Moving body

Abstract

To provide a movable body capable of suppressing a dimension of a housing in the direction orthogonal to a travel surface as small as possible.SOLUTION: A movable body includes a housing, a moving motor, a plurality of elevating / lowering motors, and a battery. The moving motor moves the housing along a movement surface. The plurality of elevating / lowering motors operates a plurality of elevating / lowering parts capable of independently elevating / lowering with respect to the movement surface. The battery supplies power to the moving motor and the plurality of elevating / lowering motors. The plurality of elevating / lowering motors, the moving motor, and the battery are stored in the housing, and are dispersed when viewed in the direction orthogonal to the movement surface. The movement direction by the moving motor is at least one in the frontward / backward direction. The movable body further includes an intermediate cover 79 for connecting the elevating / lowering part at the front and the elevating / lowering part at the back out of the plurality of elevating / lowering parts. The intermediate cover 79 is mounted so as to rotate with respect to the elevating / lowering parts at the front and at the back respectively, and it moves according to the elevation and lowering of the elevating / lowering parts at the front and at the back.SELECTED DRAWING: Figure 16

Description

Technical Field

[0001] The present disclosure relates to a moving body. More specifically, it relates to a moving body that moves along a moving surface.

Background Art

[0002] Patent Document 1 discloses an automated guided vehicle (moving body) that moves within a travel area according to route data. This automated guided vehicle loads and unloads goods. Further, this automated guided vehicle has a function of avoiding an obstacle when detecting an obstacle ahead during travel.

[0003] However, in a moving body in which a motor required for travel, a motor required for lifting, and a battery are placed in a housing, there has been no traveling body that suppresses the dimension in the direction orthogonal to the traveling surface.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] An object of the present disclosure is to provide a moving body that can suppress the dimension of the housing in the direction orthogonal to the traveling surface and can suppress pinching of an object during movement of each lifting part.

[0006] A moving body according to one aspect of the present disclosure includes a housing, a moving motor, a plurality of elevating motors, and a battery. The moving motor moves the housing along a moving surface. The plurality of elevating motors operate a plurality of elevating parts that can be independently elevated with respect to the moving surface. The battery supplies power to the moving motor and the plurality of elevating motors. In the moving body, the plurality of elevating motors, the moving motor, and the battery are housed within the housing and are dispersed when viewed in a direction orthogonal to the moving surface. The moving direction by the moving motor is at least one of the front-back directions. The plurality of elevating motors are separated in the front-back direction. The moving body further includes an intermediate cover that connects the front elevating part and the rear elevating part among the plurality of elevating parts. The intermediate cover is rotatably attached to each of the front elevating part and the rear elevating part and moves along with the ascending and descending of the front elevating part and the rear elevating part.

Brief Description of the Drawings

[0007]

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Mode for Carrying Out the Invention

[0008] (1) Embodiment (1.1) Overview The moving body 1A according to this embodiment moves along the moving surface 100 (see Figure 2). As shown in Figure 17, the moving body 1A includes a moving motor 220, a battery 92, and a housing 7.

[0009] The moving surface 100 is a surface on which the moving body 1A moves. The moving surface 100 can be a floor surface, the upper surface of a mat, the ground surface, the upper surface of asphalt, the upper surface of concrete, etc. The moving surface 100 can be located either indoors or outdoors. Examples of locations include warehouses, factories, construction sites, stores (including shopping malls), logistics centers, offices, parks, residences, schools, hospitals, stations, airports, parking lots, the interiors of vehicles, etc. The interior of a vehicle is exemplified by the interiors of ships, trains, airplanes, etc. The moving surface 100 does not have to be horizontal and may have irregularities.

[0010] The moving motor 220 moves the housing 7 along the moving surface 100. There may be multiple or a single moving motor 220. The moving motor 220 can be, for example, a motor that drives wheels supporting the housing 7 on the moving surface 100, a motor that drives a pinion of a rack and pinion, a motor that winds a wire when pulling the wire, etc. The moving motor 220 is used as a drive source 22 for driving these.

[0011] The battery 92 supplies power to the moving motor 220 and the lifting motor 510. The moving motor 220 and the battery 92 are arranged at different positions when viewed in a direction orthogonal to the moving surface 100. Here, "arranged at different positions" means that each element does not overlap when viewed in a direction orthogonal to the moving surface 100, and the distance between each element is not particularly limited. For example, when two elements are only in contact adjacent to each other and do not overlap when viewed in a direction orthogonal to the moving surface 100, it is included in "arranged at different positions".

[0012] Therefore, according to the moving body 1A according to this embodiment, in the direction orthogonal to the traveling surface (moving surface 100), since the moving motor 220 and the battery 92 do not overlap, the dimension of the housing 7 in the direction orthogonal to the traveling surface (moving surface 100) can be suppressed to be as small as possible.

[0013] (1.2) Details (1.2.1) Overall configuration Hereinafter, the mobile body 1A according to the present embodiment will be described in detail. Hereinafter, unless otherwise specified, the moving surface 100 is described as being a horizontal plane, but the moving surface 100 may not be a horizontal plane. Further, two directions perpendicular to the moving surface 100 and opposite to each other are collectively defined as the "vertical direction", the direction in which the mobile body 1A advances when the mobile body 1A moves forward is the "front direction", and the opposite thereof is the "rear direction". In some cases, the front direction and the rear direction are collectively referred to as the "front-rear direction". Further, two directions perpendicular to both the vertical direction and the front-rear direction and opposite to each other are defined as the "left-right direction". However, the definitions of these directions are not intended to limit the usage mode of the mobile body 1A. In addition, the arrows indicating the respective directions in the drawings are merely shown for the purpose of explanation and do not have a physical entity.

[0014] The mobile body 1A is a device that moves along the moving surface 100. In the present embodiment, as an example of the mobile body 1A, a mode of moving on the moving surface 100 by a plurality of wheels 10 will be described. However, as described in "(2) Modification Example", the mobile body 1A is not limited to the mode of moving by a plurality of wheels 10.

[0015] As shown in FIGS. 1 and 2, the mobile body 1A moves along the moving surface 100 by the wheels 10 grounded on the moving surface 100 rotating around the rotation axis R1 parallel to the moving surface 100. In the present embodiment, the mobile body 1A moves to the target location with the conveyed object X1 placed thereon. In short, the mobile body 1A according to the present embodiment is a conveying device 1 that moves the conveyed object X1. Hereinafter, the conveying device 1, which is an example of the mobile body 1A, will be described in detail.

[0016] In the present embodiment, the conveying device 1 receives a control signal within a predetermined area and executes an operation of conveying the conveyed object X1 in accordance with an instruction by the control signal. The "predetermined area" referred to in the present disclosure is, as an example, a warehouse, a factory, a construction site, a store (including a shopping mall), a logistics center, an office, a park, a residence, a school, a hospital, a station, an airport, a parking lot, etc. Further, the "predetermined area" may be, for example, the inside of a vehicle such as a ship, a train, or an airplane. In the present embodiment, the predetermined area is a logistics warehouse.

[0017] The conveyed object X1 is an object to be conveyed. Examples of the conveyed object X1 include a package, a product in a manufacturing factory, a product being manufactured (semi-finished product), a pallet with a package loaded thereon, and the like. In the present embodiment, as shown in FIG. 2, the conveyed object X1 is a roll box pallet with a package loaded thereon. In the present disclosure, the conveyed object X1 may be referred to as a "loaded object".

[0018] The conveying device 1 according to the present embodiment includes a lifting unit 70 on which the conveyed object X1 is placed. The lifting unit 70 moves up and down with respect to the moving surface 100. The conveying device 1 moves so as to enter below the conveyed object X1, raises the lifting unit 70, and places the conveyed object X1 on the lifting unit 70. The conveying device 1 moves to the destination in this state and lowers the lifting unit 70. Thereby, the conveying device 1 according to the present embodiment conveys the conveyed object X1. The lifting unit 70 will be described in detail in "(1.2.4) Lifting mechanism".

[0019] As shown in FIG. 1, the conveying device 1 includes a housing 7 including a lifting unit 70, a control unit 9 (see FIG. 13), a plurality (here, two) of drive wheel units 2, a plurality (here, two) of auxiliary wheel units 3, and a plurality (here, two) of lifting mechanisms 5 (see FIG. 6). Further, the conveying device 1 further includes a detection unit 91 (see FIG. 13) and a battery 92 (see FIG. 17).

[0020] (1.2.2) Drive wheel unit The drive wheel unit 2 moves the conveying device 1 along the moving surface 100. In the present embodiment, as shown in FIG. 1, the drive wheel unit 2 is disposed at the central portion in the front-rear direction. The "central portion" here means a portion having a length of 1 / 3 of the total length of the conveying device 1 in the front-rear direction and evenly distributed in the front-rear direction from the center of the conveying device 1 in the front-rear direction. However, there is no particular limitation on the position where the drive wheel unit 2 is disposed. As shown in FIG. 3, the two drive wheel units 2 are disposed symmetrically with respect to each other at the central portion in the front-rear direction of the conveying device 1.

[0021] Each drive wheel unit 2 includes a base 21, a drive source 22, a drive pulley 23 and a driven pulley 24, a power transmission body 25, a shaft 26, a bearing unit 27, and a wheel 10. The power generated by the drive source 22 is transmitted in the order of the drive pulley 23, the power transmission body 25, the driven pulley 24, the shaft 26, and the wheel 10. The wheel 10 supports the housing 7 on the moving surface 100. Here, the wheel 10 mentioned here may be referred to as a "drive wheel 28" in the present disclosure. The "drive wheel 28" in the present disclosure refers to the wheel 10 that is directly or indirectly powered by the drive source 22 and operates. Here, since the two drive wheel units 2 have the same structure, the same reference numerals are used, and duplicate descriptions are omitted as appropriate.

[0022] The base 21 is fixed to the housing 7. In the present embodiment, the base 21 is composed of a rectangular plate material with the vertical direction as the width direction and the front-rear direction as the length direction. The drive source 22, the drive pulley 23, the driven pulley 24, and a part of the bearing unit 27 are attached to the base 21.

[0023] The drive source 22 is a power generation source that drives the drive wheel 28. In the present embodiment, the drive source 22 is a moving motor 220. The moving motor 220 according to the present embodiment is an electric motor. However, the drive source 22 may be a hydraulic motor, an air motor, or the like. The output shaft (not shown) of the moving motor 220 extends along the left-right direction. In particular, the tip of the output shaft faces the central side in the left-right direction. A drive pulley 23 is connected to the tip of the output shaft of the moving motor 220.

[0024] The drive pulley 23 and the driven pulley 24 are rotatably attached to the base 21 around an axis parallel to the left-right direction. The drive pulley 23 and the driven pulley 24 are spaced apart in the front-rear direction. The drive pulley 23 receives power from the moving motor 220 and rotates around the rotation axis of the output shaft of the moving motor 220. The drive pulley 23 and the driven pulley 24 are connected via a power transmission body 25 so as to be able to transmit power.

[0025] The power transmission body 25 transmits power from the driving pulley 23 to the driven pulley 24. In this embodiment, the power transmission body 25 is an endless belt. However, the power transmission body 25 may be a chain, a wire, a rope, a shaft, a gear, or the like.

[0026] The driven pulley 24 is a pulley to which the power from the driving pulley 23 is transmitted via the power transmission body 25. In this embodiment, the outer diameter of the driven pulley 24 is larger than the outer diameter of the driving pulley 23. However, the outer diameter of the driven pulley 24 may be equal to or less than the outer diameter of the driving pulley 23. A shaft 26 is connected to the driven pulley 24 so as to be concentric.

[0027] The shaft 26 connects the driving wheel 28 and the driven pulley 24. The shaft 26 is rotatably supported by a bearing unit 27 so as to rotate about a rotation axis R1 extending in the left - right direction. In short, the shaft 26 rotates the driving wheel 28 about the rotation axis R1.

[0028] The driving wheel 28 rotates by the power transmitted from the drive source 22. The driving wheel 28 is connected to the longitudinal end of the shaft 26. In this embodiment, the driving wheel 28 includes a wheel 281 connected to the shaft 26 and a tire 282.

