JP2014184749A - Automated carrier truck - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automated carrier truck capable of preventing electronic equipment, which includes a battery, from causing a malfunction because a vehicle body is brought into a low-temperature state.SOLUTION: An AGV 10 makes a magnetic sensor 13 detect a guide wire laid on a floor surface, and controls a traveling drive wheel part 14 to make a vehicle body 10a follow-up-travel along the guide wire. The AGV 10 includes a battery 11 that is housed within the vehicle body 10a, and a heat insulation frame 40 that forms an outer surface including an undersurface of the vehicle body 10a.

Description

  The present invention relates to an automatic conveyance cart.

  2. Description of the Related Art Conventionally, there is known an automatic conveyance system that conveys a load using an automatic guided vehicle (AGV). This automatic conveyance carriage is provided with a follow-up sensor for detecting the position of the guide wire laid on the floor surface in front of and behind the vehicle body equipped with, for example, traveling drive / steering wheels, caster wheels, control equipment, etc. Based on the detection result of the sensor, the drive motor linked to the travel drive / steering wheel is controlled so that the vehicle body automatically travels while following the guide line. Further, a rechargeable battery for driving is usually mounted on the vehicle body (see Patent Document 1).

JP 7-330131 A

  By the way, in an automatic warehouse or the like having a refrigeration facility, it is necessary to deliver a load between a room temperature environment and a refrigeration environment. In such a case, conventionally, a permanent facility such as a conveyor or a crane that is driven by a normal power source is individually installed in each of the room temperature environment and the refrigeration environment, and loads are transferred. However, unlike high-rise automatic warehouses that use cranes, in the case of low warehouses with low ceiling height, installing such permanent installations individually in each environment occupies the storage space for the load, There is a problem that the space cannot be used effectively.

  Therefore, the inventor of the present application considered carrying in / out and storing the load by reciprocating the automatic conveyance cart between the normal temperature environment and the refrigeration environment. However, the battery mounted on the automatic conveyance carriage has a problem that the discharge capacity is reduced below zero, so that the battery easily falls short of power. In such a case, it is necessary to manually restore the automatic conveyance carriage in a refrigerated environment, and thus it is difficult to easily operate the automatic conveyance system.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide an automatic conveyance carriage that can prevent an electronic device including a battery from malfunctioning due to a low temperature of the vehicle body.

  In order to solve the above-mentioned problems, the present invention detects an induction line laid on a floor surface with a magnetic sensor, and controls an automatic conveyance carriage for controlling a traveling drive wheel unit so that the vehicle body travels along the induction line. And the structure of having the battery accommodated in the said vehicle body and the heat insulation frame which forms the outer surface containing the lower surface of the said vehicle body is employ | adopted.

  Moreover, in this invention, the structure that the said heat insulation flame | frame is provided except the grounding part with the said floor surface is employ | adopted.

  In the present invention, the heat insulation frame employs a configuration in which a portion covering the magnetic sensor is formed of a resin member.

  Moreover, in this invention, it has an optical sensor in the back side of the said heat insulation flame | frame, and the structure that the part which covers the said optical sensor is formed from the transparent member is employ | adopted for the said heat insulation flame | frame.

  Moreover, in this invention, the structure of having an inner side heat insulation frame which covers the said driving wheel part inside the outer surface of the said vehicle body is employ | adopted.

  Moreover, in this invention, the said driving wheel part is equipped with the encoder, and the structure of having the heat insulating material which covers the outer surface of the said encoder is employ | adopted.

According to the present invention, the outer surface of the vehicle body is formed by the heat insulating frame including the lower surface. For this reason, in this invention, the vehicle body which accommodates a battery can be made into a heat insulation sealing structure as much as possible, effectively suppresses the bottom cooling etc. in a refrigerating environment, and extends operating time in a refrigerating environment significantly. be able to.
Therefore, according to the present invention, it is possible to obtain an automatic conveyance cart that can prevent the vehicle body from becoming cold and the electronic device including the battery from malfunctioning.

