JP2016094053A - Unmanned carrier - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned carrier capable of increasing load resistance while preventing a vehicle height from increasing.SOLUTION: Travel devices 10a and 10b arranged below a vehicle body 2 on which a load is mounted rotatably support wheels 11 by an axle 12. The travel devices 10a and 10b are pivotally supported with respect to the vehicle body 2, and are connected to each other by a synchronization mechanism 30 so that the travel device 10a and 10b rotate in the same direction in conjunction with each other. Thereby, even when the travel devices 10a and 10b are arranged in proximity to each other so that the respective rotation ranges overlap with each other, the travel devices 10a and 10b are caused not to interfere with each other. Since the number of wheels 11 per unit area can be increased, the load resistance can be increased while a vehicle height of an unmanned carrier 1 is prevented from increasing.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an automatic guided vehicle, and more particularly to an automatic guided vehicle capable of increasing load resistance while preventing an increase in vehicle height.

  The automatic guided vehicle is used as a self-propelled device that unmannedly conveys a load along a floor running path in a factory or a warehouse. As an example of the automatic guided vehicle, a vehicle body on which a load is placed, a plurality of wheels provided at a lower portion of the vehicle body and capable of turning around a vertical axis, a driving device that enables the vehicle body to move back and forth, and left and right, and a traveling path There is a thing provided with a sensor which detects (patent document 1). In such an automatic guided vehicle, generally, the load resistance of each wheel can be increased by increasing the diameter of the wheel, and the load capacity of the load can be increased.

JP 2002-264801 A

  However, if the wheel diameter is increased, the vehicle height increases, so that there is a problem that the center of gravity increases and the stability decreases.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an automatic guided vehicle capable of increasing a load resistance while preventing an increase in vehicle height.

  In order to achieve this object, an automatic guided vehicle according to claim 1 is configured to rotate and support a vehicle body on which a load is placed and a wheel that is disposed below the vehicle body and travels and turns the vehicle body. A plurality of traveling devices connected to the vehicle body so as to be capable of turning, and a tuning mechanism having a connecting portion that connects the plurality of traveling devices that overlap each other in a turning range so as to rotate in the same direction. I have.

  According to a second aspect of the present invention, there is provided the automatic guided vehicle according to the first aspect, wherein the plurality of traveling devices that rotate in conjunction with each other are supported, and the support portions are swingably supported with respect to the vehicle body. The plurality of traveling devices are supported at positions that are line-symmetric with respect to a predetermined straight line passing through the swinging portion in a bottom view.

  The automatic guided vehicle according to a third aspect of the present invention is the automatic guided vehicle according to the first or second aspect, wherein the tuning mechanism is interlocked when at least one of the plurality of traveling devices that rotate in conjunction rotates more than a predetermined amount. Then, a transmission unit is provided that transmits a force for turning the others of the plurality of traveling devices that rotate together from at least one of the plurality of traveling devices that rotate.

  According to the automatic guided vehicle of the first aspect, the plurality of traveling devices are arranged below the vehicle body on which the load is placed. The plurality of traveling devices rotate and support wheels for traveling and turning the vehicle body, and are connected to the vehicle body so as to be able to turn. Among the plurality of traveling devices, those that overlap each other in the turning range are connected by a connecting portion so as to be interlocked in the same direction by a tuning mechanism. Thereby, it is possible to prevent a plurality of traveling devices having overlapping turning ranges from interfering with each other. As a result, since a plurality of traveling devices can be arranged close to each other, the number of wheels per unit area can be increased. Therefore, there is an effect that the load resistance can be increased while preventing the vehicle height from increasing.

  According to the automatic guided vehicle of the second aspect, the plurality of traveling devices that rotate in conjunction with each other are supported by the support portion, and the swinging portion supports the support portion so as to be swingable with respect to the vehicle body. The support portion supports the plurality of traveling devices at positions symmetrical with respect to a predetermined straight line passing through the swinging portion in the bottom view. As a result, when the floor surface on which the automatic guided vehicle travels is uneven, a plurality of traveling devices are swung along the uneven surface of the floor and grounded to the floor surface, so that the load is evenly applied to each traveling device. be able to. Therefore, since it can drive | work along the unevenness | corrugation of a floor surface and it can suppress that a big load is added to one driving | running | working apparatus, there exists an effect which can improve the stability at the time of driving | running | working and can improve the durability of a traveling apparatus.

