JP2021123157A - Travel device and conveyance system - Google Patents

Abstract

To provide a travel device and a conveyance system capable of preventing wheels from slipping in towing a truck.SOLUTION: According to the present invention, a travel device is inserted into a lower part of a truck provided with traveling wheels, and is connected to the truck to travel while towing the truck. The travel device includes drive wheels provided on a bottom surface of the travel device, a pressure application part provided on a top surface of the travel device to apply pressure to the bottom surface of the truck upward, and a connection part in which a first component is fixed to the travel device, a second component is provided liftably with respect to the travel device, and the second component is movable from the upper side to the lower side to be connected to the truck.SELECTED DRAWING: Figure 12

Description

The present invention relates to a self-propelled traveling device and a transport system capable of towing a carriage.

Conventionally, there is known a self-sustaining traveling robot (conveying system) that includes a traveling device having a drive unit and drive wheels and a trolley connected to the traveling device, and the traveling device travels independently while pulling the trolley (for example). See Patent Document 1). In the transport system, the traveling device is accommodated so as to be submerged under the carriage and connected to the carriage, and the traveling device moves while towing the carriage.

Japanese Unexamined Patent Publication No. 2018-24415

However, in the conventional transport system, there arises a problem that the wheels of the traveling device slip when the trolley is towed, especially when the trolley is heavy.

An object of the present invention is to provide a traveling device and a transport system capable of preventing wheel slippage when towing a carriage.

The traveling device according to one aspect of the present invention is a traveling device that is inserted into the lower part of a carriage provided with traveling wheels, is connected to the carriage, and travels while towing the carriage, and is provided on the bottom surface of the traveling device. Drive wheels, a pressurizing unit provided on the upper surface of the traveling device and pressurizing the bottom surface of the bogie upward, a first component is fixed to the traveling device, and a second component is attached to the traveling device. It is provided so as to be able to move up and down, and includes a connecting portion in which the second component moves from above to below and is connected to the carriage.

The transport system according to another aspect of the present invention is a transport system including a carriage provided with traveling wheels and a traveling device inserted in the lower part of the carriage, connected to the carriage, and traveling while towing the carriage. The traveling device has a drive wheel provided on the bottom surface of the traveling device and a protruding portion provided on the upper surface of the traveling device and projecting upward, and a pressurizing portion that pressurizes upward from the bottom surface of the carriage. The first component is fixed to the traveling device, the second component is provided so as to be able to move up and down with respect to the traveling device, and the second component moves from above to below and connects to the carriage. The trolley is provided on the bottom surface of the trolley, has a receiving portion for receiving the protruding portion, and is subjected to pressure from the pressurized portion. 2 It is provided with a connected portion connected to the constituent members.

According to the present invention, it is possible to provide a traveling device and a transport system capable of preventing wheel slippage when towing a carriage.