It is a top view of the refrigeration equipment to which the automatic conveyance system in the embodiment of the present invention is applied. It is a block diagram which shows the structure of the automatic conveyance system in embodiment of this invention. It is a perspective view of AGV in the embodiment of the present invention. It is the top view and side view of AGV in embodiment of this invention. It is the front view and back view of AGV in embodiment of this invention. It is a block diagram of the upper surface cover in embodiment of this invention. It is a block diagram of the front cover in embodiment of this invention. It is a block diagram of the rear cover in embodiment of this invention. It is a block diagram of the lower surface cover in embodiment of this invention. It is a block diagram of the lower surface cover in embodiment of this invention. It is a block diagram of the traveling drive part lower surface cover, the traveling drive part front-back cover, and the traveling drive part side cover in the embodiment of the present invention. It is a block diagram of the drive part motor base in embodiment of this invention. It is a figure which shows arrangement | positioning of the heat insulating material corresponding to the arrow KK cross section in Fig.4 (a). It is a figure which shows arrangement | positioning of the heat insulating material corresponding to the arrow LL cross section in FIG.4 (b).

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a plan view of a freezer / refrigeration facility 2 to which an automatic conveyance system 1 according to an embodiment of the present invention is applied. FIG. 2 is a block diagram showing a configuration of the automatic conveyance system 1 according to the embodiment of the present invention.
The automatic conveyance system 1 of this embodiment has two AGVs (automatic conveyance carts) 10 as shown in FIG. In FIG. 1, the symbol X is an AGV 10 guide wire.

  The automatic conveyance system 1 of this embodiment is applied to the refrigeration equipment 2. The freezer / refrigerator facility 2 is a facility that handles two types of products (A product and B product). The freezer / refrigerator 2 includes a manufacturing work room (room temperature environment) 3, a front room 4, a freezer room (freezer environment) 5, a refrigerator room 6, and a freezing room 7. In this embodiment, adjacent rooms are connected to each other with a door therebetween, and the door is opened when entering the room. In addition, as a storage target object of the frozen refrigeration equipment 2, frozen food, frozen fresh fish, bio products (biological sperm / egg), blood products, etc. are mentioned, for example.

The manufacturing work chamber 3 is a room temperature environment in which the room temperature is maintained at about 20 ° C. The manufacturing work chamber 3 is connected to the front chamber 4. In the manufacturing work room 3, a standby station 3a, a packing station 3b, and a warehouse station 3c are provided.
The standby station 3a is the home position of the AGV10. The standby station 3a is provided with a power supply device 3a1. The power supply device 3a1 includes an AGV charging electrode and an AGV heating power supply electrode (for heating the vehicle body 10a (described later) and the battery 11 (described later)).

The packing station 3b is provided in the vicinity of the work table 3b1. On the work table 3b1, predetermined work such as manual packaging of products and sorting of products is performed.
The warehousing station 3c is provided in the vicinity of the cart space 3c1. The carriage space 3c1 is a space in which a carriage (indicated by reference numeral 8 in FIG. 1) on which products (A product and B product) received in the manufacturing work room 3 are placed is arranged. The automatic conveyance system 1 of this embodiment conveys the trolley | bogie 8 which mounted the product by AGV10.

  The front chamber 4 is an environment in which the room temperature is maintained at about 5 ° C. The front chamber 4 is connected to the manufacturing work chamber 3, the freezing chamber 5, the refrigerating chamber 6, and the freezing chamber 7. The front chamber 4 is provided with a shipping station 4a. The shipping station 4a is a space in which the cart 8 on which the packed product is placed is arranged. The product arranged in the shipping station 4a is shipped from the freezer / refrigeration facility 2 by opening a door located above the shipping station 4a.

The freezer compartment 5 is a freezing environment in which the room temperature is maintained at about −30 ° C. The freezer compartment 5 is connected to the front compartment 4. The freezer compartment 5 is for storing the A product at −25 ° C. or less, and has a space that can accommodate a plurality of carriages 8 on which the A product is placed.
The refrigerator compartment 6 is an environment where the room temperature is kept at about 4 ° C. The refrigerator compartment 6 is connected to the front compartment 4. The refrigerator compartment 6 is for storing the B product at 0 ° C. or higher, and has a space that can accommodate a plurality of carriages 8 on which the B product is placed.

  The freezing room 7 is a room for rapidly freezing the A product that has been received, and the room temperature can be lowered to about -55 ° C. The freezing chamber 7 is connected to the front chamber 4. The freezing chamber 7 has a space that can accommodate one carriage 8 carrying the B product. Five freezing chambers 7 of this embodiment are provided. Note that when the product A is rapidly frozen, the AGV 10 leaves the freezing chamber 7.

