Unmanned transport vehicle

Abstract

This unmanned transport vehicle for transporting a cart having a plurality of casters comprises: a vehicle body part which can enter under the cart from between the casters; a contact part which can contact the cart or a fixed part fixed with respect to the cart on a base side of the caster in a state where the vehicle body part has entered under the cart; a connection part which has, on both left and right sides, pressing parts operated to be capable of pressing the respective fixed parts of the casters on both left and right sides from an opposite side to the contact part along a predetermined direction substantially parallel to a forward / backward direction of the vehicle body part, and which presses the pressing parts to the respective fixed parts to sandwich and hold each fixed part in a predetermined direction between the contact part and the pressing part to connect to the cart; and a control unit which controls the vehicle body part and the connection part so as to be connected to the cart after entering under the cart.

Description

automated guided vehicle

[0001] This specification discloses an automated guided vehicle.

[0002] Conventionally, automated guided vehicles that are coupled to an object to be transported and automatically transport it have been proposed. For example, Patent Document 1 describes an automated guided vehicle in which the object to be transported is a stretcher having a lower pipe attached to the lower part of the bed extending along the longitudinal direction, and the lower pipe is clamped by clampers attached to both sides of the main body to couple to the stretcher.

[0003] Japanese Patent Application Publication No. 9-84348

[0004] In the above-described automated guided vehicle, the lower pipe is clamped with its extension aligned with the direction of travel of the automated guided vehicle to connect to the transported object. Therefore, for example, while the automated guided vehicle is transporting the transported object, there is a possibility that the clamper may slip when clamping the lower pipe, causing the connection position with the stretcher to shift.

[0005] A main object of the present disclosure is to appropriately transport an object by preventing the connection position from shifting during transport.

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The automated guided vehicle disclosed herein is an automated guided vehicle that transports a carriage having a plurality of casters, and comprises: a body section that can enter under the carriage between the casters; fixed sections that are fixed to the carriage at the base sides of the casters, or abutting sections that can abut against the carriage when the body section has entered under the carriage; a connecting section that has pressing sections on both the left and right sides that operate to press each fixed section of the casters on both the left and right sides from the opposite side to the abutting sections along a predetermined direction that is approximately parallel to the forward and backward movement direction of the body section, and connects to the carriage by pressing each pressing section against each fixed section, respectively, and holding each fixed section in the predetermined direction between the pressing sections and the abutting sections; and a control section that controls the body section and the connecting section so that the car enters under the carriage and then connects to the carriage.

[0008] The automated guided vehicle disclosed herein includes a coupling section that has pressing sections on both the left and right sides of the casters, each of which operates to press the fixed sections of the casters on the left and right sides from the opposite side of the abutment sections along a predetermined direction substantially parallel to the forward and backward movement of the vehicle body, and that couples to the carriage by pressing the pressing sections against the fixed sections and sandwiching and holding the fixed sections in the predetermined direction between the pressing sections and the abutment sections. This prevents slippage at the coupling position because the direction in which the fixed sections of the casters are sandwiched when coupled is the predetermined direction substantially parallel to the forward and backward movement of the vehicle body, thereby preventing misalignment of the coupling position during transport of the transported object.

[0009] 1 is a schematic configuration diagram of a transport system 1. An external perspective view of an automated guided vehicle 10. An external perspective view of an automated guided vehicle 10. An external perspective view of a cart truck 100. An external perspective view of a cart truck 100. A block diagram of the transport system 1. An external perspective view of a coupling device 30. An external perspective view of the coupling device 30. An external perspective view of the coupling device 30. An underside view of the coupling device 30. A underside view of the coupling device 30. A flowchart showing an example of a coupling process during transport. An explanatory diagram showing how the automated guided vehicle 10 and the cart truck 100 are coupled together. An explanatory diagram showing how the holding portions 107c of the fixed casters 107 are clamped and held.

[0010] An embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a schematic configuration diagram of a conveying system 1. Figs. 2 and 3 are external perspective views of an automated guided vehicle 10. Figs. 4 and 5 are external perspective views of a cart 100. Fig. 6 is a block diagram of the conveying system 1.

[0011] As shown in FIG. 1 , the transport system 1 of this embodiment is used in a facility having a shelf area A in which multiple shelves R are arranged and a storage area B in which multiple basket carts 100 are stored and multiple items before being stored on the basket carts 100 or the shelves R. The shelf area A and the storage area B are separated, for example, by a wall, but they do not necessarily have to be clearly separated. The facility may be, for example, a logistics center, warehouse, store, or the like, and may be indoors or outdoors. The transport system 1 includes one or more automated guided vehicles 10 (two are illustrated in FIG. 1 ) and a management device 70 (see FIG. 6 ) that manages the operation of the automated guided vehicles 10. The automated guided vehicles 10 are autonomous mobile robots (AMRs) that transport the connected basket carts 100 to designated shelves R.

