JP2019067315A - Unmanned carrier - Google Patents

Abstract

To provide an unmanned carrier capable of running on a road surface including undulations and irregularities in a simple configuration with the number of components restrained and capable of easily making a small turn.SOLUTION: The unmanned carrier includes: at least one pair of right and left wheels; at least one drive unit applying a rotational force to the pair of wheels; a base supporting at least one drive unit; a vehicle body supported on the base; and a connection unit connecting the base and the vehicle body to be oscillatable around a shaft at least along the cross direction. The connection unit is arranged more upward than a center of gravity of the base including the pair of wheels and at least one drive unit.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to an unmanned carrier.

  2. Description of the Related Art Conventionally, an Automated Guided Vehicle (AGV) used for transporting heavy objects in factories and physical distribution warehouses that manufacture industrial products is known.

  For example, in Patent Document 1, two wheels, two motors provided corresponding to the respective wheels and separately driving the respective wheels, a motor support member to which each motor is attached, and a motor support member An unmanned transfer vehicle is disclosed having a first support member pivotally supporting the second support member and a second support member supported by the main body and vertically and movably supporting the first support member.

JP, 2015-111348, A

By the way, even in the agricultural field where farms and facilities and gardening farms etc. (hereinafter, farms etc.) are used as work stages, support by unmanned transport vehicles is desired because there are many opportunities for transporting heavy goods. Because the road surface (floor or ground) is rough and uneven as compared with the case of U.S.A., it is difficult to say that unmanned transport vehicles are widely used due to problems such as poor road travelability. For example, even in advanced farms, there are many travel paths of unmanned transport vehicles that have grass protection sheets on the exposed ground or on it. Furthermore, in a farm or the like, a large number of cultivation benches may be arranged side by side to increase the yield per unit area, so a sufficiently wide passage may not necessarily be secured.
With regard to these points, the automatic guided vehicle disclosed in Patent Document 1 discloses a configuration in which each wheel is supported so as to move up and down while being grounded, but basically travels on a flat floor surface made of concrete or the like. Since it is manufactured on the premise, there is a problem in running ability and turning ability to be used in the above-mentioned farmland etc., and there is a problem that it can not necessarily be said that it is a simple composition which suppressed the number of parts.

  In view of the above problems, at least one embodiment of the present invention aims to provide an unmanned transfer vehicle that can travel on a road surface including unevenness and irregularities with a simple configuration with a reduced number of parts, and that is easy to make a small turn.

(1) An unmanned carrier according to at least one embodiment of the present invention,
At least a pair of left and right wheels,
At least one drive unit for applying a rotational force to the pair of wheels;
A base supporting at least one drive unit;
A vehicle body supported by the base;
And a connecting portion pivotally connecting the base and the vehicle body around an axis extending at least in the front-rear direction,
The connection is disposed above the center of gravity of the base including the pair of wheels and at least one drive.

According to the configuration of the above (1), the base and the vehicle body are swingable around the axis along the longitudinal direction of the vehicle body, whereby the width direction (left and right direction) of the vehicle body on the traveling road surface of the automated guided vehicle. Even if uneven undulations (for example, undulations, irregularities, obstacles, etc.) exist in each of the above according to the shape of the undulation or the like while suppressing the inclination of the vehicle body at least within the movable range of the base with respect to the vehicle body. The wheels can be made to follow. Therefore, it is possible to suppress the idling of the wheels and to improve the contactability of each wheel.
In addition, by arranging the connecting portion, that is, the fulcrum of the structure above the center of gravity of the structure including the base, the pair of wheels, and at least one drive portion, when either the left or the right wheel passes through the unevenness Since a moment acts in a direction in which both wheels are returned horizontally to ground, the restoring force of the base on the vehicle body can be increased to improve the contactability of each wheel. Therefore, the traction of each wheel can be secured to further improve the travelability of the traveling road surface by the automated guided vehicle.
Therefore, it is possible to realize an unmanned conveyance vehicle capable of traveling on a road surface including unevenness and the like, and capable of small rotation, with a simple configuration in which the number of parts is suppressed.

