Transport facilities

Abstract

This transport facility comprises: a carriage (2); an unmanned transport vehicle (3) that autonomously travels, while being coupled to the carriage (2), and thereby moves the carriage; and a control unit that controls operation of the unmanned transport vehicle (3). The carriage (2) includes: a vehicle body (21); and engagement portions (27) individually provided in a plurality of locations on the vehicle body (21). The unmanned transport vehicle (3) has an engaging portion that engages with any one of the plurality of engagement portions (27). The control unit determines, from among the plurality of engagement portions (27), a engagement portion (27) with which the engaging portion should engage, in accordance with the movement mode of the carriage (2).

Description

Technical Field

[0001] The present invention relates to conveying equipment.

Background Art

[0002] For example, the conveyance and assembly of parts in a factory or the like may be performed on a cart that moves along the floor surface, and in that case, the movement of the cart may be entrusted to an automated guided vehicle. In this case, the factory or the like is equipped with a conveying facility for conveying the cart. An example of such a conveying facility is disclosed in Japanese Patent Application Laid-Open No. 2007-76518 (Patent Document 1).

[0003] The conveying facility of Patent Document 1 includes carts (Carts A to G) and automated guided vehicles (Automatic conveyors x to z) that move the carts by self-running while being connected to the carts. In the conveying facility of Patent Document 1, the automated guided vehicle is configured to be connected to the cart by engaging an engaging portion (hook pin 103) with an engaged portion (pin engaging hole 49) provided in the cart.

[0004] In the conveying facility of Patent Document 1, the connection position between the automated guided vehicle and the cart is uniformly at a position near the center of the cart (specifically, slightly forward of the center of the cart). With such a configuration, it is considered that the cart can be moved stably on average when the automated guided vehicle is self-run. However, depending on the movement mode of the cart (for example, the movement direction and movement speed of the cart), it is not always possible to appropriately transmit the driving force of the automated guided vehicle to the cart, and the movement of the cart may become inefficient.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] Therefore, in a transport system where a trolley is moved by an automated guided vehicle, it is desirable to move the trolley efficiently. [Means for solving the problem]

[0007] The transport equipment related to this disclosure is A trolley and An automated guided vehicle that moves the trolley by self-propelling while connected to the trolley, The system includes a control unit that controls the operation of the automated guided vehicle, The bogie comprises a body and engaging parts provided at multiple locations on the body. The automated guided vehicle has an engaging portion that engages with one of the plurality of engaging portions for connecting the automated guided vehicle to the trolley, The control unit determines, from among a plurality of engagementd portions, which is the target engagementd portion to which the engaging portion will engage, according to the movement mode of the trolley.

[0008] In this configuration, the engagement points of the trolley are provided at multiple locations on the vehicle body, and a target engagement point is determined from among these multiple engagement points, and the engagement point of the automated guided vehicle (AGV) engages with that target engagement point. When determining the target engagement point, the movement pattern of the trolley is taken into consideration, and for example, in relation to the direction and speed of movement of the trolley, it is easy to connect the trolley and the AGV at an optimal position from the viewpoint of efficient power transmission. As a result, the power transmission force of the AGV can be appropriately transmitted to the trolley according to the movement pattern of the trolley. Therefore, in a transport system configured to move a trolley using an AGV, the trolley can be moved efficiently.

[0009] Further features and advantages of the technology relating to this disclosure will become clearer from the following description of exemplary and non-limiting embodiments, with reference to the drawings. [Brief explanation of the drawing]

[0010] [Figure 1] Layout diagram of the conveying equipment in the embodiment [Figure 2]Side view of the cart and the automated guided vehicle [Figure 3] Front view of the cart and the automated guided vehicle [Figure 4] Plan view of the cart and the automated guided vehicle [Figure 5] Side view of the automated guided vehicle [Figure 6] Schematic diagram showing the connection mode between the cart and the automated guided vehicle [Figure 7] Plan view of the cart and the automated guided vehicle during straight running [Figure 8] Plan view of the cart and the automated guided vehicle during high-speed straight running [Figure 9] Plan view of the cart and the automated guided vehicle during reverse running [Figure 10] Plan view of the cart and the automated guided vehicle during curve running [Figure 11] Plan view of the cart and the automated guided vehicle during high-speed curve running [Figure 12] Plan view of the cart and the automated guided vehicle during side running [Figure 13] Plan view of the cart and the automated guided vehicle during side running [Figure 14] Plan view of the cart and the automated guided vehicle during diagonal running [Figure 15] Plan view of the cart and the automated guided vehicle during diagonal running [Figure 16] Plan view of the cart and the automated guided vehicle during tight turning [Figure 17] Plan view of the cart and the automated guided vehicle during straight running [Figure 18] Plan view of the cart and the automated guided vehicle during side running [Figure 19] Plan view of the cart and the automated guided vehicle running along the platform [Figure 20] Plan view of the cart and the automated guided vehicle in another embodiment [Figure 21] Plan view of the cart and the automated guided vehicle in another embodiment

Mode for Carrying Out the Invention

[0011] An embodiment of the conveying equipment will be described with reference to the drawings. The conveying equipment 1 of this embodiment is installed and used in a factory where parts are conveyed and assembled on a trolley 2 that moves along the floor surface F. As an example, the conveying equipment 1 can be used in an automobile manufacturing plant where an automobile is assembled by sequentially attaching various parts while moving a trolley 2 on which an automobile body is placed along the floor surface F.

[0012] As shown in Figure 1, the transport equipment 1 comprises a plurality of carts 2, a plurality of automated guided vehicles (AGVs) 3, and a control unit 4. The AGVs 3 are controlled by the control unit 4 and move autonomously along the transport path P. The carts 2 are connected to the AGVs 3 and move along the transport path P together with the AGVs 3.