  In addition, since each traveling device is configured to turn in conjunction with the tuning mechanism, when an external force in the turning direction is applied to the traveling device that rides on the convex portion of the floor surface, There is a case where the device is swung so as to be shifted from the traveling direction in conjunction with the device. However, since the other traveling devices are grounded without floating from the floor surface by the support portion and the swinging portion, when the frictional force with the floor surface is larger than the external force in the turning direction, the other traveling devices are prevented from turning. Can be. Accordingly, it is possible to make it difficult for the direction of the traveling device riding on the convex portion to be shifted from the traveling direction. Therefore, in addition to the effect of claim 1, there is an effect that the stability during running can be improved.

  According to the automatic guided vehicle according to claim 3, the synchronization mechanism includes at least one of the plurality of traveling devices that rotate in conjunction with each other when at least one of the traveling devices that rotate in association with each other rotates a predetermined amount or more. The transmission unit transmits the force for turning the other of the plurality of traveling devices that turn in conjunction with each other. Accordingly, at least one of the plurality of traveling devices that rotate in conjunction with each other is turned by force in the turning direction, and when the turning amount is equal to or less than the predetermined amount, the other traveling devices can be prevented from turning. Therefore, even if an external force in the turning direction due to small unevenness on the floor surface is applied to the traveling device, other traveling devices can be prevented from turning, and thus the resistance during traveling applied to the traveling device can be reduced. Therefore, in addition to the effect of Claim 1 or 2, there exists an effect which can improve the stability at the time of driving | running | working.

It is a side view of the automatic guided vehicle in 1st Embodiment of this invention. It is a bottom view of an automatic guided vehicle. It is sectional drawing of the automatic guided vehicle in the III-III line of FIG. (A) is a bottom view of the synchronization mechanism of the automatic guided vehicle in the second embodiment, and (b) is a bottom view of the synchronization mechanism of the automatic guided vehicle in the third embodiment.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described with reference to the accompanying drawings. First, with reference to FIG.1 and FIG.2, the whole structure of the automatic guided vehicle 1 is demonstrated. FIG. 1 is a side view of the automatic guided vehicle 1 according to the first embodiment of the present invention, and FIG. 2 is a bottom view of the automatic guided vehicle 1. In FIG. 2, the configuration of the four corners of the vehicle body is substantially the same, and thus some of the reference numerals are omitted for the same parts.

  As shown in FIGS. 1 and 2, the automatic guided vehicle 1 includes a vehicle body 2 on which a load is placed, two drive devices 3 that are attached to the approximate center of the vehicle body in a side view, and a drive that is attached to the drive device 3. The wheel 4, four equalizing mechanisms 20 attached to the vicinity of the four corners of the vehicle body in bottom view, two traveling devices 10 a and 10 b disposed below each equalizing mechanism 20, the equalizing mechanism 20 and the two traveling devices 10 a , 10b, respectively, and the vehicle body 2 is supported by the drive wheels 4 and the traveling devices 10a, 10b that are grounded to the floor surface F.

  The drive device 3 moves the automatic guided vehicle 1 relative to the floor surface F by rotating the drive wheels 4 in the circumferential direction. The driving device 3 changes the traveling direction of the automatic guided vehicle 1 by rotating the driving wheel 4 about the vertical axis.

  Next, with reference to FIG. 3, the detailed structure of each apparatus in the automatic guided vehicle 1 is demonstrated. 3 is a cross-sectional view of the automatic guided vehicle 1 taken along line III-III in FIG. In FIG. 3, the vehicle body 2 is omitted.

  The travel devices 10 a and 10 b are driven wheels that move according to the movement of the automatic guided vehicle 1 by the rotation of the drive wheels 4. The traveling devices 10a and 10b include a wheel 11 that is grounded to the floor surface F (see FIG. 1), an axle 12 that rotatably supports the wheel 11, a bracket 13 to which both ends of the axle 12 are fixed, and a lower end that is a bracket. 13 and a pivot shaft 14 whose upper end is rotatably supported by the equalizing mechanism 20.