[0029] In this embodiment, the tire 282 is made of resin lined around the wheel 281. However, the tire 282 may be a rubber tire, and in this case, it may be either solid or hollow. Also, the driving wheel 28 may not include the wheel 281 and may be a wheel entirely formed of resin or the like. Further, the driving wheel 28 may include an endless track (crawler).

[0030] In the drive wheel unit 2 according to this embodiment, the power generated from the moving motor 220 is transmitted in the order of the drive pulley 23, the power transmission body 25, the driven pulley 24, and the shaft 26 to drive the drive wheel 28. In short, the drive wheel 28 receives power indirectly from the moving motor 220. However, the drive wheel 28 may be directly connected to the output shaft of the moving motor 220, or an in-wheel motor may be used to directly apply a driving force to the drive wheel 28.

[0031] By the way, the moving motor 220 of each drive wheel unit 2 can appropriately switch the rotation direction of the output shaft between the forward rotation direction and the reverse rotation direction. The "forward rotation direction" here means the rotation direction of the output shaft when the conveying device 1 moves forward, and the "reverse rotation direction" means the rotation direction of the output shaft when the conveying device 1 moves backward.

[0032] In this embodiment, in the two drive wheel units 2, the moving motor 220 of one drive wheel unit 2 operates independently of the moving motor 220 of the other drive wheel unit 2. In short, each drive wheel unit 2 is independent. Therefore, in the conveying device 1 according to this embodiment, the two drive wheels 28 can rotate at different angular velocities from each other to turn in either the left or right direction, and can rotate at the same angular velocity from each other to travel straight. Therefore, the conveying device 1 according to this embodiment can perform forward movement, backward movement, and turning in the left and right directions (including on-site turning and over-site turning).

[0033] In this embodiment, the backward speed of the conveying device 1 is slower than the forward speed. However, the forward and backward movement of the conveying device 1 may be at the same speed.

[0034] The two drive wheel units 2 are arranged apart from each other in the left - right direction at the central part of the housing 7 in the front - rear direction. In particular, in the present embodiment, as described above, the two drive wheel units 2 are arranged symmetrically, and the outer end faces of the drive wheels 28 in the left - right direction are located inside the outer end faces of the housing 7 in the left - right direction. That is, the two drive wheels 28 are accommodated in the housing 7 in plan view.

[0035] Here, as shown in FIG. 1, the two auxiliary wheel units 3 are arranged apart from each other in the front - rear direction, and the drive wheel unit 2 is arranged between the two auxiliary wheel units 3. Each auxiliary wheel unit 3 has at least one auxiliary wheel 45 as will be described in the following “(1.2.3) Auxiliary wheel unit”. In short, at least one drive wheel 28 is arranged between a plurality of auxiliary wheels 45.

[0036] In the present embodiment, the two drive wheel units 2 are arranged at the same position in the front - rear direction, but they may be arranged at positions shifted in the front - rear direction. Also, the conveying device 1 may be a conveying device 1 having only one drive wheel unit 2. In this case, the drive wheel 28 may be formed to have a width extending over substantially the entire length in the left - right direction, or may be arranged at the center in the left - right direction. Even in this case, it is preferable that at least one drive wheel unit 2 is arranged between the two auxiliary wheel units 3.

[0037] (1.2.3) Auxiliary wheel unit The auxiliary wheel unit 3 is a unit including a wheel 10 (see FIG. 4) that assists the movement by the drive wheel 28. In the present embodiment, as shown in FIG. 1, one of the plurality of auxiliary wheel units 3 is arranged in front of the plurality of drive wheel units 2, and the other one is arranged behind the plurality of drive wheel units 2. Hereinafter, the auxiliary wheel unit 3 arranged in front of the plurality of drive wheel units 2 is referred to as “first auxiliary wheel unit 3A”, and the auxiliary wheel unit 3 arranged behind the plurality of drive wheel units 2 is referred to as “second auxiliary wheel unit 3B”.

[0038] In this embodiment, the first auxiliary wheel unit 3A is disposed at the center in the left-right direction at the front portion of the bottom plate 74 of the housing 7. The "front portion" mentioned here means a portion of the housing 7 that has a range in front of the central portion in the front-rear direction. Here, FIG. 4 shows a cross-sectional view of the first auxiliary wheel unit 3A in a vertical plane. The first auxiliary wheel unit 3A includes a case 31, an auxiliary wheel support portion 34, a buffer mechanism 39, and a wheel 10.

[0039] The case 31 is the portion of the first auxiliary wheel unit 3A that is attached to the housing 7. As shown in FIG. 5, the case 31 includes a case body 32 and a flange piece 33. The case body 32 includes a plurality of side plates 321 and an upper plate 322, and is formed in a rectangular parallelepiped shape having an opening surface downward. The flange piece 33 is formed outside the opening surface of the case body 32. Here, as shown in FIG. 4, an opening 746 for attaching the first auxiliary wheel unit 3A is formed in the bottom plate 74 of the housing 7. When the first auxiliary wheel unit 3A is attached to the bottom plate 74, the case body 32 is passed through the opening 746 and housed inside the housing 7, and the flange piece 33 is disposed along the lower surface of the bottom plate 74 of the housing 7. The flange piece 33 is screwed to the bottom plate 74.

[0040] The wheel 10 supports the housing 7 on the moving surface 100. Here, the wheel 10 mentioned here may be referred to as an "auxiliary wheel 45" in the present disclosure. The "auxiliary wheel 45" in the present disclosure refers to the wheel 10 that does not receive power from the drive source 22 and moves according to the movement of the housing 7 by the plurality of drive wheels 28. As shown in FIG. 5, the auxiliary wheel 45 includes a plurality of rollers 451 and a plurality of bearings 452.

[0041] Each roller 451 is formed in a cylindrical shape with the central axis as the rotation axis. Each roller 451 is, for example, made of resin. However, the roller 451 may be made of, for example, rubber, elastomer, urethane, nylon, phenol, polycarbonate, etc. Also, the color of the roller 451 is preferably the same color system as the color of the moving surface 100. The plurality of rollers 451 are adjacent to each other along the rotation axis.

[0042] A plurality of bearings 452 are concentrically fitted into the central portions of the plurality of rollers 451. The bearing 452 is disposed between the mounting shaft 35 included in the auxiliary wheel support portion 34 and the plurality of rollers 451. The bearing 452 is composed of a ball bearing, a roller bearing, or the like.

[0043] The auxiliary wheel support portion 34 rotatably supports the auxiliary wheel 45 about a rotation axis parallel to the moving surface 100. Further, the auxiliary wheel support portion 34 is rotatably supported about an axis extending in the vertical direction with respect to the movable frame 40 included in the buffer mechanism 39. The auxiliary wheel support portion 34 includes a mounting shaft 35, a support portion main body 36, a retaining member 37, and a stopper 38.

[0044] The mounting shaft 35 rotatably supports the auxiliary wheel 45 about the rotation axis. The mounting shaft 35 extends in one direction along the moving surface 100. Specifically, the mounting shaft 35 is inserted into the center of the inner ring of the bearing 452. The mounting shaft 35 is supported by the support portion main body 36.

[0045] The support portion main body 36 is a member to which the mounting shaft 35 is attached. In the present embodiment, the support portion main body 36 includes a pair of grooves 361 and an upper contact surface 362. Each groove 361 opens downward, and the end portion of the mounting shaft 35 fits through the opening. Here, the retaining member 37 is attached to the support portion main body 36 in a state where the corresponding end portions of the mounting shaft 35 are fitted into the pair of grooves 361. The retaining member 37 restricts the downward movement of the mounting shaft 35 in a state where the corresponding end portions are fitted into the pair of grooves 361.

[0046] The upper contact surface 362 is a surface facing upward and contacts the lower surface of the bearing body 42 of the buffer mechanism 39. When an upward force is applied to the support portion main body 36 from the auxiliary wheel 45, the support portion main body 36 transmits the force to the bearing body 42 through the upper contact surface 362.

[0047] The stopper 38 is rotatably supported about a rotation axis R2 along the vertical direction by a bearing body 42 included in the buffer mechanism 39. Further, the stopper 38 is fixed to the support portion main body 36. Since the bearing body 42 is attached to a movable frame 40 included in the buffer mechanism 39 as described later, the stopper 38 is rotatably supported about the rotation axis R2 with respect to the movable frame 40.

[0048] The stopper 38 includes a shaft portion 381 passed through the center of the bearing body 42, and a flange portion 382 protruding in the radial direction from the upper end portion of the shaft portion 381. The flange portion 382 rests on the upper surface of the bearing body 42. The support portion main body 36 is attached to the lower end of the shaft portion 381.

[0049] The buffer mechanism 39 is a mechanism that alleviates the impact input from the auxiliary wheel 45. In the conveying device 1 according to the present embodiment, the auxiliary wheel unit 3 includes the buffer mechanism 39, while the drive wheel unit 2 does not include the buffer mechanism 39. In short, the conveying device 1 according to the present embodiment is not provided with a buffer mechanism 39 for alleviating the impact input from the drive wheel 28. For this reason, while simplifying the structure of the drive wheel unit 2, which is likely to have a complicated mechanism, as much as possible, by providing the buffer mechanism 39 in the auxiliary wheel unit 3, smooth movement can be realized while reducing the size of the conveying device 1 in the vertical direction.

[0050] The buffer mechanism 39 includes a movable frame 40, a plurality of sliding bodies 41, a bearing body 42, a pressing plate 43, and a plurality of buffer springs 44.

[0051] The movable frame 40 is attached to the case 31 so as to be movable in the vertical direction. The attachment between the movable frame 40 and the case 31 may be just a snug fit, or may be screwed in movably. The movable frame 40 includes a through hole 401 and a plurality of spring attachment portions 402. The through hole 401 houses the bearing body 42 and passes through the shaft portion 381 of the stopper 38. The through hole 401 is circular in shape when viewed from above (hereinafter, in plan view) and is formed at the center of the movable frame 40. The plurality of spring attachment portions 402 are portions for attaching the plurality of buffer springs 44. In this embodiment, each spring attachment portion 402 includes a spring contact surface 403 that contacts the lower end of the buffer spring 44 and a through hole 404 through which the fixing pin 441 passes. The through hole 404 may penetrate the movable frame 40 in the vertical direction or may be non-penetrating.

[0052] The sliding body 41 is disposed between the outer surface of the movable frame 40 and the inner surface of the case 31, and reduces the friction that may occur when the movable frame 40 moves in the vertical direction. In this embodiment, the sliding body 41 is formed in a plate shape. The main surface of the sliding body 41 is a vertical plane and faces the inner surface of the case 31. In this embodiment, the sliding body 41 is attached to the movable frame 40. The friction coefficient of the sliding body 41 is smaller than that of the movable frame 40. The sliding body 41 is made of, for example, fluororesin, nylon, tetrafluoroethylene resin, or the like. However, the sliding body 41 may be attached over the entire inner surface of the case 31, or the side plate 321 of the case 31 may be formed of a material having a friction coefficient equal to or less than that of the sliding body 41.

[0053] The bearing body 42 rotatably supports the stopper 38 around the rotation axis R2, that is, the bearing body 42 supports the auxiliary wheel support portion 34. The bearing body 42 is fitted into the through hole 401 of the movable frame 40 and is thereby attached to the movable frame 40. The bearing body 42 is composed of, for example, a rolling bearing (ball bearing, roller bearing, etc.), a sliding bearing, a fluid bearing, or the like.

[0054] The pressing plate 43 restricts the upward movement of the bearing body 42. The pressing plate 43 is fixed to the movable frame 40 above the bearing body 42 fitted into the through hole 401 of the movable frame 40. Thereby, even when an upward force input from the auxiliary wheel 45 is applied to the bearing body 42 via the auxiliary wheel support portion 34, it can be received by the pressing plate 43. When receiving this force by the pressing plate 43, the movable frame 40 moves upward with respect to the case 31.

[0055] A plurality of buffer springs 44 are arranged between the upper surface of the movable frame 40 and the lower surface of the upper plate 322 of the case 31. Each buffer spring 44 is elastically deformable in the vertical direction. Therefore, when the movable frame 40 moves upward with respect to the case 31, the plurality of buffer springs 44 can elastically deform in the vertical direction to absorb the impact.

