Transport vehicle

Abstract

To realize a transport vehicle that can easily be made smaller in vertical dimensions. [Solution] The transport vehicle 10 is equipped with a drive motor that drives the drive wheels 12 and a storage battery 16 that stores electricity to supply to the drive motor, and the first frame portion 21 and the second frame portion 22 are connected so as to be freely swingable around a first swing axis B1, the drive wheels 12 are supported by the first frame portion 21 or the second frame portion 22, a pair of first driven wheels 14a are arranged spaced apart from each other in the width direction Y, and the storage battery 16 is arranged between the pair of first driven wheels 14a in the width direction Y and in a position that overlaps with the pair of first driven wheels 14a when viewed in the width direction along the width direction Y.

Description

[Technical Field]

[0001] The present invention relates to a transport vehicle having a first frame portion and a second frame portion. [Background technology]

[0002] In the transport vehicle of Patent Document 1, the vehicle body frame includes a first frame portion (110) and a second frame portion (111) arranged side by side along the traveling direction of the transport vehicle (100). The first frame portion (110) and the second frame portion (111) are connected to each other so as to be swingable about an axis that is aligned with the rotation axis of the drive wheel (108). The first frame portion (110) and the second frame portion (111) are connected to a support frame (110a) so as to be swingable about an axis that is aligned with the rotation axis of the drive wheel (108). The transport vehicle (100) also includes a transfer device (120). As shown in FIG. 2, the transfer device (120) is arranged above the support frame (110a) of the transport vehicle (100). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-19348 Summary of the Invention [Problem to be solved by the invention]

[0004] In the transport vehicle of Patent Document 1, the transfer device is disposed above the support frame, and the support frame is disposed above the first and second frame portions. Thus, a transport vehicle equipped with the first and second frame portions tends to have a large vertical dimension. This tends to impose restrictions on, for example, the height of the vehicle's aisle and the height of the transfer target location where the transfer device mounted on the transport vehicle delivers and receives items.

[0005] Therefore, it is desirable to realize a transport vehicle that can easily be made smaller in vertical dimension. [Means for solving the problem]

[0006] A transport vehicle according to the present disclosure is a transport vehicle including a drive wheel, a plurality of driven wheels, a frame supporting the drive wheel and the plurality of driven wheels, a drive motor for driving the drive wheel, and a power storage device for storing power to be supplied to the drive motor, wherein a direction along a drive axis which is a rotation axis of the drive wheel is defined as a width direction, and a direction perpendicular to the drive axis when viewed in a vertical direction is defined as a front-rear direction, and the frame includes a first frame portion and a second frame portion arranged side by side in the front-rear direction, and a second frame portion and a second frame portion arranged side by side in the front-rear direction. and a first connecting portion that connects the first and second frame portions so as to be freely swingable around a first swing axis along the width direction, wherein the plurality of driven wheels include a pair of first driven wheels supported by the first frame portion, the drive wheel is supported by the first frame portion or the second frame portion, the pair of first driven wheels are arranged spaced apart from each other in the width direction, and the storage battery is arranged between the pair of first driven wheels in the width direction and at a position that overlaps with the pair of first driven wheels when viewed in the width direction along the width direction.

[0007] According to this configuration, the storage battery is positioned between a pair of first driven wheels in the width direction and at a position that overlaps with the pair of first driven wheels when viewed in the width direction, so that the storage battery can be positioned by effectively utilizing the space between the pair of first driven wheels, making it easier to reduce the vertical dimensions of the transport vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] Top view of the transport vehicle [Figure 2] FIG. 2 is a diagram showing a first frame portion and a second frame portion provided on the transport vehicle of FIG. 1; [Figure 3] FIG. 2 is a diagram showing a support frame provided on the transport vehicle of FIG. 1; [Figure 4] FIG. 2 is a diagram showing a control unit provided in the transport vehicle of FIG. 1. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the transport vehicle will be described with reference to the drawings.