  The bracket 13 includes a pair of side plates 13a to which end portions of the axles 12 are respectively fixed, and an upper surface plate 13b that is connected to the upper ends of the pair of side plates 13a and to which the turning shaft 14 is fixed. Formed.

  In the traveling apparatuses 10a and 10b, the turning shaft 14 is provided perpendicularly to the axle 12 and at a twisted position, so that the wheel 11 can turn around the turning radius R around the turning shaft 14 (FIG. 2). reference). Therefore, when the automatic guided vehicle 1 moves due to the rotation of the drive wheels 4, the traveling devices 10 a and 10 b are turned so that the wheels 11 face the traveling direction of the automatic guided vehicle 1.

  Here, referring back to FIG. 2, the relationship between the turning ranges of the traveling devices 10a and 10b will be described. Two adjacent traveling devices 10a and 10b arranged in the same equalizing mechanism 20 are close to each other so that parts of the turning range overlap each other. Moreover, the traveling devices 10a (traveling devices 10b) that are respectively disposed in different equalizing mechanisms 20 and are adjacent to each other are separated so that the turning ranges do not overlap each other.

  The tuning mechanism 30 will be described with reference to FIG. 3 again. The tuning mechanism 30 is a mechanism that turns the traveling device 10a and the traveling device 10b that are close to each other so that a part of the turning range overlaps with each other in conjunction with each other so that they do not interfere with each other when turning. is there. The tuning mechanism 30 includes a first gear 31 disposed between the traveling device 10a and the equalizing mechanism 20, a second gear 32 disposed between the traveling device 10b and the equalizing mechanism 20, and a first gear. 31 and a central gear 33 that meshes with the second gear 32, and the first gear 31 and the second gear 32 have the same number of teeth.

  The first gear 31 and the second gear 32 are fixed to the upper surface plate 13b of the bracket 13 of the traveling device 10a and the traveling device 10b, respectively. Therefore, the first gear 31 and the second gear 32 rotate around the turning shaft 14 in conjunction with the turning of the traveling device 10a and the traveling device 10b, respectively. Further, a ball bearing B1 is disposed between the first gear 31 and the second gear 32 and the equalizing mechanism 20 in order to reduce friction and rotate smoothly.

  The center gear 33 is rotatably supported by the equalizing mechanism 20 by the center shaft 34 and meshed with the first gear 31 and the second gear 32. A ball bearing B2 is disposed between the center gear 33 and the equalizing mechanism 20 in order to reduce friction and rotate smoothly.

  According to the tuning mechanism 30, when the first gear 31 is rotated, the second gear 32 is rotated in the same direction as the first gear 31 via the center gear 33. Furthermore, since the first gear 31 and the second gear 32 have the same number of teeth, the rotation angles of the first gear 31 and the second gear 32 are equal. Therefore, the traveling device 10a to which the first gear 31 is fixed and the traveling device 10b to which the second gear 32 is fixed can be turned in conjunction with each other in the same direction. As a result, the traveling device 10a and the traveling device 10b with which the turning range overlaps can be prevented from interfering with each other, so that the traveling device 10a and the traveling device 10b can be arranged close to each other. Therefore, the traveling devices 10a and 10b do not have to be arranged at intervals so that the turning ranges by the turning radius R of the traveling devices 10a and 10b do not overlap each other. Therefore, the number of the traveling devices 10a and 10b per unit area can be determined. Can be increased. Therefore, the load resistance can be increased while preventing the height of the automatic guided vehicle 1 from increasing.

  The equalizing mechanism 20 is a mechanism that grounds the traveling devices 10a and 10b along the unevenness of the floor surface F and equalizes the load applied to the traveling devices 10a and 10b. The equalizing mechanism 20 includes a base 21 that is fixed to the lower surface of the vehicle body 2, a support 22 that is disposed below the base 21 and that supports the two traveling devices 10a and 10b by the respective turning shafts 14, and a base. 21 is provided with a swinging portion 23 that supports the support portion 22 in a swingable manner.

  The swinging portion 23 is a longitudinal shaft member extending in the left-right direction of the vehicle (perpendicular to the plane of FIG. 3). The swinging portion 23 rotatably penetrates the base portion 21 and is fixed to the support portion 22 at both ends.

