Automated guided vehicle

Abstract

This automated guided vehicle is provided with a swing caster wheel. The swing caster wheel includes: a wheel; an axle constituting a rotation shaft of the wheel; a vehicle bearing with a swing shaft which receives the axle and includes a swing shaft; a swing bearing with a pivot shaft which receives the swing shaft and includes a pivot shaft; a pivot bearing which receives the pivot shaft; and a swing restriction member which is arranged so as to extend from one of the vehicle bearing with the swing shaft and the swing bearing with the pivot shaft to the other, and restricts swing of the swing shaft.

Description

automated guided vehicle

[0001] The present disclosure relates to automated guided vehicles.

[0002] BACKGROUND ART Automatic guided vehicles equipped with caster wheels are known. For example, Patent Document 1 discloses an example of such an automatic guided vehicle equipped with auxiliary wheels having wheels supported so as to be rotatable about a vertical axis.

[0003] International Publication No. 2020 / 049960

[0004] In the above-mentioned automated guided vehicle, for example, oscillating caster wheels that are configured to oscillate as caster wheels so that the wheels can properly contact the floor surface even when the floor surface is not completely horizontal. However, in this case, when the lifted automated guided vehicle is lowered onto the floor surface, the wheels may contact the floor surface at an angle due to the oscillating motion, and a load may be applied to the oscillating caster wheels in an unintended direction, which may result in damage to the oscillating caster wheels.

[0005] Therefore, an object of the present disclosure is to provide an automated guided vehicle that can prevent damage to oscillating caster wheels.

[0006] (1) The unmanned guided vehicle according to the present invention is an unmanned guided vehicle equipped with oscillating caster wheels, each of which has a wheel, an axle that constitutes the rotation axis of the wheel, a oscillating axle axle bearing that receives the axle and includes a oscillating axle, a swivel axle axle bearing that receives the oscillating axle and includes a swivel axle, a swivel axle bearing that receives the swivel axle, and a swing limiting member that is arranged to cross from one of the oscillating axle axle axle bearing and the swivel axle axle bearing to the other and limits the swing of the swing axle.

[0007] In the oscillating caster wheels of this automated guided vehicle, the oscillating shaft can be restricted from swinging too much using the oscillating limiting member, which makes it possible to prevent the wheels from touching the floor at an angle when, for example, lowering a lifted automated guided vehicle onto the floor. As a result, it is possible to prevent the oscillating caster wheels from being subjected to loads in unintended directions and to prevent damage to the oscillating caster wheels.

[0008] (2) In the automated guided vehicle described in (1) above, the swing limiting member may include a plate-like member that is fixed to the swing shaft, extends from the fixed position in a direction along the pivot axis beyond one end of the swing bearing with a swing shaft, and then bends to face the one end face of the swing bearing with a swing shaft, and an elastic member provided between the one end face and a facing portion of the plate-like member that faces the one end face of the swing bearing with a swing shaft. In this case, the swing limiting member can easily and inexpensively limit the swing of the swing shaft by using the elastic force of the bent plate-like member and the elastic member.

[0009] (3) In the automated guided vehicle described in (2) above, the elastic member may be formed in a rectangular shape that is elongated in a direction along the axle when viewed from the direction along the pivot shaft, and a thickness of a first portion of the elastic member including a center in the longitudinal direction may be thinner than a thickness of a second portion of the elastic member that is located longitudinally outward of the first portion. In this case, the oscillation of the oscillation shaft can be limited so as to maintain the oscillation center of the oscillation shaft.

[0010] (4) In the automated guided vehicle described in (2) or (3) above, the elastic member may be provided so as to abut against or be close to one end surface of the swivel-shaft oscillating bearing. This allows the thickness of the elastic member to be made thicker than when the elastic member is not in contact with or close to one end surface of the swivel-shaft oscillating bearing, and makes it possible to increase the oscillating angle of the oscillating shaft.

[0011] (5) In the automated guided vehicle according to any one of (2) to (4), the center of the elastic member in the longitudinal direction of the elastic member may correspond to the center of the swing shaft, and the elastic member may be provided symmetrically about the center in the longitudinal direction. In this case, the elastic member can equally restrict swinging in one direction and swinging in the other direction about the swing shaft.

[0012] According to the present invention, it is possible to provide an automated guided vehicle that can prevent damage to oscillating caster wheels.