[0010] FIG. 1 is a diagram showing an example of the top surface of a transport vehicle 10. FIG. 2 is a diagram showing an example of a cross section of the transport vehicle 10. The transport vehicle 10 is equipped with drive wheels 12. Examples of the transport vehicle 10 include an unmanned transport vehicle, a manned transport vehicle, an autonomous vehicle, a three-wheeled vehicle, a four-wheeled vehicle, and a vehicle with three or more axles. In this embodiment, the transport vehicle 10 is a vehicle that travels on an indoor floor, but it may also be a vehicle that travels outdoors.

[0011] Here, the direction along the drive axis A1, which is the rotation axis of the drive wheel 12, is defined as the width direction Y. Furthermore, the direction perpendicular to the drive axis A1 when viewed from the up-down direction is defined as the front-rear direction X. In this embodiment, the drive wheels 12 are arranged in pairs spaced apart in the width direction Y. In this application, the up-down direction Z refers to the vertical direction when the transport vehicle 10 is positioned on a horizontal plane. Furthermore, in this application, "along" a reference direction or axis includes a state parallel to the reference direction or axis, and a state slightly inclined (for example, ±20°) relative to the reference direction or axis.

[0012] The transport vehicle 10 includes a plurality of driven wheels. The plurality of driven wheels includes a first driven wheel 14a and a second driven wheel 14b. The drive wheel 12 is disposed between the first driven wheel 14a and the second driven wheel 14b. In this embodiment, the plurality of driven wheels includes a pair of first driven wheels 14a. The pair of first driven wheels 14a are disposed spaced apart from each other in the width direction Y. In this embodiment, the plurality of driven wheels includes a pair of second driven wheels 14b. The pair of second driven wheels 14b are disposed spaced apart from each other in the width direction Y.

[0013] The transport vehicle 10 is equipped with a drive motor 15 that drives the drive wheels 12. In this embodiment, the drive motor 15 is disposed between the pair of drive wheels 12 in the width direction Y and at a position that overlaps with the pair of drive wheels 12 when viewed in the width direction along the width direction Y. In this embodiment, the pair of drive motors 15 are disposed spaced apart from each other in the width direction Y. Each of the pair of drive motors 15 is provided for each of the pair of drive wheels 12.

[0014] The transport vehicle 10 is equipped with a power storage unit 16 that stores power to be supplied to the drive motor 15. Examples of the power storage unit 16 include a battery, a capacitor, or a battery and a capacitor. The power storage unit 16 may also be a battery unit further equipped with a battery bracket, a battery cover, etc.

[0015] The transport vehicle 10 is equipped with a reading device 17. The reading device 17 is arranged between the pair of drive motors 15 when viewed in the up-down direction Z. The reading device 17 is configured to detect a plurality of position information holders (not shown) arranged on the travel surface of the transport vehicle 10 and to read the position information held in the position information holders. As the position information holders, for example, barcodes, wireless tags, etc. can be used. If the position information holders are configured using barcodes, the reading device 17 may be configured as a barcode reader. If the position information holders are configured using wireless tags, the reading device 17 may be configured as a tag reader. The reading device 17 is supported by a first frame portion 21, which will be described later.

[0016] The transport vehicle 10 is equipped with a body frame 20 that supports drive wheels 12 and a plurality of driven wheels. In this embodiment, the body frame 20 is an integral structure with the floor panel, but it may be a ladder frame or a monocoque body that is an integral structure with the body. The body frame 20 corresponds to "frame". The body frame 20 corresponds to "frame".

[0017] The body frame 20 includes a first frame portion 21 and a second frame portion 22 arranged side by side in the fore-and-aft direction X. In this embodiment, the second frame portion 22 is arranged on the front side X2 of the first frame portion 21 in the fore-and-aft direction X, but the second frame portion 22 may also be arranged on the rear side X1 of the first frame portion 21.