[0012] As shown in FIGS. 4 and 5 , the cart 100 includes a lower frame 101, a loading platform 102, a rear panel 103, left and right side panels 104, a front panel 105, and a plurality of (e.g., four) casters (107, 108). For example, as shown in FIG. 5 , the lower frame 101 is formed in a Z-shape when viewed from above. Casters are attached to the underside of the lower frame 101. The loading platform 102 is a rectangular member that can carry luggage on its upper surface when supported by the lower frame 101 (see FIG. 4 ). The loading platform 102 may be formed, for example, in a plate-like shape, a mesh-like shape, or a shape with a flat upper surface and a lattice-like lower surface. The loading platform 102 is supported without being fixed to the lower frame 101, and can be raised to a storage position (see FIG. 5 ) where the loading surface is aligned with the side panels 104. Furthermore, the loading platform 102 is provided with a marker M (such as an AR marker, a two-dimensional code, or a barcode) for identifying the basket cart 100. By reading the marker M, the automated guided vehicle 10 recognizes the basket cart 100 to be transported (transportation target cart) and the type of cargo loaded on the loading platform 102. Note that the marker M may be attached to the cargo loaded on the loading platform 102.

[0013] The left and right side panels 104 of the cart 100 are attached to the upper surface of the lower frame 101 in an upright position. The rear panel 103 is rotatably supported, for example, on the rear end of the right side panel 104 via a hinge 106, and rotates between a position for transporting items (see FIG. 4) and a storage position where it mates with the right side panel 104 (see FIG. 5). The front panel 105 is rotatably supported, for example, on the front end of the left side panel 104 via a hinge 106, and, like the rear panel 103, rotates between a position for transporting items (see FIG. 4) and a storage position where it mates with the left side panel 104. The cart 100 is also provided with hooks for securing the rear panel 103 and the front panel 105 to the side panels 104 in the transport position and the storage position. An operator can rotate the rear panel 103 and the front panel 105 to each position and secure them with the hooks. Although not shown, when the basket cart 100 is in a stored state with the loading platform 102 flipped up and the back panel 103 and front panel 105 fixed in their stored positions, another basket cart 100 in the same stored state can be stored on top of it, with the positions slightly shifted left and right and front and back. In storage area B, by storing basket carts 100 that will not be used for long periods of time in such a stored state, the storage space for the basket carts 100 can be reduced.

[0014] The cart 100 also has two fixed casters 107 at the front and two swivel casters 108 at the rear. Each fixed caster 107 has a wheel 107a, a support portion 107c that supports an axle 107b of the wheel 107a, and an attachment portion 107d that non-rotatably attaches the support portion 107c to the lower frame 101 of the cart 100. The support portion 107c is also called a fork, and may be configured integrally with the attachment portion 107d. Although not shown in detail, the swivel caster 108 has a wheel, a support portion that supports the axle of the wheel, and an attachment portion that swivels and attaches the support portion to the lower frame 101 of the cart 100.

[0015] As shown in Figures 2 and 3, the automated guided vehicle 10 includes a flat body 11 that is tall enough to fit under the cart 100, and a box-shaped housing 12 that is mounted on the front side of the body 11 and houses a control unit 50 and other components. The front-to-rear direction in Figures 2 and 3 is parallel to the forward and backward movement of the body 11. The automated guided vehicle 10 also includes a plurality of (e.g., four) wheels 21 attached to the underside of the body 11, a plurality of (e.g., four) drive motors (servomotors) 22 that rotate the corresponding wheels 21, and a coupling device 30 that can protrude from the side of the body 11 and couples to the cart 100. In this embodiment, the wheels 21 are configured as Mecanum wheels that have a plurality of rollers on the outer periphery of the wheels that can rotate around an axis inclined at 45 degrees relative to the rotation axis of the wheel. The automated guided vehicle 10 can move and turn the vehicle body 11 in all directions (such as pivot turns, slow turns, etc.) by independently controlling the rotation direction and rotation speed of the corresponding wheels 21 using the multiple drive motors 22. The multiple wheels 21 may be configured as omniwheels having multiple rollers that can rotate around axes that intersect with the rotation axis of the wheels. In other words, the multiple wheels 21 may be any type of wheel that can move and turn the vehicle body 11 in multiple directions.

[0016] The automated guided vehicle 10 also includes two abutment members 24 on both the left and right sides of the rear surface (rear side surface) of the housing unit 12, and two mounting plates 25 for mounting the abutment members 24 to the rear surface of the housing unit 12. The abutment members 24 are rectangular parallelepiped members attached to the lower side of the rear surface of the housing unit 12, and are replaceably attached to the mounting plates 25 by fastening members such as bolts.