FIG. 1 is a perspective view showing an overall configuration of a transport system according to an embodiment of the present invention. FIG. 2 is a side view showing the overall configuration of the transport system according to the embodiment of the present invention. FIG. 3 is a perspective view showing the overall configuration of the traveling device according to the embodiment of the present invention. FIG. 4 is a perspective view showing the overall configuration of the traveling device according to the embodiment of the present invention. FIG. 5 is a perspective view showing the overall configuration of the traveling device according to the embodiment of the present invention. FIG. 6A is a perspective view showing a configuration of a connecting portion of a traveling device according to an embodiment of the present invention. FIG. 6B is a cross-sectional view showing the configuration of a connecting portion of the traveling device according to the embodiment of the present invention. FIG. 7A is a perspective view showing a configuration of a connecting portion of a traveling device according to an embodiment of the present invention. FIG. 7B is a cross-sectional view showing a configuration of a connecting portion of the traveling device according to the embodiment of the present invention. FIG. 8A is a perspective view showing a configuration of a connecting portion of the traveling device according to the embodiment of the present invention. FIG. 8B is a cross-sectional view showing a configuration of a connecting portion of the traveling device according to the embodiment of the present invention. FIG. 9A is a perspective view showing a configuration of a connecting portion of a traveling device according to an embodiment of the present invention. FIG. 9B is a cross-sectional view showing the configuration of a connecting portion of the traveling device according to the embodiment of the present invention. FIG. 10A is a diagram showing a connection state of the traveling device and the carriage according to the embodiment of the present invention. FIG. 10B is a diagram showing a connection state of the traveling device and the carriage according to the embodiment of the present invention. FIG. 11 is a side view showing the overall configuration of the transport system according to the embodiment of the present invention. FIG. 12 is a side view showing the overall configuration of the transport system according to the embodiment of the present invention. FIG. 13A is a perspective view showing a configuration of a traveling device according to an embodiment of the present invention. FIG. 13B is a perspective view showing a configuration of a traveling device according to an embodiment of the present invention. FIG. 14A is a side view for explaining a method of pressurizing a traveling device and a carriage according to an embodiment of the present invention. FIG. 14B is a side view for explaining a method of pressurizing the traveling device and the carriage according to the embodiment of the present invention. FIG. 15A is a side view for explaining a method of pressurizing a traveling device and a carriage according to an embodiment of the present invention. FIG. 15B is a side view for explaining a method of pressurizing the traveling device and the carriage according to the embodiment of the present invention. FIG. 16A is a side view for explaining a method of pressurizing a traveling device and a carriage according to an embodiment of the present invention. FIG. 16B is a side view for explaining a method of pressurizing the traveling device and the carriage according to the embodiment of the present invention. FIG. 17 is a perspective view showing another configuration of the traveling device according to the embodiment of the present invention. FIG. 18A is a side view for explaining a method of pressurizing a traveling device and a carriage according to an embodiment of the present invention. FIG. 18B is a side view for explaining a method of pressurizing the traveling device and the carriage according to the embodiment of the present invention. FIG. 19A is a side view for explaining a method of pressurizing a traveling device and a carriage according to an embodiment of the present invention. FIG. 19B is a side view for explaining a method of pressurizing the traveling device and the carriage according to the embodiment of the present invention. FIG. 20A is a side view for explaining a method of pressurizing a traveling device and a carriage according to an embodiment of the present invention. FIG. 20B is a side view for explaining a method of pressurizing a traveling device and a carriage according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiment is an example embodying the present invention and does not have a character that limits the technical scope of the present invention.

[Transport system 10]
FIG. 1 is a perspective view showing the overall configuration of the transport system 10 according to the embodiment of the present invention. FIG. 2 is a side view showing the overall configuration of the transport system 10.

The transport system 10 includes a traveling device 100, a carriage 200, a control unit (not shown) that controls the drive of the traveling device 100, a storage unit that stores various control programs and data (not shown), and the like. The transport system 10 is, for example, an automated guided vehicle that can travel unmanned. The traveling device 100 sneaks under the carriage 200 provided with traveling wheels 201 and is connected to the carriage 200. Specifically, the traveling device 100 and the carriage 200 are connected to each other by connecting the two connecting portions 110 provided on the upper surface of the traveling device 100 and capable of raising and lowering to the lower frame 210 in front of the carriage 200. NS. The lower frame 210 is an example of the connected portion of the present invention. The specific configuration of the connecting portion of the traveling device 100 and the carriage 200 will be described later.

When the trolley 200 is connected to the traveling device 100, the traveling device 100 can move to a target place while towing the trolley 200 by driving the drive wheels 101. The transport system 10 may have a function of managing the location, quantity, weight, etc. of the load to be transported, and managing the operation. The function may be provided by a management device (not shown) that manages the transport system 10 or an operation terminal (not shown) that can remotely control the transport system 10.