[0018] The drive wheels 12 are supported by the first frame portion 21 or the second frame portion 22. In this embodiment, the drive wheels 12 are supported by the first frame portion 21. The drive motor 15 is supported by the first frame portion 21 or the second frame portion 22. In this embodiment, the drive motor 15 is supported by the first frame portion 21. The power storage unit 16 is supported by the first frame portion 21 or the second frame portion 22. In this embodiment, the power storage unit 16 is supported by the first frame portion 21.

[0019] The plurality of driven wheels includes a first driven wheel 14a supported by the first frame portion 21. The first driven wheel 14a rotates around a first driven axis A2 (see FIG. 3). The first driven wheel 14a is connected to the first frame portion 21 so that the first driven axis A2 can swing freely around a vertical axis along the vertical direction Z. The first frame portion 21 has a first recess 21a recessed toward the upper side Z1. The first driven wheel 14a is connected to the first recess 21a and is disposed inside the first recess 21a. In this embodiment, the plurality of driven wheels includes a pair of first driven wheels 14a supported by the first frame portion 21.

[0020] The plurality of driven wheels includes a second driven wheel 14b supported by the second frame portion 22. The second driven wheel 14b rotates around a second driven axis A3 (see FIG. 3). The second driven wheel 14b is connected to the second frame portion 22 so that the second driven axis A3 can swing freely around a vertical axis along the vertical direction Z. The second frame portion 22 has a second recess 22a recessed toward the upper side Z1. The second driven wheel 14b is connected to the second recess 22a and is disposed inside the second recess 22a. In this embodiment, the plurality of driven wheels includes a pair of second driven wheels 14b supported by the first frame portion 21.

[0021] The body frame 20 includes a first connecting portion 41 that connects the first frame portion 21 and the second frame portion 22 to be swingable about a first swing axis B1 along the width direction Y. In this embodiment, a pair of first connecting portions 41 are arranged side by side in the width direction Y.

[0022] In this embodiment, the first oscillation axis B1 and the drive axis A1 are parallel to each other, but they do not have to be parallel. The angle between the first oscillation axis B1 and the drive axis A1 is preferably within ±20 degrees, and more preferably within ±10 degrees. The first oscillation axis B1 and the drive axis A1 may be coaxial. In this embodiment, the first oscillation axis B1 is located close to the drive axis A1 when viewed in the width direction Y.

[0023] The first oscillation axis B1 is disposed at a position overlapping with the pair of drive wheels 12 when viewed in the width direction along the width direction Y. Here, in this application, with regard to the arrangement of two members, "overlapping when viewed in a specific direction" means that when an imaginary line parallel to the line of sight is moved in each direction perpendicular to the imaginary line, there is a region where the imaginary line intersects with both of the two members.

[0024] 3 is a diagram showing an example of a support frame 30 provided on the transport vehicle 10, and is a side view of the transport vehicle 10. 1 to 3 show a state in which the first frame portion 21 and the second frame portion 22 are parallel to each other when viewed in the width direction Y, in other words, a state in which the angle between the first frame portion 21 and the second frame portion 22 around the first oscillation axis B1 is 0 degrees.

[0025] The transport vehicle 10 includes a support frame 30 configured to support an object W to be transported. The support frame 30 is connected to the vehicle body frame 20. Examples of the object W to be transported include vehicle parts, large parts, heavy objects, furniture, electronic parts, transport pallets, containers, etc. In FIG. 3, the object W to be transported is indicated by a two-dot chain line.

[0026] The transport vehicle 10 includes a cover 31 supported on the vehicle body frame 20 via a support frame 30. The cover 31 is indicated by a two-dot chain line in Figs. 1 and 3. In this embodiment, the cover 31 is configured to cover the upper portions of the drive wheel 12, the first driven wheel 14a, the second driven wheel 14b, the drive motor 15, the power storage unit 16, and the reading device 17. In the example shown in Fig. 3, the first driven wheel 14a and the second driven wheel 14b are each casters.

