Transport cart

Abstract

To provide a transportation carriage with increased options in travel patterns for an automatic transportation vehicle and also capable of selecting efficient transportation by the automatic transportation vehicle.SOLUTION: A transportation carriage including a carriage and casters attached to the carriage and transported by an automatic conveyance vehicle including a lifting table slid below the carriage and abutted to the carriage, the transportation carriage includes a first guide plate, a second guide plate, a third guide plate, and a fourth guide plate projecting below on a bottom surface of the carriage, and at least one of the first guide plate to fourth guide plate has a structure capable opening inside the carriage.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] One embodiment of the present invention relates to the structure of a carrier truck used for transporting materials at a construction site.

Background Art

[0002] In recent years, the technology development of automatic guided vehicles (AGVs) has advanced, and automatic guided vehicles have begun to be introduced in various scenarios. For example, automatic guided vehicles are introduced to transport goods and materials in a warehouse. By using an automatic guided vehicle, the labor of workers moving in the warehouse to transport goods and materials can be saved, the work efficiency in the warehouse can be improved, and the cost required for the work can be reduced. As one of such automatic guided vehicles, an automatic guided vehicle that can enter below the loading platform of a carrier truck and lift and transport the carrier truck is known (see, for example, Patent Document 1, Patent Document 2, and Patent Document 3).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] Hitherto, the direction in which it is possible to dive below the loading platform of an automatic guided vehicle has been from a fixed one direction of the loading platform, and the automatic guided vehicle has been allowed to enter from that fixed one direction for installation. Further, even if the automatic guided vehicle can dive from two directions of the loading platform, there is a problem that the positional accuracy for connecting the automatic guided vehicle and the carrier truck is low and their connection is difficult.

[0005] One embodiment of the present invention aims to provide a transport trolley that allows an automated guided vehicle to enter underneath the loading platform from multiple directions, in view of the above-mentioned problems. [Means for solving the problem]

[0006] A transport trolley according to one embodiment of the present invention is a transport trolley that is transported by an automated guided vehicle equipped with a loading platform and casters attached to the loading platform, and a lifting table that slides under the loading platform and contacts the loading platform, wherein the transport trolley is provided with a first guide plate, a second guide plate, a third guide plate, and a fourth guide plate that are provided so as to protrude downward from the bottom surface of the loading platform, the first guide plate is positioned directly opposite the second guide plate, the third guide plate is positioned directly opposite the fourth guide plate, and the first guide plate and the second guide plate are positioned opposite the long side of the loading platform The third and fourth guide plates are arranged parallel to the short side of the loading platform, and the first and second guide plates, as well as the third and fourth guide plates, are spaced apart so as to be able to sandwich a lifting table, and a virtual first centerline connecting the center of the first guide plate and the center of the second guide plate and a virtual second centerline connecting the center of the third guide plate and the center of the fourth guide plate are perpendicular to each other, and at least one of the first to fourth guide plates has a structure that can be opened inward into the loading platform.

[0007] At least one of the first to fourth guide plates includes a fixed plate fixed to the bottom surface of the loading platform, a movable plate connected to the fixed plate, and a connecting portion that rotatably connects the movable plate about the inner end of the fixed plate, and the movable plate may be displaced to open inward towards the loading platform.

[0008] Two or more of the first to fourth guide plates include a fixed plate fixed to the bottom surface of the loading platform, a movable plate connected to the fixed plate, and a connecting portion that rotatably connects the movable plate around the inner end of the fixed plate, and the movable plate may be displaced to open inward towards the loading platform.

[0009] The lower end surface of the fixed plate and the upper end surface of the movable plate may be arranged so as to be in contact with each other.

[0010] The side of the first to fourth guide plates that has a structure that allows it to open inward on the loading platform may be designated as the entry and exit route for the automated guided vehicle.

[0011] At least one of the first to fourth guide plates may guide the lifting table toward the center of the loading platform.

[0012] At least one of the first to fourth guide plates may be positioned to come into contact with the lifting table when the automated guided vehicle moves underneath, and may function as a stopper for the automated guided vehicle. [Effects of the Invention]

[0013] According to one embodiment of the present invention, it is possible to provide a transport trolley that allows an automated guided vehicle to enter underneath the loading platform from multiple directions. [Brief explanation of the drawing]

[0014] [Figure 1] This figure shows the configuration of a transport cart according to one embodiment of the present invention and an automated guided vehicle that transports the transport cart. [Figure 2] This figure shows the configuration of a transport trolley according to one embodiment of the present invention. [Figure 3] This figure shows the configuration of the guide plate of a transport trolley according to one embodiment of the present invention. [Figure 4] This figure shows the configuration of an automated guided vehicle that transports a transport trolley according to one embodiment of the present invention. [Figure 5] This is a diagram for explaining a guide plate provided below the loading platform of a transport cart according to an embodiment of the present invention. [Figure 6] This is a diagram for explaining a guide plate provided below the loading platform of a transport cart according to an embodiment of the present invention. [Figure 7] This is a diagram for explaining a guide plate provided below the loading platform of a transport cart according to an embodiment of the present invention. [Figure 8] This is a diagram for explaining a guide plate provided below the loading platform of a transport cart according to an embodiment of the present invention [Figure 9] This is a diagram for explaining a guide plate provided below the loading platform of a transport cart according to an embodiment of the present invention. [Figure 10] This is a diagram for explaining the operation of an automatic transport vehicle detaching from a transport cart according to an embodiment of the present invention. [Figure 11] This is a diagram showing the configuration of a transport cart according to an embodiment of the present invention.