[0013] Here, the transport route P is the route along which the trolley 2 and the object B (for example, the body of a car) placed on it are transported. The transport route P may be a predetermined route using physical means such as rails, or it may be a route that is determined each time using software means such as magnetic markers, light-reflective tape, electromagnetic induction cables, or two-dimensional markers.

[0014] The transport path P in this embodiment includes a first straight section P1, a second straight section P2, a curved section P3, and a detour section P4. The first straight section P1 and the second straight section P2 are arranged parallel to each other and connected at both ends by the curved section P3. The detour section P4 is provided to bypass a part of the second straight section P2 and includes a first traverse section P41 and a second traverse section P42 connected to the second straight section P2, and a straight section P43 connecting them.

[0015] As shown in Figures 2 to 4, the trolley 2 of this embodiment has a body 21, a lifting mechanism 25, and an engaging part 27. The body 21 also includes a mounting platform 22, a support column 23, and wheels 24.

[0016] The mounting platform 22 is a platform for placing the object to be placed on. The mounting platform 22 does not necessarily have to be in a state where the object to be placed is placed on it at all times, as long as it can at least place the object to be placed on it. For example, if the trolley 2 has a lifting device 25 as in this embodiment, the object to be placed on it may be raised by the lifting device 25 (see Figures 2 and 3), and this type of configuration is also included in the concept of "placing the object to be placed on it." The mounting platform 22 is formed in a rectangular shape in plan view (more specifically, a rectangular shape in plan view) that is larger than the object to be placed on it.

[0017] The support columns 23 extend downward from the mounting base 22. There are four support columns 23, which are positioned on the left and right sides at the front and rear ends of the mounting base 22. Wheels 24 are fixed to the lower end of each support column 23. In this embodiment, the wheels 24 are casters.

[0018] As shown in Figure 4, the elevator 25 is located in the center of the platform 22. In a plan view, the elevator 25 is located within the area enclosed by the four wheels 24 (four support columns 23). The elevator 25 raises and lowers the object B while supporting it from below. When the trolley 2 has an elevator 25, assembly and other operations can be performed with the object B raised, improving work efficiency.

[0019] The engaged portion 27 is the part that engages with the engaging portion 37, which will be described later, provided on the automated guided vehicle 3. In this embodiment, there are multiple engaged portions 27. These multiple engaged portions 27 are provided at multiple locations on the vehicle body 21. In this embodiment, four engaged portions 27 are provided on the front, rear, left, and right sides of the vehicle body 21.

[0020] In the following, these four engaged portions 27 may be distinguished as "front engaged portion 27F," "rear engaged portion 27B," "right engaged portion 27R," and "left engaged portion 27L." The front engaged portion 27F is the engaged portion 27 provided on the front side of the vehicle body 21, and the rear engaged portion 27B is the engaged portion 27 provided on the rear side of the vehicle body 21. The right engaged portion 27R is the engaged portion 27 provided on the right side of the vehicle body 21, and the left engaged portion 27L is the engaged portion 27 provided on the left side of the vehicle body 21. Note that front, rear, left, and right refer to directions based on the direction of travel when the bogie 2 is moving forward.

[0021] In this embodiment, the engaging portion 27 is located outside the area enclosed by the four wheels 24 (four support columns 23) in a plan view. The front engaging portion 27F is located in front of the pair of left and right wheels 24 (support columns 23) at the front. The rear engaging portion 27B is located behind the pair of left and right wheels 24 (support columns 23) at the rear. The right engaging portion 27R is located to the right of the pair of front and rear wheels 24 (support columns 23) on the right side. The left engaging portion 27L is located to the left of the pair of front and rear wheels 24 (support columns 23) on the left side.

[0022] The engaged portion 27 is provided on the vehicle body 21 so as to face downward. In this embodiment, the engaged portion 27 is composed of a pin engagement hole 28 formed on the lower surface of the mounting base 22 so as to open downward. The pin engagement hole 28 may be a bottomed hole as shown in Figure 5, or it may be a through hole that penetrates vertically.

[0023] Furthermore, in this embodiment, the engaging portions 27 provided at various locations on the vehicle body 21 are composed of sets of four pin engagement holes 28, as shown in Figure 6. Two of the four pin engagement holes 28 are arranged side by side in the front-to-back direction, and the remaining two are arranged side by side on the left and right, flanking the imaginary line segment connecting these two holes in the center of the imaginary line segment.

[0024] The automated guided vehicle (AGV) 3 moves autonomously along the transport path P. As shown in Figure 5, the AGV 3 has a body 31 and an engagement part 37. The body 31 also includes a main body 32, a drive unit 33, drive wheels 34, and auxiliary wheels 35. Furthermore, if the transport path P is configured with guidance means such as magnetic markers, the AGV 3 is also configured to have other components necessary for automatic driving, such as a marker reading unit.

[0025] The main body 32 is the main component of the vehicle body 31 and supports the drive unit 33, the drive wheels 34, and the auxiliary wheels 35. As can be seen from Figures 3 to 5, the main body 32 is formed in a vertically elongated shape, with its overall length longer than its overall width in a plan view.

[0026] The drive units 33 are supported at both ends in the longitudinal direction of the main body 32. The drive units 33 incorporate a driving force source, such as a motor, and rotate the drive wheels 34 with this driving force to propel the vehicle. In this embodiment, the two drive units 33 are each rotatably supported on the main body 32 and can be steered independently. The auxiliary wheels 35 are supported at the center in the longitudinal direction of the main body 32. In this embodiment, the auxiliary wheels 35 are casters.