[0017] As shown in FIG. 6 , the automated guided vehicle 10 further includes a control unit 50 that controls the entire system, a memory unit 51 that stores various information, a communication unit 52 that communicates (wirelessly communicates) with a management device 70 and the like, a camera unit 61, a sensor unit 62, and a light-emitting unit 64. The camera unit 61 is installed on the front surface (not shown) or rear surface of the housing unit 12 to recognize the front and rear of the housing unit 12. The sensor unit 62 is installed on the top surface of the housing unit 12, on both the left and right sides of the front of the vehicle body 11 (the right side is not shown), and on the rear to detect surrounding obstructions. The sensor unit 62 detects surrounding objects and the distance to the objects. In this embodiment, the sensor unit 62 is a light detection and ranging (LiDAR) sensor that scans the surroundings with a laser beam, receives each reflected beam, and measures the time until the reflected beam is received to measure distance data for each scan angle and obtain surrounding point cloud data. The light emitting unit 64 is installed on the front (not shown), side, or rear of the housing unit 12, and illuminates the front, sides, and rear, making it easier to recognize surrounding objects in dark places.

[0018] The control unit 50 is configured as a microprocessor centered around a CPU, and in addition to the CPU, includes a ROM for storing processing programs, a RAM for temporarily storing data, a timer, etc. As shown in Fig. 6, image signals from a camera unit 61 and detection signals from a sensor unit 62 are input to the control unit 50. The control unit 50 outputs control signals to the drive motor 22, the coupling device 30, the camera unit 61, the light-emitting unit 64, etc.

[0019] 6, the management device 70 includes a processing unit 71, a storage unit 72, and a communication unit 73 for communicating (wirelessly communicating) with the automated guided vehicle 10. Input devices such as a mouse and a keyboard, a display, and the like are also connected to the management device 70. The processing unit 71 is configured as a microprocessor centered around a CPU, and includes, in addition to the CPU, a ROM for storing processing programs, a RAM for temporarily storing data, and the like. The storage unit 72 is a storage device such as an HDD or SSD, and stores various types of information.

[0020] The coupling device 30 of the automated guided vehicle 10 will now be described. FIGS. 7 to 9 are external perspective views of the coupling device 30. FIGS. 10 and 11 are bottom views of the coupling device 30. As shown in the figures, the coupling device 30 includes a flat base plate 31, a clamp unit 35 having a pair of left and right clamp levers 36, and a drive unit 40 that actuates the clamp levers 36. The clamp levers 36 have the same shape and are arranged symmetrically. FIGS. 7, 8, and 10 show the coupling device 30 in a non-coupled state in which it is not coupled to the automated guided vehicle 10. In the non-coupled state, the clamp levers 36 are in a stored state (initial state) in a stored position (initial position, standby position) within the vehicle body 11 (see FIG. 2). FIGS. 9 and 11 show the coupled state in which the coupling device 30 is coupled to the automated guided vehicle 10. In the coupled state, the clamp levers 36 are in a clamped state in a protruding position (clamped position, actuated position) protruding from the vehicle body 11 (see FIG. 3).

[0021] The base plate 31 is a flat plate member that is H-shaped in a plan view, and has openings 31a formed on both the left and right ends of the center in the front-to-rear direction. The base plate 31 also has guide rails 32 extending in the left-to-right direction and two cylindrical engagement pins 33 arranged on its upper surface. Two sets of guide rails 32 are arranged on both the left and right sides of the base plate 31, with a predetermined distance between them in the front-to-rear direction, sandwiching the opening 31a. The two engagement pins 33 are arranged near both the left and right ends of the front side of the base plate 31.

[0022] Each clamp lever 36 of the clamp unit 35 has a base end 36a, an intermediate portion 36b, and a tip end 36c, although the boundaries between the respective portions are not strictly defined. The base end 36a extends in the front-to-rear direction when the clamp lever 36 is in the retracted state. An engagement hole (long hole) 37 penetrating the base end 36a in an oval shape in the up-down direction is formed in the base end 36a, with the longitudinal direction of the base end 36a aligned with the extension direction of the base end 36a. The engagement pin 33 of the base plate 31 engages with the engagement hole 37. The engagement pin 33 is relatively movable within the engagement hole 37. The clamp lever 36 operates to rotate around the engagement position where the engagement pin 33 engages with the engagement hole 37 as a fulcrum.

[0023] When the clamp lever 36 is in the retracted state, the intermediate portion 36b extends inward (toward the center of the base plate 31) from the rear end of the base end 36a, bending at an angle of approximately 45 degrees. A rectangular parallelepiped second pressing member 39 is attached to the upper surface of the intermediate portion 36b. The second pressing member 39 is attached so that its longitudinal direction is aligned with the extension direction of the intermediate portion 36b and slightly extends outward beyond the edge of the upper surface of the intermediate portion 36b. The second pressing member 39 also has fastening holes 39a that penetrate vertically. The second pressing member 39 is replaceably attached to the intermediate portion 36b by fastening members 39b, such as bolts, inserted into the fastening holes 39a. In this embodiment, the second pressing member 39 has multiple sets (e.g., three sets) of fastening holes 39a that are slightly offset in the short-side direction (width direction) and longitudinal direction of the second pressing member 39. Therefore, when attaching the second pressing member 39, the amount of protrusion of the second pressing member 39 can be adjusted by changing the set of fastening holes 39a into which the fastening members 39b are inserted.