Embodiments for Carrying out the Invention

[0015] [[ID=2 Six]] Hereinafter, each embodiment of the present invention will be described with reference to the drawings. It should be noted that the embodiments are merely examples, and those that can be easily conceived by those skilled in the art by appropriately changing while maintaining the gist of the invention are naturally included in the scope of the present invention. In addition, for the sake of clearer explanation, the drawings may schematically represent the width, thickness, shape, etc. of each part compared to the actual aspect. However, the illustrated shapes are merely examples and do not limit the interpretation of the present invention.

[0016] In the present specification, for the sake of convenience of explanation, terms such as "upper", "above", or "upper part" or "lower", "below", or "lower part" are used for explanation, but it is only explaining the vertical relationship of each component. For example, when explaining the positional relationship of the components of a structure (such as a cart or an automatic transport vehicle), based on the normal usage mode of the structure, the side where the structure is installed (for example, the floor side) may be regarded as "lower", "below", or "lower part".

[0017] In this specification, characters such as "first", "second", or "third" appended to each component are for convenience of identification used to distinguish each component, and have no further meaning unless otherwise specified.

[0018] In this specification and the drawings, when collectively representing a plurality of identical or similar components, the same reference numerals are used, and when separately representing each of these plurality of components, it may be represented with appended uppercase or lowercase alphabets. Also, when separately representing a plurality of parts within one component, hyphens and numbers may be used.

[0019] In this specification, the "automated guided vehicle" refers to a vehicle capable of autonomous driving that transports a transport cart to a designated predetermined location.

[0020] In this specification, the "transport cart" refers to a vehicle capable of loading materials and the like on a loading platform.

[0021] In this specification, "autonomous driving" includes not only driving based on instructions according to a program, but also autonomous driving by a control device equipped in the automated guided vehicle. Autonomous driving includes not only driving of the automated guided vehicle along a predetermined route towards a destination, but also driving following a target object.

[0022] FIG. 1 is a diagram showing the configuration of a transport cart according to an embodiment of the present invention and an automated guided vehicle 200 that transports the transport cart. Specifically, FIG. 1 is a side view showing a state in which the automated guided vehicle 200 has潜入 under the transport cart.

[0023] It should be noted that the word "潜入" in the original text seems to be a misspelling. I translated it as "潜入" according to the text, but it might need to be corrected to a more appropriate word in the actual context.As shown in Figure 1, the transport cart 100 includes a loading platform 110, casters 120, guide plates 131-1, 131-2, 131-3, and 131-4 (not shown). The automated guided vehicle 200 includes a main body 210, crawlers 220, a lifting table 231, and a lifting movable part 232. The transport cart 100 can place materials or other cargo on the loading platform 110, and the automated guided vehicle 200 has the function of crawling under the transport cart 100 and transporting it to a predetermined location. By linking the transport cart 100 and the automated guided vehicle 200, it becomes possible to transport materials or other cargo from one point to another, and in this specification, a configuration that exhibits such a function is called an automated transport system.

[0024] The automated guided vehicle (AGV) 200 moves underneath the platform 110 of the transport trolley 100. The AGV 200 can move underneath the platform 110 of the transport trolley 100 from at least two directions. In other words, the transport trolley 100 has at least two paths through which the AGV 200 can move underneath. Guide plates 131-1, 131-2, 131-3, and 131-4 (not shown) on the bottom surface of the platform 110 of the transport trolley 100 guide the position of the lifting table 231 so that it is centered on the platform 110. When the AGV 200 moves underneath the transport trolley 100, the lifting table 231 rises and comes into contact with the bottom surface of the platform 110. The contact between the platform 110 and the lifting table 231 connects the transport trolley 100 and the AGV 200. This allows the automated guided vehicle 200 to transport the transport trolley 100.

[0025] Figures 2(A) and 2(B) show the configuration of a transport trolley 100 according to one embodiment of the present invention. Specifically, Figure 2(A) shows a side view of the transport trolley 100, and Figure 2(B) shows a bottom view of the transport trolley 100.

[0026] As shown in Figures 2(A) and 2(B), the transport trolley 100 has a plurality of casters 120, guide plates 131-1, 131-2, 131-3, and 131-4. The plurality of casters 120 are attached to the platform 110. The plurality of casters 120 are provided on the bottom surface of the platform 110. Guide plates 131-1, 131-2, 131-3, and 131-4 are provided so as to protrude from the bottom surface of the platform 110. In plan view, the shape of the platform 110 is a rectangle with long sides and short sides. In this case, the plurality of casters 120 are positioned at each of the four corners of the platform 110.