[0027] The engaging portion 37 is the part that engages with the engaged portion 27 provided on the trolley 2. The engaging portion 37 engages with one of the multiple engaged portions 27 provided on the trolley 2 (front engaged portion 27F, rear engaged portion 27B, right engaged portion 27R, and left engaged portion 27L). In this embodiment, the automated guided vehicle 3 can switch the connection position with the trolley 2 among the multiple positions where the engaged portion 27 is provided.

[0028] As shown in Figure 5, the engaging portion 37 is provided so as to be vertically movable relative to the main body portion 32. The engaging portion 37 has a lifting portion 38 that is vertically movable relative to the main body portion 32, and an engaging pin 39 that protrudes upward from the lifting portion 38. In this embodiment, the engaging portion 37 is composed of a pair of engaging pins 39 arranged along the longitudinal direction of the vehicle body 21.

[0029] When the lifting section 38 remains lowered relative to the main body 32 and is in the lowered position, the engaging pin 39 is not engaged with the pin engagement hole 28 that constitutes the engaged section 27, and is in a disengaged state. As a result, the automated guided vehicle 3 and the trolley 2 are disconnected.

[0030] On the other hand, when the lifting section 38 rises relative to the main body 32 to the raised position, the engaging pin 39 enters and engages with the pin engagement hole 28 that constitutes the engaged section 27. This connects the automated guided vehicle 3 and the trolley 2. The automated guided vehicle 3 then moves along the transport path P while connected to the trolley 2, thereby moving the trolley 2 along the transport path P.

[0031] As described above, in this embodiment, one engaged portion 27 is composed of four sets of pin engagement holes 28 arranged in a front-to-back, left-to-right, and rear-to-back direction. The spacing between two sets of engagement pins 39 is equal to the spacing between two sets of pin engagement holes 28 arranged in a front-to-back direction, and also equal to the spacing between two sets of pin engagement holes 28 arranged in a left-to-right direction.

[0032] The automated guided vehicle 3 is connected to the trolley 2 in a position where its longitudinal direction is aligned with the front-to-back direction of the trolley 2 by engaging two pairs of engaging pins 39 with two pairs of pin engagement holes 28 that are arranged front-to-back (left side of Figure 6). Alternatively, the automated guided vehicle 3 can be connected to the trolley 2 in a position where its longitudinal direction is aligned with the left-to-right direction of the trolley 2 by engaging two pairs of engaging pins 39 with two pairs of pin engagement holes 28 that are arranged left-to-right (right side of Figure 6). Thus, the automated guided vehicle 3 of this embodiment can switch its connection position to the trolley 2 between a vertical position (aligned with the front-to-back direction) and a horizontal position (aligned with the left-to-right direction).

[0033] The control unit 4 controls the operation of the automated guided vehicle 3. For example, the control unit 4 controls the travel speed (rotation speed of the drive wheels 34) and steering (direction of the drive unit 33) of the automated guided vehicle 3 according to its position on the transport path P. In this embodiment, the control unit 4 also determines which engaged portion 27 (hereinafter referred to as the "target engaged portion 27T") to engage with the engaging portion 37 from among a plurality of engaged portions 27, according to the movement pattern of the trolley 2. The control unit 4 then controls the movement of the vehicle body 31 and the raising and lowering of the engaging portion 37 so as to engage the engaging portion 37 with the determined target engaged portion 27T.

[0034] Figure 7 shows an example of when the trolley 2 travels in a straight line at a predetermined standard speed. For example, this applies when the trolley 2 travels through the first straight section P1 or the straight section P43 of the detour section P4 in the example in Figure 1. Here, the standard speed is the travel speed of the trolley 2 set considering safety, workability, etc., and is set to a speed of, for example, 30 to 50 m / min. This standard speed may be a fixed value or a variable value that changes depending on the situation.

[0035] As shown in Figure 7, when the trolley 2 is to travel in a straight line at a speed below the standard speed, the control unit 4 designates either the right-side engaging portion 27R or the left-side engaging portion 27L as the target engaging portion 27T among the multiple engaging portions 27. The automated guided vehicle 3 is then connected to the trolley 2 at either the right or left position on the vehicle body 21. Figure 7 shows, as a representative example, the case where the automated guided vehicle 3 and the trolley 2 are connected on the right side.

[0036] In the example shown in Figure 7, the engaging portion 37 engages with the right-side engaged portion 27R provided on the vehicle body 21, and with the longitudinal direction of the automated guided vehicle 3 aligned with the front-rear direction of the trolley 2, the entire automated guided vehicle 3 overlaps with the trolley 2 in a plan view. Similarly, when the left-side engaged portion 27L is designated as the target engaged portion 27T, the engaging portion 37 engages with the left-side engaged portion 27L provided on the vehicle body 21, and with the longitudinal direction of the automated guided vehicle 3 aligned with the front-rear direction of the trolley 2, the entire automated guided vehicle 3 overlaps with the trolley 2 in a plan view.

[0037] Figure 8 shows an example of when the trolley 2 travels in a straight line at a predetermined standard speed or higher. For example, this applies when the trolley 2 travels along the second straight section P2 in the example in Figure 1. The setting of the standard speed is as described above.

[0038] As shown in Figure 8, when the trolley 2 is to travel in a straight line at a speed above the standard speed, the control unit 4 designates the front engaging portion 27F of the multiple engaging portions 27 as the target engaging portion 27T. The automated guided vehicle 3 is then connected to the trolley 2 at the front position of the vehicle body 21.

[0039] In the example shown in Figure 8, the longitudinal direction of the automated guided vehicle (AGV) 3 is aligned with the front-to-back direction of the trolley 2, and the engaging portion 37 and the front-side engaged portion 27F are engaged. The AGV 3 partially overlaps with the trolley 2 in a plan view, and a portion of its front side does not overlap with the trolley 2 in a plan view.