[0056] In the present embodiment, each buffer spring 44 is a coil spring having a central axis parallel to the vertical direction. However, the buffer spring 44 is not limited to a coil spring, and any spring having spring properties may be used. The buffer spring 44 may be, for example, a leaf spring (including a thin plate spring), a disc spring, a rubber spring, a pneumatic spring, an anti-vibration rubber, a cushion rubber, or the like.

[0057] In the present embodiment, the plurality of buffer springs 44 are attached to spring attachment portions 402 formed at the four corners of the movable frame 40. Thereby, when the movable frame 40 moves upward with respect to the case 31, the plurality of buffer springs 44 bend substantially evenly. Thereby, the movable frame 40 can move in parallel along the vertical direction.

[0058] In the present embodiment, the total deflections of the plurality of buffer springs 44 are all the same. The "total deflection" as referred to in the present disclosure means the deflection obtained by subtracting the height (contact height) at which the spring is compressed to the maximum under a load from the height (free height) when no load is applied. In the present embodiment, the total deflection of the buffer spring 44 of the first auxiliary wheel unit 3A is about 3 mm.

[0059] As shown in Fig. 1, the second auxiliary wheel unit 3B is disposed at the center in the left - right direction at the rear part of the bottom plate 74 of the housing 7. Here, the "rear part" means a portion of the housing 7 having a range behind the central part in the front - rear direction. The second auxiliary wheel unit 3B has the same structure as the first auxiliary wheel unit 3A.

[0060] However, the total deflection of the buffer spring 44 of the second auxiliary wheel unit 3B is completely different from that of the buffer spring 44 of the first auxiliary wheel unit 3A. In this embodiment, the total deflection of the buffer spring 44 of the second auxiliary wheel unit 3B is about 8 mm. That is, as described above, since the total deflection of the buffer spring 44 of the first auxiliary wheel unit 3A is about 3 mm, the total deflection of the buffer spring 44 of the second auxiliary wheel unit 3B is larger than that of the buffer spring 44 of the first auxiliary wheel unit 3A. Thereby, the amount by which the portion of the housing 7 corresponding to the first auxiliary wheel unit 3A (the front part of the housing 7 in this embodiment) can move downward can be reduced. As a result, when the conveyed object X1 is placed at the position corresponding to the first auxiliary wheel unit 3A, the amount of sinking of the front part of the conveying device 1 can be suppressed. As a result, for example, when there is a laser sensor at the front part of the conveying device 1, it can be suppressed that the front part of the conveying device 1 sinks excessively and the sensor erroneously detects the running surface (moving surface 100).

[0061] (1.2.4) Lifting mechanism (1.2.4.1) Overall configuration As shown in Fig. 1, the conveying device 1 according to this embodiment includes a plurality of elevating parts 70 that can be lifted independently of the moving surface 100. The elevating part 70 is the part on which the conveyed object X1 (the placed object) is placed, and in this embodiment, it is a part of the housing 7. As shown in Fig. 2, the conveying device 1 according to this embodiment moves into the gap below the roll box pallet (the conveyed object X1) on which the luggage is placed, and then at least one of the plurality of elevating parts 70 rises to lift the conveyed object X1. Then, the conveying device 1 moves while lifting the conveyed object X1. However, the conveying device 1 moving below the conveyed object X1 and the elevating part 70 rising to load the conveyed object X1 is just an example of an operation example. In the conveying device 1 according to the present disclosure, for example, the operator may place the conveyed object X1 on the elevating part 70 without the elevating part 70 rising, and the conveying device 1 may move in this state.

[0062] In this embodiment, the conveying device 1 includes a plurality of elevating mechanisms 5 (see Fig. 6) for raising the plurality of elevating parts 70.

[0063] The elevating mechanism 5 is a mechanism for raising and lowering the elevating part 70 on which the conveyed object X1 is placed. The conveying device 1 according to this embodiment includes a plurality (here, two) of elevating mechanisms 5. The plurality of elevating mechanisms 5 are in a one-to-one relationship with the plurality of elevating parts 70. One of the plurality of elevating mechanisms 5 is arranged at the front part of the housing 7, and the other elevating mechanism 5 is arranged at the rear part of the housing 7. The elevating mechanism 5 arranged at the front part and the elevating mechanism 5 arranged at the rear part are the same mechanism. Here, the elevating mechanism 5 arranged at the front part will be mainly described.

[0064] Fig. 6 shows a schematic diagram of the elevating mechanism 5 arranged at the front part. Each elevating mechanism 5 includes one drive source 51, a drive shaft 52, a plurality (here, two) of support units 53, and a placement sensor 95 (see Fig. 13).

[0065] (1.2.4.2) Drive source The drive source 51 is a power generation source and drives the support unit 53. Since the lifting unit 70 moves according to the operation of the support unit 53, the drive source 51 drives the lifting unit 70. In this embodiment, the drive source 51 is the lifting motor 510. The lifting motor 510 according to this embodiment is an electric motor. However, the drive source 51 may be a hydraulic motor, an air motor, or the like. The power output from the output shaft of the lifting motor 510 is transmitted to the drive shaft 52, and the drive shaft 52 is rotated around the rotation axis R3. In this embodiment, a drive gear 511 is fixed to the output shaft of the lifting motor 510.

[0066] (1.2.4.3) Drive Shaft The drive shaft 52 divides the power input from the lifting motor 510 into a plurality of locations separated from each other and transmits it to the plurality of support units 53. A driven gear 521 that meshes with the drive gear 511 is fixed to a part of the drive shaft 52. When the lifting motor 510 rotates, the power is transmitted to the drive shaft 52 via the drive gear 511 and the driven gear 521. Then, the drive shaft 52 rotates around the rotation axis R3. Both ends of the drive shaft 52 are connected to the support unit 53. Thereby, the power output from the lifting motor 510 can be transmitted to the plurality of support units 53 separated from each other.

[0067] (1.2.4.4) Support Unit Each support unit 53 is a unit for raising and lowering the lifting unit 70. In this embodiment, the plurality of support units 53 operate in conjunction with each other. Therefore, the upward movement and the downward movement of the plurality of support units 53 are synchronized. Here, FIG. 7 shows a perspective view of one support unit 53. The support unit 53 includes an installation table 54, a gear box 55, a support portion 56, and a guide portion 61.

[0068] (1.2.4.4.1) Installation Table The mounting base 54 is fixed to the housing 7 with the gearbox 55, the support portion 56, and the guide portion 61 attached thereto. In this embodiment, the mounting base 54 includes a first plate 541 substantially parallel to the moving surface 100 and a second plate 542 attached to the first plate 541. The second plate 542 is raised with respect to the first plate 541.

[0069] (1.2.4.4.2) Gearbox The gearbox 55 is connected to the drive shaft 52, and power around the rotation axis R3 of the drive shaft 52 is input. The gearbox 55 includes a plurality of gears and outputs the input power as power around the rotation axis R4 extending in the vertical direction as shown in FIG. 8. The output shaft of the gearbox 55 protrudes below the first plate 541. A first gear 551 rotatable around the rotation axis R4 is fixed to the output shaft of the gearbox 55.

[0070] In the gearbox 55 according to this embodiment, the rotation axis of the input power and the rotation axis of the output power are orthogonal to each other. However, the angle formed by the rotation axis of the input power and the rotation axis of the output power is not limited to the case of being orthogonal, and may be greater than 0° and less than 90°, or may be greater than 90°. In short, the angle formed by the rotation axis of the input power and the rotation axis of the output power only needs to intersect. Further, the gearbox 55 may have a speed reduction function of outputting the input rotation speed at a different rotation speed.

[0071] The first gear 551 meshes with a second gear 57 included in the support portion 56 and rotates the second gear 57 around the rotation axis R5 along the vertical direction.

[0072] (1.2.4.4.3) Support portion The support part 56 is a part that moves along the vertical direction by the power output from the lifting motor 510. In the present embodiment, when the support part 56 moves upward, the lifting part 70 rises, and when the support part 56 moves downward, the lifting part 70 descends. In short, the support part 56 supports one of the plurality of lifting parts 70 and moves this lifting part 70 along the lifting direction. Here, "moving along the vertical direction" means that at least a part of the support part 56 moves along the vertical direction, including the case where a part moves while being deformed and the case where the whole moves. The same applies to "moving upward" and "moving downward".

[0073] The support part 56 includes a second gear 57, a rotating cylinder 58, a mover 59, and a telescopic cover 60.

[0074] The second gear 57 meshes with the first gear 551 and rotates around the rotation axis R5 as the first gear 551 rotates. In the present embodiment, the second gear 57 is rotatably attached to the lower surface of the first plate 541 around the rotation axis R5. A through hole penetrating in the vertical direction is formed in the center of the second gear 57. A part of the mover 59 is passed through the through hole.

[0075] The rotating cylinder 58 is fixed to the second gear 57 and rotates around the rotation axis R5 as the rotating cylinder 58 rotates. The rotating cylinder 58 is attached to the second gear 57 concentrically. In the present embodiment, the attachment of the rotating cylinder 58 and the second gear 57 is by screwing, but in addition, for example, it may be realized by welding, pinning, fitting, etc. Further, the rotating cylinder 58 and the second gear 57 may be integrally formed by casting, die casting, etc.

[0076] The rotating cylinder 58 is formed in a cylindrical shape. On the inner peripheral surface of the rotating cylinder 58, a first engaging portion 581 is formed. The first engaging portion 581 is a portion that engages with the mover 59. Here, "engaging" means engaging with the mover 59 to the extent that power can be imparted from the rotating cylinder 58 to move the mover 59 along the vertical direction. In this embodiment, the first engaging portion 581 is realized by a female thread. The female thread is a trapezoidal thread in this embodiment, but it may also be, for example, a square thread, a triangular thread, a round thread, or the like.

[0077] The mover 59 moves along the vertical direction as the rotating cylinder 58 rotates. The mover 59 is disposed inside the rotating cylinder 58 in a state of engaging with the first engaging portion 581 of the rotating cylinder 58. The upper end of the mover 59 is fixed to the elevating portion 70 (specifically, attached to the backup plate 75), and although the mover 59 moves along the vertical direction as the rotating cylinder 58 rotates, it does not rotate around the rotation axis R5. In this embodiment, the mover 59 includes a shaft body 591, a movable portion 593, and an elastic body 597.

[0078] The shaft body 591 moves along the vertical direction while engaging with the first engaging portion 581. The shaft body 591 extends along the vertical direction. The shaft body 591 has a second engaging portion 592 that engages with the first engaging portion 581. The second engaging portion 592 is formed on the outer peripheral surface of the lower end portion of the shaft body 591.

[0079] The second engaging portion 592 is a portion that engages with the first engaging portion 581. The second engaging portion 592 moves along the rotation axis R5 (along the vertical direction) as it rotates around the rotation axis R5 of the rotating cylinder 58. In this embodiment, the second engaging portion 592 is a male thread. The male thread corresponds to the female thread of the first engaging portion 581. The male thread according to this embodiment is a trapezoidal thread. However, when the female thread of the first engaging portion 581 is a square thread, a triangular thread, or a round thread, the second engaging portion 592 is a corresponding thread.

[0080] Incidentally, the first engaging portion 581 and the second engaging portion 592 only need to engage with each other while the shaft body 591 moves along the vertical direction, so the specific configuration is not limited to female and male threads. For example, either one of the first engaging portion 581 and the second engaging portion 592 may be a thread or a spiral groove, and the other may be a protrusion or a thread that engages with the spiral groove. Also, a structure such as a ball screw may be adopted, and the first engaging portion 581 and the second engaging portion 592 may be engaged with each other via an intermediate object such as a plurality of balls.

[0081] The movable portion 593 is attached to the upper end portion of the shaft body 591 so as to be movable along the central axis of the shaft body 591 with respect to the shaft body 591. Since the movable portion 593 is attached to the upper end portion of the shaft body 591, when an impact is applied to the lifting portion 70 from the conveyed object X1, the impact can be mitigated. The movable portion 593 is constantly pushed upward by the elastic body 597. As shown in FIG. 10, the movable portion 593 includes a movable portion main body 594, a plurality of guide pins 595, and a plurality of sleeve bearings 596a and 596b.