[0027] The transport vehicle 10 is equipped with a transfer device 32 that transfers the object W to be transported to a predetermined location. In this embodiment, the transfer device 32 is supported on the vehicle body frame 20 via a support frame 30. The transfer device 32 has a placement surface 32a on which the object W to be transported is placed. The second connecting portion 42 and the third connecting portion 43 are arranged on the lower side Z2 of the placement surface 32a. Examples of the transfer device 32 include a roller conveyor, a belt conveyor, a push-out device, a crane, a lifting device, a turntable, etc.

[0028] The transfer device 32 is equipped with a turntable 32b that rotates the transport object W around an axis along the vertical direction Z. The transfer device 32 is equipped with a lifting device 32c that raises and lowers the transport object W. In this embodiment, the lifting device 32c is equipped with a lifting platform on which the transport object W is placed. In this embodiment, the lifting platform is the turntable 32b, but it does not have to be the turntable 32b. In this embodiment, the lifting device 32c is configured to raise and lower the upper surface of the turntable 32b to a position lower and higher than at least the upper surface of the placement surface 32a.

[0029] The transfer device 32 receives the object W from the transfer target location by raising the lifting platform (turntable 32b) while entering the lower side Z2 of the object W supported on the transfer target location such as a cargo receiving platform. The transfer device 32 hands over the object W to the transfer target location by lowering the lifting platform (turntable 32b) at the transfer target location.

[0030] 4 is a diagram showing an example of the control unit 35 of the transport vehicle 10. The transport vehicle 10 is equipped with the control unit 35. The control unit 35 controls at least the drive motor 15. In this embodiment, the control unit 35 controls the drive motor 15 and the transfer device 32.

[0031] Although not shown, the control unit 35 is supported on the body frame 20 via the support frame 30. In this embodiment, the control unit 35 is supported in a suspended state from a support member (not shown) provided on the support frame 30. The support member is disposed on the upper side Z1 relative to a second connecting portion 42 and a third connecting portion 43, which will be described later. In this embodiment, the control unit 35 is distributed in multiple parts and supported in a suspended state from each support member.

[0032] Returning to FIG. 3, the connection structure between the body frame 20 and the support frame 30 includes a second connection portion 42. The second connection portion 42 is connected so as to be swingable about a second swing axis B2 along the width direction Y. In this embodiment, a pair of second connection portions 42 are arranged side by side in the width direction Y. In this embodiment, the first swing axis B1 and the second swing axis B2 are parallel to each other, but they do not have to be parallel to each other.

[0033] The connecting structure between the body frame 20 and the support frame 30 includes a third connecting portion 43. The third connecting portion 43 is connected so as to be swingable about a third swing axis B3 along the width direction Y. In this embodiment, a pair of third connecting portions 43 are arranged side by side in the width direction Y. In this embodiment, the first swing axis B1 and the third swing axis B3 are parallel to each other, but they do not have to be parallel to each other.

[0034] The third connecting portion 43 is connected so as to be movable in the front-rear direction X. In this embodiment, the third connecting portion 43 is connected so as to be swingable about a third swing axis B3 along the width direction Y and slidable in the front-rear direction X.

[0035] The target connecting portion, which is either the second connecting portion 42 or the third connecting portion 43, is supported by the first frame portion 21. The other of the second connecting portion 42 or the third connecting portion 43 is supported by the second frame portion 22. In this embodiment, the second connecting portion 42 is the target connecting portion, but the third connecting portion 43 may also be the target connecting portion.

[0036] The target connecting portion is arranged at a position overlapping with the power storage unit 16 when viewed in the width direction Y. In this embodiment, the power storage unit 16 is arranged between a pair of target connecting portions in the width direction Y. In this embodiment, the target connecting portion (second connecting portion 42) is attached to the upper surface of the first recess 21a. In this embodiment, the other connecting portion (third connecting portion 43) is attached to the upper surface of the second recess 22a.