[0040] Figure 9 shows an example of the trolley 2 moving in reverse. As shown in this figure, when the trolley 2 is moving in reverse, the control unit 4 designates the rear engaging portion 27B of the multiple engaging portions 27 as the target engaging portion 27T. The automated guided vehicle 3 is then connected to the trolley 2 at the rear position of the vehicle body 21.

[0041] In the example shown in Figure 9, the longitudinal direction of the automated guided vehicle (AGV) 3 is aligned with the front-to-rear direction of the trolley 2, and the engaging portion 37 and the rear engaged portion 27B are engaged. The AGV 3 partially overlaps with the trolley 2 in a plan view, and a portion of its rear does not overlap with the trolley 2 in a plan view.

[0042] Figure 10 shows an example of when the bogie 2 travels on a curve to the left at a speed below a predetermined standard speed. For example, this corresponds to the case where the bogie 2 travels on the curved section P3 in the example in Figure 1. The setting of the standard speed is as described above.

[0043] As shown in Figure 10, when the trolley 2 is to travel on a curve to the left at a speed below the standard speed, the control unit 4 designates the right-side engaging portion 27R, which is one of the multiple engaging portions 27 located on the opposite side of the curve direction, as the target engaging portion 27T. The automated guided vehicle 3 is then connected to the trolley 2 at the right-side position on the vehicle body 21. In the example in Figure 10, the engaging portion 37 engages with the right-side engaging portion 27R provided on the vehicle body 21, and the longitudinal direction of the automated guided vehicle 3 is aligned with the front-rear direction of the trolley 2, so the entire automated guided vehicle 3 overlaps with the trolley 2 in a plan view.

[0044] Furthermore, when the trolley 2 is to travel on a curve to the right at a speed below the standard speed, the control unit 4 designates the left-side engaging portion 27L, which is one of the multiple engaging portions 27 located on the opposite side of the curve direction, as the target engaging portion 27T. The automated guided vehicle 3 is then connected to the trolley 2 at the left side of the vehicle body 21. At this time, the engaging portion 37 engages with the left-side engaging portion 27L provided on the vehicle body 21, and the entire automated guided vehicle 3 overlaps with the trolley 2 in a plan view, with the longitudinal direction of the automated guided vehicle 3 aligned with the front-rear direction of the trolley 2.

[0045] Furthermore, when the trolley 2 is traveling in an S-shape at a speed below the standard speed, the control unit 4 switches the target engagement portion 27T according to the position of the trolley 2 in the transport path P, so that the engagement portion 27 on the opposite side of the direction of the next curve becomes the target engagement portion 27T.

[0046] Figure 11 shows an example where the bogie 2 travels around a curve to the left at a predetermined standard speed or higher. The setting of the standard speed is as described above.

[0047] As shown in Figure 11, when the trolley 2 is traveling on a curve to the left at a speed above the standard speed, the control unit 4 designates the front engaging portion 27F as the target engaging portion 27T among the multiple engaging portions 27. In other words, even when the trolley 2 is traveling on a curve to the left, if the travel speed is above a predetermined standard speed, the control unit 4 designates the front engaging portion 27F as the target engaging portion 27T instead of the right engaging portion 27R described above. The automated guided vehicle 3 is then connected to the trolley 2 at the front position of the vehicle body 21.

[0048] In the example shown in Figure 11, the longitudinal direction of the automated guided vehicle (AGV) 3 is aligned with the front-to-back direction of the trolley 2, and the engaging portion 37 and the front engaged portion 27F are engaged. The AGV 3 partially overlaps with the trolley 2 in a plan view, and a portion of its front side does not overlap with the trolley 2 in a plan view.

[0049] Furthermore, when the trolley 2 is traveling on a curve to the right at a speed exceeding the standard speed, the control unit 4 designates the front engaging portion 27F as the target engaging portion 27T among the multiple engaging portions 27. In other words, even when the trolley 2 is traveling on a curve to the right, if the travel speed is above a predetermined standard speed, the control unit 4 designates the front engaging portion 27F as the target engaging portion 27T instead of the left engaging portion 27L mentioned above. The automated guided vehicle 3 is then connected to the trolley 2 at the front of the vehicle body 21. In addition, the automated guided vehicle 3 partially overlaps with the trolley 2 in a plan view, and a portion of its front does not overlap with the trolley 2 in a plan view.

[0050] Figure 12 shows an example where the trolley 2 travels horizontally to the right. For example, this corresponds to the case where the trolley 2 travels along the first horizontal section P41 of the detour section P4 in the example in Figure 1.

[0051] As shown in Figure 12, when the trolley 2 is to travel horizontally to the right, the control unit 4 designates the right-side engaging portion 27R, which is the engaging portion 27 closest to the direction of travel during horizontal movement, as the target engaging portion 27T. The automated guided vehicle 3 is then connected to the trolley 2 at the right-side position on the vehicle body 21. In the example in Figure 12, the engaging portion 37 engages with the right-side engaging portion 27R provided on the vehicle body 21, and the entire automated guided vehicle 3 overlaps with the trolley 2 in a plan view, with the longitudinal direction of the automated guided vehicle 3 aligned with the front-rear direction of the trolley 2.

[0052] Figure 13 shows an example where the trolley 2 travels horizontally to the left. For example, this corresponds to the case where the trolley 2 travels through the second horizontal section P42 of the detour section P4 in the example in Figure 1.

[0053] As shown in Figure 13, when the trolley 2 is moved horizontally to the left, the control unit 4 designates the left-side engaging portion 27L, which is the engaging portion 27 closest to the direction of travel during horizontal movement, as the target engaging portion 27T. The automated guided vehicle 3 is then connected to the trolley 2 at the left side of the vehicle body 21. In the example in Figure 12, the engaging portion 37 engages with the left-side engaging portion 27L provided on the vehicle body 21, and the longitudinal direction of the automated guided vehicle 3 is aligned with the front-rear direction of the trolley 2, so the entire automated guided vehicle 3 overlaps with the trolley 2 in a plan view.