[0082] The movable portion main body 594 is formed in a cylindrical shape and has an intermediate partition 594a protruding toward the center in the intermediate portion in the vertical direction. A hole for passing each guide pin 595 is formed in the intermediate partition 594a, and the movable portion main body 594 moves along the longitudinal direction (vertical direction) of each guide pin 595.

[0083] The guide pin 595 guides the movement of the movable portion main body 594. The longitudinal direction of the guide pin 595 is along the vertical direction. The lower end portion of the guide pin 595 is fixed to the upper end portion of the shaft body 591. The plurality of guide pins 595 are arranged at the pitch around the rotation axis R5 (see FIG. 8).

[0084] The sleeve bearings 596a and 596b reduce the frictional force when the movable part main body 594 moves in the vertical direction with respect to the shaft main body 591. The sleeve bearings 596a and 596b are arranged between the inner surface of the movable part main body 594 and the outer surface of the shaft main body 591. In the present embodiment, the sleeve bearings 596a and 596b are formed in a cylindrical shape and are attached to the inner surface of the movable part main body 594.

[0085] The elastic body 597 pushes the movable part 593 upward. The elastic body 597 is a coil spring in the present embodiment. However, the elastic body 597 is not limited to a coil spring and may have spring properties. The elastic body 597 may be, for example, a leaf spring (including a thin plate spring), a disc spring, a rubber spring, an air spring, a vibration isolator rubber, a cushion rubber, etc.

[0086] As shown in FIG. 9, the telescopic cover 60 is a cover that expands and contracts as the mover 59 moves. The telescopic cover 60 covers the outer peripheral surfaces of the mover 59 and the rotating cylinder 58. The upper end of the telescopic cover 60 is fixed to the elevating part 70 (specifically, attached to the backup plate 75). When the mover 59 moves upward and the elevating part 70 rises, the telescopic cover 60 extends upward. On the other hand, when the mover 59 moves downward and the elevating part 70 descends, the telescopic cover 60 contracts downward. The telescopic cover 60 includes a fixed cylinder part 601, a first movable cylinder part 602, and a second movable cylinder part 603 in the present embodiment.

[0087] The fixed cylinder part 601 is fixed to the first plate 541. The fixed cylinder part 601 has an outer diameter larger than the outer diameter of the rotating cylinder 58 and is arranged concentrically with the rotating cylinder 58. A plurality of bearings are arranged between the fixed cylinder part 601 and the rotating cylinder 58. By these plurality of bearings, smooth rotation of the rotating cylinder 58 around the rotation axis R5 with respect to the fixed cylinder part 601 can be realized. A first retaining part 601a that prevents the first movable cylinder part 602 from coming out upward is provided at the upper end of the fixed cylinder part 601.

[0088] The first movable cylinder part 602 is movable in the vertical direction with respect to the fixed cylinder part 601. The first movable cylinder part 602 has an outer diameter larger than that of the fixed cylinder part 601 and is arranged concentrically with the fixed cylinder part 601. A cylindrical thrust bearing 602a is arranged between the first movable cylinder part 602 and the fixed cylinder part 601. By means of this thrust bearing 602a, smooth movement of the first movable cylinder part 602 in the vertical direction with respect to the fixed cylinder part 601 can be realized. At the upper end of the first movable cylinder part 602, a second retaining part 602b is provided to prevent the second movable cylinder part 603 from coming off upward with respect to the first movable cylinder part 602.

[0089] The second movable cylinder part 603 is movable in the vertical direction with respect to the first movable cylinder part 602. The second movable cylinder part 603 has an outer diameter larger than that of the first movable cylinder part 602 and is arranged concentrically with the first movable cylinder part 602. A cylindrical thrust bearing 603a is arranged between the second movable cylinder part 603 and the first movable cylinder part 602. By means of this thrust bearing 603a, smooth movement of the second movable cylinder part 603 in the vertical direction with respect to the first movable cylinder part 602 can be realized.

[0090] As described above, the upper end of the second movable cylinder part 603 is fixed to the backup plate 75 (see FIG. 14) of the housing 7. Therefore, as shown in FIG. 9, when the mover 59 moves upward, the elevating part 70 rises, and accordingly, the second movable cylinder part 603 moves upward. While the second movable cylinder part 603 is moving upward, the lower end of the second movable cylinder part 603 is caught by the second retaining part 602b of the first movable cylinder part 602 via the sleeve bearing 603a, and the first movable cylinder part 602 is lifted upward. Thereby, the telescopic cover 60 extends upward.

[0091] Thus, the telescopic cover 60 according to the present embodiment is a so-called telescopic pipe-shaped cover including the fixed cylinder part 601, the first movable cylinder part 602, and the second movable cylinder part 603. However, the telescopic cover 60 may be a bellows-shaped cover, or a cover in which an upper cylinder fixed to the elevating part 70 and a lower cylinder fixed to the first plate 541 are overlapped.

[0092] (1.2.4.4.4) Guide part The guide part 61 is a part that guides the movement of the support part 56 along the vertical direction. As shown in FIG. 7, the guide part 61 is arranged adjacent to the support part 56. The guide part 61 is attached to the first plate 541. As shown in FIG. 9, the guide part 61 includes a movable shaft 62, a first guide cylinder member 63, and a second guide cylinder member 64.

[0093] The movable shaft 62 is fixed to the elevating part 70 (specifically, it is attached to the backup plate 75). In this embodiment, the movable shaft 62 is shaft-shaped, but it does not matter whether it has a solid structure or a hollow structure. The movable shaft 62 extends along the vertical direction, and a flange part 621 is formed at the lower end.

[0094] The first guide cylinder member 63 is a member that can move along the longitudinal direction (vertical direction) of the movable shaft 62 with respect to the movable shaft 62. A thrust bearing 63a is arranged between the first guide cylinder member 63 and the movable shaft 62. At the upper end of the first guide cylinder member 63, an upward retaining part 63b is provided to prevent the thrust bearing 63a from coming out upward. At the lower end of the first guide cylinder member 63, a downward retaining part 63c that catches on the upper end of the second guide cylinder member 64 is provided.

[0095] The second guide cylinder member 64 is a member that can move along the vertical direction with respect to the first guide cylinder member 63. A thrust bearing 64a is arranged between the first guide cylinder member 63 and the second guide cylinder member 64. At the upper end of the second guide cylinder member 64, an upward retaining part 64b is provided to prevent the thrust bearing 64a from coming out upward. The lower end of the second guide cylinder member 64 is fixed to the first plate 541.

[0096] As described above, the upper end of the movable shaft 62 is fixed to the elevating part 70. Therefore, as shown in FIG. 9, when the support part 56 moves upward, the elevating part 70 rises, and the movable shaft 62 moves upward following it. When the movable shaft 62 moves upward, the flange part 621 of the movable shaft 62 hits the thrust bearing 63a, and the first guide cylinder member 63 is pulled upward. At this time, the movement of the first guide cylinder member 63 in the vertical direction is guided by the second guide cylinder member 64, and the movement of the movable shaft 62 in the vertical direction is guided by the first guide cylinder member 63.

[0097] (1.2.4.5) Placement sensor The placement sensor 95 shown in FIG. 13 detects that the conveyed object X1 is placed on each elevating part 70. The placement sensor 95 is attached to, for example, the upper end part of the mover 59 (see FIG. 8) of the support part 56. The placement sensor 95 is a non-contact sensor in the present embodiment, specifically a proximity sensor. As the proximity sensor, an inductive proximity sensor is used in the present embodiment, but a capacitive proximity sensor may also be used. However, the non-contact sensor may be an ultrasonic sensor, a photoelectric sensor, etc., and is appropriately selected according to the attributes of the conveyed object X1. Further, the placement sensor 95 is not limited to a non-contact sensor, and may be a contact sensor. As an example of the contact sensor, a weight sensor can be mentioned.

[0098] In the present embodiment, it is detected that the conveyed object X1 is placed on the elevating part 70 when the detection result that the conveyed object X1 is close to the placement sensor 95 is output. In the present embodiment, when the elevating part 70 rises below the conveyed object X1, the elevating part 70 hits the lower surface of the conveyed object X1. In this case, when the lower surface of the conveyed object X1 hits the elevating part 70, the placement sensor 95 outputs the detection result that the conveyed object X1 is close, and based on this, it is detected that the conveyed object X1 is placed on the elevating part 70.

[0099] In this embodiment, the plurality of placement sensors 95 are installed corresponding to the plurality of elevating units 70. For this reason, for example, when there is a height difference on the lower surface of the conveyed object X1, the timing of detection of the conveyed object X1 by the placement sensor 95 is shifted. The detection results of these placement sensors 95 are output to the control unit 9 described later.

[0100] (1.2.5) Detection unit The detection unit 91 detects the behavior of the transport device 1 and the surrounding conditions of the transport device 1. The "behavior" mentioned here means operations and states, etc. That is, the behavior of the transport device 1 includes the operating state of the transport device 1 indicating whether it is running / stopped, the speed (and speed change) of the transport device 1, the acceleration acting on the transport device 1, and the attitude of the transport device 1, etc. Specifically, the detection unit 91 includes, for example, sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and detects the behavior of the transport device 1 with these sensors. Further, the detection unit 91 includes, for example, sensors such as an image sensor (camera), a sonar sensor, a radar, and a LiDAR (Light Detection and Ranging), and detects the surrounding conditions of the transport device 1 with these sensors. The surrounding conditions of the transport device 1 include, for example, the presence or absence of an object (such as an obstacle) in front of the transport device 1 in the traveling direction, and the position (distance and orientation) of the object, etc. The obstacles include other moving bodies 1A and people.

[0101] In this embodiment, as shown in FIGS. 11 and 12, the detection unit 91 includes a plurality (here, four) of step sensors 93 and a plurality (here, two) of bumper sensors 94. FIG. 11 is an enlarged view of the front part of the moving body 1A according to this embodiment. FIG. 12 is an enlarged view of the rear part of the moving body 1A according to this embodiment.

[0102] The step sensor 93 detects the steps on the moving surface 100. In this embodiment, the step sensor 93 is an optical sensor (distance measuring sensor) that irradiates light onto the moving surface 100 to detect steps. Specifically, the optical sensor emits light from a light emitting element onto an object and receives the reflected light with a light receiving element. Then, based on the position when the light enters the light receiving element, the distance to the object is measured using the principle of triangulation. The light receiving element includes a PSD (Position Sensing Device), CMOS (Complementary Metal Oxide Semiconductor), and CCD (Charge-Coupled Device). However, the step sensor 93 is not limited to an optical sensor, and an ultrasonic distance measuring sensor may also be used.

[0103] As shown in FIGS. 11 and 12, a plurality of holes 745 through which the light of the optical sensor passes are formed in the bottom plate 74. As the plurality of holes 745, a light emitting hole and a light incident hole are provided. However, the light emitting hole and the light incident hole may be connected to form one hole 745. Also, in this embodiment, the hole 745 is not blocked by a transparent plate, but the hole 745 may be blocked by a transparent plate.

[0104] As shown in FIGS. 11 and 12, the plurality of step sensors 93 are arranged at both ends in the front-rear direction in the housing 7. Further, in the front part of the housing 7, as shown in FIG. 11, the direction in which the plurality of step sensors 93 are arranged intersects the front-rear direction. In this embodiment, the direction in which the plurality of step sensors 93 are arranged is parallel to the left-right direction. In the rear part of the housing 7, as shown in FIG. 12, the direction in which the plurality of step sensors 93 are arranged intersects the front-rear direction. In this embodiment, the direction in which the plurality of step sensors 93 are arranged is parallel to the left-right direction. In short, in this embodiment, the four step sensors 93 are arranged at the four corners in the housing 7. Therefore, the plurality of step sensors 93 are arranged at positions different from the moving motor 220, the lifting motor 510, and the battery 92 in a plan view.