[0027] The caster 120 includes a wheel section and a swivel section. The wheel section is rotatably mounted to a support section through a wheel axle. The swivel section supports the support section so that it can rotate, thereby allowing the direction in which the wheel faces to change freely. By equipping the transport cart 100 with such a caster 120, the automated guided vehicle 200 can freely control the direction of travel of the transport cart 100. It is preferable that the caster 120 be equipped with a stopper to prevent it from moving unintentionally when the transport cart 100 is stationary.

[0028] There are no limitations on the mounting position of the casters 120 to the loading platform 110, but it is preferable that they be mounted in a position that does not interfere with the guide plates 131-1 to 131-4. Furthermore, it is preferable that the casters 120 be positioned so as to be able to support the loading platform 110 in a horizontal and stable state. If the loading platform 110 is rectangular in plan view, it is preferable that the casters 120 be mounted at four locations, corresponding to each corner. Even if the shape of the loading platform 110 in plan view is irregular, such as circular, it is preferable that they be mounted at least at four locations spaced apart to ensure balance.

[0029] Guide plates 131-1 to 132-4 are positioned so as not to overlap with the operating area of ​​each caster 120. As shown in Figure 2(B), if the loading platform 110 is rectangular in plan view, guide plates 131-1 and 131-2 are positioned along the short side of the loading platform 110, and guide plates 131-3 and 131-4 are positioned along the long side of the loading platform 110. Guide plates 131-1 and 131-2 are plate-shaped members, and one side of each is positioned parallel to the short side of the loading platform 110. Similarly, guide plates 131-3 and 131-4 are also plate-shaped members in their overall shape, and one side of each is positioned parallel to the long side of the loading platform 110. Guide plate 131-1 is positioned directly opposite guide plate 131-2, and guide plate 131-3 is positioned directly opposite guide plate 131-4. Guide plates 131-1 and 131-2 are spaced apart so as to be able to sandwich the lifting table, and guide plates 131-3 and 131-4 are also spaced apart so as to be able to sandwich the lifting table 231. By arranging guide plates 131-1, 131-2, 131-3, and 131-4 in this way, these guide plates can guide the lifting table 231 during the rotational movement of the automated guided vehicle 200.

[0030] Guide plates 131-3 and 131-4 are positioned rotated 90 degrees relative to guide plates 131-1 and 131-2. That is, as shown in Figure 2(B), when guide plates 131-1 and 131-2 are positioned on a virtual A1-A2 center line connecting their centers, and guide plates 131-3 and 131-4 are positioned on a B1-B2 center line connecting their centers, the B1-B2 line is perpendicular to the A1-A2 line. In other words, the pair of guide plates 131-3 and 131-4, positioned facing each other, are positioned rotated 90 degrees around the center of the loading platform 110 relative to the pair of guide plates 131-1 and 131-2, which are also positioned facing each other. The distance from the inner surface of guide plate 131-1 to the inner surface of guide plate 131-2, and the distance from the inner surface of guide plate 131-3 to the inner surface of guide plate 131-4, may be the same or different. The spacing between opposing guide plates is set appropriately according to the shape of the lifting table 231 of the automated guided vehicle 200.

[0031] Figures 3(A) and 3(B) illustrate a guide plate provided on a transport trolley 100 according to one embodiment of the present invention. Figure 3(A) shows a cross-sectional view of the transport trolley 100 cut along the line A1-A2 shown in Figure 2(B). Figure 3(B) is an enlarged view of the area enclosed by the dashed line shown in Figure 3(A).

[0032] As shown in Figure 3(A), guide plates 131-3 and 131-4 are members having a plate-like overall shape.

[0033] Figure 3(A) shows that guide plates 131-3 and 131-4 are composed of a fixed plate 132a1 and a movable plate 132a2. The fixed plate 132a1 is fixed to the cargo bed 110, and the movable plate 132a2 is attached to the fixed plate 132a1 by a connecting part 132b. At this time, the fixed plate 132a1 and the movable plate 132a2 are connected so that their inner surfaces are flush. The inner surface refers to the surface that faces inward from the cargo bed 110 when guide plates 131-3 and 131-4 are attached to the cargo bed 110.

[0034] Figure 3(A) shows an example in which both guide plates 131-3 and 131-4 are composed of a fixed plate 132a1 and a movable plate 132a2, but such a configuration may be applied to only one of the guide plates. For example, guide plate 131-3 may be composed of a fixed plate 132a1 and a movable plate 132a2, and guide plate 131-4 may be composed of a single plate without a movable part.