Further, the transport system 10 may include an operation display unit (not shown) that can be operated by an operator. The operation display unit is composed of, for example, a touch panel including an operation unit for operating the transport system 10 and a display unit for displaying various setting screens and the like. The operation display unit receives various operations from the operator. For example, the operation display unit sets an operation for starting automatic running, an operation for manually running the transport system 10 by designating a running speed and a running direction (traveling direction), an operation for instructing battery charging, and a running route. Accepts operations (reservation, editing, etc.). Further, the operation display unit displays various screens such as an operation screen for accepting the operation, a traveling display screen showing the traveling status of the transport system 10, and a setting screen for setting a traveling route and the like.

[Traveling device 100]
FIG. 3 is a perspective view showing a specific configuration of the traveling device 100. The traveling device 100 includes a drive wheel 101 provided on the bottom surface of the device body, a driven wheel (shown) rotatably provided on the bottom surface of the device body, and a distance measuring device (shown) for detecting obstacles around the transport system 10. It is equipped with a battery (not shown) that supplies power to the main body of the device (not shown).

Here, the storage unit is a non-volatile storage unit including a semiconductor memory for storing various types of information, an HDD (Hard Disk Drive), an SSD (Solid State Drive), and the like. For example, the storage unit stores a control program such as a program for causing the control unit to execute a traveling process.

Further, picking information is stored in the storage unit. The picking information is information indicating that each of the packages to be transported is placed at which position on which storage shelf, and which of those packages should be transported to where. Further, the storage unit stores luggage information regarding the luggage. The baggage information is information indicating the quantity of each baggage stored in the storage shelf, the weight of each baggage, the volume, and the like.

Further, the storage unit stores information necessary for traveling of the transport system 10. For example, the storage unit stores route information representing a travel route on which the transport system 10 travels. The traveling route corresponds to, for example, a route on which a magnetic tape is attached to the floor on which the transport system 10 travels, or a route set (reserved) by an operator.

The control program is non-temporarily recorded on a computer-readable recording medium such as USB, CD or DVD, and is read by a reading device (not shown) such as a USB drive, CD drive or DVD drive included in the transport system 10. It is read and stored in the storage unit. Further, the control program may be downloaded from an external device via a communication network and stored in the storage unit.

Further, the control unit includes control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as a temporary storage memory (working area) for various processes executed by the CPU. Then, the control unit controls the transfer system 10 by executing various control programs stored in advance in the ROM or the storage unit on the CPU.

Specifically, the control unit acquires operation information corresponding to the operation performed by the operator on the operation display unit. Further, the control unit switches the traveling mode of the transport system 10 based on the operation information. Specifically, when the operator performs an operation to start automatic traveling on the operation display unit, the control unit sets the traveling mode of the transport system 10 to the automatic traveling mode. Further, when the operator performs an operation to end the automatic running or an operation to start the manual running on the operation display unit, the control unit sets the running mode of the transport system 10 to the manual running mode.

Further, the control unit controls the traveling operation of the transport system 10 based on the traveling mode. For example, when the traveling mode is set to the automatic traveling mode, the control unit travels the transport system 10 according to a traveling route corresponding to the route information stored in the storage unit. Specifically, the control unit transmits a travel instruction according to the travel route to the travel device 100.

When the traveling mode is set to the manual traveling mode, the control unit travels the transport system 10 based on an operator's operation on the operation display unit or the operation terminal (not shown). For example, the control unit transmits a travel instruction to the operation terminal according to the operator's operation to the travel device 100.

Further, the control unit notifies the operation display unit and the like of information indicating the current status such as the traveling status of the transport system 10. For example, the control unit displays information representing the current travel plan and travel position (current travel position) of the transport system 10 on the operation display unit.

Further, the control unit controls the traveling direction of the transport system 10 based on the distance information measured by the distance measuring device. For example, when an obstacle is detected in the traveling direction of the transport system 10 by the distance measuring device, the control unit changes the traveling direction of the transport system 10 so as to avoid the obstacle.

