative to the vehicle body 2 via the coupling device 20. When the dolly 3 receives a force in the left-right direction, only the dolly 3 moves in the left-right direction while the vehicle body 2 remains stationary.

[0053] In addition, the cart 3 can move in the vertical direction relative to the vehicle body 2 via the coupling device 20. When the vertical positions of the cart 3 and the equipment 100 are misaligned, the cart 3 moves in the vertical direction relative to the vehicle body 2, thereby adjusting the vertical position of the cart 3.

[0054] In addition, the dolly 3 can rotate back and forth and left and right relative to the vehicle body 2 via the coupling device 20. When the floor surface in front of the facility 100 is inclined, the dolly 3 rotates back and forth and / or left and right to bring the attitude of the dolly 3 into a horizontal attitude. The attitude of the dolly 3 is adjusted by rotating the dolly 3 relative to the vehicle body 2.

[0055] Next, various effects brought about by the automated guided vehicle 1 according to this embodiment will be described.

[0056] According to this embodiment, after the automated guided vehicle 1 stops in front of the facility 100, the first actuator 13A and the second actuator 13B are driven, so that the first positioning pin 11A fits into the first pin hole member 12A, and the second positioning pin 11B fits into the second pin hole member 12B. When the position of the cart 3 relative to the facility 100 is misaligned, the cart 3 moves horizontally so that the axis 11X of the first positioning pin 11A and the axis 12X of the first pin hole member 12A coincide with each other, and the axis of the second positioning pin 11B and the axis of the second pin hole member 12B coincide with each other. This allows the cart 3 to be positioned with high accuracy relative to the facility 100. Therefore, the cart 3 can be positioned at an appropriate position relative to the facility 100 before the automated guided vehicle 1 transfers the load 200 between the facility 100 and the cart 3.

[0057] Incidentally, during positioning, the dolly 3 may receive a force in the left-right direction of the vehicle from the first positioning pin 11A and the second positioning pin 11B of the equipment 100. When the dolly 3 cannot move in the left-right direction of the vehicle relative to the vehicle body 2, the wheels of the dolly 3 (i.e., the left front wheel 6FL, the right front wheel 6FR, the left rear wheel 6BL, and the right rear wheel 6BR) and the wheels of the vehicle body 2 (i.e., the left and right front wheels 5F, the left and right drive wheels 5, and the left and right rear wheels 5B) slip on the floor surface. Friction occurs between those wheels and the floor surface. In a factory or the like that uses the automated guided vehicle 1, the load 200 is transferred between the automated guided vehicle 1 and the equipment 100 many times. There is a tendency for certain parts of the floor surface to be easily worn.

[0058] However, according to this embodiment, the automated guided vehicle 1 is provided with a coupling device 20 that couples the vehicle body 2 and the bogie 3 so that the bogie 3 can move in the left-right direction of the vehicle relative to the vehicle body 2. When the bogie 3 receives a force in the left-right direction of the vehicle during positioning, the vehicle body 2 does not move, and only the bogie 3 moves in the left-right direction of the vehicle. This prevents the left and right front wheels 5F, the left and right drive wheels 5, and the left and right rear wheels 5B of the vehicle body 2 from slipping on the floor surface. This makes it possible to suppress wear on the floor surface.

[0059] According to this embodiment, the dolly 3 has wheels (left front wheel 6FL, right front wheel 6FR, left rear wheel 6BL, and right rear wheel 6BR) that support the platform 8. While the automated guided vehicle 1 is traveling, the cargo 200 is supported by both the wheels of the vehicle body 2 and the wheels of the dolly 3. Therefore, the cargo 200 can be transported more stably.