[0024] When the clamp lever 36 is in the retracted state, the tip portion 36c extends outward from the rear end of the intermediate portion 36b in a direction bent at a substantially right angle. A rectangular parallelepiped first pressing member 38 is attached to the upper surface of the tip portion 36c. The first pressing member 38 is attached so that its longitudinal direction is aligned with the extension direction of the tip portion 36c and protrudes outward beyond the edge of the upper surface of the tip portion 36c. The first pressing member 38 is also formed with fastening holes 38a that penetrate vertically. The first pressing member 38 is replaceably attached to the tip portion 36c by fastening members (not shown) such as bolts inserted into the fastening holes 38a. Similar to the second pressing member 39, the first pressing member 38 may be formed with multiple sets of fastening holes 38a that are offset from each other, making the protrusion amount adjustable.

[0025] The drive unit 40 includes a drive motor (servo motor) 41, a support plate 42, a rotating arm 43, a link arm 44, a connecting plate 45, a slider 46, a connecting block 47, and a connecting bolt 48. In order to operate each clamp lever 36, the drive unit 40 includes two of each of the link arms 44, connecting plate 45, slider 46, connecting block 47, and connecting bolt 48.

[0026] The drive motor 41 is attached to the approximate center of the upper surface of the base plate 31, facing downward, with its rotation shaft penetrating the base plate 31 in the vertical direction. The support plate 42 is a rectangular member attached to the lower surface of the base plate 31 to support the rotation shaft of the drive motor 41. The pivot arm 43 is an oval or rectangular member. The longitudinal center of the pivot arm 43 is connected to the rotation shaft of the drive motor 41 between the base plate 31 and the support plate 42. One longitudinal end of each of left and right link arms 44 is rotatably connected to both longitudinal ends of the pivot arm 43. The link arms 44 are oval or rectangular members. The other longitudinal ends of the left and right link arms 44 are rotatably connected to a connecting plate 45. The slider 46 is a flat member arranged slidably in the left-right direction along the guide rail 32 on the upper surface of the base plate 31. A portion of the lower surface of the slider 46 is exposed within the opening 31a of the base plate 31. The connecting plate 45 is attached to the underside of the slider 46 exposed in the opening 31 a. That is, one end of the link arm 44 is connected to the pivot arm 43, and the other end is connected to the slider 46 via the connecting plate 45.

[0027] The connecting block 47 is a rectangular parallelepiped member attached to the upper surface of the slider 46 and moves left and right together with the slider 46 (connecting plate 45). The connecting block 47 is disposed so that its longitudinal direction is the left and right direction. A recess 47a, which is recessed in a side view, is provided at the outer end of the connecting block 47 in the longitudinal direction. The clamp lever 36 is operably attached to the recess 47a. Although not shown, the connecting block 47 has a through-hole that passes through the recess 47a in the vertical direction. The clamp lever 36 has a through-hole formed in a position corresponding to the through-hole in the connecting block 47 near the boundary between the base end 36a and the middle portion 36b. A connecting bolt 48 is inserted into each of the through-holes in the connecting block 47 and the clamp lever 36 and fastened to a nut, thereby operably connecting the clamp lever 36 to the connecting block 47.

[0028] In the coupling device 30 configured as described above, when the clamp lever 36 is in the retracted state, the drive motor 41 of the drive unit 40 drives the pivot arm 43 to pivot counterclockwise in FIG. 10 so that the longitudinal direction of the pivot arm 43 approaches the left-right direction. As a result, the left and right link arms 44 move outward so that their longitudinal directions approach the left-right direction, and the left and right sliders 46 move outward in the left-right direction along the guide rails 32 via the left and right connecting plates 45. In other words, the rotational motion of the drive motor 41 is converted into linear motion in the left-right direction by the pivot arm 43 and the link arm 44, moving the slider 46 (connecting plate 45) outward in the left-right direction. When the left and right connecting blocks 47 move outward in the left-right direction as the slider 46 moves, the connecting portion of the clamp lever 36 with the connecting block 47 moves so as to be pushed outward. As a result, the clamp lever 36 is actuated to rotate around the position where the engagement pin 33 is engaged with the engagement hole 37 as a fulcrum, and the tip portion 36c and the middle portion 36b protrude outward from an opening formed in the side surface of the vehicle body 11, thereby entering a clamped state (activated state) (see FIG. 11). Note that a cover 11a (see FIGS. 2 and 3) made of an elastic sheet material such as rubber or resin with a slit is attached to the opening in the side surface of the vehicle body 11, and the clamp lever 36 protrudes outward from the slit in the cover 11a.

[0029] In the clamped state, the base end 36a of the clamp lever 36 is oriented outward at an angle of approximately 45 degrees, the middle portion 36b is oriented approximately along the front-to-rear direction, and the tip end 36c is oriented approximately along the left-to-right direction. Therefore, the second pressing members 39 attached to the middle portions 36b of the clamp levers 36 on both the left and right sides have their longitudinal directions oriented approximately along the front-to-rear direction and protrude outward in the left-to-right direction from the middle portions 36b. In addition, the first pressing members 38 attached to the tip end portions 36c of the clamp levers 36 on both the left and right sides have their longitudinal directions oriented approximately along the left-to-right direction and protrude forward from the tip end portions 36c.