The distance measuring device irradiates the exploration light in the horizontal direction over a predetermined angle, and measures the presence or absence of an obstacle (object) and the distance to the obstacle by detecting the reflected light. The exploration light is, for example, a laser light. Two distance measuring devices are installed, for example, at the end of the transport system 10 on the traveling direction side (front) and at the end opposite to the traveling direction (rear). Further, each of the distance measuring devices is arranged at the center position in the width direction when the traveling device 100 is viewed from the front. The number of the distance measuring devices is not limited, and at least one may be installed. For example, the distance measuring device is installed in front of and behind the traveling device 100, and irradiates a range of 270 degrees with exploration light to detect obstacles in the irradiation range. This makes it possible to detect obstacles existing in a predetermined range around the transport system 10.

Further, the traveling device 100 has at least one of a corner portion and a side surface portion of the traveling device 100 provided with a guide roller (not shown) capable of contacting the carriage 200 when the traveling device 100 is inserted into the lower portion of the carriage 200. You may prepare.

Further, the traveling device 100 includes a connecting portion 110 that is housed inside the device and can project upward from the upper surface. The connecting portion 110 is provided so as to be able to move up and down between the inside of the traveling device 100 and the outside of the device. Further, the connecting portions 110 are provided on the left and right sides with respect to the traveling direction of the traveling device 100. The connection unit 110 is an example of the connection unit of the present invention.

FIG. 3 shows the state of the lowest position (accommodation position) in which the connecting portion 110 is housed inside the device of the traveling device 100, and FIG. 4 shows the connecting part 110 protruding from the inside of the device of the traveling device 100 to the outside. The state of the intermediate position (intermediate position) is shown, and FIG. 5 shows the state of the connecting portion 110 protruding from the inside of the traveling device 100 to the outside and stopped at the upper end (uppermost position). The connection portion 110 is connected to the carriage 200 at the uppermost position, and the connection state with the carriage 200 is released. The connection unit 110 performs an ascending / descending operation of moving between the accommodation position (see FIG. 3) and the top position (see FIG. 5) based on, for example, an operator's operation. The top position is an example of the first position of the present invention.

The traveling device 100 can be inserted into the carriage 200 from both directions. That is, in FIG. 2, the trolley 200 may be moved from the left side of the traveling device 100 to accommodate the traveling device 100 in the lower part of the trolley 200, or the trolley 200 may be moved from the right side of the traveling device 100 to accommodate the lower portion of the trolley 200. The traveling device 100 may be accommodated in the vehicle. When the traveling device 100 is inserted into the lower part of the carriage 200, the connecting portion 110 moves upward and engages with the lower frame 210 of the carriage 200, so that the traveling device 100 and the carriage 200 are connected to each other.

[Bogie 200]
The trolley 200 is a shelf (wagon vehicle) on which luggage and the like are placed, and is provided with traveling wheels 201 rotatably attached to the bottom surfaces of the four corners of the trolley 200. The dolly 200 is self-supporting by four traveling wheels 201, and is configured to be manually movable by an operator.

As shown in FIG. 1, the trolley 200 is composed of an opening for loading and unloading luggage and the like, a storage portion for placing the luggage and the like, and a frame surrounding the storage portion. The frames are provided on the front side and the left and right sides with respect to the traveling direction A of the traveling device 100. The lower frame 210, which is a part of the frame, functions as a connected portion with which the connecting portion 110 of the traveling device 100 is engaged. The connected portion of the present invention is not limited to the lower frame 210, and may be another component that constitutes the carriage 200.

The traveling wheel 201 may be composed of all swivel wheels (swivel casters), or the two traveling wheels 201 are composed of swivel casters and the two traveling wheels 201 are non-swivel wheels (fixed casters). ) May be configured.