As shown in FIG. 2, the automatic conveyance system 1 includes two AGVs 10, an AGV operation control panel 9a, and a host device 9b.
The AGV 10 includes a battery 11 and a heating device 12. The battery 11 is formed of a secondary battery, is mounted inside the vehicle body, and supplies electric power to a traveling drive wheel section and the like which will be described later. The heating device 12 has a self-temperature control type heating wire stretched around the inside of the vehicle body, and automatically controls the amount of heat generated by the resistance value of the heating wire itself changing according to the temperature change. The purpose of the heating is to prevent a significant temperature drop in the freezer compartment 5 and to prevent the occurrence of condensation when returning to the normal temperature environment.

  The electrode of the battery 11 is in contact with the AGV charging electrode of the power supply device 3a1 of the standby station 3a to be energized. Further, the power supply electrode of the heating device 12 is in contact with the power supply electrode for AGV heating of the power supply device 3a1 of the standby station 3a to be energized. In the present embodiment, the power supply electrodes of the battery 11 and the heating device 12 can be taken in and out of the vehicle body, and when the AGV 10 returns to the standby station 3a, these electrodes come into contact with the electrodes of the power supply device 3a1. Thus, charging and heating are performed simultaneously.

  The AGV operation control board 9a performs wireless communication and controls the operation of the two AGVs 10. The AGV operation control panel 9a is configured to exchange work commands and work result signals with the host device 9b. The AGV operation control panel 9a stocks a predetermined number (for example, 10) of work commands in a memory, and assigns the work commands to one of the two AGVs 10 in the order of stock.

  The host device 9b includes an internal memory, a CPU (Central Processing Unit), etc., and various input / output interfaces that exchange data between them, and receives commands from the facility manager. The host device 9b receives, for example, an operation command for the AGV 10 by receiving the A product at the warehousing station 3c and transporting it to the freezing chamber 7, receiving the A product frozen at the freezing chamber 7 and transporting it to the freezing chamber 5, The operation of receiving the A product frozen in the chamber 5 and transporting it to the packing station 3b, the operation of receiving the A product packed in the packing station 3b and transporting it to the freezing chamber 5, and the A product packed in the freezing chamber 5 The operation of receiving and transporting it to the shipping station 4a is instructed.

The AGV 10 has a configuration as shown below so as not to cause a malfunction due to a decrease in the temperature of the battery 11 even when receiving a work command in such a refrigerated environment.
FIG. 3 is a perspective view of the AGV 10 according to the embodiment of the present invention. FIG. 4 is a plan view and a side view of the AGV 10 according to the embodiment of the present invention. FIG. 5 is a front view and a rear view of the AGV 10 according to the embodiment of the present invention.

First, the basic configuration of the AGV 10 will be outlined.
As shown in the side view of FIG. 4B, the AGV 10 includes a magnetic sensor 13, a travel drive wheel portion 14, and a driven wheel portion 15 on the lower surface side of the vehicle body 10 a. The AGV 10 detects the guide line X (see FIG. 3) laid on the floor surface with the magnetic sensor 13, and under the control of the control unit 16, the traveling drive wheel unit causes the vehicle body 10 a to follow the guide line X. 14 is controlled. The driven wheel portion 15 is a free caster attached to the rear portion of the vehicle body 10a so as to be rotatable by 360 °, and is configured to be driven and rotated while changing the direction according to the follow-up traveling by the traveling drive wheel portion 14.

The magnetic sensor 13 detects the presence or absence of an object (guide line X) on the floor surface. The magnetic sensor 13 has a course sensor in front of and behind the vehicle body 10a, and further has mark sensors (not shown) on both sides of the course sensor in front of the vehicle body 10a.
As shown in the plan view of FIG. 4A, the traveling drive wheel section 14 has two drive units 17, and can separately drive the left and right to steer the vehicle body 10a. The drive unit 17 includes a wheel (grounding unit) 18, a speed reducer 19, a motor 20, and an encoder 21.