[0037] In this embodiment, the first frame portion 21 and the support frame 30 are connected at the second connecting portion 42 to be rotatable relative to each other about the second oscillation axis B2. In this embodiment, the second frame portion 22 and the support frame 30 are connected at the third connecting portion 43 to be rotatable relative to each other about the third oscillation axis B3. The second connecting portion 42 and the third connecting portion 43 each include a bearing, thereby enabling the above-mentioned relative rotation. The bearing of the third connecting portion 43 is allowed to move relative to either the second frame portion 22 or the support frame 30 within a certain range in the front-to-rear direction X.

[0038] As shown in Fig. 2, the power storage unit 16 is disposed between the pair of first driven wheels 14a in the width direction Y. In this embodiment, the power storage unit 16 is disposed at a position overlapping with the pair of first driven wheels 14a when viewed in the width direction along the width direction Y. In the example shown in Fig. 3, the power storage unit 16 is disposed at a position overlapping with the first driven axis A2 when viewed in the width direction along the width direction Y.

[0039] 2, the power storage unit 16 is disposed between the pair of drive wheels 12 in the width direction Y. In this embodiment, the power storage unit 16 is disposed at a position overlapping with the pair of drive wheels 12 when viewed in the width direction along the width direction Y.

[0040] 2, the power storage unit 16 is disposed at a position overlapping with the drive motor 15 when viewed in the front-rear direction X. The power storage unit 16 is disposed at a position overlapping with the reading device 17 when viewed in the front-rear direction X.

[0041] Other Embodiments Next, other embodiments of the transport vehicle 10 will be described.

[0042] (1) In the above embodiment, an example has been described in which the drive wheel 12 and the first driven wheel 14a are supported by the first frame portion 21, and the second driven wheel 14b is supported by the second frame portion 22. However, without being limited to such an example, for example, the first driven wheel 14a may be supported by the first frame portion 21, and the drive wheel 12 and the second driven wheel 14b may be supported by the second frame portion 22. Furthermore, for example, the first driven wheel 14a may be supported by the first frame portion 21, the drive wheel 12 may be supported by the second frame portion 22, and the transport vehicle 10 may not include the second driven wheel 14b.

[0043] (2) In the above embodiment, the drive motor 15 and the reader 17 are supported by the first frame portion 21 of the vehicle body frame 20. However, the present invention is not limited to such an example. For example, the drive motor 15 and the reader 17 may be supported by the second frame portion 22. Furthermore, for example, the drive motor 15 and the reader 17 may be supported by the vehicle body frame 20 via the support frame 30. Furthermore, for example, the transport vehicle 10 does not need to be equipped with the reader 17.

[0044] (3) In the above embodiment, the connection structure between the body frame 20 and the support frame 30 includes the second connecting portion 42 that connects them so as to be swingable about the second swing axis B2 and the third connecting portion 43 that connects them so as to be swingable about the third swing axis B3 and slideable in the front-rear direction X. However, the present invention is not limited to such an example. For example, the connection structure between the body frame 20 and the support frame 30 may be configured with a different link mechanism or the like. Furthermore, for example, the body frame 20 and the support frame 30 may be connected by an air spring or a coil spring. Furthermore, for example, the transport vehicle 10 may not include the support frame 30.

[0045] (4) In the above embodiment, a configuration has been described as an example in which the second connecting portion 42 is arranged at a position overlapping the power storage unit 16 when viewed in the width direction. However, the present invention is not limited to such an example, and for example, the third connecting portion 43 may be arranged at a position overlapping the power storage unit 16 when viewed in the width direction. Furthermore, for example, the second connecting portion 42 and the third connecting portion 43 do not have to be arranged at a position overlapping the power storage unit 16 when viewed in the width direction.