For example, the operator moves the trolley 200 while pushing it by hand, and accommodates the traveling device 100 stopped on the floor in the lower part of the trolley 200. Then, the connecting portion 110 provided on the upper surface of the traveling device 100 moves upward from the traveling device 100 and engages with the lower frame 210 of the carriage 200 to connect the traveling device 100 and the carriage 200. After that, by driving the traveling device 100, the carriage 200 is towed by the traveling device 100 and moves to a target place.

[Connection method]
A specific configuration of a connecting portion between the traveling device 100 and the carriage 200 will be described. FIG. 6A is a perspective view showing the configuration of the connecting portion 110, and FIG. 6B is a cross-sectional view of the connecting portion 110. Note that FIGS. 6A and 6B show the configuration of the accommodation state (accommodation position) as seen from the direction B of FIG.

The connecting portion 110 includes a cover 110a, an engaging portion 110b housed in the cover 110a, a support column 110c connected and fixed to the engaging portion 110b, a support portion 110d for supporting the support column 110c, and a driving unit. The cover 110a is formed so as to cover the upper part of the engaging portion 110b. The engaging portion 110b has an opening 110t (slit) below, and has a configuration in which the lower frame 210 can be slid downward from above to receive the lower frame 210 in the opening 110t. The cover 110a, the engaging portion 110b, and the support column 110c are examples of the second constituent member of the present invention. Components such as the housing and outer frame of the connecting portion 110 (an example of the first component of the present invention) are fixed to the housing of the traveling device 100 with screws or the like. That is, in the traveling device 100, the first component is fixed to the traveling device 100, the second component is provided so as to be able to move up and down with respect to the traveling device 100, and the second component moves from above to below. It is provided with a connection portion 110 connected to the carriage 200.

7A and 7B show the configuration of the intermediate position seen from the B direction of FIG. For example, when the operator performs a predetermined operation when connecting the trolley 200 to the traveling device 100, the drive unit is driven in response to a command from the control unit, so that the cover 110a and the engaging portion of the connection unit 110 are driven. The 110b and the support column 110c move so as to project upward from the inside of the traveling device 100 (see FIGS. 7A and 7B). The engaging portion 110b moves to the information while being covered with the cover 110a.

8A and 8B show the configuration of the uppermost position as seen from the direction B of FIG. The cover 110a, the engaging portion 110b, and the support column 110c of the connecting portion 110 move to the uppermost position and stop in response to a command from the control portion.

After that, for example, the operator grips the carriage 200 and moves the lower frame 210 (see FIG. 1) until the lower frame 210 (see FIG. 1) approaches the support column 110c of the connecting portion 110. After that, when the operator performs a predetermined operation (connection operation), the support column 110c and the engaging portion 110b move downward in response to the command of the control unit, and the engaging portion 110b moves to the lower frame 210 of the carriage 200. Stop at the engaging position (see FIGS. 9A and 9B). The engaging position is an example of the second position of the present invention.

More specifically, as shown in FIGS. 9A and 9B, with the cover 110a stopped at the uppermost position, the support column 110c and the engaging portion 110b move while projecting downward from the cover 110a. Further, the engaging portion 110b moves downward while receiving the lower frame 210 of the carriage 200 in the opening 110t.

10A and 10B show how the engaging portion 110b and the lower frame 210 are engaged. As shown in FIG. 10A, when the operator performs a predetermined operation (connection operation) in a state where the carriage 200 and the connecting portion 110 are close to each other (see FIG. 10A), the engaging portion 110b is lowered as shown in FIG. 10B. The lower frame 210 of the carriage 200 is received by the opening 110t. For example, after the connecting portion 110 of the traveling device 100 is in the uppermost position, the operator pushes the carriage 200 and moves the lower frame 210 until it comes into contact with the support column 110c (see FIG. 10A). After that, the operator performs the connection operation to engage the engaging portion 110b with the lower frame 210 (see FIG. 10B).