[0013] FIG. 1 is a schematic front view showing an automated guided vehicle according to an embodiment. FIG. 2 is a side view showing a swaying caster wheel according to an embodiment. FIG. 3 is a perspective view showing the swaying caster wheel of FIG. 2. FIG. 4 is another perspective view showing the swaying caster wheel of FIG. 2. FIG. 5 is a cross-sectional view taken along line V-V of FIG. 2. FIG. 6 is a cross-sectional view taken along line VI-VI of FIG. 3. FIG. 7 is a cross-sectional view corresponding to FIG. 5 for explaining the operation of the swaying caster wheel of FIG. 2. FIG. 8 is another cross-sectional view corresponding to FIG. 5 for explaining the operation of the swaying caster wheel of FIG. 2.

[0014] Hereinafter, embodiments will be described with reference to the drawings. In the following description, identical or equivalent elements will be designated by the same reference numerals, and duplicate explanations will be omitted. The terms "upper" and "lower" correspond to the vertical direction. The dimensional proportions of the drawings do not necessarily match those in the description.

[0015] As shown in FIG. 1, the automated guided vehicle 1 is a vehicle that travels on a floor F and automatically transports a load W. The automated guided vehicle 1 includes a running unit 2 and a lifting platform 3. The running unit 2 causes the automated guided vehicle 1 to travel. The running unit 2 has at least two or more drive wheels 4. A motor is connected to the drive wheels 4. The operation of the motor is controlled by a vehicle controller, which controls the drive of the drive wheels 4. The number and arrangement of the drive wheels 4 are not particularly limited and may be determined as appropriate.

[0016] The lifting platform 3 is configured to be able to rise and fall. The lifting platform 3 is provided on the upper part of the automated guided vehicle 1, and a load W is placed on it. An electric cylinder is connected to the lifting platform 3. The operation of the electric cylinder is controlled by the guided vehicle controller, thereby controlling the raising and lowering of the lifting platform 3.

[0017] As shown in Figure 2, the automated guided vehicle 1 is equipped with a swaying caster wheel 100. The swaying caster wheel 100 is a dual-wheel caster and constitutes a driven wheel of the running unit 2. The swaying caster wheel 100 is fixed to the frame 5 of the running unit 2, for example, with a screw or the like. The number of swaying caster wheels 100 equipped on the automated guided vehicle 1 is not particularly limited, and may be, for example, one or two or more. As shown in Figures 2, 3, and 4, the swaying caster wheel 100 includes a wheel 10, an axle 20, a wheel bearing with a swing axle 30, a swing bearing with a swivel axle 40, and a swivel bearing 50.

[0018] The wheels 10 are arranged in pair on the same axis, spaced apart from each other. As shown in Figures 2, 4, and 6, the axle 20 is a shaft body with a circular cross section. Here, the axle 20 is a shaft with a flange at one end and a male thread formed on the outer circumferential surface of the other end. The axle 20 constitutes the rotation axis of the wheels 10. The axle 20 rotatably supports the pair of wheels 10. The wheels 10 are attached to one end and the other end of the axle 20 via deep groove ball bearings. This allows the pair of wheels 10 to rotate relative to the axle 20. A nut 21 is fastened to the other end of the axle 20.

[0019] The oscillating axle-equipped axle bearing 30 includes a bearing body 31 and a swing axle 32. The bearing body 31 is the part that supports the axle 20. The bearing body 31 is formed in a columnar shape with its axial direction parallel to the horizontal direction perpendicular to the axle 20. Two parallel flat surfaces are provided on the outer circumferential surface of the bearing body 31. A through-hole 33 with a circular cross section is formed in the bearing body 31 and extends perpendicular to the two flat surfaces. A plain bearing that supports the axle 20 is inserted into the through-hole 33 of the bearing body 31, and the center of the axle 20 is inserted into this plain bearing. Cylindrical spacers (not shown) are inserted between the bearing body 31 and one of the wheels 10 on the axle 20, and between the bearing body 31 and the other wheel 10 on the axle 20.

[0020] The oscillating shaft 32 is a shaft body having a circular cross section. One end of the oscillating shaft 32 is provided so as to be coaxially continuous with the wheel bearing body 31. The other end of the oscillating shaft 32 includes a small diameter portion 35 whose diameter is reduced via a stepped surface 32a. A screw portion 36 is formed on the outer circumferential surface of the small diameter portion 35 at least on the other end side.