[0054] Figure 14 shows an example where the trolley 2 travels diagonally to the right and forward. As shown in this figure, when the trolley 2 travels diagonally to the right and forward, the control unit 4 designates the right-side engaging portion 27R, which is the engaging portion 27 closest to the direction of travel during diagonal travel, as the target engaging portion 27T. The automated guided vehicle 3 is then connected to the trolley 2 at the right-side position on the vehicle body 21. In the example in Figure 14, the engaging portion 37 engages with the right-side engaging portion 27R provided on the vehicle body 21, and the entire automated guided vehicle 3 overlaps with the trolley 2 in a plan view, with the longitudinal direction of the automated guided vehicle 3 aligned with the front-rear direction of the trolley 2.

[0055] Figure 15 shows an example where the trolley 2 travels diagonally to the left and forward. As shown in this figure, when the trolley 2 travels diagonally to the left and forward, the control unit 4 designates the left-side engaging portion 27L, which is the engaging portion 27 closest to the direction of travel during diagonal movement, as the target engaging portion 27T among the multiple engaging portions 27. The automated guided vehicle 3 is then connected to the trolley 2 at a position on the left side of the vehicle body 21. In the example in Figure 15, the engaging portion 37 engages with the left-side engaging portion 27L provided on the vehicle body 21, and the entire automated guided vehicle 3 overlaps with the trolley 2 in a plan view, with the longitudinal direction of the automated guided vehicle 3 aligned with the front-rear direction of the trolley 2.

[0056] Figure 16 shows an example of trolley 2 making a tight turn with a predetermined reference radius of curvature or less. Here, the reference radius of curvature is set to a length of, for example, 0.3 to 2 m. This reference radius of curvature may be a fixed value or a variable value that changes depending on the situation.

[0057] As shown in Figure 16, when the trolley 2 is to travel in a tight turn with a predetermined reference radius of curvature or less, the control unit 4 designates the rear engaging portion 27B of the multiple engaging portions 27 as the target engaging portion 27T. The automated guided vehicle 3 is then connected to the trolley 2 at the rear position of the vehicle body 21. In the example in Figure 16, the engaging portion 37 engages with the rear engaging portion 27B provided on the vehicle body 21, and the longitudinal direction of the automated guided vehicle 3 is aligned with the left-right direction of the trolley 2, so the entire automated guided vehicle 3 overlaps with the trolley 2 in a plan view.

[0058] The control unit 4 is configured to acquire information regarding the transport route P. Based on the acquired information regarding the transport route P, the control unit 4 can select the target engaged part 27T in a timely manner and change the connection position between the automated guided vehicle 3 and the trolley 2 in a timely manner.

[0059] Furthermore, the control unit 4 may be configured to acquire not only information about the transport route P, but also information about the transport load within the transport route P. Here, information about the transport load includes information about the material and inclination of the floor surface F, information about the transfer of the object B to other transport devices, and information about the increase in the weight of the object B due to the assembly of parts. The control unit 4 may also take into consideration the acquired information about the transport route P and select the target engaged part 27T to be suitable for transport at locations with relatively high loads.

[0060] [Other Embodiments] (1) In the above embodiment, when the trolley 2 is traveling in a straight line at a speed below the reference speed, the control unit 4 has been described as having a configuration in which the right-side engaging portion 27R or the left-side engaging portion 27L among the multiple engaging portions 27 is designated as the target engaging portion 27T. However, the configuration is not limited to such a configuration, and in such cases, for example as shown in Figure 17, the control unit 4 may designate the front-side engaging portion 27F among the multiple engaging portions 27 as the target engaging portion 27T. In the example of Figure 17, the engaging portion 37 engages with the front-side engaging portion 27F provided on the vehicle body 21, and the longitudinal direction of the automated guided vehicle 3 is aligned with the left-right direction of the trolley 2, so that the entire automated guided vehicle 3 overlaps with the trolley 2 in a plan view.

[0061] (2) In the above embodiment, when the trolley 2 is moved horizontally to the right or left, the control unit 4 has been described as an example in which the engagement portion 27 on the side closer to the direction of travel during horizontal movement is designated as the target engagement portion 27T. However, the configuration is not limited to such an example, and in such cases, the control unit 4 may, for example as shown in Figure 18, designate the front engagement portion 27F as the target engagement portion 27T. In this case, the front engagement portion 27F may be designated as the target engagement portion 27T unconditionally, or the front engagement portion 27F may be designated as the target engagement portion 27T on the condition that the trolley 2 is moving horizontally at a predetermined slow speed or less. The slow speed is set to a speed of, for example, 5 to 15 m / min. This slow speed may be a fixed value or a variable value that changes depending on the situation. In the example shown in Figure 18, the engaging portion 37 engages with the front engaged portion 27F provided on the vehicle body 21, and the longitudinal direction of the automated guided vehicle 3 is aligned with the left-right direction of the trolley 2, so that the entire automated guided vehicle 3 overlaps with the trolley 2 in a plan view.

[0062] (3) In the above embodiment, a configuration in which the control unit 4 determines the target engaged portion 27T from among the multiple engaged portions 27 according to the movement pattern of the trolley 2 was described as an example. However, the configuration is not limited to such a configuration, and for example, the control unit 4 may determine the target engaged portion 27T according to the state of the trolley 2. For example, as shown in Figure 19, when the trolley 2 is traveling along a platform 9 for performing various operations such as loading and unloading cargo and assembling parts, the control unit 4 may designate the engaged portion 27 that is furthest from the platform 9 (the left engaged portion 27L in the illustrated example) as the target engaged portion 27T. Also, for example, if there is an imbalance in the weight distribution of the object B placed on the trolley 2, the control unit 4 may designate the engaged portion 27 that is near a position with relatively high surface pressure as the target engaged portion 27T. The control unit 4 may also consider the state of the trolley 2 and the movement pattern and determine the target engaged portion 27T according to both.