In this way, the engaging portion 110b allows the lower frame 210 (connected portion) of the carriage 200 to be received by the opening 110t while moving from above to below in a state where the carriage 200 is inserted in the lower portion of the traveling device 100. .. Further, after the engaging portion 110b and the cover 110a move upward from the upper surface of the traveling device 100 and stop at the uppermost position (an example of the first position of the present invention), the cover 110a is engaged in the state of being stopped at the uppermost position. The joint portion 110b moves from the uppermost position to a lower engagement position (an example of the second position of the present invention), and the lower frame 210 is received by the opening 110t at the engagement position.

As a result, the engaging portion 110b is in a state of being engaged with the carriage 200, and the traveling device 100 and the carriage 200 are connected to each other. When the engaging portion 110b is stopped at the engaging position, the upward movement of the engaging portion 110b is restricted. As a result, the traveling device 100 and the carriage 200 can be securely connected and fixed.

When disconnecting the traveling device 100 and the carriage 200, the operator performs a predetermined operation (disengagement operation). When the operator performs the release operation, the support column 110c and the engaging portion 110b move upward and are housed in the cover 110a at the uppermost position, and the connecting portion 110 stops at the uppermost position (FIGS. 8A and 8B). reference). After that, when the operator moves the carriage 200 to a position away from the traveling device 100 and further performs the release operation, the cover 110a, the engaging portion 110b, and the support column 110c of the connecting portion 110 move downward. It is housed inside the traveling device 100 (see FIGS. 3, 6A and 6B).

Here, the traveling device 100 further includes a pressurizing unit 120 that pressurizes the bottom surface of the carriage 200 from below to above. 13A and 13B show specific examples of the pressurizing unit 120. Note that FIGS. 13A and 13B show a pressurized portion 220 that comes into contact with the pressurized portion 120 and is pressurized. The pressurized portion 220 is provided on the bottom surface of the carriage 200. In FIGS. 13A and 13B, the dolly 200 is not shown for convenience. The pressurizing section 120 is an example of the pressurizing section of the present invention.

The pressurizing portion 120 of the traveling device 100 includes a plate 120x (see FIG. 14 and the like) and a protruding portion 120p (convex portion) provided on the upper surface of the plate 120x. Further, the pressurized portion 220 of the carriage 200 includes a plate 220x (see FIG. 14 and the like) and a receiving portion 220p (recessed portion) provided on the lower surface of the plate 220x. The pressurized portion 220 is an example of the pressurized portion of the present invention. The receiving portion 220p is an example of the receiving portion of the present invention.

The pressurizing unit 120 pressurizes the bottom surface of the bogie 200 in a state where the traveling device 100 and the bogie 200 are connected to each other by the connecting unit 110. The specific pressurization method will be described later.

As shown in FIGS. 13A and 13B, the protruding portion 120p may be formed in a pyramidal shape, a conical shape, a columnar shape, a prismatic shape, or the like, or may be formed in another shape. The receiving portion 220p is formed in a shape that can accept the protruding portion 120p. The protruding portion 120p is an example of the protruding portion of the present invention.

[Pressure method]
A specific configuration of the pressurized portion of the traveling device 100 and the carriage 200 will be described. FIG. 14A shows a non-contact state (non-pressurized state) between the pressurized portion 120 of the traveling device 100 and the pressurized portion 220 of the carriage 200, and FIG. 14B shows the pressurized portion 120 of the traveling device 100 and the pressurized portion 120. The contact state (pressurized state) with the pressurized portion 220 of the dolly 200 is shown. Here, the pressurizing unit 120 includes a pressurizing cylinder 120g that is housed inside the device of the traveling device 100 and fixed inside the device. The pressure cylinder 120g moves the piston 120y back and forth in response to a command from the control unit to raise and lower the plate 120x attached to the upper part of the piston 120y. The plate 120x is arranged on the upper surface of the traveling device 100 in the non-contact state, and moves upward from the upper surface of the traveling device 100 in the contact state.