[0046] (5) In the above embodiment, a configuration has been described in which a pair of drive wheels 12 and drive motors 15 are arranged spaced apart in the width direction Y. However, the present invention is not limited to such an example, and for example, only one drive wheel 12 may be provided in the center of the width direction Y. Also, for example, a configuration in which one drive motor 15 drives a pair of drive wheels 12 may be used.

[0047] (6) In the above embodiment, a configuration in which the first driven wheel 14a and the second driven wheel 14b are arranged as a pair and spaced apart in the width direction Y has been described as an example. However, the present invention is not limited to such an example. For example, there may be only one second driven wheel 14b. Also, for example, there may be only one first driven wheel 14a. Also, for example, a driven wheel other than the pair of second driven wheels 14b may be supported on the second frame portion 22. Also, for example, a driven wheel other than the pair of first driven wheels 14a may be supported on the first frame portion 21.

[0048] (7) In the above embodiment, an example has been described in which the power storage unit 16 is disposed at a position that overlaps with the pair of drive wheels 12 as viewed in the width direction and overlaps with the pair of drive motors 15 as viewed in the front-rear direction. However, the present invention is not limited to such an example. For example, the power storage unit 16 may be disposed at a position that does not overlap with the pair of drive wheels 12 as viewed in the width direction. Furthermore, for example, the power storage unit 16 may be disposed at a position that does not overlap with the drive motors 15 as viewed in the front-rear direction. Furthermore, for example, the power storage unit 16 does not have to be disposed between the pair of drive wheels 12 in the width direction Y.

[0049] (8) In the above embodiment, a configuration has been described in which the first connecting portion 41, the second connecting portion 42, and the third connecting portion 43 are arranged in pairs spaced apart in the width direction Y. However, the present invention is not limited to such an example, and there may be, for example, only one first connecting portion 41. There may also be, for example, only one second connecting portion 42. There may also be, for example, only one third connecting portion 43. There may also be, for example, three or more second connecting portions 42 and / or third connecting portions 43 arranged in the width direction Y.

[0050] (9) In the above embodiment, the cover 31 and the control unit 35 are supported on the body frame 20 via the support frame 30. However, the present invention is not limited to this example. For example, the first frame portion 21 or the second frame portion 22 may support the cover 31 and the control unit 35.

[0051] (10) In the above embodiment, an example has been described in which the cover 31 covers the upper parts of the drive wheels 12, the first driven wheels 14a, the second driven wheels 14b, the drive motor 15, the power storage unit 16, the reading device 17, and the control unit 35. However, without being limited to such an example, for example, the cover 31 may not cover the upper parts of one or more of the drive wheels 12, the first driven wheels 14a, the second driven wheels 14b, the drive motor 15, the power storage unit 16, the reading device 17, and the control unit 35.

[0052] (11) In the above embodiment, the transfer device 32 includes the turntable 32b and the lifting device 32c. However, the present invention is not limited to such an example. For example, the transfer device 32 does not need to include the turntable 32b or the lifting device 32c. Furthermore, for example, the transport vehicle 10 does not need to include the transfer device 32.

[0053] (12) The configurations disclosed in the above-described embodiments may be combined with configurations disclosed in other embodiments as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications may be made as appropriate within the scope of the present disclosure.

[0054] Summary of the above embodiment The transport vehicle according to the present disclosure will be described below.

[0055] In one aspect, the transport vehicle is provided with a drive wheel, a plurality of driven wheels, a frame supporting the drive wheel and the plurality of driven wheels, a drive motor for driving the drive wheel, and a power storage device for storing power to be supplied to the drive motor, and the direction along a drive axis that is the rotation axis of the drive wheel is defined as a width direction, and the direction perpendicular to the drive axis when viewed in a vertical direction is defined as a front-rear direction, and the frame is provided with a first frame portion and a second frame portion arranged side by side in the front-rear direction, and a second frame portion between the first frame portion and the and a first connecting portion that connects the first and second frame portions so as to be freely swingable around a first swing axis along the width direction, wherein the plurality of driven wheels include a pair of first driven wheels supported by the first frame portion, the drive wheel is supported by the first frame portion or the second frame portion, the pair of first driven wheels are arranged spaced apart from each other in the width direction, and the storage battery is arranged between the pair of first driven wheels in the width direction and at a position that overlaps with the pair of first driven wheels when viewed in the width direction along the width direction.