[0060] However, when the road surface is undulating or uneven, the wheels of the vehicle body 2 or the cart 3 may temporarily lift up during the travel of the automated guided vehicle 1, and a large load may be applied to some of the wheels. However, according to this embodiment, the coupling device 20 couples the vehicle body 2 and the cart 3 so that the cart 3 can rotate left and right relative to the vehicle body 2. The coupling device 20 also couples the vehicle body 2 and the cart 3 so that the cart 3 can rotate back and forth relative to the vehicle body 2. The coupling device 20 also couples the vehicle body 2 and the cart 3 so that the cart 3 can move in the vehicle up and down direction relative to the vehicle body 2. Since the cart 3 can rotate left and right, can rotate back and forth, and can move in the vehicle up and down direction relative to the vehicle body 2, the undulations and unevenness of the road surface can be absorbed to a certain extent, and the wheels of the vehicle body 2 and the cart 3 can be prevented from lifting up. Since a large load can be prevented from being applied to some of the wheels, the luggage 200 can be transported stably.

[0061] Furthermore, if the floor surface in front of the equipment 100 is tilted left or right, the dolly 3 can be placed in a horizontal position by rotating left or right relative to the vehicle body 2 during positioning. If the floor surface in front of the equipment 100 is tilted forward or backward, the dolly 3 can be placed in a horizontal position by rotating front or backward relative to the vehicle body 2 during positioning. Furthermore, the dolly 3 moves in the vehicle up-down direction relative to the vehicle body 2 during positioning, thereby adjusting the height of the dolly 3 relative to the equipment 100. Thus, the dolly 3 can be appropriately positioned relative to the equipment 100.

[0062] According to this embodiment, the loading platform 8 is disposed above the vehicle body 2. The coupling device 20 is disposed below the loading platform 8 and above the vehicle body 2. Since the loading platform 8 and the vehicle body 2 are vertically stacked, the dimensions of the automated guided vehicle 1 in the front-rear and left-right directions can be reduced. Therefore, the automated guided vehicle 1 can be made more compact.

[0063] According to this embodiment, the coupling device 20 is disposed at the center of the bogie 3 in the vehicle front-rear direction and at the center of the vehicle left-right direction. This allows the bogie 3 to be coupled to the vehicle body 2 in a well-balanced manner.

[0064] Although one embodiment of the present invention has been described above, the above embodiment is merely an example, and the present invention can be embodied in various other forms.

[0065] The positioning engagement portion that positions the loading platform 8 relative to the equipment 100 by engaging with the equipment 100 is not limited to the first pin hole member 12A and the second pin hole member 12B. For example, the first positioning pin 11A and the first actuator 13A may be provided on the dolly 3, and the first pin hole member 12A may be provided on the equipment 100. In this case, the first positioning pin 11A becomes the positioning engagement portion. Similarly, the second positioning pin 11B and the second actuator 13B may be provided on the dolly 3, and the second pin hole member 12B may be provided on the equipment 100. In this case, the second positioning pin 11B becomes the positioning engagement portion. Note that the first positioning pin 11A and the second positioning pin 11B may extend downward, and the first pin hole member 12A and the second pin hole member 12B may open upward. The second positioning pin 11B, the second pin hole member 12B, and the second actuator 13B are not necessarily required and can be omitted.

[0066] In the above embodiment, when the automated guided vehicle 1 is stopped in front of the facility 100, the wheels of the vehicle body 2 face in the front-rear direction. The dolly 3 is movable in the left-right direction relative to the vehicle body 2, which is a direction perpendicular to the direction of the wheels of the vehicle body 2. However, the direction of the wheels of the vehicle body 2 when the automated guided vehicle 1 is stopped in front of the facility 100 is not particularly limited. The coupling device 20 may couple the dolly 3 and the vehicle body 2 such that the dolly 3 is movable in a horizontal direction other than the left-right direction relative to the vehicle body 2.

[0067] In the above embodiment, with regard to the left-right movement mechanism 130, the left-right guide rails 131 are attached to the vehicle body 2, and the left-right moving body 132 is attached to the bogie 3 via the rotation mechanism 140 and the up-down movement mechanism 150. However, the left-right moving body 132 may be attached to the vehicle body 2, and the left-right guide rails 131 may be attached to the bogie 3. Note that "attached" means directly or indirectly attached.