For example, when the operator performs a predetermined operation (pressurization operation) in a state where the traveling device 100 and the carriage 200 are connected to each other by the connection method (see FIG. 11), the pressurizing cylinder responds to a command from the control unit. When the 120g is driven, the plate 120x moves upward, the protruding portion 120p is received by the receiving portion 220p of the plate 220x of the pressurized portion 220, and the plate 120x and the plate 220x come into surface contact with each other. Here, an elastic member (spring 220s) is provided between the plate 220x and the bottom surface of the carriage 200. The pressurizing cylinder 120g pushes the plate 120x upward until a predetermined pressure is reached (see FIG. 12). This creates a pressure between the plate 120x and the plate 220x. Further, a force (reaction force) corresponding to the pressure acts on the traveling device 100 downward (toward the floor surface), and the traction between the drive wheels 101 of the traveling device 100 and the floor surface increases. This makes it possible to prevent the drive wheels 101 of the traveling device 100 from slipping when the carriage 200 is towed.

Further, in the transport system 10, as shown in FIG. 12, since the connecting portion 110 is connected so as to press the carriage 200 from the upper side to the lower side, the pressurizing portion 120 exerts a force to push the carriage 200 upward to the bottom surface of the carriage 200. When added, the trolley 200 can be prevented from rising upward, and the traction of the drive wheels 101 of the traveling device 100 can be further increased.

When the connection state of the traveling device 100 and the carriage 200 is released, the operator performs a predetermined operation (pressurization release operation), so that the pressure cylinder 120g is driven and the plate 120x moves downward, and the plate The 120x and the plate 220x are in a non-contact state (see FIG. 14A). After that, the traveling device 100 and the carriage 200 are separated by performing an operation of releasing the connection state of the connecting portion 110 (see FIG. 10A).

As another embodiment, as shown in FIGS. 15A and 15B, the carriage 200 may not be provided with the spring 220s, and the traveling device 100 may be provided with the spring 120s. For example, the spring 120s is provided between the piston 120y and the plate 120x.

As another embodiment, as shown in FIGS. 16A and 16B, neither the carriage 200 nor the traveling device 100 may be provided with the spring 220s and the spring 120s.

As another embodiment, as shown in FIGS. 17, 18A and 18B, the projecting portion 120p of the plate 120x and the receiving portion 220p of the plate 220x have an uneven shape, a saw shape, or the like arranged on the upper surface of the plate 120x. It may be formed. Further, the upper surface of the plate 120x may be roughened.

Note that FIGS. 18A and 18B show a configuration in which the bogie 200 is provided with the spring 220s. Further, FIGS. 19A and 19B show a configuration in which the traveling device 100 is provided with the spring 120s. Further, FIGS. 20A and 20B show a configuration in which neither the traveling device 100 nor the carriage 200 is provided with the springs 120s and 220s.

As another embodiment, the pressurizing unit 120 may be installed on the carriage 200, and the pressurized unit 220 may be installed on the traveling device 100. Further, as another embodiment, the pressurizing unit 120 may be installed on each of the traveling device 100 and the carriage 200.

In another embodiment, the control unit may change the pressure generated between the plate 120x and the plate 220x according to the slip state of the drive wheel 101. For example, the control unit controls the driving force of the pressure cylinder 120g so that the higher the slip occurrence rate or the slip rotation speed of the driving wheel 101, the larger the pressure.

Here, the connecting portions 110 are provided at both ends in the direction orthogonal to the traveling direction A of the traveling device 100 (see FIG. 1), and the pressurizing portion 120 is orthogonal to the traveling direction A of the traveling device 100. It is provided in the center of the direction (see FIG. 13). Further, the pressurizing portion 120 may be provided only on the front side in the traveling direction A, or may be provided on both the front side and the rear side. Further, it is preferable that the connecting portion 110 and the pressurizing portion 120 are provided at close positions. As a result, it is possible to prevent the carriage 200 from being pushed upward by the pressurization of the pressurizing portion 120, and the reaction force of the pressurization can be reliably transmitted toward the floor surface by the connecting portion 110.