[0056] According to this configuration, the storage battery is positioned between a pair of first driven wheels in the width direction and at a position that overlaps with the pair of first driven wheels when viewed in the width direction, so that the storage battery can be positioned by effectively utilizing the space between the pair of first driven wheels, making it easier to reduce the vertical dimensions of the transport vehicle.

[0057] In one embodiment, the device further includes a support frame connected to the frame and configured to support the object to be transported, and the connection structure between the frame and the support frame includes a second connection portion that is connected so as to be swingable around a second swing axis along the width direction, and a third connection portion that is connected so as to be swingable around a third swing axis along the width direction and slideable in the front-to-rear direction, and a target connection portion that is either the second connection portion or the third connection portion is supported by the first frame portion, and the other of the second connection portion or the third connection portion is supported by the second frame portion, and the target connection portion is positioned so as to overlap with the storage battery when viewed in the width direction.

[0058] According to this configuration, the target connection portion, which is part of the connection portion between the frame and the support frame, is positioned so that it overlaps with the storage battery when viewed in the width direction, making it easier to lower the position of the support frame and, in turn, to reduce the vertical dimensions of the transport vehicle.

[0059] In one embodiment, the drive wheels are arranged in a pair spaced apart in the width direction, the drive motor is arranged between the pair of drive wheels in the width direction and at a position overlapping with the pair of drive wheels when viewed in the width direction, and the storage battery is arranged at a position overlapping with the drive motor when viewed in the fore-and-aft direction along the fore-and-aft direction.

[0060] According to this configuration, the power storage unit is positioned at a position offset from the drive motor in the front-to-back direction and overlaps with the drive motor when viewed from the front-to-back, making it easier to lower the positions of both the power storage unit and the drive motor, and ultimately making it easier to reduce the vertical dimensions of the transport vehicle.

[0061] In one embodiment, the drive wheels are arranged in pairs spaced apart in the width direction, and the storage battery is arranged between the pair of drive wheels in the width direction and in a position that overlaps with the pair of drive wheels when viewed in the width direction.

[0062] According to this configuration, the power storage unit is positioned between a pair of first driven wheels and a pair of drive wheels in the width direction, overlapping with the pair of first driven wheels and the pair of drive wheels when viewed in the width direction. This allows the power storage unit to be positioned by effectively utilizing the space between the pair of first driven wheels and the pair of drive wheels, making it easier to reduce the vertical dimensions of the transport vehicle.

[0063] It is sufficient for the transport vehicle according to the present disclosure to achieve at least one of the above-described effects. [Explanation of symbols]

[0064] 10: Transport vehicle 12: Drive wheel 14a: 1st driven wheel (driven wheel) 14b: Second driven wheel (driven wheel) 15: Drive motor 16: Power storage unit 20: Body frame (frame) 21: First frame section 22: Second frame part 30: Support frame 41: 1st connection part 42:Second connection part 43:Third connection part A1: Drive shaft center B1: 1st swing axis B2: 2nd swing axis B3: Third oscillation axis W: Transported object