  The support portion 22 supports the traveling device 10a on the front side of the vehicle (left side of the drawing in FIG. 3) and supports the traveling device 10b on the rear side of the vehicle (right side of the drawing in FIG. 3). A swing part 23 is arranged at the midpoint of the minute. That is, the support portion 22 supports the traveling device 10 a and the traveling device 10 b at a line-symmetric position with respect to the swinging portion 23.

  Accordingly, since the equalizing mechanism 20 can swing the traveling devices 10a and 10b along the unevenness of the floor surface F to ground the floor device F, the equalizing mechanism 20 can evenly apply a load to the traveling devices 10a and 10b. it can. Therefore, stability during traveling can be improved and durability of the traveling devices 10a and 10b can be improved.

  Further, the traveling device 10a is configured to turn in synchronization with the traveling device 10b by the tuning mechanism 30 in the same direction. Therefore, when the traveling device 10a rides on the convex portion of the floor surface F while the automatic guided vehicle 1 is traveling, an external force in the turning direction is applied to the traveling device 10a by the convex portion, and thus the traveling device 10a and the traveling device 10b are interlocked. Then, the vehicle may turn so as to deviate from the traveling direction of the automatic guided vehicle 1. However, since the traveling device 10b is grounded without floating from the floor surface F by the equalizing mechanism 20, the frictional force between the traveling device 10b and the floor surface F is larger than the external force in the turning direction applied to the traveling device 10a by the convex portion. In this case, the traveling device 10b can be prevented from turning. That is, in order for the traveling device 10a that turns in conjunction with the traveling device 10b to turn, an external force in the turning direction that is larger than the frictional force between the traveling device 10b and the floor surface F is required, so the direction of the traveling device 10a is changed. Can be difficult to deviate from the direction of travel. Therefore, the equalization mechanism 20 and the tuning mechanism 30 can hardly shift the direction of the traveling device 10a riding on the convex portion from the traveling direction, so that stability during traveling can be improved.

  Next, a second embodiment will be described with reference to FIG. In the first embodiment, the first gear 31 and the second gear 32 are fixed to the bracket 13 of the traveling device 10a and the traveling device 10b, respectively, and rotate the same according to the turning of the traveling device 10a and the traveling device 10b, respectively. Explained. On the other hand, in the second embodiment, the first gear 41 and the second gear 42 are respectively supported by the turning shaft 43a and the turning shaft 43b so as to be rotatable relative to each other, and the traveling device 10a and the traveling device 10b turn more than a predetermined amount. Only when the first gear 41 and the second gear 42 are rotated will be described. In addition, about the part same as 1st Embodiment, the same code | symbol is attached | subjected and the following description is abbreviate | omitted. FIG. 4A is a bottom view of the tuning mechanism 40 of the automatic guided vehicle according to the second embodiment.

  As shown in FIG. 4A, the tuning mechanism 40 includes a first gear 41 through which the turning shaft 43a of the traveling device 10a passes so as to be rotatable relative to the traveling device 10a, and the traveling device 10b so as to be rotatable relative to the traveling device 10b. The second gear 42 through which the turning shaft 43b passes, the first projecting portion 44 that protrudes from the turning shaft 43a of the traveling device 10a in the direction perpendicular to the axis, and the protrusion from the turning shaft 43b of the traveling device 10b in the direction perpendicular to the axis. The second projecting portion 45, the first notch 46 that is cut out in a fan shape at a portion that contacts the turning shaft 43a of the first gear 41, and the fan contact-out portion that is a portion of the second gear 42 that contacts the turning shaft 43b. The second gear 42 has the same number of teeth, and the turning shaft 43a and the turning shaft 43b rotate together with the traveling device 10a and the traveling device 10b, respectively.

  The first notch portion 46 includes a pair of first side wall portions 46 a extending in the direction perpendicular to the axis of rotation 43 a and a first inner peripheral wall portion 46 b forming an inner peripheral surface, and the first protruding portion 44. Is housed. The second cutout portion 47 includes a pair of second side wall portions 47a extending in the direction perpendicular to the axis from the turning shaft 43b side, and a second inner peripheral wall portion 47b that forms an inner peripheral surface, and has a second protrusion. Part 45 is accommodated.