[0035] The fixing plate 132a1 is provided so as to stand upright from the bottom surface of the loading platform 110. There are no limitations on the structure of how the fixing plate 132a1 is attached to the loading platform 110; it may be attached with adhesive or by fastening means such as screws. In addition, although not shown, the fixing plate 132a1 may have an L-shaped side profile and be attached to the loading platform 110 with the L-shaped bent tip facing outwards. The fixing plate 132a1 is attached to the loading platform 110 such that one end is a fixed end and the other end is a free end.

[0036] The movable plate 132a2 is connected to the fixed plate 132a1. As described above, the movable plate 132a2 is attached to the fixed plate 132a1 such that its inner surface is flush with the fixed plate 132a1. The movable plate 132a2 is provided to rotate around the attachment point to the fixed plate 132a1. In this case, the rotation range of the movable plate 132a2 can be limited by positioning the rotation center of the movable plate 132a2 at a point where the lower end of the inner surface of the fixed plate 132a1 and the upper end of the inner surface of the movable plate 132a2 are close together. That is, the rotation range of the movable plate 132a2 can be limited to the inward direction of the loading platform 110. Guide plates 131-3 and / or guide plates 131-4, having this configuration, can be displaced so that the movable plate 132a2 opens inward or collapses inward when an external force acts from outside the loading platform 110.

[0037] A connecting portion 132b is used to connect the fixed plate 132a1 and the movable plate 132a2. Specifically, as shown in Figure 3(B), a connecting portion 132b is provided between the fixed plate 132a1 and the movable plate 132a2.

[0038] The connecting portion 132b is provided on the inner surface of the fixed plate 132a1 and the movable plate 132a2 that faces inward towards the loading platform 110. In other words, the connecting portion 132b is provided on the surface opposite to the surface of the fixed plate 132a1 and the movable plate 132a2 that faces the outer end of the loading platform 110. By providing the connecting portion 132b in this way, the movable plate 132a2 can be rotated inward towards the loading platform 110 using the connecting portion 132b as a pivot point. Due to this movement of the movable plate 132a2, the guide plates 131-3 and 131-4 can move so that the portion of the movable plate 132a2 opens inward when an external force acts from the outside to the inside of the loading platform 110. Also, the guide plates 131-3 and 131-4 can prevent the portion of the movable plate 132a2 from opening outward when an external force acts from the inside to the outside of the loading platform 110.

[0039] Note that when the guide plate opens inward of the loading platform 110, it means that it opens towards the center of the loading platform 110. Also, when the guide plates 131-3 and 131-4 are closed (when no external force is acting), it is preferable that the fixed plate 132a1 and the movable plate 132a2 are aligned vertically to form a single flat plate. To maintain this state, an elastic member may be provided in the connecting portion 132b so that the movable plate 132a2 can be kept closed by its elastic force.

[0040] The connecting portion 132b may be provided so as not to protrude from the inner surfaces of the fixed plate 132a1 and the movable plate 132a2. Specifically, when the movable plate 132a2 is not opened inward (closed), the connecting portion 132b may have a structure in which no protrusions are formed, so that the fixed plate 132a1 and the movable plate 132a2 can be considered as a single flat plate. Such a configuration can be realized by providing counterbores (grooves) in the fixed plate 132a1 and the movable plate 132a2, and embedding the connecting portion 132b in these portions. By providing the connecting portion 132b in such a structure, the inner surface of the connecting portion 132b does not protrude from the inner surfaces of the fixed plate 132a1 and the movable plate 132a2, and obstruction by the protruding connecting portion 132b when the circular lifting table 231, described later, moves up and down can be suppressed.

[0041] The connecting portion 132b has a first fixing portion 132b1 fixed to the fixed plate 132a1 and a second fixing portion 132b2 fixed to the movable plate 132a2. As described above, the connecting portion 132b can be installed so as to be embedded in the fixed plate 132a1 and the movable plate 132a2. The first fixing portion 132b1 and the second fixing portion 132b2 can be fixed using fixing means such as screws or adhesive.

[0042] The first fixing part 132b1 and the second fixing part 132b2 are connected by a connecting shaft 132b3. As shown in Figure 3(B), the connecting shaft 132b3 is located between the first fixing part 132b1 and the second fixing part 132b2 in a cross-sectional view and passes through through holes provided in the first fixing part 132b1 and the second fixing part 132b2. Since the through holes provided in the first fixing part 132b1 and the second fixing part 132b2 do not protrude outward, the connecting shaft 132b3 does not protrude from the inner surfaces of the first fixing part 132b1 and the second fixing part 132b2. Therefore, since the first fixing part 132b1 and the second fixing part 132b2 are provided in counterbores (grooves) provided in the fixing plate 132a1 and the movable plate 132a2, the connecting shaft 132b3 also does not protrude outward. As will be explained in more detail later, the guide plates 131-3 and 131-4 have this configuration, which prevents the connecting portion 132b from protruding and causing an obstruction when the lifting table 231 of the automated guided vehicle 200 moves up and down.