[0021] The swing bearing 40 with a pivot shaft includes a swing bearing body 41 and a swing shaft 42. The swing bearing body 41 is a portion that receives the swing shaft 32. The swing bearing body 41 is formed in a columnar shape with its axial direction aligned vertically. Two parallel flat surfaces 41h, 41h are provided on the outer circumferential surface of the swing bearing body 41. The swing bearing body 41 is formed with a through-hole 43 having a circular cross section and extending perpendicular to the two flat surfaces 41h, 41h. The swing bearing body 41 receives insertion of the swing shaft 32, except for the small-diameter portion 35, through the through-hole 43 of the swing bearing body 41 via a cylindrical sliding bearing 44 with a flange. The swing bearing body 41 supports the swing shaft 32 so that it can swing. In this embodiment, the position of the swing shaft 32 in the swing direction when the axle 20 is aligned horizontally is the swing center of the swing. The sliding bearing 44 may be configured to be separable for assembly purposes.

[0022] As shown in Figure 5, the lower end surface 41a of the rocking bearing body 41 has a surface shape corresponding to the upper surface of the elastic member 62 (described later) when viewed in the axial direction of the rocking shaft 32. Specifically, when viewed in the axial direction of the rocking shaft 32, the lower end surface 41a is formed in a mountain shape with the central portion protruding downward more than the opposite ends. More specifically, when viewed in the axial direction of the rocking shaft 32, both ends of the lower end surface 41a extend in a curved shape (e.g., a quadratic curve) that curves downward from both ends toward the center, while the central portion of the lower end surface 41a extends in a straight line. The pivot shaft 42 is a shaft body with a circular cross section. The pivot shaft 42 is provided so that its lower end is coaxially continuous with the rocking bearing body 41.

[0023] As shown in Figures 2, 3, and 4, the slewing bearing 50 is a portion that receives the slewing shaft 42. For example, a deep groove ball bearing is used as the slewing bearing 50. The slewing bearing 50 is arranged with its axial direction aligned with the vertical direction. The slewing shaft 42 is inserted into the inner ring of the slewing bearing 50. The inner ring of the slewing bearing 50 is fixed to the slewing shaft 42 by bolts 52 via washers 51. The slewing bearing 50 rotatably supports the slewing shaft 42. The outer ring of the slewing bearing 50 is fixed to a housing 53. The housing 53 is fixed to a top plate 54. The top plate 54 is a plate-shaped member whose thickness direction is aligned with the vertical direction, and is fixed to the frame 5 with screws or the like (see Figure 1).

[0024] The swaying caster wheel 100 of this embodiment includes a sway limiting member 60. The sway limiting member 60 will be described in detail below. For convenience, the following description will be based on the components when the swaying shaft 32 is positioned at the center of the swing (i.e., when the axle 20 is aligned horizontally).

[0025] The swing limiting member 60 is a member that limits the swing of the swing shaft 32. As shown in FIGS. 4, 5, and 6, the swing limiting member 60 is arranged so as to span from one of the swing shaft vehicle bearing 30 and the swivel shaft vehicle bearing 40 to the other. In other words, the swing limiting member 60 is arranged so as to span from one of the swing shaft vehicle bearing 30 and the swivel shaft vehicle bearing 40 to the other. In further words, the swing limiting member 60 is fixed to one of the swing shaft vehicle bearing 30 and the swivel shaft vehicle bearing 40 and is configured to be in contact with or be able to come into contact with the other. In this embodiment, the swing limiting member 60 is attached so as to span from the swing shaft 32 to the swing bearing body 41. The swing limiting member 60 includes a plate-shaped member 61 and an elastic member 62.

[0026] The plate-like member 61 is fixed to the swing shaft 32 and swings integrally with the swing shaft 32. The plate-like member 61 extends downward from the fixed point with the swing shaft 32 beyond the lower end (one end) of the swing bearing with swivel shaft 40, and then bends in a direction perpendicular to (intersecting with) the swing shaft 42 so as to face the lower end surface 41a of the swing bearing main body 41 (swivel shaft swing bearing 40). The plate-like member 61 includes a side plate portion 61x fixed to the swing shaft 32 and a bottom plate portion 61y integrally connected to the lower end of the side plate portion 61x.

[0027] The side plate portion 61x has a flat plate shape with its thickness direction aligned with the axial direction of the oscillation shaft 32. The small diameter portion 35 of the oscillation shaft 32 is inserted into the side plate portion 61x. A nut 63 is fastened to the threaded portion 36 of the oscillation shaft 32 via a washer 64, so that the side plate portion 61x is fixed to the oscillation shaft 32 between the stepped surface 32a of the oscillation shaft 32 and the washer 64. A gap is formed between the side plate portion 61x and the swing shaft-equipped oscillation bearing 40 (plain bearing 44). The side plate portion 61x extends downward to a position beyond the lower end of the oscillation bearing body 41.