(2) In some embodiments, in the configuration of (1), the unmanned carrier is:
The base may further include a biasing unit for biasing the vehicle main body with respect to the base so that the relative posture of the vehicle main body with respect to the base returns to the neutral state.

  According to the configuration of (2), the base is biased with respect to the vehicle main body such that the relative posture of the vehicle main body with respect to the base returns to the neutral state, whereby either one of the left and right wheels passes the unevenness. When the base pivots (swings) around the axis, the biasing unit biases the base to return to the neutral position, so that the pair of left and right wheels are quickly returned horizontally after passing through the unevenness It can be done. Therefore, since the ground contact property of each wheel can be further improved and traction can be secured, the travelability of the traveling road surface by the automated guided vehicle can be further improved.

(3) In some embodiments, in the configuration of (2) above,
The connecting portion is
A cylindrical bearing shell fixed to one of the vehicle body and the base;
A cylindrical bearing inner shell fixed to any one of the vehicle body and the base and inserted into the bearing outer shell;
The elastic member as the biasing portion may be included between the outer periphery of the bearing inner shell and the inner periphery of the bearing outer shell.

  According to the configuration of (3), when the vehicle body and the base relatively rotate (swing) around the axis along the longitudinal direction through the bearing inner shell and the bearing outer shell, the bearing inner shell and The resilient member provided between the bearing outer shell and the resilient member acts resiliently to exert an urging force to return the vehicle body and the base to each other's neutral position. That is, since the connecting portion and the urging portion can be integrally configured and arranged around the axis along the front-rear direction, the above-described unmanned transfer vehicle can be realized with a simple and compact configuration.

(4) In some embodiments, in the configuration of (2) above,
The biasing portion may include an elastic member having one end connected to the vehicle body and the other end connected to the base.

  According to the configuration of (4), when the vehicle body and the base relatively rotate (swing) around the axis along the front-rear direction, the elastic member exerts a resilient action, and the vehicle body and A biasing force can be applied to return the bases to their neutral positions.

(5) In some embodiments, in the configuration according to any one of (1) to (4) above,
The drive unit may be configured to independently apply a driving force to the pair of left and right wheels.

  According to the configuration of the above (5), since the unmanned transfer vehicle has rotational force applied independently to the pair of left and right wheels, it is possible to rotate both wheels forward and backward in the same direction, and to rotate each wheel A combination of left and right turning motions to make a difference and turn in the same direction, a pivot turn to stop one of the wheels and a turn to the other, and a super pivot turn to turn both wheels in the opposite direction be able to. Therefore, it is possible to realize a small-sized unmanned carrier.

(6) In some embodiments, in the configuration described in any one of the above (1) to (5), the unmanned carrier is:
It further comprises a caster as a driven wheel rotatably supported on the vehicle body,
The at least one pair of wheels may include a drive wheel having a diameter larger than that of the caster.

  According to the configuration of the above (6), by adopting the drive wheel having a diameter larger than that of the caster which is a driven wheel, for example, the runability on the road surface such as irregularities and obstacles is ensured by the drive wheel having a large diameter. A caster (follower wheel) having a diameter smaller than that of the drive wheel can be adopted to secure a space in the vehicle body, and an unmanned carrier with improved design freedom can be realized.

(7) In some embodiments, in the configuration according to any one of (1) to (6) above,
The at least one pair of wheels may be disposed at a front portion in the traveling direction of the vehicle body.

  According to the configuration of the above (7), the unmanned transfer vehicle is configured by a front wheel drive method in which at least a pair of wheels as drive wheels to which rotational force is applied from the drive portion is disposed in the forward portion in the traveling direction of the vehicle body Ru. Therefore, for example, weight reduction, simplification of the configuration and cost reduction can be achieved as compared with the all-wheel drive system, and an unmanned carrier with high road traffic can be obtained compared to the rear wheel drive system. Further, by adopting a front wheel having a diameter larger than that of the rear wheel, for example, as compared with the case where a front wheel having the same diameter as the rear wheel or a diameter smaller than that of the rear wheel is employed, irregularities and obstacles exist in the forward direction. It is possible to obtain an unmanned carrier with further improved travelability of the traveling road surface.