  Since the first gear 41 penetrates the turning shaft 43a so as to be rotatable relative to the traveling device 10a, the first protrusion 44 accommodated in the first notch 46 is in the first notch 46 according to the rotation of the turning shaft 43a. Can be freely rotated. Further, since the second gear 42 penetrates the turning shaft 43b so as to be rotatable relative to the traveling device 10b, the second protrusion 45 accommodated in the second cutout portion 47 is moved into the second notch according to the rotation of the turning shaft 43b. The inside of the part 47 can be freely rotated. When the traveling device 10a and the traveling device 10b are oriented in the same direction, the first projecting portion 44 and the second projecting portion 45 are positioned at the center of the first notched portion 46 and the second notched portion 47, respectively. Is set.

  When a force in the turning direction is applied to the traveling device 10a, the turning shaft 43a of the traveling device 10a turns, and the first protruding portion 44 contacts the first side wall portion 46a of the first notch portion 46, the first protruding portion The force in the turning direction can be transmitted from 44 toward the first side wall 46a on the side in contact with the first protrusion 44. Thus, by further turning the traveling device 10 a, the first gear 41 is rotated in conjunction with the turning of the traveling device 10 a, and the second gear 42 is rotated through the center gear 33. When the second gear 42 turns, the second side wall 47a of the second notch 47 abuts on the second protrusion 45, and the second protrusion from the second side wall 47a on the side where the second protrusion 45 abuts. The force in the turning direction can be transmitted toward 45. As a result, when the traveling device 10a is further turned, the traveling device 10a and the traveling device 10b are turned in conjunction with each other in the same direction. Therefore, when the turning amount of the traveling device 10a is equal to or less than the predetermined amount, the traveling device 10a can be turned independently of the traveling device 10b. As a result, it is possible to prevent the external force in the turning direction that vibrates the traveling device 10a due to small unevenness of the floor surface F from being transmitted to the traveling device 10b via the first gear 41 and the second gear 42. Therefore, since the resistance at the time of driving | running | working concerning the traveling apparatus 10b can be reduced, there exists an effect which can improve the stability at the time of driving | running | working.

  The first position is a state in which the wheels 11 of the traveling device 10a and the wheels 11 of the traveling device 10b turn 90 degrees clockwise from the state in which the wheels 11 of the traveling device 10 are oriented in the longitudinal direction of the vehicle body 2 (state in FIG. 2). From the first position, the traveling device 10a and the traveling device 10b are turned in the opposite direction by the same angle so that the traveling device 10b and the traveling device 10b are close to each other, and the position where the wheel 11 of the traveling device 10a and the wheel 11 of the traveling device 10b contact each other is 2 positions. In the first position and the second position, the first notch 46 and the second notch 47 also have the circumferential centers of the first notch 46 and the second notch 47 centered around the pivot shafts 43a and 43b. From the state on the connecting straight line (the state of FIG. 4 (a)), it turns 90 degrees clockwise.

  In the second position, the first protrusion 44 and the second protrusion 45 are located at the center of the first notch 46 and the second notch 47, respectively (the traveling device 10a and the traveling device 10b face the same direction). From the state, when the traveling device 10a and the traveling device 10b turn at the same angle in opposite directions, the wheel 11 of the traveling device 10a and the wheel 11 of the traveling device 10b are in contact with each other at the smallest turning angle. That is, it is an angle at which the wheels 12 interfere with each other when the traveling devices 10a and 10b continue to turn clockwise or counterclockwise in the second embodiment. Therefore, the turning angle of the traveling devices 10a and 10b from the first position to the second position is set as the threshold angle.

  The first cutout 46 and the second cutout 47 are cut out in a fan shape having a central angle smaller than twice the threshold angle. Accordingly, when the first protrusion 44 and the second protrusion 45 are turned by the threshold angle from the center of the first notch 46 and the second notch 47, respectively, the first side wall of the first notch 46 is obtained. 46a and the second notch 47a of the second notch 47 abut. Therefore, when the traveling device 10a or the traveling device 10b turns more than the threshold angle, the traveling device 10a and the traveling device 10b turn in conjunction with each other, so that the traveling device 10a and the traveling device 10b can be prevented from interfering with each other. . Therefore, since traveling device 10a and traveling device 10b can be arranged close to each other, the number of traveling devices 10a and 10b per unit area can be increased.