[0028] The bottom plate portion 61y extends from the lower end of the side plate portion 61x in a bending manner toward the rocking bearing main body 41. The bottom plate portion 61y has a flat plate shape perpendicular to the side plate portion 61x. The bottom plate portion 61y faces the lower end surface 41a of the rocking bearing main body 41. In other words, the bottom plate portion 61y constitutes a facing portion of the plate-shaped member 61 that faces one end surface of the rocking bearing with pivot shaft 40. When viewed in the axial direction of the pivot shaft 42, the bottom plate portion 61y has a width wider than that of the rocking bearing main body 41.

[0029] The elastic member 62 is an elastic member disposed between the lower end surface 41a of the rocking bearing body 41 and the bottom plate portion 61y. The elastic member 62 is plate-shaped with its thickness direction perpendicular to the bottom plate portion 61y. The elastic member 62 is disposed so as to abut against the lower end surface 41a of the rocking bearing body 41. When viewed from the direction along the pivot shaft 42, the elastic member 62 is formed in a rectangular shape that is elongated in the direction along the axle 20 (the left-right direction in FIG. 5). The elastic member 62 has a width in the direction along the axle 20 that corresponds to the width of the bottom plate portion 61y. The material of the elastic member 62 is not particularly limited, but examples include urethane and rubber. When urethane is used as the elastic member 62, the hardness of the urethane may be, for example, 50 to 70 degrees.

[0030] The elastic member 62 is arranged symmetrically with respect to the longitudinal center of the elastic member 62. The elastic member 62 has a first portion 62x including the longitudinal center, a pair of second portions 62y located longitudinally outboard of the first portion 62x, and a pair of third portions 62z located longitudinally outboard of the second portions 62y. The upper surfaces of the first portion 62x and the second portion 62y have a shape corresponding to (here, the same shape as) the lower end surface 41a of the rocking bearing body 41. When viewed in the axial direction of the rocking shaft 32, the upper surfaces of the first portion 62x and the second portion 62y are formed in a dish shape with the central portion recessed downward more than the both end portions.

[0031] The first portion 62x has a flat plate shape. The thickness of the first portion 62x is thinner than the thickness of the second portion 62y and thinner than the thickness of the third portion 62z. The second portion 62y is continuous with the outer side of the first portion 62x in the longitudinal direction. The thickness of the second portion 62y is thicker than the thickness of the first portion 62x and thicker than the thickness of the third portion 62z. When viewed from the axial direction of the oscillation shaft 32, the upper surface of the second portion 62y extends straight from the end toward the center and then curves downward in a curved shape (e.g., a quadratic curve).

[0032] Each of the pair of third portions 62z is continuous with the outer sides of each of the pair of second portions 62y in the longitudinal direction. The thickness of the third portion 62z is thicker than the thickness of the first portion 62x and thinner than the thickness of the second portion 62y. A through-hole 62a with a circular cross section is formed in the third portion 62z and penetrates the third portion 62z in the thickness direction. A cylindrical collar 69 is disposed within the through-hole 62a.

[0033] The elastic member 62 is disposed so as to be stacked on the bottom plate portion 61y, and a screw 66 is inserted from above into a collar 69 in a through-hole 62a in the third portion 62z, and the screw 66s is fastened to the bottom plate portion 61y. At this time, a washer 65 is interposed between the third portion 62z and the head of the screw 66. This fixes the third portion 62z of the elastic member 62 to the bottom plate portion 61y. At the same time, the upper surfaces of the first portion 62x and the second portion 62y of the elastic member 62 are pressed against the lower end surface 41a of the rocking bearing body 41. In the longitudinal direction of the elastic member 62, the center of the elastic member 62 corresponds to the axial center of the rocking shaft 32.