(8) In some embodiments, in the configuration according to any one of (1) to (7) above,
The driving unit includes a motor for driving the wheel.
The rotation shaft of the motor may be provided below the swinging center of the connection portion.

  According to the configuration of the above (8), since the center of gravity of the structure including the base, the drive unit and the wheel can be set at a lower position, the connecting portion between the vehicle body and the base with respect to the center of gravity of the structure The rocking center of the wheel can be disposed at a higher position, and the restoring force of the base to the vehicle body can be further increased to improve the contactability of each wheel. Therefore, the traction of each wheel can be secured to further improve the travelability of the traveling road surface by the automated guided vehicle.

(9) In some embodiments, in the configuration according to any one of the above (1) to (8), the AGV may include an AGV.

  According to the configuration of the above (9), it is possible to obtain an unmanned transport vehicle for agriculture capable of traveling in the farmland or the inside of a house of a facility horticultural farm. Therefore, the unmanned transport vehicle can be used for agriculture, which can achieve both the burden on the operator and the improvement of production efficiency.

  According to some embodiments of the present invention, it is possible to provide an unmanned transfer vehicle which can travel on a road surface including undulations and the like with a simple configuration with a reduced number of parts, and which is easy to make small turns.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic perspective view which shows the external appearance of the automatic guided vehicle which concerns on one Embodiment. It is the schematic which shows the connection state of the vehicle main body and base in one Embodiment, (a) is a case where a traveling road surface is flat, (b) shows the state which one wheel ran on the unevenness of a traveling road surface. It is the schematic which shows the connection part in one Embodiment. It is a schematic perspective view which shows the structure of the connection part in one Embodiment, (a) is a neutral state, (b) shows a biasing state. It is the schematic which shows the biasing part in other embodiment, (a) shows the structure which used the coiled spring as a biasing part, (b) used the torsion spring as a biasing part. It is a schematic plan view which shows the automatic guided vehicle in one Embodiment. FIG. 1 is a view showing a schematic configuration of an unmanned transfer system in which an unmanned transfer vehicle according to an embodiment may be used.

Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described as the embodiments or shown in the drawings are not intended to limit the scope of the present invention to this, but are merely illustrative. Absent.
For example, a representation representing a relative or absolute arrangement such as “in a direction”, “along a direction”, “parallel”, “orthogonal”, “center”, “concentric” or “coaxial” is strictly Not only does it represent such an arrangement, but also represents a state of relative displacement with an angle or distance that allows the same function to be obtained.
For example, expressions that indicate that things such as "identical", "equal" and "homogeneous" are equal states not only represent strictly equal states, but also have tolerances or differences with which the same function can be obtained. It also represents the existing state.
For example, expressions representing shapes such as quadrilateral shapes and cylindrical shapes not only represent shapes such as rectangular shapes and cylindrical shapes in a geometrically strict sense, but also uneven portions and chamfers within the range where the same effect can be obtained. The shape including a part etc. shall also be expressed.
On the other hand, the expressions "comprising", "having", "having", "including" or "having" one component are not exclusive expressions excluding the presence of other components.

  FIG. 1 is a perspective view showing an example of the appearance of an unmanned transfer vehicle according to an embodiment. FIG. 2 is a schematic view showing the connection between the vehicle body and the base in one embodiment, where (a) is a flat road surface and (b) is a state in which one wheel rides on the uneven surface of the road surface. Indicates

The unmanned transfer vehicle 10 disclosed in the present specification can be used, for example, on a flat maintenance surface such as concrete, asphalt or wood, or on an irregular road surface including unevenness and irregularities.
As shown in FIG. 1 and FIG. 2, the unmanned transfer vehicle 10 according to at least one embodiment of the present invention comprises at least a pair of left and right wheels 20 and at least one drive unit 24 for applying a rotational force to the pair of wheels 20. , The base 16 supporting at least one drive unit 24, the vehicle body 12 supported by the base 16, and the base 16 and the vehicle body 12 at least about an axis (oscillation center 32) along the longitudinal direction And a connecting portion 18 that connects freely. And the connection part 18 is arrange | positioned above the gravity center G of the base 16 containing a pair of wheel 20,20 and the at least 1 drive part 24 (refer FIG. 2).