  Next, a third embodiment will be described with reference to FIG. In the second embodiment, the case has been described in which the first gear 41 and the second gear 42 are supported by the turning shaft 43a and the turning shaft 43b so as to be relatively rotatable. On the other hand, in the third embodiment, a case will be described in which the first gear 51 is supported so as to be rotatable relative to the turning shaft 52, and the second gear 32 is fixed to the traveling device 10b as in the first embodiment. . In addition, about the part same as 1st Embodiment, the same code | symbol is attached | subjected and the following description is abbreviate | omitted. FIG. 4B is a bottom view of the tuning mechanism 50 of the automatic guided vehicle according to the third embodiment.

  As shown in FIG. 4B, the tuning mechanism 50 includes a first gear 51 through which the turning shaft 52 of the traveling device 10a penetrates so as to be rotatable relative to the traveling device 10a, and one end fixed to the turning shaft 52 and the other end. Includes an elastic member 53 fixed to the first gear 51, the number of teeth of the first gear 51 is the same as the number of teeth of the second gear 32, and the turning shaft 52 rotates together with the traveling device 10a.

  The elastic member 53 is configured by a coil spring. As will be described later, when the deformation amount of the elastic member 53 is small, the elastic modulus of the elastic member 53 is set so that the elastic force is smaller than the frictional force between the traveling device 10b and the floor surface F. Yes.

  When the traveling device 10a turns, the elastic member 53 whose one end is fixed to the turning shaft 52 is elastically deformed according to the turning amount, so that the elastic force according to the deformation amount of the elastic member 53 is fixed to the other end of the elastic member 53. Transmitted to the first gear 51. Thereby, the elastic force by the elastic member 53 is applied as a force in the turning direction to the traveling device 10 b to which the second gear 32 is fixed via the center gear 33.

  According to the synchronization mechanism 50, when the frictional force between the traveling device 10b and the floor surface F is larger than the elastic force of the elastic member 53, the traveling device 10b can be prevented from turning. Therefore, the external force in the turning direction that vibrates the traveling device 10a due to small unevenness of the floor surface F, etc. has a small displacement amount of the elastic member 53 and the elastic force by the elastic member 53 is small, so that the traveling device 10b is not turned. Can be. Therefore, since the resistance at the time of driving | running | working concerning the traveling apparatus 10b can be reduced, the stability at the time of driving | running | working can be improved.

  Further, when the turning amount of the traveling device 10a is greater than or equal to a predetermined amount, since the elastic force by the elastic member 53 is large, the traveling device 10a and the traveling device 10b can be turned in conjunction with each other in the same direction. Therefore, the traveling device 10a and the traveling device 10b can be prevented from interfering with each other. As a result, since the traveling device 10a and the traveling device 10b can be arranged close to each other, the number of the traveling devices 10a and 10b per unit area can be increased.

  The present invention has been described above based on the embodiments. However, the present invention is not limited to the above embodiments, and various improvements and modifications can be made without departing from the spirit of the present invention. It can be easily guessed. For example, in the above-described embodiment, the case where the two driving devices 3 and the driving wheels 4 are disposed in the approximate center of the vehicle body 2 in a side view has been described. It can arrange | position in this position. A plurality of drive devices 3 and drive wheels 4 can be provided. Furthermore, it is not always necessary to provide the drive wheel 4, and at least one of the travel devices 10 a and 10 b can be driven by the drive device 3. Further, at least one of the traveling devices 10 a and 10 b may be turned in conjunction with the driving device 3.

  In the above-described embodiment, the case where the equalizing mechanism 20 is provided between the vehicle body 2 and the traveling devices 10a and 10b has been described. However, the present invention is not necessarily limited to this, and the traveling device 10a, It is naturally possible to attach 10b directly to the vehicle body 2. In this case, the central shaft 34 of the tuning mechanism 30 is also directly attached to the vehicle body 2.