[0105] Such a step sensor 93 is connected to the control unit 9 so as to be able to transmit an electrical signal and can output the detection result to the control unit 9.

[0106] The bumper sensor 94 detects that the conveying device 1 has come into contact with an obstacle during movement. The bumper sensor 94 is provided at both the front end and the rear end in the front-rear direction of the bottom plate 74 of the housing 7. When an obstacle comes into contact with the bumper sensor 94, the bumper sensor 94 outputs a detection result to the control unit 9. In this embodiment, the bumper sensor 94 is used as an emergency stop sensor.

[0107] (1.2.6) Control Unit The control unit 9 shown in FIG. 13 controls the driving of the plurality of moving motors 220 and the plurality of lifting motors 510. The control unit 9 is connected to the plurality of moving motors 220, the plurality of lifting motors 510, the placement sensor 95, and the detection unit 91. In this embodiment, the control unit 9 outputs a control signal to the moving motor 220 and the lifting motor 510 according to an instruction from a command unit such as an external server device.

[0108] The control unit 9 mainly includes a microcontroller having one or more processors and one or more memories. That is, the functions of the control unit 9 are realized by the processor of the microcontroller executing the program recorded in the memory of the microcontroller. The program may be pre-recorded in the memory, may be provided through a telecommunication line such as the Internet, or may be provided by being recorded on a non-temporary recording medium such as a memory card.

[0109] When the electrical signals of the detection results from the placement sensor 95 and the detection unit 91 are input to the control unit 9, the control unit 9 controls the operations of the lifting motor 510 and the moving motor 220 according to the detection results. Examples of the operations of the lifting motor 510 and the moving motor 220 by the control unit 9 in this embodiment will be described in detail in the following "(1.3) Operations".

[0110] In this embodiment, the control unit 9 executes a determination process for determining the type of the conveyed object X1 based on the detection result of the placement sensor 95 corresponding to the first elevating unit 771 (see FIG. 14) and the detection result of the placement sensor 95 corresponding to the second elevating unit 781. For example, the control unit 9 acquires the time T1 from the reference time point until the placement sensor 95 corresponding to the first elevating unit 771 detects the conveyed object X1 and the time T2 from the reference time point until the placement sensor 95 corresponding to the second elevating unit 781 detects the conveyed object X1, and calculates the difference T3 between T1 and T2. Then, according to the value of T3, the type corresponding to the shape of the lower surface of the conveyed object X1 can be determined.

[0111] In this embodiment, the "reference time point" is the time when the operations of the first elevating unit 771 and the second elevating unit 781 start, but it may also be a time point during the operations of the first elevating unit 771 and the second elevating unit 781.

[0112] The control unit 9 determines the type of the conveyed object X1 and changes the operations of the moving motor 220 and the elevating motor 510 accordingly. For example, the control unit 9 can change the operation of the conveying device 1 according to the type of the load by determining the type of the load to be loaded according to the shape of the bottom surface of the conveyed object X1, that is, the shape of the bottom surface of the roll box pallet. As an example, the control unit 9 can change the lifting amount of the conveyed object X1 or the traveling speed of the conveying device 1 according to the type of the load.

[0113] (1.2.7) Battery The battery 92 (see FIG. 17) supplies power to the moving motor 220 and the elevating motor 510. Specifically, the battery 92 supplies power to the moving motor 220 and the elevating motor 510 via the control unit 9. However, the battery 92 may directly supply power to the moving motor 220 and the elevating motor 510. In this embodiment, the battery 92 is a lithium-ion battery. However, the battery 92 may be a lead-acid battery, a nickel-metal hydride battery, a NAS battery (sodium-sulfur battery), or the like.

[0114] In this embodiment, the battery 92 is disposed between the traveling motor 220 and the lifting mechanism 5 disposed at the front portion of the housing 7 (see FIG. 17).

[0115] (1.2.8) Housing The housing 7 houses the control unit 9, the traveling motor 220, the lifting mechanism 5 including the lifting motor 510, and the like. As shown in FIG. 14, the housing 7 includes a housing main body 71, a plurality of backup plates 75, and a cover 76.

[0116] The housing main body 71 is the main part of the housing 7. The housing main body 71 has a rectangular parallelepiped shape that is longer in the front-rear direction than in the left-right direction and has smaller dimensions in the up-down direction than in the left-right and front-rear directions. As described above, the housing 7 according to this embodiment has a sufficiently small dimension in the up-down direction of the housing 7 compared to the dimension in the left-right direction of the housing 7 so as to fit into the gap below the conveyed object X1. The housing main body 71 includes a top plate 72, a plurality of side plates 73, and a bottom plate 74 (see FIG. 15).

[0117] The top plate 72 is a plate that forms the upward-facing surface of the housing main body 71. The top plate 72 is formed with openings formed at the four corners in plan view (hereinafter referred to as the lifting mechanism openings 723) and an intake opening (hereinafter referred to as the intake port 721). These openings 721 and 723 penetrate the top plate 72 in the thickness direction and communicate with the inside of the housing main body 71. The “four corners” as used herein means a portion having a range located at both ends in the front-rear direction and both ends in the left-right direction of the housing main body 71.

[0118] At least a part of the plurality of lifting mechanisms 5 is housed in the housing main body 71. Each lifting mechanism 5 is housed inside the lifting mechanism opening 723 in plan view, and when the support portion 56 moves upward, the support portion 56 protrudes upward from the upper surface of the top plate 72 through the lifting mechanism opening 723.

[0119] The plurality of side plates 73 intersect the top plate 72 and the bottom plate 74 and are plates that form the surfaces facing the outside (outer side) in the direction parallel to the moving surface 100 of the housing main body 71.

[0120] The bottom plate 74 is a plate that forms the downward-facing surface in the housing 7. The lower surface of the bottom plate 74 faces the moving surface 100. The bottom plate 74 is formed in a flat plate shape. As shown in FIG. 15, the bottom plate 74 has a bottom plate body 741 and a plurality (here, two) of adjacent portions 742.

[0121] The bottom plate body 741 is the part that forms most of the bottom plate 74. In the present embodiment, the bottom plate body 741 overlaps the top plate 72 in plan view. The bottom plate body 741 has a plurality (here, four) of corner portions. The corner portion is a portion having a range including an angle formed by a side extending in the front-rear direction of the bottom plate 74 and a side extending in the left-right direction. The bottom plate body 741 is made of metal in the present embodiment, but may be made of hard resin, carbon, wood, or the like.

[0122] The adjacent portion 742 is a plate disposed adjacent to the corner portion of the bottom plate body 741. In the present embodiment, the plurality of adjacent portions 742 are disposed on both sides in the front-rear direction with respect to the bottom plate body 741. In the present embodiment, as shown in FIG. 22, each adjacent portion 742 is attached to the bottom plate body 741 such that the lower surface of each adjacent portion 742 is located above the lower surface of the bottom plate body 741. Each adjacent portion 742 is made of metal and is made of aluminum in the present embodiment. The bottom plate body 741 and the adjacent portion 742 may be made of the same material or different materials from each other.

[0123] As shown in FIG. 14, the plurality of backup plates 75 support the cover 76 in a reinforcing manner. In the present embodiment, the thickness of the backup plate 75 is thicker than the thickness of the cover 76. The plurality of backup plates 75 are disposed between the housing body 71 and the cover 76. The plurality of backup plates 75 are disposed at positions corresponding to each of the first elevating portion 771 and the second elevating portion 781. Here, the backup plate 75 corresponding to the first elevating portion 771 is referred to as the "first backup plate 751". Also, the backup plate 75 corresponding to the second elevating portion 781 is referred to as the "second backup plate 752".

[0124] The first backup plate 751 is arranged at a position overlapping in plan view with respect to the elevating mechanism 5 at the front part of the housing 7. A plurality of support parts 56 of the elevating mechanism 5, a plurality of second movable cylinder parts 603, and movable shafts 62 of a plurality of guide parts 61 are respectively attached to the first backup plate 751. Thereby, when the support part 56 moves upward, the first backup plate 751 rises and the first elevating part 771 rises.

[0125] The second backup plate 752 is arranged at a position overlapping in plan view with respect to the elevating mechanism 5 at the rear part of the housing 7. Similar to the first backup plate 751, a plurality of support parts 56 of the elevating mechanism 5 at the rear part of the housing 7, a plurality of second movable cylinder parts 603, and movable shafts 62 of a plurality of guide parts 61 are respectively attached to the second backup plate 752. Thereby, when the support part 56 moves upward, the second backup plate 752 rises and the second elevating part 781 rises.

[0126] The cover 76 covers the housing main body 71 at least from above. The cover 76 includes a first cover 77, a second cover 78, and an intermediate cover 79.

[0127] The first cover 77 covers the front part of the top plate 72 of the housing main body 71. The first cover 77 has a first elevating part 771 and a pair of side surface parts 772. The first elevating part 771 elevates with respect to the moving surface 100 and is a part on which the conveyed object X1 is placed. The first elevating part 771 can rise and fall along with the upward and downward movements of the elevating mechanism 5. The first elevating part 771 has a pair of anti-slip parts 771a separated in the left-right direction that serve as anti-slip for the conveyed object X1.

[0128] The second cover 78 covers the rear part of the top plate 72 of the housing main body 71. The second cover 78 has a second elevating part 781 and a pair of side faces 782. Similar to the first elevating part 771, the second elevating part 781 moves up and down with respect to the moving surface 100 and is the part on which the conveyed object X1 is placed. The second elevating part 781 can move up and down along with the upward and downward movements of the elevating mechanism 5. The second elevating part 781 has a pair of anti-slip parts 781a spaced apart in the left-right direction that serve as anti-slip for the conveyed object X1. In the present disclosure, when there is no particular need for distinction, each of the first elevating part 771 and the second elevating part 781 may be referred to as the "elevating part 70".

[0129] The intermediate cover 79 connects between the first cover 77 and the second cover 78. The intermediate cover 79 is rotatably attached about an axis extending in the left-right direction with respect to the first cover 77 and the second cover 78. Therefore, as shown by the imaginary line in FIG. 16, when the second elevating part 781 is at a position higher than the first elevating part 771, the intermediate cover 79 slopes downward from the second cover 78 toward the first cover 77. Also, when the first elevating part 771 is at a position higher than the second elevating part 781, the intermediate cover 79 slopes downward from the first cover 77 toward the second cover 78. When the first elevating part 771 and the second elevating part 781 are at the same height, the upper surface of the intermediate cover 79 is located on the same plane as the upper surfaces of the first cover 77 and the second cover 78.

[0130] (1.2.9) Arrangement of Equipment Next, the arrangement of the equipment housed in the housing 7 will be described. As shown in FIG. 17, the conveying device 1 according to the present embodiment includes a plurality of elevating motors 510, a plurality of moving motors 220, a battery 92, and a plurality of step sensors 93. These plurality of elevating motors 510, plurality of moving motors 220, battery 92, and plurality of step sensors 93 are dispersed in a plan view (that is, when viewed in a direction perpendicular to the moving surface 100). Here, "dispersed" as used in the present disclosure means that each element does not overlap in a plan view. For example, when two elements are only adjacent to each other and do not overlap in a plan view, it is included in being "dispersed".

[0131] Also, the "plurality of lifting motors 510", "plurality of moving motors 220", "battery 92", and "plurality of step sensors 93" mentioned here mean only the main body parts, and for example, cables, accessories, etc. are not included. Therefore, for example, when two moving motors 220 are adjacent to each other and the cable of one moving motor 220 overlaps the cable of the other moving motor 220 in plan view, it is included in what is referred to as "dispersed" in the present disclosure. Also, when two moving motors 220 are adjacent to each other and the cable of one moving motor 220 overlaps the main body part of the other moving motor 220, it is included in what is referred to as "dispersed" in the present disclosure.

[0132] Therefore, the plurality of moving motors 220 and the battery 92 are arranged at different positions in plan view. The "arranged at different positions" referred to in the present disclosure means, similar to "dispersed", that each element does not overlap in plan view, and the distance between each element is not particularly limited.