The wheel 20 may adopt the diameter, width, presence or absence of a tread, a tread pattern, or the like according to the road surface condition of the traveling road surface 4 on which the automated guided vehicle 10 travels.
The drive part 24 should just be what can provide a rotational force to the said wheel 20, As this drive part 24, various power sources, such as an electric motor or an internal combustion engine, can be employ | adopted, for example.
In some embodiments, the base 16 may be configured to directly support the wheel 20 and the drive 24 respectively. Alternatively, the base 16 may be configured to support the drive unit 24 connected to the hub of the wheel 20 or the rotation shaft.
The vehicle body 12 may be a box-shaped (rectangular) casing, and the wheel 20 is disposed at the lower part via the base 16. In some embodiments, in addition to the wheels 20 located at the lower part through the base 16, the wheels may be rotatably mounted directly on the vehicle body 12 (see FIG. 1). For example, the fuel or the battery of the drive unit 24 may be accommodated inside the vehicle body 12. At an upper portion of the vehicle body 12, for example, a mounting table 14 on which the object to be transferred can be mounted may be disposed. The mounting table 14 may have a shape such as a flat plate, a bowl, a tray, a box, or the like that can appropriately convey the object according to the type and the shape of the object.
For example, as shown in FIGS. 2 (a) and 2 (b), the connecting portion 18 is centered on an axis (oscillation center 32) along at least the front-rear direction, with the traveling direction of the automatic guided vehicle 10 forward. The base 16 and the vehicle body 12 are swingably connected.

According to the above configuration, for example, as shown in FIG. 2, the base 16 and the vehicle body 12 can swing freely around the swing center 32 as an axis along the front-rear direction of the vehicle body 12. Even if uneven unevenness or the like (for example, unevenness, unevenness, obstacle, etc.) exists in the width direction (left and right direction) of the vehicle body 12 on the traveling road surface 4 of the transport vehicle 10, at least the movable of the base 16 with respect to the vehicle body 12 Each wheel 20 can be made to follow according to shapes, such as the above-mentioned ups and downs, controlling inclination of the vehicle body 12 within a range. Therefore, it is possible to suppress the idling of the wheels 20 and improve the contactability of the wheels 20.
Further, by arranging the connecting portion 18 serving as the fulcrum of the structure above the center of gravity G of the structure including the base 16, the pair of wheels 20 and the at least one drive portion 24, either left or right When the wheels 20 pass through the unevenness of the traveling road surface 4, a moment acts in a direction to return both the wheels 20, 20 horizontally to contact the ground, so that the restoring force of the base 16 with respect to the vehicle body 12 increases. The groundability of 20 can be improved. Thus, the traction of each of the wheels 20, 20 can be secured, and the travelability of the traveling road surface 4 by the AGV 10 can be further improved.
Therefore, it is possible to realize the unmanned transfer vehicle 10 capable of traveling on the traveling road surface 4 including unevenness and the like and capable of small rotation while having a simple configuration in which the number of parts is suppressed.

FIG. 3 is a schematic view showing a connecting portion in one embodiment. FIG. 4 is a schematic perspective view showing the configuration of the connecting portion in one embodiment, in which (a) shows a neutral state and (b) shows a biased state.
In some embodiments, the AGV 10 biases the biasing portion 30 for biasing the vehicle body 12 relative to the base 16 such that the relative posture of the vehicle body 12 relative to the base 16 returns to the neutral state. You may provide further (for example, refer FIG.3, FIG.4 and FIG. 5).

  The neutral state may be set such that the vehicle body 12 and the base 16 are disposed at a predetermined angle with respect to the swing center 32. For example, the unmanned transfer vehicle 10 may be disposed on a flat traveling road surface 4, and the relative arrangement between the vehicle body 12 and the base 16 in the state where all the wheels 20 are in contact with the ground may be the neutral state. Alternatively, the central axis (axle shaft) B of each wheel 20 may be perpendicular to the virtual vertical center line A of the vehicle body 12 in a neutral state, or the horizontal portion of the vehicle body 12 (for example, A state in which the axle B of each wheel 20 is parallel to the horizontal portion with reference to the lower surface of the vehicle body 12 or the like may be set as the neutral state. The biasing force by the biasing unit 30 may be configured such that a compressive force or a tensile force in opposite directions acts on both sides of the neutral position around the swing center 32.