As shown in FIG. 4B, the AGV 10 includes a lift base 22 and a load detection sensor (optical sensor) 23 on the upper surface side of the vehicle body 10 a. The lift table 22 has an alignment protrusion 24 and lifts the carriage 8 (see FIG. 3) so that it can be conveyed. The lift table 22 is connected to the shaft device 25 and configured to be movable up and down.
The load detection sensor 23 is an optical sensor that detects the presence / absence of a detection target (cart 8) by projecting detection light above the vehicle body 10a and receiving the reflected light. The load detection sensor 23 is provided in front of and behind the vehicle body 10a.

  As shown in the front views of FIGS. 4B and 5A, the AGV 10 includes a soft bumper 26, a blinker 27, and an obstacle sensor (optical sensor) 28 on the front side of the vehicle body 10a. Have. The soft bumper 26 projects from the front of the vehicle body 10a. The blinker 27 is provided on both sides of the vehicle body 10a. The obstacle sensor 28 is an optical sensor that detects detection objects (front obstacles) by projecting detection light in front of the vehicle body 10a and receiving the reflected light.

  As shown in the rear views of FIGS. 4B and 5B, the AGV 10 has a soft bumper 29, a blinker 30, an obstacle sensor (optical sensor) 31, and a wireless device on the rear side of the vehicle body 10a. Machine antenna 32. The soft bumper 29 is provided so as to protrude rearward of the vehicle body 10a. The turn signal 30 is provided on both sides of the vehicle body 10a. The obstacle sensor 31 is an optical sensor that detects detection objects (rear obstacles) by projecting detection light behind the vehicle body 10a and receiving reflected light. The radio antenna 32 is for wirelessly communicating with the AGV operation control panel 9a (see FIG. 2).

  As shown in FIG. 4B, the AGV 10 includes a connector 34 and an optical communication device 35 on the side surface side of the vehicle body 10a. The connector 34 is for connecting to the power supply device 3a1 of the standby station 3a, and is provided with electrodes of the battery 11 and the heating device 12. The optical communication device 35 is for aligning the connector 34 with the power supply device 3a1, and is configured to exchange optical signals with an optical communication device (not shown) provided on the power supply device 3a1 side. Yes.

  The AGV 10 having the above configuration has a heat insulating structure (a heat insulating frame 40 and an inner heat insulating frame 41) as shown in FIG. The heat insulating frame 40 forms an outer surface including the lower surface of the vehicle body 10a, and includes an upper surface cover 42 (see FIG. 6), a front cover 43 (see FIG. 7), a rear cover 44 (see FIG. 8), It has a lower surface cover 45 (see FIGS. 9 and 10) and a traveling drive unit lower surface cover 46 (see FIG. 11A). The inner heat insulating frame 41 covers the traveling drive wheel portion 14 inside the outer surface of the vehicle body 10a, and includes a traveling drive front / rear cover 47 (see FIG. 11B) and a traveling drive side cover 48 (see FIG. 11). 11 (c)) and a travel drive unit motor base 49 (see FIG. 12).

FIG. 6A is a bottom view of the top cover 42. FIG. 6B is a cross-sectional view taken along the line AA in FIG. FIG. 6C is a cross-sectional view taken along the line B-B in FIG.
The upper surface cover 42 forms the outer surface of the center of the upper surface side of the vehicle body 10a. As shown in FIG. 6C, the upper surface cover 42 has a substantially U-shaped cross-sectional view. As shown in FIG. 6A, a shaft hole 50 through which the shaft of the shaft device 25 passes and a sensor hole 51 through which light from the load detection sensor 23 passes are formed in the upper cover 42, as shown in FIG. Yes.

The heat insulating material 100 is affixed on substantially the entire surface of the upper surface 42 a and the side surface 42 b of the upper surface cover 42. As the heat insulating material 100, an aeroflex, an aero tape, etc. can be employ | adopted suitably.
A sensor cover 101 made of a transparent member such as acrylic is attached to a portion corresponding to the sensor hole 51 of the upper surface cover 42.

FIG. 7A is a bottom view of the front cover 43. FIG. 7B is a cross-sectional view taken along the line CC in FIG. FIG.7 (c) is DD sectional view taken on the line of Fig.7 (a).
The front cover 43 forms an outer surface on the front side of the vehicle body 10a. As shown in FIG. 7A, the front cover 43 is formed with a sensor hole 52 through which the light of the load detection sensor 23 passes. Further, as shown in FIGS. 7A and 7C, the front cover 43 is formed with a winker hole 53 through which the light of the winker 27 passes through the upper portion 43 a and the front portion 43 c.