[0043] A hinge can be used as a component comprising a first fixing part 132b1, a second fixing part 132b2, and a connecting shaft 132b3. Among these, a hinge in which the connecting shaft 132b3 does not protrude outward can be used, such as a drop hinge or a sewing machine hinge. Furthermore, as shown in Figure 3(B), it is preferable to use a hinge with a swivel angle of 180 degrees for the connecting part 132b so that the first fixing part 132b1 and the second fixing part 132b2 overlap. By using a connecting part 132b with a swivel angle of 180 degrees, the distance d1 between the lifting table 231 and the guide plate 131-3, which will be described later, can be made equal to the thickness t1 of the guide plate 131-3.

[0044] The connecting shaft 132b3 connects the first fixing part 132b1 and the second fixing part 132b2, and makes the second fixing part 132b2 rotatable around the inner end of the first fixing part 132b1 that contributes to the connection with the second fixing part 132b2. Therefore, as shown in Figure 3(B), the connecting part 132b makes the movable plate 132a2 to which the second fixing part 132b2 is fixed rotatable around the inner end of the fixing plate 132a1 to which the first fixing part 132b1 is fixed. In this way, by making the movable plate 132a2 rotatable by the connecting part 132b, the movable plate 132a2 can open inward of the loading platform 110 and be displaced from a direction substantially perpendicular to the loading platform 110. The movable plate 132a2 has a connecting portion 132b on the inner surface of the fixed plate 132a1 and the movable plate 132a2, and the fixed plate 132a1 and the movable plate 132a2 are in contact with each other, so it does not open fully outwards from the cargo bed 110.

[0045] As the movable plate 132a2 is displaced to open inward on the loading platform 110, the lifting table 231 of the automated guided vehicle 200 pushes open the movable plate 132a2 when the automated guided vehicle 200 moves under the loading platform 110, allowing it to move towards the center of the loading platform 110. Furthermore, even when the lifting table 231 of the automated guided vehicle 200 moves towards the movable plate 132a2 of guide plate 131-4, which is positioned directly opposite guide plate 131-3, the movable plate 132a2 of guide plate 131-4 only opens inward on the loading platform 110. Therefore, the automated guided vehicle 200 stops when the lifting table 231 comes into contact with the movable plate 132a2 of guide plate 131-4. Thus, the automated guided vehicle 200 can be stopped at a predetermined position.

[0046] For the sake of explanation, in the following, the area inside the circle inscribed in guide plates 131-1 and 131-2, and guide plates 131-3 and 131-4 may be referred to as the "guide plate interior area." When the lifting table 231 of the automated guided vehicle 200 is located in the guide plate interior area, the automated guided vehicle 200 can lift and transport the transport trolley 100, or rotate it. Therefore, when the lifting table 231 of the automated guided vehicle 200 is located in the guide plate interior area, it may be said that the transport trolley 100 and the automated guided vehicle 200 are engaged.

[0047] Figure 4 is a schematic diagram showing the configuration of an automated guided vehicle (AGV) 200 that transports a transport trolley according to one embodiment of the present invention. Specifically, Figure 4(A) is a perspective view of the AGV 200 with the lifting table 231 in the lowered position, and Figure 4(B) is a perspective view of the AGV 200 with the lifting table 231 in the raised position.

[0048] As shown in Figures 4(A) and 4(B), a pair of crawlers 220 are installed on the side of the main body 210. The automated guided vehicle 200 moves by the rotation of the pair of crawlers 220. By rotating the pair of crawlers 220 in the same direction, the automated guided vehicle 200 can move forward, backward, and even make pivot turns. Pivot turns are achieved by rotating the pair of crawlers 220 in different directions, allowing the vehicle to turn at a specific position. Therefore, when the automated guided vehicle 200 is transporting materials, it can make right-angle turns along the transport path, thus effectively setting up a limited transport path. Here, an example of the automated guided vehicle 200 moving using crawlers 220 has been shown, but tires can also be used instead of crawlers 220.

[0049] As shown in Figure 4(A), a lifting table 231 is installed on the main body 210 of the automated guided vehicle 200. As shown in Figure 4(B), the lifting table 231 can be raised and lowered by a lifting movable part 232 installed on the upper surface of the main body 210. When the automated guided vehicle 200 has moved under the loading platform 110 of the transport trolley 100, it can raise the lifting table 231 to lift the transport trolley 100. Furthermore, with the automated guided vehicle 200 lifting the transport trolley 100, it can drive a pair of crawlers 220 to transport the transport trolley 100.

[0050] In the above example, the automated guided vehicle 200 lifts the transport trolley 100 using the lifting table 231 and then transports the transport trolley 100. However, the transport trolley 100 may also be transported without being lifted. For example, the automated guided vehicle 200 can support the transport trolley 100 from below with the lifting table 231 and transport the transport trolley 100 using the casters provided on the transport trolley 100.

[0051] The height of the lifting table 231 can be set as follows: for example, if the lowered state of the lifting table 231 (when the lifting movable part 232 is not extended) is 0 mm, the raised state (when the lifting movable part 232 is fully extended) is 100 mm, and the state in contact with the guide plate 131-3 can be set to 12 mm.