  As described above, when the biasing portion 30 is provided, the base 16 is biased with respect to the vehicle body 12 so that the relative posture of the vehicle body 12 with respect to the base 16 returns to the neutral state. The biasing portion 30 biases the base 16 to return to the neutral position when either the left or right wheel 20 passes the unevenness and the base 16 pivots (swings) around an axis along the front-rear direction. Do. Therefore, after passing through the unevenness, the pair of left and right wheels 20 can be promptly returned to the horizontal, so that the contactability of each wheel 20 can be further improved and traction can be secured. Can further improve the runnability.

  In some embodiments, the connecting portion 18 is, for example, a cylindrical bearing outer shell 36 fixed to one of the vehicle body 12 and the base 16 as shown in FIGS. 3 and 4; 12 is fixed to any one of the base 12 and the base 16 and is provided between a cylindrical bearing inner shell 34 inserted into the bearing outer shell 36 and the outer periphery of the bearing inner shell 34 and the inner periphery of the bearing outer shell 36 The elastic member 38 as the biasing part 30 may be included.

  Thus, according to the configuration in which the connecting portion 18 includes the bearing outer shell 36, the bearing inner shell 34, and the elastic member 38, the vehicle main body 12 and the base 16 via the bearing inner shell 34 and the bearing outer shell 36 In the case of relative rotation (rocking) around the axis along the axis, the elastic member 38 provided between the bearing inner shell 34 and the bearing outer shell 36 exerts a resilient action, and the vehicle body 12 and the base A biasing force can be applied to return 16 to their neutral position. That is, since the connecting portion 18 and the urging portion 30 can be integrally configured and arranged around the axis along the front-rear direction, the above-described unmanned transfer vehicle 10 can be realized with a simple and compact configuration. .

FIG. 5 is a schematic view showing a biasing portion in another embodiment, in which (a) shows a coil spring as the biasing portion and (b) shows a configuration using a torsion spring as the biasing portion.
As shown in FIGS. 5 (a) and 5 (b), in some embodiments, the biasing portion 30 has a resilient member 38 connected at one end to the vehicle body 12 and at the other end to the base 16. May be included.
For example, when a coil spring is employed as the elastic member 38 as illustrated in FIG. 5A, the elastic member 38 may be provided on either side of the vertical center line A of the vehicle body 12 or at least It may be configured to be provided on either the left or the right.

  As described above, according to the configuration including the elastic member 38 as the biasing portion 30, when the vehicle body 12 and the base 16 relatively rotate (swing) around the axis along the front-rear direction, the elastic member 38 is elastic. In this case, a drag force is exerted, and a biasing force can be exerted to return the vehicle body 12 and the base 16 to their neutral positions.

  In some embodiments, the drive unit 24 may be configured to independently apply a driving force to the pair of left and right wheels 20. In this case, the drive units 24 may be provided in a number corresponding to the number of wheels 20 serving as drive wheels so that power can be individually applied to the wheels 20 (FIGS. 2, 3 and 6). Reference), one drive unit 24 may be configured to be able to individually apply power to the plurality of wheels 20 via various transmission mechanisms.

  As described above, according to the configuration in which the driving force is independently applied to the respective wheels 20, the unmanned transfer vehicle 10 has the same rotational force applied to the pair of left and right wheels 20. It is possible to rotate forward or backward by rotating in the direction, or left and right turning operation to make the wheels 20, 20 have different rotational speeds and rotate in the same direction, turn to stop the one wheel 20 and turn the other. Also, it is possible to freely combine and travel with a super pivot that rotates both wheels 20, 20 in opposite directions. Therefore, the unmanned transfer vehicle 10 capable of small rotation can be realized.

In some embodiments, the drive 24 may include a motor 24A for driving the wheels 20. As the motor 24A, various general-purpose motors such as a direct current (DC) motor, an alternating current (AC) motor, a motor with an encoder, and a geared motor can be applied.
Further, in some embodiments, the motor 24A may be disposed such that the rotation shaft (output shaft) of the motor 24A is provided below the swing center 32 of the connecting portion 18 (see FIG. 3). .