[0133] The plurality of lifting motors 510, the plurality of moving motors 220, the battery 92, and the plurality of detection units 91 are dispersed in plan view. However, as shown in FIG. 18, at least a part of the plurality of lifting motors 510, the plurality of moving motors 220, the battery 92, and the plurality of step sensors 93 is located on one virtual plane parallel to the moving surface 100. In short, at least a part of the plurality of lifting motors 510, the plurality of moving motors 220, the battery 92, and the plurality of step sensors 93 overlap when viewed in the direction parallel to the moving surface 100. In particular, in the present embodiment, the plurality of lifting motors 510, the plurality of moving motors 220, and the plurality of step sensors 93 are contained within the thickness (dimension in the vertical direction) of the battery 92.

[0134] Therefore, in the conveying device 1 according to the present embodiment, since the main components are dispersed in a plan view and are accommodated within a certain height in the vertical direction, the vertical dimension of the housing 7 can be minimized as much as possible. As a result, it is possible to realize a conveying device 1 having a height dimension that can enter the gap below the conveyed object X1.

[0135] (1.2.10) Intake port · Exhaust port FIG. 19 shows a plan view of the conveying device 1 according to the present embodiment. The moving body 1A includes an intake port 721 and a plurality of exhaust ports 743 (see FIG. 20). By performing heat exchange with at least one of the substrate that realizes the moving motor 220, the lifting motor 510, and the control unit 9 by the air taken into the housing 7 from the intake port 721, and then discharging the air from the exhaust port 743, the inside of the housing 7 can be cooled.

[0136] The intake port 721 is an opening for taking air into the inside of the housing main body 71 (that is, the inside of the housing 7). As shown in FIG. 14, the intake port 721 is formed in the top plate 72 of the housing main body 71 and communicates with the inside of the housing main body 71. The intake port 721 according to the present embodiment is formed at a position overlapping or in the vicinity of the gap 791 (see FIG. 21) between the second cover 78 and the intermediate cover 79 in a plan view.

[0137] The exhaust port 743 is an opening for discharging the air inside the housing main body 71 to the outside. The "outside" as referred to in the present disclosure means the space outside the conveying device 1, regardless of whether it is indoors or outdoors. The exhaust port 743 is formed below the intake port 721. In the present embodiment, as shown in FIG. 20, the exhaust port 743 is formed in the bottom plate 74. However, the exhaust port 743 may be formed in the side plate 73 of the housing main body 71, or may be formed in the top plate 72 when there is a height difference on the upper surface of the top plate 72 such as a step being formed in the top plate 72.

[0138] Incidentally, assuming that, unlike the transport device 1 of the present embodiment, an air intake 721 is formed in the bottom plate 74 and configured to take in air from between the bottom plate 74 and the moving surface 100. In the case of this structure, if the moving surface 100 is wet or dirty with dust or the like, moisture, dust, etc. are likely to enter the inside of the housing 7 by riding on the air taken in from the air intake 721.

[0139] However, in the present embodiment, since the air intake 721 faces upward and the exhaust port 743 is formed below the air intake 721, it is possible to suppress moisture, dust, etc. from being taken into the inside of the housing 7. In short, in the transport device 1 according to the present embodiment, it is possible to suppress a temperature rise inside the housing 7 while suppressing flooding inside the housing 7.

[0140] Further, the transport device 1 according to the present embodiment includes a plurality (here, two) of fans 744 (see FIG. 19) for forming an air flow (air current) that flows in order from the outside to the air intake 721, inside the housing 7, and from the exhaust port 743 to the outside. In the present embodiment, the fans 744 are arranged at positions corresponding to the plurality of exhaust ports 743 on the upper surface of the bottom plate 74. Thereby, it is possible to forcibly form an air current that takes in air from the outside and discharges it from the inside of the housing 7 to the outside.

[0141] In the present embodiment, the transport device 1 includes a plurality of fans 744 so as to have a one-to-one relationship with the plurality of exhaust ports 743, but it may include one fan 744 for the plurality of exhaust ports 743, or may include a plurality of fans 744 for one exhaust port 743.

[0142] FIG. 21 shows an enlarged view of the periphery of the air intake 721. An inner cover 722 having a weir portion 725, an outer cover 726, and a perforated plate 727 having a plurality of through holes are attached to the air intake 721.

[0143] The through-hole plate 727 is formed with a plurality of through-holes (perforations). The through-hole plate 727 can allow air to pass through while suppressing the intrusion of moisture, dust, etc. to a certain extent. The through-hole plate 727 is placed on the inner cover 722 and arranged to cover the air inlet 721.

[0144] The inner cover 722 includes a fitting portion 724 that fits into the air inlet 721 and a weir portion 725 that extends from the fitting portion 724 to the outside of the air inlet 721. The weir portion 725 surrounds the air inlet 721 in a plan view. In this embodiment, it is formed so as to be continuous over the entire outer circumference of the inner cover 722. The weir portion 725 protrudes upward from the upper surface of the top plate 72 of the housing body 71. By providing the weir portion 725, it is possible to suppress the intrusion of moisture, dust, etc. carried by the air flow.

[0145] In this embodiment, the weir portion 725 is provided as a separate member from the housing 7, but it is not limited to this. The weir portion 725 may be formed by welding or the like to the housing 7, for example, or the top plate 72 of the housing 7 may be embossed or the like to integrally form the weir portion 725 so as to surround the air inlet 721. Also, in this embodiment, the weir portion 725 is continuous over the entire outer circumference of the air inlet 721, but it may be partially interrupted.

[0146] (1.2.11) Protector As shown in FIG. 22, the conveying device 1 according to this embodiment includes a plurality (here, two) of protectors 8 attached to the bottom plate 74 of the housing 7. The plurality of protectors 8 are members that prevent the bottom surface of the housing 7 from contacting the moving surface 100. At least a part of the protector 8 is located between the metal plate (here, the adjacent portion 742) of the housing 7 and the moving surface 100.

[0147] As used in this disclosure, "between the metal plate and the moving surface 100" means between the metal plate and the moving surface 100 in a state where the bottom plate 74 is close to the moving surface 100. In the present embodiment, the plurality of protectors 8 are attached to the bottom plate body 741 of the bottom plate 74. However, in a state where the bottom plate 74 is close to the moving surface 100, a plurality of protectors 8 are interposed between the metal plate and the moving surface 100, preventing the metal plate from contacting the moving surface 100.

[0148] In the present embodiment, the protector 8 is made of resin, specifically, white MC nylon (registered trademark). However, the protector 8 may be composed of rubber, elastomer, urethane, nylon, phenol, polycarbonate, etc. The protector 8 does not have to be in a block shape, and may be in a seal shape, a sheet shape, etc. The color of the protector 8 is preferably a color similar to that of the moving surface 100.

[0149] In the present embodiment, the protector 8 is fixed to the bottom plate 74 by a fixing tool. A countersunk portion 81 for accommodating the head of the fixing tool is formed in the protector 8. Thus, in a state where the protector 8 is attached to the bottom plate 74, the head of the fixing tool does not protrude from the surface (lowermost surface) of the protector 8. This can prevent the fixing tool from contacting the moving surface 100. The countersunk portion 81 includes deep countersinking, dish countersinking, etc.

[0150] In the present embodiment, the protector 8 is detachably attached to the bottom plate 74. In the present embodiment, "detachable" is realized by using a fixing tool as a screw. Examples of the configuration in which the protector 8 is detachably attached to the bottom plate 74 include fitting, hooking, adhesion, insertion, etc.

[0151] The protector 8 has a chamfer 82 formed at least at the front lower corner portion in the front-rear direction. In the present embodiment, the protector 8 also has a chamfer 83 formed at the rear lower corner portion in the front-rear direction. The protector 8 is formed in a trapezoidal cross-sectional shape that becomes narrower downward.

[0152] As shown in FIG. 15, the plurality of protectors 8 are attached to at least two corners of the bottom plate body 741. The two corners mentioned here are the rear corners in the front-rear direction of the bottom plate body 741. The relationship between the plurality of corners and the plurality of protectors 8 is a one-to-one relationship. Also, in the present embodiment, the plurality of protectors 8 are arranged outside the auxiliary wheels 45 in the front-rear direction when viewed from below (hereinafter referred to as bottom view). In the present embodiment, the protector 8 is arranged outside the rear auxiliary wheel 45 in the front-rear direction at the rear part of the bottom plate body 741, but may be arranged outside the front auxiliary wheel 45 in the front-rear direction at the front part of the bottom plate body 741. Also, the protector 8 may be arranged at all corners of the bottom plate body 741.

[0153] Also, the protector 8 is arranged outside the rear auxiliary wheel 45 in the front-rear direction at the rear part of the bottom plate body 741. Here, the buffer mechanism 39 of the second auxiliary wheel unit 3B on the rear side in the front-rear direction is referred to as the second buffer mechanism 39, and the buffer mechanism 39 of the first auxiliary wheel unit 3A on the front side is referred to as the first buffer mechanism 39. The distance D1 between the protector 8 and the second buffer mechanism 39 is smaller than the distance D2 between the protector 8 and the first buffer mechanism 39.

[0154] (1.3) Operation Hereinafter, the operation of the conveying device 1 according to the present embodiment will be described.

[0155] (1.3.1) Basic Operation of the Conveying Device First, the basic operation of the conveying device 1 will be described. In a steady state, the conveying device 1 drives the multiple drive wheels 28 by controlling the moving motor 220 by the control unit 9, and autonomously travels on the moving surface 100. At this time, the conveying device 1 autonomously travels on the moving surface 100 according to an electronic map stored in a memory (for example, the memory of the control unit 9). The electronic map can be updated, for example, by wireless communication with an external system. In addition, the conveying device 1 detects the surrounding situation of the conveying device 1 by the detection unit 91 while traveling. Then, when the detection unit 91 detects an obstacle that hinders travel, the conveying device 1 stops on the spot and waits until the obstacle is removed from the spot by a worker or the like. When the detection of the obstacle by the detection unit 91 is turned OFF, the conveying device 1 starts moving again.

[0156] However, in the conveyance device 1 according to the present disclosure, when the detection unit 91 detects an obstacle that hinders travel, the conveyance device 1 may autonomously travel so as to avoid the obstacle within a range that does not deviate from the travel route.

[0157] Furthermore, when the conveying device 1 receives a conveying command, it places the object X1 on the conveying device 1 when it reaches the position of the object X1. Specifically, the conveying device 1 first moves under the object X1 with the lifting unit 70 at the lower limit of its movable range. In this state, the lifting motor 510 is operated to raise the lifting unit 70 to the upper limit of its movable range, thereby lifting the object X1 with the lifting unit 70. This allows the object X1 to be loaded onto the lifting unit 70.

[0158] (1.3.2) Example of operation The conveying device 1 operates, for example, as follows, depending on the detection result by the detection unit 91. In this embodiment, when the step sensor 93 detects that there is a step on the moving surface 100, the control unit 9 controls the moving motor 220 to stop the conveying device 1. When the step sensor 93 detects that there is a step on the moving surface 100, the conveying device 1 may move backward or turn to autonomously travel so as to avoid the step.

[0159] Here, in the present embodiment, when any one of the plurality of step sensors 93 arranged at the four corners of the housing 7 detects a step of a predetermined level or more (for example, 35 mm or more), the moving motor 220 is stopped. When a pair of front step sensors 93 among the step sensors 93 at the four corners of the housing 7 detect a step, the conveying device 1 may be retracted. Further, when only one of the pair of front step sensors 93 detects a step, the conveying device 1 may be turned in the left - right direction to the side opposite to the side where the step is detected. Also, the operation of the conveying device 1 may be appropriately set by combining the detection results of the sonar sensor and the step sensor 93.

[0160] (1.3.3) Example of the ascending operation of the lifting part The control unit 9 operates the lifting motor 510 in a state where the conveying device 1 has dived below the conveyed object X1, thereby raising the lifting part 70. At this time, the control unit 9 raises the first lifting part 771 and the second lifting part 781 synchronously.