[0052] The lifting table 231 has a roughly circular shape. The size of the circular shape of the lifting table 231 is smaller than the distance between guide plate 131-3 and guide plate 131-4. Also, if guide plate 131-1 and guide plate 131-2 are provided with a connecting part similar to 132b, the size of the circular shape of the lifting table 231 is smaller than the distance between guide plate 131-1 and guide plate 131-2. Note that the shape of the lifting table 231 may also include a roughly regular octagon, etc.

[0053] Furthermore, the circular size of the lifting table 231 is larger than the size of the circle inscribed in the flat plate member 131-1a of the guide plate 131-1. Within the area inside the guide plate, the lifting table 231 is in contact with the bottom surface of the loading platform 110, allowing the transport trolley 100 to be transported.

[0054] Next, the operation of the automated guided vehicle 200 will be explained with reference to Figures 5 to 8. Note that, for the sake of clarity, only parts of the configuration of the transport trolley 100 and parts of the configuration of the automated guided vehicle 200 are shown in Figures 5 and 7.

[0055] Figures 5 to 7 are schematic diagrams illustrating the operation (i.e., engagement operation) of the automated guided vehicle 200 slipping under the transport trolley 100. A movable plate 132a2 with a height h1 is provided on the transport trolley 100 so that the movable plate 132a2 opens inward to the loading platform 110, allowing the automated guided vehicle 200 to slip under the loading platform 110 from the long side of the loading platform 110. The height of the upper surface of the lifting table 231 of the automated guided vehicle 200 is set to be within the height h1 from the upper end surface of the movable plate 132a2 that abuts the fixed plate 132a1 to the opposite lower end surface (see Figure 5(B)).

[0056] When the height of the upper surface of the lifting table 231 is set, the guide plate 131-3 opens inward toward the loading platform 110 so that the lifting table 231 can slide directly under the loading platform 110. The movable plate 132a2 of the guide plate 131-3 is pushed by the lifting table 231 entering from the long side of the loading platform 110, and opens inward toward the loading platform 110, allowing the lifting table 231 of the automated guided vehicle 200 to slide under the loading platform 110 (see Figures 6(A) and (B)). As a result, the side of the guide plates 131-1 to 131-4 with guide plate 131-3 becomes the entry path for the automated guided vehicle 200. If the height of the upper surface of the lifting table 231 is set to rest on the fixing plate 132a1, the fixing plate 132a1 is fixed to the loading platform 110, so the fixing plate 132a1 prevents the lifting table 231 from moving inward from the fixing plate 132a1, and the movable plate 132a2 does not open inward to the loading platform 110, making it impossible to slide the lifting table 231 under the loading platform 110.

[0057] As the automated guided vehicle (AGV) 200 moves toward the center of the loading platform 110, guide plates 131-1 and 131-2 guide the AGV 200's lifting table 231 toward the center of the loading platform 110, bringing it into contact with the movable plate 132a2 of guide plate 131-4, which is opposite guide plate 131-3, and stopping the AGV 200 (see Figures 7(A) and (B)). Because the height of the upper surface of the lifting table 231 was set within the range h1 of the longitudinal side of the movable plate 132a2 before the AGV 200 was moved under the loading platform 110 from the long side, the movable plate 132a2 of guide plate 131-4 comes into contact with the lifting table 231, and the AGV 200 can be stopped inside the loading platform 110 between guide plates 131-3 and 131-4. As described above, the guide plate 131-4 opens inward on the loading platform 110 and does not open outward on the loading platform 110, thus allowing the automated guided vehicle 200 to be stopped.

[0058] If the height of the upper surface of the lifting table 231 is set lower than the movable plate 132a2, the guide plates 131-1 and 131-2 will not come into contact with the lifting table 231 and will therefore not guide the lifting table 231. Also, even if the lifting table 231 moves toward the center of the loading platform 110, the movable plate 132a2 of the guide plate 131-4 will not come into contact with the lifting table 231, so the automated guided vehicle 200 cannot be stopped inside the loading platform 110 of the guide plate 131-4.

[0059] Guide plates 131-1 and 131-2, and guide plates 131-3 and 131-4 can be used to position the lifting table 231. If the shape of the lifting table 231 is circular, for example, a perfect circle or an ellipse, guide plates 131-1 and 131-2, and guide plates 131-3 and 131-4 can easily guide the automated guided vehicle 200 to near the center of the loading platform 110. Furthermore, because the shape of the lifting table 231 is circular, the automated guided vehicle 200 can be guided to near the center of the loading platform 110 even if the position where the automated guided vehicle 200 goes under the loading platform 110 does not coincide with the radius of the lifting table 231 by a maximum of 231. Therefore, this guidance can guide the automated guided vehicle 200 to a position where it engages with the loading platform 110.