[0068] In the embodiment, with regard to the front-rear shaft 141 and the rotating body 143 of the rotation mechanism 140, the front-rear shaft 141 is attached to the vehicle main body 2, and the rotating body 143 is attached to the bogie 3. However, the rotating body 143 may be attached to the vehicle main body 2, and the front-rear shaft 141 may be attached to the bogie 3.

[0069] In the above embodiment, with regard to the left and right shafts 142 and the rotating body 143 of the rotation mechanism 140, the left and right shafts 142 are attached to the bogie 3, and the rotating body 143 is attached to the vehicle body 2. However, the left and right shafts 142 may be attached to the vehicle body 2, and the rotating body 143 may be attached to the bogie 2.

[0070] In the above embodiment, with regard to the vertical movement mechanism 150, the first vertical guide rail 151a and the second vertical guide rail 151b are attached to the vehicle body 2, and the vertical mover 152 is attached to the bogie 3. However, the vertical mover 152 may be attached to the vehicle body 2, and the first vertical guide rail 151a and the second vertical guide rail 151b may be attached to the bogie 3.

[0071] The loading platform 8 does not have to be disposed above the vehicle body 2. For example, the loading platform 8 may be disposed at the rear of the vehicle body 2. The coupling device 20 does not have to be disposed below the loading platform 8, and does not have to be disposed above the vehicle body 2. The coupling device 20 does not have to be disposed in the center of the dolly 3 in the front-to-rear direction of the vehicle, and does not have to be disposed in the center in the left-to-right direction of the vehicle.

[0072] The driving source for traveling is not limited to the motor 4, but may be an internal combustion engine or the like. [Explanation of symbols]

[0073] 1. Automated guided vehicle 2 Vehicle body 3 Cart 4 Electric motor (driving source) 5 Drive wheels 6FL Left front wheel (wheel) 6FR Right front wheel (wheel) 6BL Left rear wheel (wheel) 6BR Right rear wheel (wheel) 8 Cargo Bed 12A First pin hole member (positioning engagement portion) 12B Second pin hole member (positioning engagement portion) 20 Coupling device 100 equipment 132 Left and Right Moving Body 135 Left and right guide rails 141 Anteroposterior axis 142 Left and right axis 143 Rotating body (left and right rotating body, front and back rotating body) 151a First upper and lower guide rail (upper and lower guide rail) 151b Second upper and lower guide rail (upper and lower guide rail) 152 Vertical moving body 200 Baggage

Claims

1. An automated guided vehicle that transports luggage to a facility and delivers the luggage to and from the facility, A vehicle body having a driving source for running that generates a driving force and a driving wheel that rotates by receiving the driving force of the driving source for running; a dolly having a platform for supporting the luggage, wheels for supporting the platform, and a positioning engagement portion for positioning the platform with respect to the equipment by engaging with the equipment; a coupling device that couples the vehicle body and the bogie so that the bogie is movable at least in a horizontal direction relative to the vehicle body; Equipped with The loading platform is disposed above the vehicle body, The coupling device is disposed below the platform and above the vehicle body.

2. The automated guided vehicle according to claim 1 , wherein the coupling device couples the vehicle body and the carriage such that the carriage is movable relative to the vehicle body at least in a left-right direction of the vehicle.

3. An automated guided vehicle that transports luggage to a facility and delivers the luggage between the facility and the facility, A vehicle body having a driving source for running that generates a driving force and a driving wheel that rotates by receiving the driving force of the driving source for running; a dolly having a platform for supporting the luggage and a positioning engagement portion for positioning the platform with respect to the equipment by engaging with the equipment; a coupling device that couples the vehicle body and the bogie so that the bogie is movable at least in a horizontal direction relative to the vehicle body; Equipped with the coupling device couples the vehicle body and the bogie so that the bogie can move at least in the left-right direction of the vehicle relative to the vehicle body, The coupling device includes left and right guide rails extending in the left-right direction of the vehicle, and left and right movable bodies slidably engaged with the left and right guide rails, One of the left and right guide rails and the left and right movable bodies is attached to the vehicle body, and the other is attached to the carriage.