[0034] When the automated guided vehicle 1 configured as described above is lifted as shown in FIG. 7 , the swing shaft 32 may attempt to swing due to, for example, the weight of the wheel 10, but the swing is restricted by the swing restricting member 60. Specifically, even if a force (moment) is generated around the swing shaft 32 due to the weight of the wheel 10, causing the plate-shaped member 61 and the elastic member 62 to swing around the swing shaft 32 as a base axis, the elastic member 62 is pressed against the lower end surface 41 a of the swing bearing body 41, generating an elastic force that restricts the swing. This elastic force prevents the swing of the plate-shaped member 61 and the elastic member 62, prevents the swing shaft 32 from swinging, and maintains the axle 20 in a horizontal position (swing center), stabilizing the posture of the wheel 10. As a result, when the automated guided vehicle 1 is lowered onto the floor F, the wheel 10 is not tilted relative to the floor F but is in contact with the floor F perpendicularly.

[0035] 8, when the floor surface F is an inclined surface, the wheels 10, axles 20, plate-like members 61, and elastic members 62 swing about the swing shafts 32 with a force exceeding the above-mentioned elastic force. As a result, the swing is not prevented by the swing-restricting members 60, and the wheels 10 tilt in accordance with the inclination of the floor surface F. As a result, the automated guided vehicle 1 runs with the wheels 10 properly in contact with the inclined floor surface F.

[0036] As described above, the oscillating caster wheel 100 of the automated guided vehicle 1 can oscillate, allowing the wheel 10 to properly contact the floor surface F even when the floor surface F is not perfectly horizontal. Furthermore, the oscillating limiting member 60 can limit excessive oscillating of the oscillating shaft 32, preventing the wheel 10 from contacting the floor surface F at an angle when, for example, the lifted automated guided vehicle 1 is lowered to the floor surface F. As a result, it is possible to prevent the oscillating caster wheel 100 from being subjected to a load in an unintended direction and prevent damage to the oscillating caster wheel 100. This also reduces the possibility of the oscillating caster wheel 100 behaving abnormally. Furthermore, by arranging the oscillating limiting member 60 across the oscillating axle bearing 30 and the swivel axle bearing 40, which are positioned close to each other, it is possible to prevent the wheel structure from becoming too large, resulting in a compact wheel structure.

[0037] In the automated guided vehicle 1, the swing limiting member 60 includes a plate-shaped member 61 and an elastic member 62. In this case, the swing limiting member 60 can easily and inexpensively limit the swing of the swing shaft 32 by utilizing the elastic force of the bent plate-shaped member 61 and the elastic member 62. Because the amount by which the elastic member 62 contracts determines the amount by which the swing shaft 32 can swing, the swing angle can be increased or decreased by making the elastic member 62 thicker or thinner. It is possible to easily achieve both the swing amount of the swing shaft 32 and the restriction of excessive swing of the swing shaft 32.

[0038] In the automated guided vehicle 1, the thickness of a first portion 62x at the center in the longitudinal direction of the elastic member 62 is thinner than the thickness of a second portion 62y at the longitudinal outer side of the first portion 62x of the elastic member 62. In this case, the elastic member 62 is configured so that the swing bearing body 41 fits into it, and the swing of the swing shaft 32 can be restricted so that the swing center of the swing shaft 32 is maintained (in other words, so that the swing shaft 32 can easily return to the swing center). Compared to using a flat elastic member, the number of points to which force is applied in the elastic member 62 is increased and dispersed, and load concentration on the elastic member 62 can be reduced.

[0039] In the automated guided vehicle 1, the elastic member 62 is provided so as to abut against the lower end surface 41 a of the swing bearing body 41. This allows the thickness of the elastic member 62 to be made thicker than when the elastic member 62 is not in contact with the lower end surface 41 a of the swing bearing body 41, and makes it possible to increase the swingable angle of the swing shaft 32.

[0040] In the automatic guided vehicle 1, the center of the elastic member 62 in the longitudinal direction of the elastic member 62 corresponds to the axial center of the swing shaft 32. The elastic member 62 is provided symmetrically with respect to the center in the longitudinal direction. In this case, the elastic member 62 can equally restrict the swing in one direction and the swing in the other direction about the swing shaft 32.

[0041] Incidentally, in the automated guided vehicle 1, the wheels 10 and the axles 20 are arranged offset from the swivel shaft 42 in the direction along the swing shaft 32. Therefore, by utilizing the space formed by this offset, the third portion 62z of the elastic member 62 can be fixed to the bottom plate portion 61y of the plate-like member 61.

[0042] Although the embodiments have been described above, one aspect of the present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the invention.