[0161] When the shape of the lower surface of the conveyed object X1 is different (for example, when the portion corresponding to the first lifting part 771 is lower than the portion corresponding to the second lifting part 781), the operation is as follows. The conveying device 1 raises the first lifting part 771 and the second lifting part 781 synchronously. Then, first, the placement sensor 95 corresponding to the first lifting part 771 detects the conveyed object X1. At this time, the placement sensor 95 corresponding to the second lifting part 781 does not detect the conveyed object X1, but the second lifting part 781 continues to rise for a certain period of time as it is.

[0162] When the second lifting part 781 is raised for a certain period of time, the conveyed object X1 is placed on the second lifting part 781. Then, the placement sensor 95 corresponding to the second lifting part 781 detects the conveyed object X1, and as described above, the type of the conveyed object X1 is determined based on the difference in time from the reference time point until each placement sensor 95 detects the conveyed object X1, and an operation corresponding to the type of the conveyed object X1 is executed. In this case, in the present embodiment, the first lifting part 771 and the second lifting part 781 are raised by a certain dimension (for example, 20 mm).

[0163] Even if the second elevating part 781 is raised for a certain period of time, if the placement sensor 95 corresponding to the second elevating part 781 does not detect the conveyed object X1, the raising may be stopped, or after once stopping, the first elevating part 771 and the second elevating part 781 may be lowered.

[0164] Also, according to the type of the conveyed object X1, the dimensions for raising the first elevating part 771 and the second elevating part 781 may be changed, or the moving speed of the moving body 1A may be changed. Thus, in the present embodiment, the control unit 9 controls so as to change the operations of the plurality of elevating parts 70 according to the time difference until the plurality of placement sensors 95 detect that the conveyed object X1 (the placed object) has been placed since the reference time point.

[0165] (2) Modification example The above embodiment is merely one of various embodiments of the present disclosure. The embodiment can be variously modified according to design etc. as long as the object of the present disclosure can be achieved. Hereinafter, modification examples of the embodiment will be listed. The modification examples described below can be applied in appropriate combinations.

[0166] In the above embodiment, the moving body 1A is the conveying device 1, but the moving body 1A is not limited to the moving body 1A in which the wheels 10 rotate around a rotation axis parallel to the moving surface 100 to move. The moving body 1A includes, for example, a moving body 1A that moves by a rack and pinion, a moving body 1A that moves by pulling a wire, and the like.

[0167] The moving body 1A includes an automated guided vehicle (AGV), a mobile robot, a drone, and the like. The "mobile robot" in the present disclosure is, for example, a wheel 10 type or a crawler 451 type robot. The moving body 1A may not only move within a predetermined area but also have a function of performing various operations such as conveying, picking, welding, mounting, displaying, customer service, security, assembly, and inspection.

[0168] In the above embodiment, the drive source 22 for moving the moving surface 100 was the moving motor 220. However, for example, it may be a linear actuator and is not limited to a motor. The same applies to the lifting motor 510.

[0169] In the above embodiment, the drive wheel 28 was arranged between the two auxiliary wheels 45. However, the drive wheel 28 may be arranged between the two auxiliary wheels 45, and another drive wheel 28 may be arranged outside the two auxiliary wheels 45. Also, the auxiliary wheels 45 and the drive wheels 28 may be arranged alternately in the front-rear direction.

[0170] In the above embodiment, the transport device 1 included one auxiliary wheel 45 arranged at the center in the left-right direction as an auxiliary wheel 45 arranged in front of the drive wheel 28. However, it may include a plurality of auxiliary wheels 45 separated in the left-right direction. Similarly, the transport device 1 may include a plurality of auxiliary wheels 45 separated in the left-right direction as auxiliary wheels 45 arranged behind the drive wheel 28.

[0171] In the above embodiment, the transport device 1 included four buffer springs 44. However, it may include two buffer springs 44 arranged only at one diagonal. Also, the transport device 1 may include one buffer spring 44 at the center of the movable frame 40 in plan view. In short, at least one buffer spring 44 is sufficient.

[0172] In the transport device 1 according to the above embodiment, on the moving surface 100, the housing 7 supported by the wheels 10 is supported. The rotation axis R1 of the wheels 10 extends along the horizontal direction as described above. The transport device 1 of the present embodiment includes, as a plurality of wheels 10, a plurality (here, two) of drive wheels 28 and a plurality (here, two) of auxiliary wheels 45. However, all of the plurality of wheels 10 may be drive wheels 28, or one of the plurality of wheels 10 may be a drive wheel 28 and all the others may be auxiliary wheels 45, or one of the plurality of wheels 10 may be an auxiliary wheel 45 and all the others may be drive wheels 28.

[0173] In the above-described embodiment, the auxiliary wheel 45 was the wheel 10. However, the "auxiliary wheel 45" in the present disclosure includes a sphere that rolls on the moving surface 100.

[0174] The transport device 1 (mobile body 1A) in the present disclosure includes a computer system. The computer system mainly includes a processor and a memory as hardware. By the processor executing a program recorded in the memory of the computer system, the function as the transport device 1 (mobile body 1A) in the present disclosure is realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be provided by being recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). Here, integrated circuits such as the IC or LSI have different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Regarding an FPGA (Field-Programmable Gate Array) that is programmed after the manufacture of the LSI, or a logic device capable of reconfiguring the bonding relationship inside the LSI or reconfiguring the circuit section inside the LSI, it can also be adopted as a processor. The one or more electronic circuits may be integrated on one chip, or may be provided distributed on a plurality of chips. The plurality of chips may be integrated in one device, or may be provided distributed in a plurality of devices. The computer system here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0175] In addition, in the present disclosure, expressions with "substantially", such as "substantially parallel" or "substantially orthogonal", may be used. For example, "substantially parallel" means being substantially "parallel", and it includes not only a strictly "parallel" state but also a state with an error of about several percent. The same applies to other expressions with "substantially".

[0176] In addition, in the present disclosure, expressions that distinguish between "... end part" and "... end", such as "tip part" and "tip", are used. For example, "tip part" means a part having a certain range including the "tip". The same applies to other expressions with "... end part".

[0177] (3) Aspect As described above, the moving body (1A) according to the first aspect includes a housing (7), a moving motor (220), and a battery (92). The moving motor (220) moves the housing (7) along the moving surface (100). The battery (92) supplies power to the moving motor (220). In the moving body (1A), the moving motor (220) and the battery (92) are arranged at different positions when viewed in the direction orthogonal to the moving surface (100).

[0178] According to this aspect, in the direction orthogonal to the moving surface (100), since the moving motor (220) and the battery (92) do not overlap, the dimension of the housing (7) in the direction orthogonal to the moving surface (100) can be suppressed to be as small as possible.

[0179] The moving body (1A) according to the second aspect further includes a lifting motor (510) that operates a lifting part (70) that can be lifted with respect to the moving surface (100) in the first aspect. The lifting motor (510), the moving motor (220), and the battery (92) are dispersed when viewed in the direction orthogonal to the moving surface (100).

[0180] According to this aspect, in the direction orthogonal to the moving surface (100), since the lifting motor (510), the moving motor (220), and the battery (92) do not overlap, the dimension of the housing (7) in the direction orthogonal to the moving surface (100) can be minimized as much as possible.

[0181] In the moving body (1A) according to the third aspect, in the second aspect, a plurality of lifting motors (510) are provided. The moving direction by the moving motor (220) is at least one of the front - rear directions. The plurality of lifting motors (510) are separated in the front - rear direction.

[0182] According to this aspect, while arranging a plurality of lifting motors (510), the dimension of the housing (7) in the direction orthogonal to the traveling surface (moving surface 100) can be minimized as much as possible.

[0183] In the moving body (1A) according to the fourth aspect, in the third aspect, the moving motor (220) is arranged between the plurality of lifting motors (510).

[0184] According to this aspect, while arranging a plurality of lifting motors (510) and the moving motor (220), the dimension of the housing (7) in the direction orthogonal to the moving surface (100) can be minimized as much as possible.

[0185] In the moving body (1A) according to the fifth aspect, in any one of the first to fourth aspects, the moving motor (220) and the battery (92) at least partially overlap when viewed in the direction parallel to the moving surface (100).

[0186] According to this aspect, in the direction orthogonal to the moving surface (100), the moving motor (220) and the battery (92) can be aggregated, so the dimension of the housing (7) in the direction orthogonal to the moving surface (100) can be minimized as much as possible.

[0187] In the mobile body (1A) according to the sixth aspect, in any one of the first to fifth aspects, it further includes at least one step sensor (93) that detects a step on the moving surface (100). The step sensor (93), the moving motor (220), and the battery (92) are dispersed when viewed in a direction orthogonal to the moving surface (100).

[0188] According to this aspect, even if a plurality of step sensors (93) are provided, it is possible to suppress an increase in the size of the housing (7) in the direction orthogonal to the moving surface (100).

[0189] In the mobile body (1A) according to the seventh aspect, in the sixth aspect, the moving direction by the moving motor (220) is at least one of the front - rear directions. The mobile body (1A) includes at least four step sensors (93). The four step sensors (93) are arranged apart from each other in a direction intersecting the front - rear direction at both end portions in the front - rear direction of the mobile body (1A). Specifically, two of the four step sensors (93) are arranged at the front end portion in the front - rear direction of the mobile body (1A), and the direction in which they are arranged side by side intersects the front - rear direction. The other two are arranged at the rear end portion in the front - rear direction of the mobile body (1A), and the direction in which they are arranged side by side intersects the front - rear direction.

[0190] According to this aspect, no matter in which direction the mobile body (1A) moves along the moving surface (100), it can detect a step on the moving surface (100).

[0191] In the mobile body (1A) according to the eighth aspect, in the sixth or seventh aspect, the step sensor (93) is an optical sensor that is arranged on the bottom plate (74) of the housing (7) and irradiates light on the moving surface (100) to detect a step. At least one hole (745) for passing light is formed in the surface of the housing (7) facing the moving surface (100).

[0192] According to this aspect, the step sensor (93) can be arranged on the bottom plate (74) of the housing (7), and miniaturization in the direction along the moving surface (100) can be achieved.

[0193] In the moving body (1A) according to the ninth aspect, in any one of the first to eighth aspects, the moving body (1A) is a conveying device (1) on which a conveyed object (X1) is placed on a lifting part (70) that can move up and down with respect to the moving surface (100).

[0194] According to this aspect, a moving body (1A) with a small dimension in the direction orthogonal to the moving surface (100) can be utilized for the conveying device (1).

[0195] The moving body (1A) according to the tenth aspect, in any one of the first to eighth aspects, further includes a plurality of lifting parts (70) that move up and down with respect to the moving surface (100) and on which the conveyed object (X1) is placed. The plurality of lifting parts (70) are configured to move up and down independently.

[0196] According to this aspect, the lifting part (70) can be raised according to the shape of the lower surface of the conveyed object (X1), and the conveyed object (X1) can be raised in a stable state with respect to a plurality of types of conveyed objects (X1) having different lower surface shapes.

[0197] The moving body (1A) according to the eleventh aspect, in any one of the first to tenth aspects, further includes at least one driving wheel (28), at least one auxiliary wheel (45), and at least one buffer mechanism (39). The driving wheel (28) is driven by the power transmitted from the driving source (22). The auxiliary wheel (45) assists the movement by the driving wheel (28). The buffer mechanism (39) alleviates the impact input from the auxiliary wheel (45).

[0198] According to this aspect, even if the moving surface (100) has irregularities, it can travel stably.

[0199] The moving body (1A) according to the 12th aspect further includes, in any one of the 1st to 11th aspects, a drive wheel (28) that supports the housing (7) on the moving surface (100), and a drive source (22) that is disposed inside the housing (7) and drives the drive wheel (28). The housing (7) includes at least one intake port (721) formed to open upward, and at least one exhaust port (743). The exhaust port (743) communicates with the intake port (721) and is formed below the intake port (721).

[0200] According to this aspect, it is possible to suppress an increase in the temperature of the drive source (22) disposed inside the housing (7) while suppressing water from entering the inside of the housing (7).

[0201] The moving body (1A) according to the 13th aspect further includes, in any one of the 1st to 12th aspects, at least one resin protection body (8). The housing (7) has a bottom plate (74) that faces the moving surface (100) and at least a part of which is a metal plate. The protection body (8) is at least partially located between the metal plate and the moving surface (100).