Further, as shown in FIG. 7B, the front cover 43 has an optical communication hole 54 through which light from the optical communication device 35 passes and a connector hole 55 through which the connector 34 can be exposed. Is formed. Moreover, as shown in FIG.7 (c), the sensor hole 56 which the light of the obstacle sensor 28 passes is formed in the front cover 43, as shown in FIG.7 (c).
The heat insulating material 100 is affixed to substantially the entire surface of the upper portion 43a, the side portion 43b, and the front portion 43c of the front cover 43.

  A colored translucent turn signal cover 102 is attached to a portion corresponding to the turn signal hole 53 of the front cover 43. A sensor cover 101 made of a transparent member such as acrylic is affixed to portions corresponding to the sensor holes 52 and 56 of the front cover 43. A communication device cover 103 made of a transparent member such as glass is affixed to a portion corresponding to the optical communication hole 54 of the front cover 43. The connector hole 55 of the front cover 43 is provided with an open / close door 104 that can be opened and closed by a hinge mechanism (not shown).

FIG. 8A is a bottom view of the rear cover 44. FIG. 8B is a cross-sectional view taken along the line EE in FIG. FIG. 8C is a cross-sectional view taken along the line FF in FIG.
The rear cover 44 forms an outer surface on the rear side of the vehicle body 10a. As shown in FIGS. 8A and 8C, the rear cover 44 is formed with a winker hole 57 through which the light of the winker 30 passes over the upper portion 44a and the rear portion 44d. Further, as shown in FIG. 8C, the rear cover 44 is formed with a sensor hole 58 through which the light of the obstacle sensor 31 passes and a mounting hole 59 in which the radio antenna 32 is attached. Has been.

The heat insulating material 100 is affixed to substantially the entire surface of the upper surface 44a, the side portion 44b, and the rear portion 44d of the rear cover 44.
A colored translucent turn signal cover 102 is affixed to a portion corresponding to the turn signal hole 57 of the rear cover 44. In addition, a sensor cover 101 that is a transparent member and a resin member such as acrylic is attached to a portion corresponding to the sensor hole 58 of the rear cover 44.

FIG. 9A is a plan view of the lower surface cover 45. FIG. 9B is a cross-sectional view taken along line GG in FIG. FIG. 10A is a cross-sectional view taken along line HH in FIG. FIG. 10B is a cross-sectional view taken along the line II in FIG.
The lower surface cover 45 forms an outer surface on the lower surface side of the vehicle body 10a. As shown in FIG. 9A, the lower cover 45 has sensor holes 60 and 61 through which light from the front magnetic sensor 13 (course sensor, mark sensor) passes, and the rear magnetic sensor 13. A sensor hole 62 through which light (course sensor only) passes is formed.

  Further, as shown in FIG. 9B, the lower surface cover 45 is formed with a travel drive wheel mounting portion 63 and a driven wheel mounting portion 64. The traveling drive wheel mounting portion 63 includes a gate-shaped portion 63a that is erected on both sides in the width direction of the lower surface cover 45, and a rising portion 63b that welds the gate-shaped portion 63a (see FIG. 10A). The driven wheel mounting portion 64 has a convex shape extending across the width direction of the lower surface cover 45 (see FIG. 10B). Further, as shown in FIG. 9A, shaft device attachment portions 65 are formed on both sides of the lower surface cover 45 with the travel drive wheel attachment portion 63 interposed therebetween.

On the inner surface side of the side portion 45b, the front portion 45c, the rear portion 45d, and the lower portion 45e (excluding the shaft device mounting portion 65) of the lower surface cover 45, the heat insulating material 100 is stuck on substantially the entire surface. In the shaft device attaching portion 65, the heat insulating material 100 is not attached because the shaft device 25 needs to be attached with high accuracy. Moreover, the heat insulating material 100 is affixed also to the upper surface (mating surface) of the side part 45b.
A sensor cover 101, which is a resin member such as acrylic and is a transparent member, is affixed to portions corresponding to the sensor holes 60, 61, 62 of the lower surface cover 45.