  In the above embodiment, the case where the two traveling devices 10a and 10b, the equalizing mechanism 20, and the tuning mechanism 30 are provided near the four corners below the vehicle body 2 has been described, but the present invention is not necessarily limited thereto. Of course, it is possible to provide the two traveling devices 10a and 10b, the equalizing mechanism 20 and the tuning mechanism 30 other than the vicinity of the four corners of the vehicle body 2, and the two traveling devices 10a and 10b, the equalizing mechanism 20 and the tuning mechanism 30 are provided on the vehicle body 2. Of course, it is possible to provide three or less or five or more.

  In the above embodiment, the case where two traveling devices 10a and 10b are attached to the equalizing mechanism 20 has been described. However, the present invention is not necessarily limited to this. It is also possible to attach three or more traveling devices 10a, 10b. In this case, the traveling devices may not be arranged on a straight line, but may be arranged at the apex of an equilateral triangle, for example. In addition, when it arrange | positions so that it may be located in the vertex of an equilateral triangle, in order to rock | fluctuate traveling apparatus 10a, 10b in various directions, it is also possible to make the rocking | swiveling part 23 into a spherical bearing.

  In the above embodiment, the tuning mechanisms 30, 40, and 50 have been described as the gear mechanism constituted by the first gears 31, 41, 51, the second gears 32 and 42, and the center gear 33, but the present invention is not necessarily limited to this. Alternatively, a plurality of gears may be provided between the first gears 31, 41, 51 and the second gears 32, 42 as long as the traveling device 10 a and the traveling device 10 b are configured to pivot in the same direction. Is possible. It is also possible to use a chain or belt without using a gear, or to use a link mechanism.

  In the second embodiment, the case where the first protrusion 44 is fixed to the turning shaft 43a and the first notch 46 is formed in the first gear 41 has been described. However, the present invention is not necessarily limited thereto. Of course, a notch part is formed in the turning shaft 43 a and the projecting part is fixed to the first gear 41. Further, if the first gear 41 and the traveling device 10a can be relatively rotated within a predetermined range, it is possible to provide a protrusion or a notch on the upper surface plate 13b of the bracket 13 of the traveling device 10a. It is also possible to provide a projecting portion below the first gear 41 so as to contact the side plate 13a of the bracket when the traveling device turns. The same applies to the second gear 42 and the traveling device 10b.

  In the third embodiment, the case where the elastic member 53 is configured by a coil spring has been described. However, the present invention is not necessarily limited to this, and other elastic members can naturally be employed. Examples of other elastic members include a torsion spring and a mainspring spring.

  Note that any or all of the above-described embodiments can be combined with some or all of the other embodiments. Moreover, it is also possible to abbreviate | omit some structures in said each embodiment.

DESCRIPTION OF SYMBOLS 1 Automatic guided vehicle 2 Car body 10a, 10b Traveling apparatus 11 Wheel 12 Axle 14, 43a, 43b, 52 Turning shaft 22 Support part 23 Swing part 30, 40, 50 Tuning mechanism 31, 41, 51 First gear (connection part part)
32, 42 Second gear (part of connecting part)
33 Center gear (part of connecting part)
44 1st protrusion part (a part of transmission part)
45 Second protrusion (part of transmission)
46 1st notch (part of transmission)
47 Second notch (part of transmission)
53 Elastic member (transmission part)

Claims (3)

A vehicle body on which the load is placed;
A plurality of traveling devices disposed below the vehicle body, rotatably supporting wheels for traveling and turning the vehicle body, and connected to the vehicle body so as to be capable of turning;
An automatic guided vehicle comprising: a tuning mechanism having a coupling portion that couples a plurality of traveling devices that overlap each other in a turning range so as to turn in the same direction. A support portion on which the plurality of traveling devices that rotate in conjunction with each other are supported;
A swinging portion for swingably supporting the support portion with respect to the vehicle body,
2. The automatic guided vehicle according to claim 1, wherein the plurality of traveling devices are supported at positions that are line-symmetric with respect to a predetermined straight line passing through the swinging portion in the bottom view.   The synchronization mechanism is linked to at least one of the plurality of traveling devices that rotate in conjunction with the connecting portion when at least one of the plurality of traveling devices that rotate in conjunction with each other rotates a predetermined amount or more. The automatic guided vehicle according to claim 1, further comprising a transmission unit configured to transmit a force for turning the others of the plurality of traveling devices that turn.

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