[0063] (3) In the above embodiment, a configuration in which the engaged portion 27 is located outside the area surrounded by the four wheels 24 in a plan view was described as an example. However, the configuration is not limited to such a configuration, and for example, if the four wheels 24 are located on the periphery (typically the four corners) of the mounting base 22, the engaged portion 27 may be located within the area surrounded by the four wheels 24 in a plan view.

[0064] (4) In the above embodiment, each engaged portion 27 is composed of a set of four pin engagement holes 28 arranged in a front-to-back and left-to-right configuration, and a configuration in which the connection posture between the automated guided vehicle 3 and the trolley 2 can be switched between a vertical and a horizontal configuration was described as an example. However, the configuration is not limited to such a configuration, and each engaged portion 27 may be composed of a set of two pin engagement holes 28. For example, the right engaged portion 27R and the left engaged portion 27L may be composed of a set of two pin engagement holes 28 arranged in a front-to-back and left-to-right configuration, and the connection posture between the automated guided vehicle 3 and the trolley 2 at these positions may be uniformly set to a vertical configuration. Alternatively, for example, the front engaged portion 27F and the rear engaged portion 27B may be composed of a set of two pin engagement holes 28 arranged in a left-to-right and left-to-right configuration, and the connection posture between the automated guided vehicle 3 and the trolley 2 at these positions may be uniformly set to a horizontal configuration. Alternatively, the front engaging portion 27F and the rear engaging portion 27B may be arranged in a pair of pin engaging holes 28 side by side.

[0065] (5) In the above embodiment, a configuration in which four engaging portions 27 are provided separately on the front, rear, left, and right sides of the vehicle body 21 was described as an example. However, the configuration is not limited to such a configuration, and for example, two engaging portions 27 may be provided separately on the left and right sides or front and rear sides of the vehicle body 21, or three engaging portions 27 may be provided separately on the front or rear side and left and right sides of the vehicle body 21. Alternatively, for example, as shown in Figure 20, if the elevator 25 is not provided in the center of the vehicle body 21, five engaging portions 27 may be provided separately on the center of the vehicle body 21 and on the front, rear, left, and right sides. In this case, the engaging portion 27 provided in the center of the vehicle body 21 can be called the "central engaging portion 27C". Furthermore, six or more engaging portions 27 may be provided on the vehicle body 21.

[0066] (6) In the above embodiment, a configuration was described as in which the engaged portion 27 is provided on the trolley 2 so as to face downward, and the engaged portion 37 is provided on the automated guided vehicle 3 so as to be vertically movable. However, the configuration is not limited to such a configuration, and for example, as shown in Figure 21, the engaged portion 27 may be provided on the vehicle body 21 so as to face sideways, and the engaged portion 37 may be provided on the automated guided vehicle 3 so as to engage with the engaged portion 27 from the side. If the height of the main body 32 of the automated guided vehicle 3 is greater than or equal to the height of the mounting platform 22 of the trolley 2, the engaged portion 37 may be provided so as to be able to move in and out horizontally relative to the main body 32 of the automated guided vehicle 3. If the height of the main body 32 of the automated guided vehicle 3 is less than the height of the mounting platform 22 of the trolley 2, the engaged portion 37 may be provided so as to be able to rotate so as to face sideways from the main body 32 of the automated guided vehicle 3. In these cases, the engaging portion 37 may be made immobile or immobile, and the engaging portion 37 may simply engage with the engaged portion 27 as the automated guided vehicle 3 moves and changes direction.

[0067] (7) The configurations disclosed in each of the above-described embodiments (including the above-described embodiments and other embodiments; the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, as long as this does not cause a conflict. With respect to other configurations, the embodiments disclosed herein are illustrative in all respects and can be modified as appropriate without departing from the spirit of the disclosure.

[0068] [Overview of the Embodiment] In summary, the conveying equipment relating to this disclosure preferably comprises the following components.

[0069] The conveying equipment is, A trolley and An automated guided vehicle that moves the trolley by self-propelling while connected to the trolley, The system includes a control unit that controls the operation of the automated guided vehicle, The bogie comprises a body and engaging parts provided at multiple locations on the body. The automated guided vehicle has an engaging portion that engages with one of the plurality of engaging portions for connecting the automated guided vehicle to the trolley, The control unit determines, from among a plurality of engagementd parts, which is the engagementd part to which the engaging part engages, depending on at least one of the state and movement mode of the trolley.

[0070] In this configuration, the engagement points of the trolley are provided at multiple locations on the vehicle body, and a target engagement point is determined from among these multiple engagement points, and the engagement point of the automated guided vehicle (AGV) engages with that target engagement point. When determining the target engagement point, the state of the trolley, the mode of movement, or both are taken into consideration, and it is easy to connect the trolley and the AGV at an optimal position from the viewpoint of efficient power transmission, for example, in relation to the direction of movement, speed of movement, and running conditions of the trolley. As a result, the power of the AGV can be appropriately transmitted to the trolley according to at least one of the state of the trolley and the mode of movement. Therefore, in a transport system configured to move a trolley using an AGV, the trolley can be moved efficiently.

[0071] As one aspect, It is preferable that the engaged portion is provided separately on the front, rear, left, and right sides of the vehicle body.

[0072] This configuration allows for the provision of engagement points at four locations on the vehicle body (front, rear, left, and right), effectively expanding the range of choices for the connection position between the trolley and the automated guided vehicle (AGV) with the fewest possible components.