[0030] Next, as an operation of the automated guided vehicle 10 of this embodiment configured as described above, a coupling operation when the automated guided vehicle 10 transports the cart 100 will be described. Fig. 12 is a flowchart showing an example of coupling processing during transportation. This processing is executed by the control unit 50 when the automated guided vehicle 10 (vehicle body 11) moves from the front side (front panel 105) of the cart 100 to a position where it can enter under the cart 100.

[0031] In the transport coupling process, the control unit 50 first controls the vehicle body unit 11 so that the vehicle body unit 11 moves under the basket cart 100 and stops at a predetermined position (S100). In S100, the control unit 50 recognizes the two fixed casters 107 of the basket cart 100 using the rear sensor unit 62 and controls the drive motor 22 so that the vehicle body unit 11 moves between the recognized fixed casters 107 and under the basket cart 100 (bed unit 102). The predetermined position is, for example, a position where the center of the vehicle body unit 11 is approximately the center between the fixed casters 107 in the left-right direction and where the housing unit 12 and the basket cart 100 are close to each other in the front-rear direction. Note that the predetermined position may also be a position where the abutment member 24 of the housing unit 12 and the lower frame 101 of the basket cart 100 are close to each other or abut each other in the front-rear direction (the direction in which the vehicle body unit 11 moves forward and backward).

[0032] Next, the control unit 50 stops the supply of electricity to the drive motor 22 to de-energize it, thereby turning off the torque retention of the wheels 21 of the vehicle body unit 11 (S110), and then controls the drive motor 41 of the coupling device 30 so that each clamp lever 36 operates to the clamped state (S120), and waits for the clamped state to be achieved (S130). Note that if the clamped state is not achieved in S130, the control unit 50 re-executes S120. Furthermore, the control unit 50 determines that the clamped state has been achieved, for example, based on the detection value of a torque sensor (not shown) of the drive motor 41 reaching a predetermined value.

[0033] FIG. 13 is an explanatory diagram showing the connection between the automated guided vehicle 10 and the cart 100. FIG. 14 is an explanatory diagram showing the clamping and holding of the holding portions 107c of the fixed casters 107. As shown in the figure, the first pressing members 38 of the clamp levers 36 of the coupling device 30 press forward the support portions 107c fixed to the cart 100 at the base (upper) sides of the left and right fixed casters 107 (arrow (1) in FIG. 14 ). Meanwhile, the pressing force acting on the lower frame 101 of the cart 100 via the support portions 107c and mounting portions 107d of the fixed casters 107 is received by the contact members 24 of the housing 12. That is, each contact member 24 applies a reaction force against the pressing force to the cart 100 (lower frame 101) (arrow (2) in FIG. 14 ). In this way, the first pressing members 38 of the clamp levers 36 and the contact members 24 hold the support portions 107c of the left and right fixed casters 107 by sandwiching them in the front-rear direction.

[0034] Furthermore, the second pressing members 39 of the clamp levers 36 of the coupling device 30 press the support portions 107c of the left and right fixed casters 107 outward in the left-right direction (arrow (3) in FIG. 14), thereby holding the left and right support portions 107c so as to be pushed outward in the left-right direction. That is, the second pressing members 39 of the clamp levers 36 hold the left and right support portions 107c so as to be stretched between them. Note that if the cart 100 is loaded with cargo and is therefore heavier than the automated guided vehicle 10, the cart 100 will not move even if the second pressing members 39 press the support portions 107c outward, and a reaction force from the support portions 107c will act on the vehicle body 11. Furthermore, in this embodiment, the clamping operation is performed with the torque holding of the wheels 21 turned off. Therefore, the reaction force acting on the vehicle body 11 causes the vehicle body 11 to move in the left-right direction so as to follow the center position of the support parts 107c, and also moves in the front-rear direction to a position where the support parts 107c are securely sandwiched and held. As a result, the automated guided vehicle 10 can be securely coupled to the cart 100.

[0035] The control unit 50, which has determined that the cart 100 has entered the clamped state in S130 of Fig. 12, starts controlling the movement of the car body 11 toward the destination of the cart 100. Furthermore, while the cart 100 is being transported, the control unit 50 maintains the clamped state by continuing to energize the drive motor 41 to keep it in an excited state (S140), and waits for the cart 100 to reach its destination (S150).

[0036] When the control unit 50 determines in S150 that the destination has been reached, it controls the drive motor 41 of the coupling device 30 so that each clamp lever 36 is released from the clamped state and operates to the stored state (S160), and waits for each clamp lever 36 to enter the stored state (S170). Note that if each clamp lever 36 does not enter the stored state in S170, the control unit 50 executes S160 again. Furthermore, the control unit 50 determines that the stored state has been entered based on the detection value of the torque sensor (not shown) of the drive motor 41 reaching a predetermined value. When the control unit 50 determines that the stored state has been entered, it controls the car body unit 11 to withdraw from under the cart 100 (S180), and ends this process.