Claims

1. Drive wheels and A plurality of driven wheels; a frame supporting the drive wheel and a plurality of the driven wheels; a drive motor that drives the drive wheels; a power storage unit that stores power to be supplied to the drive motor; A transport vehicle equipped with The direction along the drive shaft center, which is the rotation axis of the drive wheel, is defined as the width direction, and the direction perpendicular to the drive shaft center when viewed in the up-down direction is defined as the front-rear direction, the frame includes a first frame portion and a second frame portion arranged side by side in the front-rear direction, and a first connecting portion connecting the first frame portion and the second frame portion to be swingable about a first swing axis along the width direction, the plurality of driven wheels include a pair of first driven wheels supported by the first frame portion, the drive wheel is supported by the first frame portion or the second frame portion, The pair of first driven wheels are disposed spaced apart from each other in the width direction, The drive wheels are arranged in a pair spaced apart in the width direction, The transport vehicle, wherein the power storage device is positioned between the pair of first driven wheels in the width direction and at a position overlapping with the pair of first driven wheels when viewed in the width direction along the width direction, and is also positioned between the pair of drive wheels in the width direction and at a position overlapping with the pair of drive wheels when viewed in the width direction.

2. Drive wheels and A plurality of driven wheels; a frame supporting the drive wheel and a plurality of the driven wheels; a drive motor that drives the drive wheels; a power storage unit that stores power to be supplied to the drive motor; a support frame connected to the frame and configured to support an object to be transported; A transport vehicle equipped with The direction along the drive shaft center, which is the rotation axis of the drive wheel, is defined as the width direction, and the direction perpendicular to the drive shaft center when viewed in the up-down direction is defined as the front-rear direction, the frame includes a first frame portion and a second frame portion arranged side by side in the front-rear direction, and a first connecting portion connecting the first frame portion and the second frame portion to be swingable about a first swing axis along the width direction, the plurality of driven wheels include a pair of first driven wheels supported by the first frame portion, the drive wheel is supported by the first frame portion or the second frame portion, The pair of first driven wheels are disposed spaced apart from each other in the width direction, the power storage unit is disposed between the pair of first driven wheels in the width direction and at a position overlapping the pair of first driven wheels as viewed in the width direction along the width direction, the connecting structure between the frame and the support frame includes a second connecting portion that connects the frame and the support frame so as to be swingable about a second swing axis along the width direction, and a third connecting portion that connects the frame and the support frame so as to be swingable about a third swing axis along the width direction and slidable in the front-rear direction, a target connecting portion, which is either the second connecting portion or the third connecting portion, is supported by the first frame portion, and the other of the second connecting portion or the third connecting portion is supported by the second frame portion, The target connection portions are provided in pairs spaced apart from each other in the width direction, The transport vehicle, wherein the power storage unit is arranged between the pair of target connection portions in the width direction and at a position overlapping the pair of target connection portions as viewed in the width direction.

3. The drive wheels are arranged in a pair spaced apart in the width direction, the drive motor is disposed between the pair of drive wheels in the width direction and at a position overlapping the pair of drive wheels as viewed in the width direction, The transport vehicle according to claim 1 or 2, wherein the power storage unit is disposed at a position overlapping with the drive motor as viewed in the front-rear direction along the front-rear direction.

4. A transport vehicle as described in claim 1 or 2, wherein the storage battery is arranged from a position between a pair of first driven wheels in the width direction and overlapping with the pair of first driven wheels when viewed in the width direction along the width direction, to a position between a pair of drive wheels in the width direction and overlapping with the pair of drive wheels when viewed in the width direction.

5. A transport vehicle as described in claim 1 or 2, wherein the storage battery has a portion arranged on the opposite side of the drive wheel with respect to each rotation axis of the pair of first driven wheels when viewed in the width direction.

6. The first frame portion has a pair of outer end portions positioned outside the width direction of the second frame portion when viewed in the up-down direction and supporting a pair of the drive wheels, respectively; The transport vehicle according to claim 1 or 2, wherein the power storage unit is supported by the first frame portion and is located inside the first frame portion in the front-rear direction and the width direction when viewed in the up-down direction.

7. The first frame portion has a pair of outer end portions positioned outside the width direction of the second frame portion when viewed in the up-down direction and supporting a pair of the drive wheels, respectively; The transport vehicle according to claim 1 or 2, wherein an arrangement area of ​​the power storage unit is closer to the first frame portion than an arrangement area of ​​the second frame portion in the front-rear direction.

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