[0073] As one aspect, When the control unit causes the trolley to travel on a curve to the right or left, it is preferable that the engagement portion on the opposite side of the curve among the engagement portions provided on the left and right sides of the vehicle body be designated as the target engagement portion.

[0074] With this configuration, when the trolley is to travel around a curve, the lateral force acting on the trolley from the automated guided vehicle (AGV) can be used to enable the trolley to travel around a curve. Therefore, the driving force of the AGV can be appropriately transmitted to the trolley, allowing the trolley to move efficiently.

[0075] As one aspect, Even when the trolley is traveling on a curve to the right or left, if the control unit is traveling at a predetermined reference speed or higher, it is preferable that the engaged portion provided on the front side of the vehicle body be used as the target engaged portion instead of the engaged portions provided on the left and right sides of the vehicle body.

[0076] With this configuration, when the vehicle is to travel around curves at a relatively high speed above the standard speed, an automated guided vehicle (AGV) is attached to the front of the vehicle and towed. This allows the driving force of the AGV to be appropriately transmitted to the trolley, ensuring the trolley's maneuverability while enabling efficient movement.

[0077] As one aspect, When the control unit moves the trolley laterally to the right or left, or diagonally forward to the right or forward to the left, it is preferable that the engaged portion of the vehicle body provided on the left and right sides that is closer to the direction of travel during lateral or diagonal movement be designated as the target engaged portion.

[0078] With this configuration, when the trolley is towed from the leading end in the direction of travel, the driving force of the automated guided vehicle (AGV) is appropriately transmitted to the trolley, ensuring the trolley's maneuverability while efficiently performing lateral or diagonal travel.

[0079] As one aspect, When the control unit causes the trolley to travel in a straight line at a predetermined reference speed or higher, it is preferable that the engaged portion provided on the front side of the vehicle body be designated as the target engaged portion.

[0080] With this configuration, when the trolley is towed at a relatively high speed above the standard speed, the driving force of the automated guided vehicle is appropriately transmitted to the trolley, ensuring the trolley's straight-line stability while enabling efficient high-speed straight-line travel.

[0081] As one aspect, When the control unit is making the trolley travel in a tight turn with a predetermined reference radius of curvature or less, it is preferable that the engaged portion provided on the rear side of the vehicle body be the target engaged portion.

[0082] With this configuration, when the trolley is to travel in a tight turn with a predetermined standard radius of curvature or less, steering is performed from the rear of the vehicle body. This ensures that the driving force of the automated guided vehicle is properly transmitted to the trolley, thereby ensuring the trolley's maneuverability and allowing it to travel in tight turns appropriately.

[0083] As one aspect, The aforementioned automated guided vehicle has a vertically elongated shape, with its overall length being longer than its overall width when viewed from above. When the engaging portion engages with either of the engaged portions provided on the left and right sides of the vehicle body, and the longitudinal direction of the automated guided vehicle is aligned with the front-rear direction of the trolley, the entire automated guided vehicle overlaps with the trolley in a plan view, It is preferable that the entire automated guided vehicle overlaps with the trolley in a plan view when the engaging portion engages with either of the engaged portions provided at the front and rear of the vehicle body, and the longitudinal direction of the automated guided vehicle is aligned with the left-right direction of the trolley.

[0084] With this configuration, the entire automated guided vehicle (AGV) fits inside the cart without protruding, eliminating the need to provide space outside the cart for the AGV to travel. Therefore, the amount of extra space required around the cart's movement path can be kept small, making it easier to miniaturize the entire transport system.

[0085] Furthermore, if one of the engagement parts provided on the left and right sides of the vehicle body is designated as the target engagement part, and the longitudinal direction of the automated guided vehicle (AGV) is aligned with the front-to-rear direction of the trolley, thereby causing the entire AGV to overlap with the trolley in a plan view, the following additional effects are achieved. Specifically, when multiple trolleys are driven in a line, the switching of the trolley to which the AGV is connected can be performed smoothly by moving the AGV using the space beneath each trolley. Multiple trolleys can be transported in a state where they are in contact with each other without any gaps between them, and the switching of the trolley to which the AGV is connected can be performed smoothly, for example, while the top surface of the trolleys is used as a continuous floor surface on which workers can walk.

[0086] As one aspect, Preferably, the engaged portion is provided on the vehicle body so as to face downward, and the engaged portion is provided so as to be vertically movable relative to the main body of the automated guided vehicle.

[0087] With this configuration, when the engaged portion is positioned to face downwards, the connection and disconnection between the trolley and the automated guided vehicle (AGV) can be properly performed by moving the engaged portion up and down relative to the AGV's main body. Furthermore, in this configuration, the reaction force when the engaged portion is raised for connection presses the AGV against the floor below, thereby ensuring a large frictional force between the AGV's wheels and the floor. As a result, a large propulsion force can be ensured by the AGV.

[0088] As one aspect, Preferably, the engaged portion is provided on the vehicle body so as to face sideways, and the engaged portion is provided so as to be able to extend and retract horizontally relative to the main body of the automated guided vehicle.

[0089] With this configuration, when the engaged portion is positioned to face sideways, the engagement portion can be moved horizontally in and out of the main body of the automated guided vehicle (AGV), thereby enabling proper connection and disconnection between the trolley and the AGV.

[0090] As one aspect, When the trolley is traveling along the platform, the control unit preferably designates the engagement portion on the side of the vehicle body that is furthest from the platform as the target engagement portion.

[0091] This configuration allows for easy access to the automated guided vehicle (AGV) when the trolley is traveling along the platform. Therefore, even if the trolley traveling along the platform stops due to a malfunction in the AGV, inspection and repair can be easily performed.