  FIG. 11A shows the traveling drive unit lower surface cover 46. The travel drive unit lower surface cover 46 is formed with a screwing portion 46 a for screwing to the lower surface cover 45. A heat insulating material 100 is attached to the traveling drive unit lower surface cover 46 on substantially the entire surface excluding the screwing portion 46a. As shown in FIG. 9, the travel drive unit lower surface cover 46 is attached so as to cover the lower surface opening of the travel drive wheel mounting unit 63.

  FIG. 11B shows the travel drive unit front / rear cover 47. The travel drive unit front and rear cover 47 is formed with a screwing portion 47a for screwing to the portal portion 63a. The travel drive unit front / rear cover 47 has a heat insulating material 100 attached to substantially the entire surface excluding the screwing portion 47a. As shown in FIG. 9, the traveling drive unit front / rear cover 47 is attached to the front / rear of the portal part 63a.

  FIG. 11C shows the travel drive unit side cover 48. The traveling drive unit side cover 48 is formed with a screwing portion 48a for screwing to the portal portion 63a. The travel drive unit side cover 48 is affixed with a heat insulating material 100 on substantially the entire surface excluding the screwing portion 48a. As shown in FIG. 9, the traveling drive unit side cover 48 is attached to both side surfaces of the gate-shaped portion 63a.

FIG. 12A is a plan view of the travel drive unit motor base 49. FIG. 12B is a cross-sectional view taken along line JJ in FIG.
As shown in FIG. 12A, the traveling drive unit motor base 49 has a screwing portion 49a for screwing to the portal portion 63a and a wiring hole 49b for passing the wiring of the traveling drive wheel portion 14. Is formed. The travel drive unit motor base 49 is affixed with a heat insulating material 100 on substantially the entire surface except the screwing portions 49a. Further, as shown in FIG. 12B, the travel drive unit motor base 49 is formed with a support portion 49c that supports the travel drive wheel portion 14 and a rib 49d that reinforces the support portion 49c. As shown in FIG. 9, the travel drive unit motor base 49 is attached to the upper back side of the portal portion 63a.

Returning to FIG. 7, the front cover 43 has a connection portion 66 for connecting to the upper surface cover 42. As shown in FIG. 8, the rear cover 44 has a connection portion 67 for connecting to the upper surface cover 42. Thereby, the upper surface cover 42, the front cover 43, and the rear cover 44 can be integrally connected.
Further, as shown in FIG. 9, the lower surface cover 45 includes a connection portion 68 a for connecting to the upper surface cover 42 and the front cover 43, and a connection portion 68 b for connecting to the upper surface cover 42 and the rear cover 44. . A heat insulating structure of the AGV 10 is formed by covering the lower surface cover 45 with an upper surface cover 42, a front cover 43, and a rear cover 44 that are integrated and screwed together.

Next, the arrangement of the heat insulating material 100 of the AGV 10 configured as described above will be described with reference to FIGS. 13 and 14.
FIG. 13 is a diagram showing the arrangement of the heat insulating material 100 corresponding to the cross section taken along the arrow KK in FIG. FIG. 14 is a diagram showing the arrangement of the heat insulating material 100 corresponding to the cross section taken along the line LL in FIG.

  As shown in FIG. 13, the AGV 10 includes a battery 11 housed inside the vehicle body 10 a and a heat insulating frame 40 that forms an outer surface including the lower surface of the vehicle body 10 a. The heat insulating frame 40 is formed by an upper surface cover 42, a front cover 43, a rear cover 44, a lower surface cover 45, and a traveling drive unit lower surface cover 46, and the heat insulating material 100 is provided on substantially the entire inner surface side thereof. It is affixed. For this reason, in this embodiment, the vehicle body 10a in which the battery 11 is accommodated can be made as heat-insulating and sealed as possible.

In addition, although the heat insulating material 100 cannot be disposed in the shaft device mounting portion 65 due to the mounting of the shaft device 25, a certain degree of heat insulation can be obtained by installing the shaft device 25.
A portion of the heat insulating frame 40 that covers the magnetic sensor 13 and the like is formed of a transparent sensor cover 101 made of resin. According to the sensor cover 101, inflow of cold air from the sensor holes 56, 58, 60, 62 and the like is prevented, and magnetic detection of the magnetic sensor 13 and light detection by the obstacle sensors 28, 31 and the like are not hindered. can do. In addition, the heat insulating frame 40 is formed of a glass communication device cover 103 (see FIG. 7B) covering the optical communication device 35, and a transparent material is appropriately selected according to the optical characteristics of the electronic device. Therefore, it does not affect the operation.