[0060] In this way, by using the connecting portion 132b that opens inward from the loading platform 110 for the guide plates 131-3 and 131-4, the lifting table 231 can be precisely lowered under the loading platform 110 from either the guide plate 131-3 or the guide plate 131-4. Furthermore, the ability to position the lifting table 231 in a predetermined location by contact with the guide plate 131-4 can be achieved under physical constraints and guarantees higher positional accuracy compared to methods using self-position estimation methods such as odometry, which are strongly influenced by external factors that cannot be observed by sensors.

[0061] Next, when the automated guided vehicle 200 stops, the lifting table 231 rises along the movable plate 132a2 of the guide plate 131-4 and prepares for rotation (see Figure 8(B)). At this time, if a smooth connecting part 132b is used on the guide plate 131-4, the lifting table 231 can be raised and lowered at the stopping position of the automated guided vehicle 200. If a connecting part 132b with irregularities is used on the guide plate 131-4, the lifting table 231 is moved towards the guide plate 131-3 before being raised. At this time, the distance d1 between the lifting table 231 and the guide plate 131-3 should be at least the thickness t1 of the guide plate 131-3, or at least the distance r1 that allows the movable plate 132a2 of the guide plate 131-3 to rotate (see the dashed arrow in Figure 8(B)). However, distance d1 is set to a distance such that the lifting table 231 does not lose balance when it is raised and the loading platform 110 is lifted.

[0062] Figures 9(A) and 9(B) are schematic diagrams illustrating the rotational movement of the automated guided vehicle 200 below the loading platform 110 of the transport trolley 100.

[0063] During the rotational movement of the automated guided vehicle (AGV) 200, the lifting table 231 is raised above its engagement position. That is, the lifting table 231 is raised so that its sides face not only guide plates 131-1 and 131-2, but also guide plates 131-3 and 131-4. As a result, the position of the lifting table 231 is fixed within the area of ​​the guide plates. When the AGV 200 performs a rotational movement in this state, the lifting table 231 is guided by guide plates 131-1 and 131-2, as well as guide plates 131-3 and 131-4, so the position of the AGV 200 does not shift. Therefore, the rotational movement of the AGV 200 can be stabilized.

[0064] Figure 9(B) shows the case where the distance d1 between the lifting table 231 and the guide plate 131-3 is equal to the thickness t1 of the guide plate 131-3. If the distance d1 between the fixed plate 132a1 and the lifting table 231 is at least equal to the thickness t1 of the guide plate 131-3, then when the lifting table 231 moves up and down, the lifting table 231 can push up the movable plate 132a2 and fold it to the position shown in Figure 9(B), and the movable plate 132a2 does not obstruct the lifting of the lifting table 231. Furthermore, even if the automated guided vehicle 200 performs a turning operation in this state, it does not obstruct the turning operation. Therefore, it is preferable that the distance d1 between the fixed plate 132a1 and the lifting table 231 is at least equal to the thickness t1 of the guide plate 131-3.

[0065] Figure 10 is a schematic diagram illustrating the departure of the automated guided vehicle (AGV) 200 from beneath the loading platform 110. As shown in Figure 10, the raised lifting table 231 descends and departs from beneath the loading platform 110 in the direction of the loading platform 110's longer side. By lowering the lifting table 231 below the movable plate 132a2, it can exit in either direction along the longer side of the loading platform 110. Thus, the direction along the longer side of the loading platform 110 becomes the exit path for the AGV 200. In Figure 10, the side with guide plate 131-3 or guide plate 131-4 is the exit path for the AGV 200.

[0066] As described above, in the transport trolley 100 according to one embodiment of the present invention, the guide plates 131-3 and 131-4, which are located on the bottom surface of the loading platform 110, can be opened inward from the loading platform 110, and the automated transport vehicle 200 can be slid under the loading platform 110 from multiple directions on which the guide plates 131-3 and 131-4 are installed, and can be easily detached.

[0067] Furthermore, by providing guide plates 131-3 and 131-4 that can be opened inward from the loading platform 110, it is possible to easily secure entry and exit routes for the automated guided vehicle 200 to and from the loading platform 110.

[0068] Furthermore, in the transport trolley 100 according to one embodiment of the present invention, since the guide plates 131-3 and 131-4 do not open outwards from the loading platform 110, the guide plate 131-3 or 131-4 can come into contact with the automated guided vehicle 200 that has gone under the loading platform 110, and stop it at a predetermined position.

[0069] Furthermore, the transport trolley 100 according to one embodiment of the present invention uses a hinge in which the connecting portion 132b, which is provided to open the guide plate 131-3 or guide plate 131-4 inward into the loading platform 110, does not protrude outward. As a result, the lifting table 231, which stops upon contact with the guide plate 131-3 or guide plate 131-4, can be raised without position adjustment.

[0070] In the transport trolley 100 according to one embodiment of the present invention, the automated guided vehicle 200 can slide under the loading platform 110 from multiple directions, thereby increasing the options for the travel pattern of the automated guided vehicle 200 and enabling the selection of efficient transport. Furthermore, once the automated guided vehicle 200 slides under the loading platform 110, it can stop at a predetermined position within the guide plate area by contact with the guide plate 131-3 or guide plate 131-4, thus ensuring high positional accuracy of the automated guided vehicle 200.