[0092] The conveying equipment relating to this disclosure only needs to achieve at least one of the effects described above. [Explanation of symbols]

[0093] 1. Conveying equipment 2 carts 3. Automated Guided Vehicles 4. Control Unit 9 Platforms 21 car bodies 22 Mounting platform 23 Support column 24 wheels 25 Elevators 27 Engaged portion 27F Front engaged part 27B Rear engaged part 27R Right side engaged part 27L Left side engaged part 27C Central engaged part 27T Target engaged part 28 Pin engagement holes 31 Car body 32 Main body 33 Drive Unit 34 drive wheels 35 Training wheels 37 Engaging part 38 Lifting section 39 Engaging pin P transport route P1 1st straight line section P2, second straight section P3 カーブPart P4 Detour section Page 41, first horizontal row Page 42, second horizontal row P43 Straight Line Section F bed surface B. The object being placed

Claims

1. A trolley and An automated guided vehicle that moves the trolley by self-propelling while connected to the trolley, The system includes a control unit that controls the operation of the automated guided vehicle, The bogie comprises a car body and engaging parts provided separately on the front, rear, left, and right sides of the car body. The automated guided vehicle has an engaging portion that engages with one of the plurality of engaging portions for connecting the automated guided vehicle to the trolley, The control unit determines, from among a plurality of engagementd parts, the target engagementd part which is the engagementd part to which the engaging part engages, depending on at least one of the state and movement mode of the trolley. The control unit, when the trolley is driven on a curve to the right or left, designates the engagement portion on the opposite side of the curve from the engagement portion provided on the left and right sides of the vehicle body as the target engagement portion, in a transport equipment.

2. The transport equipment according to claim 1, wherein, even when the trolley is traveling on a curve to the right or left, if it is traveling at a predetermined standard speed or higher, the control unit replaces the engaged portions provided on the left and right sides of the vehicle body with the engaged portion provided on the front side of the vehicle body as the target engaged portion.

3. The transport equipment according to claim 1, wherein when the control unit moves the trolley laterally to the right or left, or diagonally forward to the right or forward to the left, the engaged portion of the vehicle body provided on the left and right sides that is closer to the direction of travel during the lateral or diagonal movement is designated as the target engaged portion.

4. The transport equipment according to claim 1, wherein when the control unit causes the trolley to travel in a straight line at a predetermined reference speed or higher, the engaged portion provided on the front side of the vehicle body is designated as the target engaged portion.

5. The transport equipment according to claim 1, wherein when the control unit makes the trolley travel in a tight turn with a predetermined reference radius of curvature or less, the engaged portion provided on the rear side of the vehicle body becomes the target engaged portion.

6. The transport equipment according to claim 1, wherein when the trolley travels along the platform, the control unit designates the engagement portion on the side of the vehicle body that is furthest from the platform as the target engagement portion.

7. A trolley and An automated guided vehicle that moves the trolley by self-propelling while connected to the trolley, The system includes a control unit that controls the operation of the automated guided vehicle, The bogie comprises a car body and engaging parts provided separately on the front, rear, left, and right sides of the car body. The automated guided vehicle has an engaging portion that engages with one of the plurality of engaging portions for connecting the automated guided vehicle to the trolley, The control unit, when the trolley is moved laterally to the right or left, or diagonally forward to the right or forward to the left, sets the engaged portion on the left and right sides of the vehicle body that is closer to the direction of travel during lateral or diagonal movement as the target engaged portion that engages the engaging portion.

8. A trolley and An automated guided vehicle that moves the trolley by self-propelling while connected to the trolley, The system includes a control unit that controls the operation of the automated guided vehicle, The bogie comprises a car body and engaging parts provided separately on the front, rear, left, and right sides of the car body. The automated guided vehicle has an engaging portion that engages with one of the plurality of engaging portions for connecting the automated guided vehicle to the trolley, The control unit, when the trolley is to travel in a tight turn with a predetermined reference radius of curvature or less, makes the engaged portion provided on the rear side of the vehicle body the target engaged portion which is the engaged portion that engages the engaging portion, a transport equipment.

9. A trolley and An automated guided vehicle that moves the trolley by self-propelling while connected to the trolley, The system includes a control unit that controls the operation of the automated guided vehicle, The bogie comprises a car body and engaging parts provided separately on the front, rear, left, and right sides of the car body. The automated guided vehicle has an engaging portion that engages with one of the plurality of engaging portions for connecting the automated guided vehicle to the trolley, The control unit, when the trolley is traveling along the platform, makes the engagement portion on the side of the vehicle body that is further away from the platform one of the engagement portions provided on the left and right sides of the vehicle body the target engagement portion which is the engagement portion that engages the engagement portion.

10. The aforementioned automated guided vehicle has a vertically elongated shape, with its overall length being longer than its overall width when viewed from above. When the engaging portion engages with either of the engaged portions provided on the left and right sides of the vehicle body, and the longitudinal direction of the automated guided vehicle is aligned with the front-rear direction of the trolley, the entire automated guided vehicle overlaps with the trolley in a plan view, The transport equipment according to any one of claims 1 to 9, wherein the engaging portion engages with either of the engaged portions provided on the front and rear of the vehicle body, and when the longitudinal direction of the automated guided vehicle is aligned with the left-right direction of the trolley, the entire automated guided vehicle overlaps with the trolley in a plan view.

11. The transport equipment according to any one of claims 1 to 9, wherein the engaged portion is provided on the vehicle body so as to face downward, and the engaged portion is provided so as to be vertically movable relative to the main body of the automated guided vehicle.

12. The transport equipment according to any one of claims 1 to 9, wherein the engaged portion is provided on the vehicle body so as to face laterally, and the engaged portion is provided so as to be able to extend and retract horizontally relative to the main body of the automated guided vehicle.

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