[0202] According to this aspect, it is possible to suppress the metal plate from contacting the moving surface (100), and it is possible to suppress at least one of the moving surface (100) and the bottom plate (74) from being damaged.

[0203] The moving body (1A) according to the 14th aspect further includes, in the 10th aspect, a plurality of elevating mechanisms (5) provided one-to-one for the plurality of elevating parts (70). Each of the plurality of elevating mechanisms (5) has a plurality of support parts (56) that support one of the plurality of elevating parts (70) and move the one elevating part (70) along the elevating direction, and one drive source (51) that moves the plurality of support parts (56).

[0204] According to this aspect, for each elevating part (70), stable movement in the elevating direction can be realized.

[0205] In the mobile body (1A) according to the 15th aspect, in the 10th or 14th aspect, an intermediate cover (79) connecting between the plurality of elevating parts (70) is further provided.

[0206] According to this aspect, it is possible to suppress pinching an object during the movement of each elevating part (70).

[0207] In the mobile body (1A) according to the 16th aspect, in any one of the 10th, 14th to 15th aspects, a plurality of placement sensors (95) for detecting that a conveyed object (X1) is placed on each of the plurality of elevating parts (70) are further provided.

[0208] According to this aspect, when the elevating part (70) rises, it is possible to detect that the conveyed object (X1) is placed on the elevating part (70).

[0209] In the mobile body (1A) according to the 17th aspect, in the 16th aspect, each of the plurality of placement sensors (95) is a non-contact sensor.

[0210] According to this aspect, it is possible to suppress the placement sensor (95) from being damaged even if, for example, an impact is applied to the elevating part (70) from the conveyed object (X1).

[0211] In the mobile body (1A) according to the 18th aspect, in any one of the 10th, 14th to 17th aspects, the operations of the plurality of elevating parts (70) are changed according to the difference in time from the reference time point until the plurality of placement sensors (95) in the plurality of elevating parts (70) detect that the conveyed object (X1) is placed.

[0212] According to this aspect, it is possible to execute operations according to a plurality of types of conveyed objects (X1) having different bottom surface shapes.

[0213] In the mobile body (1A) according to the 19th aspect, in any one of the 10th, 14th to 18th aspects, it has a first elevating part (771) and a second elevating part (781). The first elevating part (771) is one of the plurality of elevating parts (70). The second elevating part (781) is another one of the plurality of elevating parts (70) and is arranged at a position away from the first elevating part (771).

[0214] According to this aspect, a large conveyance (X1) along the moving surface (100) can be stably lifted.

[0215] In the mobile body (1A) according to the 20th aspect, in the 11th aspect, a buffer mechanism (39) for cushioning the impact input from the drive wheel (28) is not provided.

[0216] When a buffer mechanism (39) is provided for the drive wheel (28), the vertical dimension of the mobile body (1A) has to be increased. However, according to this aspect, since the impact can be cushioned by the auxiliary wheel (45), the vertical dimension of the mobile body (1A) can be suppressed.

[0217] In the mobile body (1A) according to the 21st aspect, in the 11th or 20th aspect, a plurality of auxiliary wheels (45) and buffer mechanisms (39) are provided. Each of the plurality of buffer mechanisms (39) has at least one buffer spring (44). The total deflection of the buffer spring (44) is different between the buffer mechanism (39) corresponding to any one of the plurality of auxiliary wheels (45) and the buffer mechanism (39) corresponding to another one.

[0218] According to this aspect, while ensuring the amount of deflection of the entire mobile body (1A), the amount of deflection can be suppressed for the part where the amount of deflection is desired to be suppressed.

[0219] In the mobile body (1A) according to the 22nd aspect, in the 21st aspect, the drive wheel (28) is arranged between the plurality of auxiliary wheels (45).

[0220] According to this aspect, the auxiliary wheels (45) can be arranged in a well-balanced manner.

[0221] In the moving body (1A) according to the 23rd aspect, in any one of the 11th, 20th to 22nd aspects, it further includes an auxiliary wheel support portion (34). The auxiliary wheel support portion (34) rotatably supports the auxiliary wheel (45) around a rotation axis extending along the moving surface (100) and is rotatable around an axis orthogonal to the moving surface (100).

[0222] According to this aspect, the auxiliary wheel (45) can be moved according to the operation of the drive wheel (28), and appropriate operation as the moving body (1A) can be realized.

[0223] In the moving body (1A) according to the 24th aspect, in the 12th aspect, the exhaust port (743) is formed on the bottom surface of the housing (7).

[0224] According to this aspect, even if the moving surface (100) is wet, it is possible to suppress water from entering from the exhaust port (743).

[0225] In the moving body (1A) according to the 25th aspect, in the 12th or 24th aspect, it further includes at least one fan (744) that forms an air flow taken into the housing (7) from the intake port (721) and discharged from the exhaust port (743).

[0226] According to this aspect, since air can be forcibly taken into the housing (7) from the intake port (721) and discharged from the exhaust port (743), it is possible to further suppress water from entering the housing (7) while suppressing the temperature rise of the drive source (51) etc. inside the housing (7).

[0227] In the moving body (1A) according to the 26th aspect, in any one of the 12th, 24th to 25th aspects, it further includes a weir portion (725) surrounding the intake port (721).

[0228] According to this aspect, it is possible to suppress water from entering from the intake port (721).

[0229] In the moving body (1A) according to the 27th aspect, in any one of the 12th, 24th to 26th aspects, the housing (7) has a plurality of exhaust ports (743).

[0230] According to this aspect, the exhaust flow rate can be increased compared to the case where there is one exhaust port (743).

[0231] In the moving body (1A) according to the 28th aspect, in the 13th aspect, the protective body (8) is fixed to the bottom plate (74) by at least one fixing tool.

[0232] According to this aspect, the mounting state of the protective body (8) can be stabilized.

[0233] In the moving body (1A) according to the 29th aspect, in the 28th aspect, a countersunk portion (81) for accommodating the head of the fixing tool is formed in the protective body (8).

[0234] According to this aspect, since the head of the fixing tool can be made non-protruding from the protective body (8), it is possible to prevent the running surface from being damaged by the head of the fixing tool.

[0235] In the moving body (1A) according to the 30th aspect, in any one of the 13th, 28th to 29th aspects, the protective body (8) is detachably attached to the housing (7).

[0236] According to this aspect, it can be replaced when the protective body (8) is worn.

[0237] In the moving body (1A) according to the 31st aspect, in any one of the 13th, 28th to 30th aspects, a plurality of protective bodies (8) are provided. The bottom plate (74) has a bottom plate body 741 having a plurality of corners, and at least one adjacent portion (742) as a metal plate adjacent to the plurality of corners. The plurality of protective bodies (8) are provided at the plurality of corners.

[0238] According to this aspect, at least one of the moving surface (100) and the bottom plate (74) can be appropriately protected.

[0239] In the moving body (1A) according to the 32nd aspect, in any one of the 13th, 28th to 31st aspects, the housing (7) is supported on the moving surface (100), and further includes a plurality of wheels (10) separated in the moving direction. The protective body (8) is provided outside the wheels (10) in the moving direction.

[0240] According to this aspect, when the bottom plate (74) is tilted, at least one of the moving surface (100) and the bottom plate (74) can be appropriately protected by the protective body (8).

[0241] In the moving body (1A) according to the 33rd aspect, in the 32nd aspect, it further includes at least two buffer mechanisms (39) for cushioning the impact input from at least two of the plurality of wheels (10). One of the two buffer mechanisms (39) is a first buffer mechanism having at least one buffer spring (44). The other of the two buffer mechanisms (39) is a second buffer mechanism having a buffer spring (44) with a total deflection smaller than that of the buffer spring (44). The distance (D1) between each of the plurality of protective bodies (8) and the first buffer mechanism is shorter than the distance (D2) between each of the plurality of protective bodies (8) and the second buffer mechanism.

[0242] According to this aspect, in the moving body (1A) having the buffer mechanism (39) with a difference in the total deflection of the buffer spring (44), at least one of the moving surface (100) and the bottom plate (74) can be appropriately protected.

[0243] In the moving body (1A) according to the 34th aspect, in any one of the 13th, 28th to 33rd aspects, the plurality of protective bodies (8) are arranged at the rear part of the housing (7).

[0244] According to this aspect, in the moving body (1A) moving vigorously, even if the rear part approaches the moving surface (100), at least one of the moving surface (100) and the bottom plate (74) can be appropriately protected.

[0245] In the moving body (1A) according to the 35th aspect, in any one of the 13th, 28th to 34th aspects, the protective body (8) has a chamfered front lower corner.

[0246] According to this aspect, even when the protective body (8) contacts the traveling surface, the protective body (8) can be brought into planar contact with the traveling surface.

[0247] The configurations according to the 2nd to 35th aspects are not essential configurations for the moving body (1A) and can be omitted as appropriate.

Explanation of Signs

[0248] 1 Conveyor 1A Moving body 10 Wheels 22 Drive source 220 Motor for movement 28 Driving wheels 39 Buffer mechanism 45 Auxiliary wheels 510 Motor for lifting 7 Housing 70 Lifting part 721 Air inlet 74 Bottom plate 743 Exhaust port 8 Protective body 92 Battery 93 Step sensor 100 Moving surface X1 Conveyed object

Claims

1. A housing and a movement motor that moves the housing along a movement surface; a plurality of lifting motors for operating a plurality of lifting units that can be raised and lowered independently with respect to the moving surface; a battery for supplying power to the movement motor and the plurality of lifting motors; Equipped with the plurality of lift motors, the movement motor, and the battery are housed within the housing and are distributed in a direction perpendicular to the movement surface; The movement direction by the movement motor is at least one of a forward and backward direction, The plurality of lift motors are spaced apart in the front-rear direction, Further, an intermediate cover is provided that connects a front lift section and a rear lift section of the plurality of lift sections, The intermediate cover is rotatably attached to each of the front lifting unit and the rear lifting unit, and moves in accordance with the rise and fall of the front lifting unit and the rear lifting unit. Mobile body.

2. The movement motor is disposed between the plurality of lift motors. The moving body according to claim 1 .

3. The travel motor and the battery are at least partially overlapped when viewed in a direction parallel to the travel surface.

3. A moving body according to claim 1 or 2.

4. At least one step sensor for detecting a step on the moving surface is further provided, the step sensor, the travel motor, and the battery are distributed in a direction perpendicular to the travel surface; A moving body according to any one of claims 1 to 3.

5. At least four of the cliff sensors are provided; The movement direction by the movement motor is at least one of a forward and backward direction, The four step sensors are disposed at both ends in the front-rear direction and spaced apart from each other in a direction intersecting the front-rear direction. The moving body according to claim 4.

6. the step sensor is an optical sensor that is disposed on a bottom plate of the housing and detects the step by applying light to the moving surface; At least one hole through which the light passes is formed on a surface of the housing facing the moving surface. A moving body according to claim 4 or 5.

7. The moving body is a conveying device in which an object to be conveyed is placed on the lifting section. A moving body according to any one of claims 1 to 6.

8. a drive wheel that supports the housing on the moving surface; A plurality of auxiliary wheels that assist the movement of the drive wheels; A plurality of shock absorbing mechanisms for cushioning shocks input from the auxiliary wheels; Further comprising: Each of the plurality of shock-absorbing mechanisms includes at least one shock-absorbing spring; a total deflection of the buffer spring is different between the buffer mechanism corresponding to one of the plurality of auxiliary wheels and the buffer mechanism corresponding to another of the plurality of auxiliary wheels; A moving body according to any one of claims 1 to 7.

9. a drive wheel that supports the housing on the moving surface; A drive source is disposed in the housing and drives the drive wheel. The housing includes: At least one air intake opening formed to open upward; At least one exhaust port communicating with the intake port and formed below the intake port. A moving body according to any one of claims 1 to 8.

10. At least one resin protective body is further provided, the housing has a bottom plate facing the moving surface, at least a portion of which is a metal plate; At least a portion of the protection body is located between the metal plate and the moving surface, The base plate and the protector are made of different materials. A moving body according to any one of claims 1 to 9.

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