In addition, as shown in FIG. 14, the heat insulating material 100 is disposed on the upper surface of the side portion 45 b of the lower surface cover 45, so that inflow of cold air from the combination surface with the lower surface cover 45 can be prevented.
Further, as shown in FIG. 14, the heat insulating frame 40 is provided so as to cover the lower surface opening by the traveling drive unit lower surface cover 46 except for the wheels 18 that are in contact with the floor surface. Thus, by exposing only the wheels 18 to the outside of the vehicle body 10a, the inflow of cold air into the vehicle body 10a can be prevented.

  Further, the AGV 10 includes an inner heat insulating frame 41 that covers the traveling drive wheel portion 14 inside the outer surface of the vehicle body 10a. The inner heat insulating frame 41 is formed by a travel drive unit lower surface cover 46, a travel drive unit front / rear cover 47, a travel drive unit side cover 48, and a travel drive unit motor base 49. 100 is affixed. The travel drive wheel unit 14 includes an encoder 21, and the outer surface of the encoder 21 is covered with a heat insulating material 100. For this reason, in this embodiment, the heat insulation structure which surrounds the driving wheel part 14 can be formed also inside the vehicle body 10a.

  According to this embodiment, the vehicle body 10a that accommodates the battery 11 can have a heat-insulating and sealed structure as much as possible, and the bottom cooling in the freezing environment of the freezer compartment 5 shown in FIG. 1 is effectively suppressed. The operating time in the refrigeration environment can be greatly expanded. Specifically, according to the above configuration, an operating time of about 10 minutes can be secured in the freezer compartment 5.

  Therefore, according to the above-described embodiment, the AGV 10 that detects the guide wire X laid on the floor surface by the magnetic sensor 13 and controls the travel drive wheel unit 14 to cause the vehicle body 10a to travel following the guide line X. The vehicle body 10a has a low temperature in a refrigeration environment by adopting a configuration including the battery 11 housed inside the vehicle body 10a and the heat insulating frame 40 that forms the outer surface including the lower surface of the vehicle body 10a. Thus, the AGV 10 that can prevent the electronic device including the battery 11 from malfunctioning is obtained.

  As mentioned above, although preferred embodiment of this invention was described referring drawings, this invention is not limited to the said embodiment. Various shapes, combinations, and the like of the constituent members shown in the above-described embodiments are examples, and various modifications can be made based on design requirements and the like without departing from the gist of the present invention.

  DESCRIPTION OF SYMBOLS 10 ... AGV (automatic conveyance trolley), 10a ... Vehicle body, 11 ... Battery, 13 ... Magnetic sensor, 14 ... Travel drive wheel part, 18 ... Wheel (grounding part), 21 ... Encoder, 23 ... Load detection sensor (optical sensor) , 28 ... Obstacle sensor (optical sensor), 31 ... Obstacle sensor (optical sensor), 40 ... Thermal insulation frame, 41 ... Inner thermal insulation frame, 100 ... Thermal insulation material, 101 ... Sensor cover (transparent member), X ... Induction wire

Claims (6)

An automatic conveyance carriage that detects a guide line laid on the floor surface with a magnetic sensor and controls a travel drive wheel unit so that the vehicle body travels along the guide line.
A battery housed inside the vehicle body;
And an insulating frame that forms an outer surface including a lower surface of the vehicle body.   The automatic conveyance cart according to claim 1, wherein the heat insulating frame is provided except for a ground contact portion with the floor surface.   The automatic conveyance carriage according to claim 1, wherein the heat insulating frame is formed of a resin member at a portion covering the magnetic sensor. It has an optical sensor on the back side of the heat insulation frame,
The automatic conveyance cart according to any one of claims 1 to 3, wherein a part of the heat insulating frame that covers the optical sensor is formed of a transparent member.   The automatic conveyance cart according to any one of claims 1 to 4, further comprising an inner heat insulating frame that covers the traveling drive wheel portion inside the outer surface of the vehicle body. The traveling drive wheel unit includes an encoder,
It has a heat insulating material which covers the outer surface of the encoder, The automatic conveyance cart according to any one of claims 1 to 5 characterized by things.

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