[0037] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The vehicle body 11 of this embodiment corresponds to the vehicle body of the present disclosure, the abutment member 24 corresponds to the abutment portion, the coupling device 30 having the clamp lever 36 (pressing portion) corresponds to the coupling portion, and the control unit 50 corresponds to the control unit. The tip portion 36c to which the first pressing member 38 is attached corresponds to the first pressing portion, and the middle portion 36b to which the second pressing member 39 is attached corresponds to the second pressing portion. The drive motor 41 corresponds to the drive motor of the coupling portion, the slider 46 corresponds to the slider, and the pivot arm 43 and the link arm 44 correspond to the link mechanism. The drive motor 22 corresponds to the drive motor of the vehicle body.

[0038] In the automated guided vehicle 10 according to the embodiment described above, the coupling device 30 includes clamp levers 36 on both the left and right sides that are operable to press the support portions 107c (fixed portions) of the fixed casters 107 on both the left and right sides of the cart truck 100 from the opposite side of the abutment members 24 along the longitudinal direction (predetermined direction) of the cart truck 100. The automated guided vehicle 10 couples to the cart truck 100 by pressing the clamp levers 36 against the support portions 107c, respectively, to sandwich and hold the support portions 107c between the clamp levers 36 and the abutment members 24 in the longitudinal direction. This ensures that the direction in which the support portions 107c are sandwiched during coupling corresponds to the direction in which the cart truck 11 travels forward or backward, thereby preventing slippage at the coupling position while the cart truck 11 is traveling. In particular, slippage can be prevented even when the total weight of the cart truck 100 and its load is large. Therefore, the automated guided vehicle 10 can appropriately transport the cart 100 by preventing the coupling position from shifting during transportation.

[0039] Each clamp lever 36 has a tip portion 36c (first pressing portion) that presses each support portion 107c in the front-rear direction, and an intermediate portion 36b (second pressing portion) that presses each support portion 107c outward in the left-right direction (a direction substantially perpendicular to the predetermined direction), which are integrally formed in an L-shape when viewed from above. Therefore, the automated guided vehicle 10 can be coupled to the cart 100 by the intermediate portions 36b of the clamp levers 36 pressing each support portion 107c outward. In other words, because the automated guided vehicle 10 is coupled to the cart 100 not only in one direction (front-rear direction) but also in two directions, misalignment of the coupling position can be further suppressed. Furthermore, because the clamp lever 36 has an L-shaped portion that can be pressed in two directions, a simpler configuration can be achieved compared to a configuration that requires separate members for pressing in two directions.

[0040] Furthermore, each clamp lever 36 operates to rotate about the engagement position (base end side) between the engagement hole 37 of the base end 36a and the engagement pin 33 as a fulcrum between a storage position stored within the car body 11 and a pressing position in which the tip end 36c and the middle portion 36b (tip end side) protrude from the car body 11 and press each support portion 107c in the front-to-rear direction. This prevents each clamp lever 36 from being exposed to the outside of the car body 11 when connection to the cart truck 100 is not required, thereby preventing each clamp lever 36 from interfering with surrounding objects while the car body 11 is traveling when not connected to the cart truck 100.

[0041] The connecting device 30 also has a drive motor 41, and a pivot arm 43 and a link arm 44 (link mechanism) that convert the rotational motion of the drive motor 41 into the linear motion of a pair of sliders 46 connected to each of the clamp levers 36. Each clamp lever 36 operates to pivot due to the linear motion of the slider 46. This allows the clamp levers 36 to operate synchronously, so that the support portions 107c on both sides can be properly clamped and held without bias toward one of the support portions 107c.

[0042] Furthermore, the pivot arm 43 and the link arm 44 are configured so that when the left and right sliders 46 reach a predetermined position just before the outer end of their linear motion (see FIG. 14 ), the clamp levers 36 are in the pressed position. That is, the clamp levers 36 are in the clamped state when the pivot arm 43 and the link arm 44 (link mechanism) approach a straight line (before they are aligned). The closer the link mechanism approaches a straight line (the closer the slider-link mechanism approaches top dead center), the smaller the torque (holding torque) required to output from the drive motor 41 to hold the clamp lever 36 in the clamped state, thereby reducing the motor load. However, for example, if the coupling device 30 becomes inoperable for some reason, an operator may need to push back the clamp lever 36 (slider 46) to release the clamp. In such a case, when the link mechanism is aligned (the slider-link mechanism is at top dead center), it becomes difficult for the operator to push back the clamp lever 36 to release the clamp. Therefore, in order to allow the operator to return the clamp lever 36 relatively smoothly, the clamp lever 36 is set to the clamped state when the link mechanism is close to being aligned (before being aligned).

[0043] Furthermore, the control unit 50 controls the car body unit 11 (drive motor 41) to turn off the holding torque that holds the wheels 21 when connecting with the cart 100. Therefore, when connecting, the car body unit 11 moves to follow the positions of the support parts 107c of the cart 100, allowing for more reliable connection.