  According to the configuration in which the rotation axis of the motor 24A is positioned below the swing center 32 of the connecting portion 18 as described above, the center of gravity G of the structure including the base 16, the drive portion 24 and the wheel 20 is Since it can be set at a lower position, the connecting portion 18 which is the rocking center of the vehicle body 12 and the base 16 can be arranged relatively higher with respect to the center of gravity G of the structure. The restoring force of 16 can be further increased to improve the ground contact of each wheel 20. Therefore, the traction of each wheel 20 can be secured to further improve the travelability of the traveling road surface 4 by the unmanned transfer vehicle 10.

  According to the above configuration, the center of gravity G of the structure including the base 16, the drive unit 24 and the wheel 20 can be set at a lower position, so that the vehicle body 12 and the base 16 can be positioned relative to the center of gravity G of the structure. Thus, the connecting portion 18 which is the rocking center of the vehicle can be disposed further upward, and the restoring force of the base 16 with respect to the vehicle main body 12 can be increased to improve the ground contactability of each wheel 20. Therefore, the traction of each wheel 20 can be secured to further improve the travelability of the traveling road surface 4 by the unmanned transfer vehicle 10.

In some embodiments, the AGV 10 may further include a caster 26 as a driven wheel rotatably supported by the vehicle body 12. And at least one pair of wheels 20 may include a drive wheel having a diameter larger than that of the caster 26 (see FIGS. 1 and 6).
In some embodiments, one caster 26 may be attached to the left and right of the vehicle body 12 as a pair of left and right driven wheels. The caster 26 is attached to the lower part of the vehicle body 12 in an optional horizontally diversionable state, and supports the vehicle body 12 together with the wheels 20.
The ratio of the diameter D1 of the wheel 20 as the driving wheel to the diameter D2 of the caster 26 as the driven wheel is arbitrary in consideration of the roughness of the traveling road surface 4 and the size of irregularities etc. that may be included in the traveling road surface 4 It may be set (D1> D2).

  As described above, according to the configuration in which the driving wheel having a diameter larger than that of the caster 26, which is a driven wheel, is employed, for example, the driving wheel having large diameter such as irregularities and obstacles can be made large. Thus, the unmanned transfer vehicle 10 can be realized in which a space within the vehicle body 12 is secured by adopting a driven wheel (caster 26) having a diameter smaller than that of the drive wheel while securing the .

In some embodiments, at least a pair of wheels 20 may be disposed in the forward portion of the vehicle body 12 (see FIGS. 1 and 6). That is, the unmanned transfer vehicle 10 may be configured to travel with the side on which the wheels 20 are attached to the vehicle body 12 as the front.
In addition, by rotating the wheel 20 in the forward direction or in the reverse direction, it is not limited to configure the unmanned transfer vehicle 10 to be able to move forward and backward, but when moving backward, the wheel 20 is the vehicle body in the moving direction. It may be located at the rear of the twelve.

  In this manner, the unmanned transfer vehicle 10 is configured by a front wheel drive method in which at least a pair of wheels 20 as drive wheels to which a rotational force is applied from the drive unit 24 is disposed in the forward portion in the traveling direction of the vehicle body 12 Ru. Therefore, for example, weight reduction, simplification of the configuration and cost reduction can be achieved as compared with the all-wheel drive system, and the unmanned transfer vehicle 10 can be obtained which has higher rough road travelability than the rear wheel drive system. . In addition, when the diameter of the front wheel is larger than that of the rear wheel, for example, as compared with the case where the same diameter as the rear wheel or a smaller diameter front wheel is employed, the traveling road surface has unevenness and obstacles ahead The unmanned transfer vehicle 10 with the travelability of 4 further improved can be obtained.