Further, the connecting method and the pressurizing method of the traveling device 100 and the carriage 200 are not limited to the above-mentioned methods. In another embodiment, the traveling device 100 autonomously moves according to an instruction from the control unit, enters the lower part of the trolley 200, the connecting portion 110 is connected to the trolley 200, and the pressurizing unit 120. May pressurize the trolley 200.

When it is not necessary to consider the slip of the drive wheel 101, the transfer system 10 may not include the pressurized portion 120 and the pressurized portion 220.

In the traveling device and the transport system according to the present invention, within the scope of the invention described in each claim, each of the above-described embodiments can be freely combined, or each embodiment may be appropriately modified or partially omitted. It is also possible to configure by doing.

10: Conveying system 100: Traveling device 101: Drive wheel 110: Connection part 110a: Cover 110b: Engagement part 110c: Strut 110d: Support part 110t: Opening 120: Pressurizing part 120g: Pressurizing cylinder 120p: Protruding part 120s : Spring 120x: Plate 120y: Piston 200: Bogie 201: Traveling wheel 210: Lower frame 220: Pressurized part 220p: Receiving part 220s: Spring 220x: Plate

Claims (9)

A traveling device that is inserted into the lower part of a carriage provided with traveling wheels, connected to the carriage, and travels while towing the carriage.
The drive wheels provided on the bottom surface of the traveling device and
A pressurizing unit provided on the upper surface of the traveling device and pressurizing the bottom surface of the bogie upward.
The first component is fixed to the traveling device, the second component is provided so as to be able to move up and down with respect to the traveling device, and the second component moves from above to below and is connected to the carriage. Connection part and
A traveling device equipped with. The pressurizing unit pressurizes the bottom surface of the bogie in a state where the traveling device and the bogie are connected to each other by the connecting portion.
The traveling device according to claim 1. The pressurizing portion includes a pressurizing cylinder fixed inside the traveling device, a plate provided at the upper end of the pressurizing cylinder, and a protruding portion provided on the upper surface of the plate.
The traveling device according to claim 1 or 2. The protrusion is formed in a pyramidal shape, a conical shape, a columnar shape, a prismatic shape, an uneven shape, or a saw shape.
The traveling device according to claim 3. The second component includes an engaging portion having an opening that opens downward.
The engaging portion receives the connected portion of the trolley in the opening while moving from the upper side to the lower side in a state where the trolley is inserted in the lower part of the traveling device.
The traveling device according to any one of claims 1 to 4. The second component further includes a cover that covers above the engaging portion.
After the engaging portion and the cover move upward from the upper surface of the traveling device and stop at a predetermined first position, the engaging portion moves to the first position while the cover is stopped at the first position. The connected portion is received by the opening at the second position.
The traveling device according to claim 5. The connecting portions are provided at both ends in a direction orthogonal to the traveling direction of the traveling device, and the pressurizing portion is provided at a central portion in a direction orthogonal to the traveling direction of the traveling device. ,
The traveling device according to any one of claims 1 to 6. The connecting portion and the pressurizing portion are provided at close positions.
The traveling device according to claim 7. A transport system including a carriage provided with traveling wheels and a traveling device inserted in the lower part of the carriage, connected to the carriage, and traveling while towing the carriage.
The traveling device is
The drive wheels provided on the bottom surface of the traveling device and
A pressurizing portion provided on the upper surface of the traveling device, having a projecting portion projecting upward, and pressurizing upward from the bottom surface of the carriage.
The first component is fixed to the traveling device, the second component is provided so as to be able to move up and down with respect to the traveling device, and the second component moves from above to below and is connected to the carriage. Connection part and
With
The dolly
A pressurized portion provided on the bottom surface of the trolley, having a receiving portion for receiving the protruding portion, and applying pressure from the pressurized portion.
The connected portion connected to the second component and
Conveyance system with.

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