[0044] Furthermore, the first pressing member 38 and the second pressing member 39 that are pressed against the support portion 107c of each clamp lever 36 are attached in a replaceable manner. Therefore, if deterioration occurs due to wear or the like, it is only necessary to replace the corresponding member, thereby reducing costs.

[0045] Furthermore, the automated guided vehicle 10 is connected to the cart 100 by holding the support portion 107c of the fixed caster 107, out of the fixed caster 107 and the swivel caster 108. Normally, the support portion 107c of the fixed caster 107 has a larger fixed portion and is easier to press than the support portion of the swivel caster 108, so the connection can be made reliably. Furthermore, because the swivel caster 108 side is not restricted, the connection can be made without affecting direction changes during transport.

[0046] Furthermore, the basket cart 100 is supported such that the loading platform 102 is not fixed to the lower frame 101 and can be flipped up. For this reason, even if a pin is protruded upward from the automated guided vehicle 10 and engaged with a mesh or lattice portion of the loading platform 102, the loading platform 102 is not fixed and therefore cannot be connected. Therefore, there is great significance in applying the present disclosure to connect to the basket cart 100. However, the present disclosure is not limited to basket carts 100 in which the loading platform 102 is not fixed to the lower frame 101, and may also be applied to basket carts 100 in which the loading platform 102 is fixed to the lower frame 101.

[0047] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0048] For example, in the above-described embodiment, the clamp lever 36 presses the support portion 107c of the fixed caster 107, but this is not limited thereto, and the clamp lever 36 may press the mounting portion 107d as long as it has a height (thickness) that allows for pressing. Furthermore, the clamp lever 36 is not limited to pressing the fixed caster 107, and may press the mounting portion of the swivel caster 108 so as not to hinder the rotation of the swivel caster 108.

[0049] In the embodiment, the first pressing member 38 and the second pressing member 39 of each clamp lever 36 are replaceable, but this is not limiting, and one or both of the first pressing member 38 and the second pressing member 39 may be non-replaceable. In that case, the tip portion 36c or the middle portion 36b of each clamp lever 36 may be pressed directly against the support portion 107c.

[0050] In the embodiment, the control unit 50 turns off the holding torque that holds the wheels 21 when the cart 100 is connected to the cart 100, but this is not limited thereto, and the control unit 50 may connect the cart 100 with the holding torque remaining on. For example, when the cart 100 is not loaded with any cargo and the cart 100 can be aligned with the position of the car body unit 11, the control unit 50 may connect the cart 100 with the holding torque remaining on.

[0051] In the embodiment, the pivot arm 43 and the link arm 44 are configured so that the clamp levers 36 are in the pressing position when the slider 46 reaches a predetermined position before the outer end of its linear movement, but this is not limiting. For example, the clamp levers 36 may be configured so that the clamp levers 36 are in the pressing position when the slider 46 reaches the outer end of its linear movement.

[0052] In the embodiment, the drive unit 40 of the coupling device 30 synchronously actuates each of the clamp levers 36 by converting the rotational motion of the drive motor 41 into linear motion of the slider 46, but this is not limited to this. For example, the clamp levers 36 do not have to be actuated synchronously, and the drive units for each of the clamp levers 36 may be configured separately, such as by providing individual drive motors 41 that actuate each of the clamp levers 36. Furthermore, the drive unit 40 is not limited to one that actuates each of the clamp levers 36 by converting rotational motion into linear motion, and may actuate each of the clamp levers 36 so as to press the support portion 107c from the side opposite the abutment member 24.

[0053] In the embodiment, each clamp lever 36 operates between a stored position inside the vehicle body 11 and a pressing position, but this is not limited thereto. For example, each clamp lever 36 may not be stored inside the vehicle body 11 but may be always exposed outside the vehicle body 11, and may operate between a standby position outside the vehicle body 11 and a pressing position.

[0054] In the embodiment, each clamp lever 36 has a tip portion 36c that presses each support portion 107c in the front-rear direction and an intermediate portion 36b that presses each support portion 107c outward in the left-right direction, which are integrally formed in an L-shape when viewed from above. However, this is not limited to this. A clamp lever that presses each support portion 107c in the front-rear direction and a clamp lever that presses each support portion 107c outward in the left-right direction may be provided separately. Alternatively, each clamp lever 36 may have a first pressing portion that presses each support portion 107c in the front-rear direction but may not have a second pressing portion that presses each support portion 107c outward in the left-right direction. In other words, the automated guided vehicle 10 may be coupled to the cart 100 by clamping and holding each support portion 107c only in the front-rear direction.

[0055] In the embodiment, the abutment member 24 abuts against the cart 100 (lower frame 101), but this is not limited thereto. For example, the abutment member 24 may abut against the support portion 107c. Furthermore, while the abutment member 24 is attached to the housing 12 via the mounting plate 25, this is not limited thereto, and the abutment member 24 may be attached directly to the housing 12. The abutment member 24 is not limited to being attached replaceably, and may be attached non-replaceably. Alternatively, the abutment member 24 is not limited to being separately provided, and the rear surface of the housing 12, for example, may be used as the abutment portion. Furthermore, the abutment member 24 is not limited to being attached to both the left and right sides of the housing 12, and may be attached only once, for example, in the center of the housing 12. Furthermore, although the abutment member 24 is attached to the housing 12, it may also be attached to the car body 11.