FIG. 7 is a diagram illustrating a schematic configuration of an unmanned transfer system in which an unmanned transfer vehicle according to an embodiment can be used.
As shown in FIG. 7, in some embodiments, the automated guided vehicle 10 may include an agricultural automated guided vehicle. That is, the unmanned transfer vehicle 10 in some embodiments can be used for the unmanned transfer system 1 using, for example, a farm or a facility horticultural farm (hereinafter referred to as a farm or the like) as a work stage. It can be configured as an autonomous traveling type transport vehicle that can move in the house or the like. For example, the unmanned transport vehicle 10 travels along a guiding line 8 installed on the traveling road surface 4 by moving the traveling road surface 4 on which a large number of cultivation benches 6 are arranged side by side at a predetermined interval, It may be constituted so that a conveyance subject (to-be-conveyed thing) can be conveyed between 5 and the cultivation bench 6.

  According to the above configuration, it is possible to obtain an unmanned automatic transfer vehicle 10 for agriculture that can travel in the farmland or the inside of a house of a facility horticultural farm or the like. Therefore, the unmanned transfer vehicle 10 can be used for agriculture, which can achieve both the burden on the operator and the improvement of production efficiency. Also, for example, by setting the size of the vehicle body 12 according to the width of the passage, etc., the conveyance work involved in picking and harvesting performed in a relatively narrow passage is appropriately assisted to significantly reduce the burden on the operator. can do.

  According to the configuration described above, it is possible to provide an unmanned transfer vehicle which can travel on a road surface including undulations and the like with a simple configuration in which the number of parts is suppressed, and which is easy to make a small turn.

  The present invention is not limited to the above-described embodiments, and includes the embodiments in which the above-described embodiments are modified, and the embodiments in which these embodiments are combined.

DESCRIPTION OF SYMBOLS 1 unmanned conveyance system 4 traveling road surface 5 collection place 6 cultivation bench 8 guidance line 10 unmanned conveyance vehicle 12 vehicle main body 14 mounting base 16 base 18 connection part 20 wheel (front wheel / driving wheel)
24 drive unit 24A motor 26 caster (rear wheel / follower wheel)
30 Biasing part 32 Rotating shaft (Swinging center)
34 bearing inner shell 36 bearing outer shell 38 elastic member A vertical center line B wheel central axis (axle)
D1 Wheel diameter D2 Caster diameter G Center of gravity

Claims (9)

At least a pair of left and right wheels,
At least one drive unit for applying a rotational force to the pair of wheels;
A base supporting at least one drive unit;
A vehicle body supported by the base;
And a connecting portion pivotally connecting the base and the vehicle body around an axis extending at least in the front-rear direction,
The unmanned transfer vehicle according to claim 1, wherein the connecting portion is disposed above a center of gravity of the base including the pair of wheels and at least one drive portion. The unmanned vehicle according to claim 1, further comprising a biasing unit for biasing the vehicle main body against the base so that the relative posture of the vehicle main body with respect to the base returns to the neutral state. Carrier. The connecting portion is
A cylindrical bearing shell fixed to one of the vehicle body and the base;
A cylindrical bearing inner shell fixed to any one of the vehicle body and the base and inserted into the bearing outer shell;
The unmanned transfer vehicle according to claim 2, further comprising an elastic member as the biasing portion provided between an outer periphery of the bearing inner shell and an inner periphery of the bearing outer shell. The unmanned transfer vehicle according to claim 2, wherein the biasing unit includes an elastic member having one end connected to the vehicle body and the other end connected to the base. The said drive part is comprised so that a driving force may each be independently provided to the said left-right paired wheel, The unmanned carrier vehicle as described in any one of the Claims 1 thru | or 4 characterized by the above-mentioned. It further comprises a caster as a driven wheel rotatably supported on the vehicle body,
The unmanned transfer vehicle according to any one of claims 1 to 5, wherein the at least one pair of wheels includes drive wheels having a diameter larger than that of the caster. The unmanned transfer vehicle according to any one of claims 1 to 6, wherein the at least one pair of wheels is disposed at a front portion in the traveling direction of the vehicle body. The driving unit includes a motor for driving the wheel.
The unmanned transfer vehicle according to any one of claims 1 to 7, wherein a rotation shaft of the motor is provided below a swing center of the connection portion. The unmanned transfer vehicle according to any one of claims 1 to 8, wherein the unmanned transfer vehicle is an agricultural unmanned transfer vehicle.

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