[0043] In the above embodiment, the swing limiting member 60 is arranged so as to span from the swing shaft 32 to the swing bearing body 41, but this is not limited thereto, and the swing limiting member may be arranged so as to span from the wheel bearing body 31 to the swing bearing body 41. Specifically, for example, the swing limiting member may include a flat plate-like member fixed to the underside of the wheel bearing body 31 and extending to face the lower end surface 41a of the swing bearing body 41, and an elastic member provided between the plate-like member and the lower end surface 41a. Even in this case, the above-mentioned effect of preventing damage to the swing caster wheel 100 is achieved. In short, it is sufficient that the swing limiting member is arranged so as to span from either the swing shaft wheel bearing or the swivel shaft swing bearing to the other.

[0044] In the above embodiment and modified example, the elastic member 62 is fixed to the plate-like member 61 by the screws 66, but instead of or in addition to this, the elastic member 62 may be adhered to the plate-like member 61 with an adhesive or the like.

[0045] In the above embodiment and modified example, the elastic member 62 is provided so as to abut against the lower end surface 41 a of the rocking bearing body 41, but the elastic member 62 may also be provided so as to be close to the lower end surface 41 a. Being close to the lower end surface 41 a includes, for example, being close to the lower end surface 41 a, being closely adjacent to the lower end surface 41 a, and being disposed with a small gap therebetween. This allows the thickness of the elastic member 62 to be thicker than when the elastic member 62 is not in contact with or close to the lower end surface 41 a, and enables the rocking angle of the rocking shaft 32 to be increased.

[0046] In the above embodiment and modified example, the shape of the elastic member 62 is not particularly limited, and may be, for example, a flat plate. In the above embodiment and modified example, the upper surfaces of the first portion 62x and the second portion 62y of the elastic member 62 have the same shape as the lower end surface 41a of the rocking bearing body 41, but this is not limited thereto, and the upper surfaces may have a different shape from the lower end surface 41a.

[0047] In the above embodiment and modified example, the shape of the lower end surface 41a of the rocking bearing body 41 is not particularly limited. The lower end surface 41a may be a flat surface extending linearly when viewed in the axial direction of the rocking shaft 32. In the above embodiment and modified example, a guided vehicle that travels on a floor has been described as an automated guided vehicle, but the type, format, etc. of an applicable automated guided vehicle are not particularly limited. For example, a cart that can travel within a rack and on a floor may also be used as an automated guided vehicle.

[0048] The configurations of the above-described embodiments and modifications can be applied to the configurations of other embodiments or modifications. Some of the configurations of the above-described embodiments and modifications can be omitted as appropriate without departing from the spirit of one aspect of the present invention.

[0049] 1...automated guided vehicle, 10...wheel, 20...axle, 30...wheel bearing with swing axis, 32...swing axis, 40...swing bearing with swivel axis, 42...swivel axis, 50...swivel bearing, 60...swing limiting member, 61...plate-shaped member, 62...elastic member, 62x...first part, 62y...second part, 100...swing caster wheel.

Claims

1. An unmanned guided vehicle equipped with oscillating caster wheels, wherein the oscillating caster wheels comprise: a wheel; an axle that constitutes the rotation axis of the wheel; a oscillating axle axle bearing that receives the axle and includes a oscillating axle; a swivel axle axle bearing that receives the oscillating axle and includes a swivel axle; a swivel axle bearing that receives the swivel axle; and a swing limiting member that is arranged to cross from one of the oscillating axle axle axle bearing and the swivel axle axle bearing to the other, and that limits the swing of the swing axle.

2. An automated guided vehicle as described in claim 1, wherein the swing limiting member comprises: a plate-like member that is fixed to the swing shaft, extends from the fixed point in a direction along the swivel shaft beyond one end of the swing bearing with a swing shaft, and then bends to face one end face of the swing bearing with a swing shaft; and an elastic member provided between the one end face and an opposing portion of the plate-like member that faces the one end face of the swing bearing with a swing shaft.

3. An automated guided vehicle as described in claim 2, wherein the elastic member is formed in a rectangular shape that is long in the direction along the axle when viewed from the direction along the pivot axis, and the thickness of a first portion of the elastic member that includes the center in the longitudinal direction is thinner than the thickness of a second portion of the elastic member that is located longitudinally outboard of the first portion.

4. An automated guided vehicle according to claim 2 or 3, wherein the elastic member is provided so as to abut against or be close to one end face of the swing bearing with a swivel shaft.

5. An automated guided vehicle according to claim 3 or 4, wherein the center of the elastic member in the longitudinal direction corresponds to the axial center of the oscillation shaft, and the elastic member is arranged symmetrically with respect to the center in the longitudinal direction.

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