4. An automated guided vehicle as described in claim 1, wherein the coupling device connects the vehicle body and the trolley so that the trolley can rotate left and right relative to the vehicle body.

5. An automated guided vehicle that transports luggage to a facility and delivers the luggage between the facility and the facility, A vehicle body having a driving source for running that generates a driving force and a driving wheel that rotates by receiving the driving force of the driving source for running; a dolly having a platform for supporting the luggage and a positioning engagement portion for positioning the platform with respect to the equipment by engaging with the equipment; a coupling device that couples the vehicle body and the bogie so that the bogie is movable at least in a horizontal direction relative to the vehicle body; Equipped with The dolly has wheels that support the platform, the coupling device couples the vehicle body and the bogie so that the bogie can rotate left and right relative to the vehicle body, The coupling device has a front-rear shaft extending in a front-rear direction of the vehicle and a left-right rotating body rotatably engaged with the front-rear shaft, An automated guided vehicle, wherein one of the front and rear shafts and the left and right rotating bodies is attached to the vehicle body, and the other is attached to the bogie.

6. An automated guided vehicle as described in claim 1, wherein the coupling device connects the vehicle body and the trolley so that the trolley can rotate back and forth relative to the vehicle body.

7. An automated guided vehicle that transports luggage to a facility and delivers the luggage between the facility and the facility, A vehicle body having a driving source for running that generates a driving force and a driving wheel that rotates by receiving the driving force of the driving source for running; a dolly having a platform for supporting the luggage and a positioning engagement portion for positioning the platform with respect to the equipment by engaging with the equipment; a coupling device that couples the vehicle body and the bogie so that the bogie is movable at least in a horizontal direction relative to the vehicle body; Equipped with The dolly has wheels that support the platform, the coupling device couples the vehicle body and the bogie so that the bogie can rotate back and forth relative to the vehicle body, The coupling device has a left-right shaft extending in the left-right direction of the vehicle and a front-rear rotating body rotatably engaged with the left-right shaft, An automated guided vehicle, wherein one of the left-right shaft and the front-rear rotating body is attached to the vehicle body, and the other is attached to the bogie.

8. An automated guided vehicle as described in claim 1, wherein the coupling device connects the vehicle body and the trolley so that the trolley can move in the vertical direction relative to the vehicle body.

9. An automated guided vehicle that transports luggage to a facility and delivers the luggage to and from the facility, A vehicle body having a driving source for running that generates a driving force and a driving wheel that rotates by receiving the driving force of the driving source for running; a dolly having a platform for supporting the luggage and a positioning engagement portion for positioning the platform with respect to the equipment by engaging with the equipment; a coupling device that couples the vehicle body and the bogie so that the bogie is movable at least in a horizontal direction relative to the vehicle body; Equipped with The dolly has wheels that support the platform, the coupling device couples the vehicle body and the bogie so that the bogie can move in a vehicle up-down direction relative to the vehicle body, The coupling device includes an upper and lower guide rail extending in a vehicle up-down direction and an upper and lower movable body slidably engaged with the upper and lower guide rail, An automated guided vehicle, wherein one of the upper and lower guide rails and the upper and lower movable body is attached to the vehicle body, and the other is attached to the carriage.

10. An automated guided vehicle that transports luggage to a facility and delivers the luggage between the facility and the facility, A vehicle body having a driving source for running that generates a driving force and a driving wheel that rotates by receiving the driving force of the driving source for running; a dolly having a platform for supporting the luggage and a positioning engagement portion for positioning the platform with respect to the equipment by engaging with the equipment; a coupling device that couples the vehicle body and the bogie so that the bogie is movable at least in a horizontal direction relative to the vehicle body; Equipped with The dolly has wheels that support the platform, the coupling device couples the vehicle body and the bogie so that the bogie can move in a vehicle up-down direction relative to the vehicle body, The coupling device is disposed at a center portion of the bogie in a vehicle front-rear direction and at a center portion of the bogie in a vehicle left-right direction.

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