[0071] The following describes some modifications of the transport trolley 100 according to the above-described embodiment. However, the transport trolley 100 is not limited to the following modifications. Also, in the following, if the configuration of a modification is the same as the configuration described above, the description of the configuration of the modification may be omitted.

[0072] <Example 1> Referring to Figure 11, a transport trolley 100 is described in which guide plates 131-1 and 131-2 are also fitted with connecting parts similar to the connecting part 132b.

[0073] Figure 11 is a schematic diagram showing the configuration of a transport trolley 100A according to one embodiment of the present invention. As shown in Figure 11, guide plates 131-1, 131-2, 131-3, and 131-4 are arranged on the bottom surface of the loading platform 110 of the transport trolley 100A. Guide plates 131-1 and 131-2 are provided with connecting parts similar to the connecting part 132b. In addition, the spacing d1 and d2 of the casters 120 installed on the bottom surface of the loading platform 110 of the transport trolley 100A are larger than the diameter φ1 of the lifting table 231 and are larger than the width of the automated guided vehicle 200, although this is not shown.

[0074] Guide plates 131-1 and 131-2 can be opened inward to the loading platform 110, and the spacing d2 of the casters 120 is larger than the diameter φ1 of the lifting table 231, and also larger than the width of the automated guided vehicle 200 (although not shown in the figure). Therefore, the automated guided vehicle 200 can be lowered under the loading platform 110 from the four directions indicated by the solid arrows in Figure 11.

[0075] The embodiments described above as examples of the present invention can be combined and implemented as appropriate, insofar as they do not contradict each other. Furthermore, any additions, deletions, or design modifications made by those skilled in the art based on these embodiments are included within the scope of the present invention, as long as they retain the essence of the present invention.

[0076] Any effects or benefits other than those brought about by the embodiments described above, if they are clear from the description herein or easily predictable to a person skilled in the art, are naturally considered to be brought about by the present invention. [Explanation of symbols]

[0077] 100: Transport cart, 110: Loading platform, 120: Caster, 131-1: Guide plate, 131-2: Guide plate, 131-3: Guide plate, 131-4: Guide plate, 131-1a: Flat plate member, 131-2a: Flat plate member, 132a1: Fixed plate, 132a2: Movable plate, 132b: Connecting part, 132b1: First fixed part, 132b2: Second fixed part, 132b3: Connecting shaft, 200: Automated transport vehicle, 210: Main body, 220: Crawler, 231: Lifting table, 232: Lifting movable part

Claims

1. A transport trolley that is transported by an automated guided vehicle, comprising a loading platform, casters attached to the loading platform, and a lifting table that slides under the loading platform and contacts the loading platform, The transport trolley is equipped with a first guide plate, a second guide plate, a third guide plate, and a fourth guide plate that are provided on the bottom surface of the loading platform so as to protrude downward, The first guide plate is positioned directly opposite the second guide plate. The third guide plate is positioned directly opposite the fourth guide plate, The first guide plate and the second guide plate are arranged parallel to the long side of the cargo bed. The third guide plate and the fourth guide plate are arranged parallel to the short side of the loading platform. The first guide plate and the second guide plate, and the third guide plate and the fourth guide plate are spaced apart so as to be able to sandwich the lifting table. The virtual first center line connecting the center of the first guide plate and the center of the second guide plate and the virtual second center line connecting the center of the third guide plate and the center of the fourth guide plate are orthogonal, At least one of the first to fourth guide plates has a structure that allows it to open inward from the cargo bed. A transport trolley characterized by the following features.

2. At least one of the first to fourth guide plates includes a fixed plate fixed to the bottom surface of the cargo bed, a movable plate connected to the fixed plate, and a connecting portion that rotatably connects the movable plate about the inner end of the fixed plate, The transport trolley according to claim 1, wherein the movable plate is displaced to open inward on the loading platform.

3. Two or more of the first to fourth guide plates include a fixed plate fixed to the bottom surface of the cargo bed, a movable plate connected to the fixed plate, and a connecting portion that rotatably connects the movable plate around the inner end of the fixed plate. The transport trolley according to claim 1, wherein the movable plate is displaced to open inward on the loading platform.

4. The transport trolley according to claim 3, wherein the lower end surface of the fixed plate and the upper end surface of the movable plate are provided to be in contact with each other.

5. The transport trolley according to claim 1, wherein the side of the first to fourth guide plates that has a structure that allows it to open inward on the loading platform is designated as the entry and exit route for the automated guided vehicle.

6. The transport trolley according to claim 1, wherein the first to fourth guide plates guide the lifting table toward the center of the loading platform.

7. At least one of the first to fourth guide plates is positioned to come into contact with the lifting table when the automated guide vehicle moves underneath. A transport trolley according to claim 1, which functions as a stopper for an automated guided vehicle.

Images