[0056] In the embodiment, an example is given of an unmanned guided vehicle 10 of a type having a body section 11 and a housing section 12, but this is not limited to this, and the present disclosure may also be applied to a type that has only a body section 11 without a housing section 12.

[0057] This specification also discloses the technical idea of ​​changing "an automated guided vehicle according to claim 1 or 2" in claim 6 at the time of filing to "an automated guided vehicle according to any one of claims 1 to 5", the technical idea of ​​changing "an automated guided vehicle according to claim 1 or 2" in claim 7 at the time of filing to "an automated guided vehicle according to any one of claims 1 to 6", and the technical idea of ​​changing "an automated guided vehicle according to claim 1 or 2" in claim 8 at the time of filing to "an automated guided vehicle according to any one of claims 1 to 7".

[0058] The present disclosure is applicable to the manufacturing industry of automated guided vehicles and transport systems.

[0059] 1 Conveying system, 10 Automated guided vehicle (AMR), 11 Vehicle body, 11a Cover, 12 Housing, 21 Wheel, 22 Drive motor, 24 Contact member, 25 Mounting plate, 30 Coupling device, 31 Base plate, 32 Guide rail, 33 Engagement pin, 35 Clamp portion, 36 Clamp lever, 36a Base end portion, 36b Intermediate portion, 36c Tip portion, 37 Engagement hole, 38 First pressing member, 39 Second pressing member, 40 Drive portion, 41 Drive motor, 42 Support plate, 43 Rotating arm, 44 Link arm, 45 Connecting plate, 46 Slider, 47 Connecting block, 47a Recess, 48 ​​Connecting bolt, 50 Control unit, 51 Memory unit, 52 Communication unit, 61 Camera unit, 62 Sensor unit, 64 Light emitting unit, 70 Management device, 71 Processing unit, 72 Memory unit, 73 Communication unit, 100 Basket cart, 101 Lower frame, 102 Loading platform unit, 103 Rear panel, 104 Side panel, 105 Front panel, 106 Hinges, 107 Fixed casters, 107a Wheels, 107b Axles, 107c Support unit, 107d Mounting unit, 108 Swivel casters, A Shelf area, B Storage area, M Marker, R Shelf.

Claims

1. An automated guided vehicle for transporting a cart having a plurality of casters, comprising: a vehicle body portion that can enter under the cart between the casters; a fixing portion fixed to the cart on the base side of the caster or a contact portion on the cart that can come into contact with the vehicle body portion along a predetermined direction substantially parallel to the forward and backward movement direction of the vehicle body portion in a state where the vehicle body portion has entered under the cart; pressing portions respectively provided on both the left and right sides that can operate to press the fixing portions of the casters on both the left and right sides from the opposite side of the contact portion along the predetermined direction, and connecting portions that connect to the cart by pressing each pressing portion against each fixing portion and sandwiching each fixing portion between the contact portion in the predetermined direction and holding it; and a control portion that controls the vehicle body portion and the connecting portion so as to connect to the cart after entering under the cart.

2. Each of the pressing portions is integrally formed in an L shape in a top view, with a first pressing portion that presses the fixing portion in the predetermined direction and a second pressing portion that presses the fixing portion outward in a direction substantially orthogonal to the predetermined direction. The automated guided vehicle according to claim 1.

3. Each of the pressing portions is configured in a lever shape that operates to rotate about the base end side as a fulcrum between a storage position housed in the vehicle body portion and a protruding position where the tip side protrudes from the vehicle body portion so as to press the fixing portion in the predetermined direction. The automated guided vehicle according to claim 1 or 2.

4. The connecting portion has a drive motor and a link mechanism that converts the rotational movement of the drive motor into the linear movement of a pair of sliders respectively connected to the pressing portions. Each of the pressing portions operates to rotate by the linear movement of the slider. The automated guided vehicle according to claim 3.

5. The link mechanism is configured such that when the slider reaches a predetermined position in front of the outer moving end in the linear movement, each of the pressing portions becomes the pressing position. The automated guided vehicle according to claim 4.

6. The vehicle body portion travels by rotating wheels by driving a drive motor. When connecting the connecting portion to the cart, the control portion controls the vehicle body portion so as to turn off the holding torque for holding the wheels of the vehicle body portion. The automated guided vehicle according to claim 1 or 2.

7. The portion of each pressing portion that is pressed against the fixing portion is detachably attached. The automated guided vehicle according to claim 1 or 2.

8. The connecting portion is connected to the carriage by holding the fixing portion of the fixed caster among the fixed caster and the swivel caster that the carriage has as the caster, and the automatic guided vehicle according to claim 1 or 2.

Images