JP2023184442A - Transport dolly - Google Patents

Abstract

To obtain a self-propelled transport dolly which enables transport of a heavy object.SOLUTION: A transport dolly 100 is a self-propelled transport dolly and includes: a dolly housing 110 including a placement part 103 for placing packages Pa; and four drive bodies 10, 10, 20, 20. Each drive body 10 includes a drive roller 11 and at least one or more free rollers 12 and 13. Each drive body 20 includes a drive roller 21 and at least one or more free rollers 22 and 23. The drive roller 11 and the two free rollers 12 and 13 share a first roller shaft (a rotary shaft) 1. The drive roller 21 and the two free rollers 22 and 23 share a second roller shaft (a rotary shaft) 2.SELECTED DRAWING: Figure 1

Description

The present invention relates to a transport vehicle, and particularly to a self-propelled transport vehicle for transporting heavy objects.

Traditionally, self-propelled transport vehicles have been used to transport cargo at semiconductor factories and other facilities.
Currently, transport vehicles can basically only transport items of small weight; in particular, when transporting heavy items, such as approximately 2 tons or more, a forklift or crane is required, making the transport work complicated and requiring less work space. It was said that it would also be taken away.

An object of the present invention is to obtain a self-propelled transport vehicle capable of transporting heavy objects.

The present invention provides the following items.

(Item 1)
A self-propelled transport vehicle,
A trolley housing including a loading section on which luggage is placed;
four drives with drive rollers and at least one free roller;
Equipped with
The drive roller and the at least one free roller are arranged side by side so as to share a rotation axis.

(Item 2)
The transport vehicle according to item 1, wherein the four driving bodies are arranged at symmetrical positions with respect to the center of the vehicle housing.

(Item 3)
The transport vehicle according to item 1 or 2, wherein drive sources for the four driving bodies are arranged approximately in the center of the vehicle housing.

(Item 4)
The transport vehicle according to item 1, wherein each of the four driving bodies has the drive roller disposed closer to the outer edge of the vehicle housing than the free roller.

(Item 5)
The conveyance truck according to item 1, wherein a plurality of free rollers are further arranged between adjacent driving bodies among the four driving bodies.

(Item 6)
the at least one free roller comprises two free rollers;
Of the drive roller and the two free rollers that are disposed side by side and sharing the rotation axis, a free roller is disposed at least in a central portion, and the free roller disposed in the central portion has a crown shape. 2. The transport vehicle according to item 1, wherein the transport vehicle is configured to have a smaller outer diameter than the drive roller and the free roller located on either side of the drive roller and the free roller.

(Item 7)
the at least one free roller comprises two free rollers;
Of the drive roller and the two free rollers that are disposed side by side and sharing the rotation axis, a free roller is disposed at least in a central portion, and the free roller disposed in the central portion has a crown shape. 2. The transport vehicle according to item 1, wherein the transport vehicle is configured to have a smaller ground contact area than the drive roller and the free roller located on both sides of the drive roller and the free roller.

(Item 8)
The transport vehicle according to item 1, wherein the drive roller and the free roller have different hardnesses.

(Item 9)
The trolley housing includes a first chassis that accommodates two of the four drive bodies, and a second chassis that accommodates the other two drive bodies,
The carrier according to item 1, wherein the first chassis and the second chassis are attached to the carrier casing so as to be swingable around an axis parallel to the traveling direction of the carrier. .

(Item 10)
The trolley housing includes a first chassis that accommodates two of the four drive bodies, and a second chassis that accommodates the other two drive bodies,
According to item 1 or 9, the first chassis and the second chassis are attached to the trolley housing so as to be able to swing around an axis in the left-right direction with respect to the traveling direction of the transport trolley. transportation trolley.

(Item 11)
The carrier according to item 1, wherein the outer edge of the carrier casing is approximately circular, and further includes a laser pointer that indicates the traveling direction of the carrier.

(Item 12)
The conveyance truck according to item 1, wherein the mounting section is configured to be rotatable with respect to the truck housing.

According to the present invention, it is possible to obtain a self-propelled transport vehicle capable of transporting heavy objects.

FIG. 1 is a perspective view for explaining a transport vehicle 100 according to Embodiment 1 of the present invention, showing its external appearance and internal structure. FIG. 2 is a plan view of the transport vehicle 100 shown in FIG. 1 viewed from direction A, showing the internal structure by looking through the transport vehicle 110, and showing an enlarged view of the first drive unit 101 included in the transport vehicle 100. It shows. FIG. 3 is a side view showing the structure of the transport vehicle 100 shown in FIG. 2 as seen from direction B and direction C, with the transport vehicle 100 seen through. FIG. 4 is a side view showing two driving bodies 10d and 10e as a modification of the first driving body 10 shown in FIG. FIG. 5 is a perspective view showing the function of the traveling direction indicator 111a mounted on the transport vehicle 100 shown in FIG. FIG. 6 is a diagram showing the operation of the transport vehicle 100 shown in FIG. It shows how it oscillates. FIG. 7 is a plan view showing the transport vehicle 200 according to Embodiment 2 of the present invention, in which the internal structure is shown through the transport vehicle casing 110, and the first drive unit 201 included in the transport vehicle 200 is enlarged. It shows. FIG. 8 is a diagram showing the operation of the transport vehicle 200 shown in FIG. 7, in which the first drive unit 201 and the second drive unit 202 are connected to an axis parallel to the left-right direction (direction perpendicular to the paper surface of FIG. 8) with respect to the traveling direction. It shows how it oscillates around the FIG. 9 is a plan view showing the transport vehicle 300 according to Embodiment 3 of the present invention, in which the internal structure is shown through the transport vehicle casing 110, and the first drive unit 301 included in the transport vehicle 300 is enlarged. Showing. FIG. 10 is a plan view showing a transport vehicle 400 according to Embodiment 4 of the present invention, in which the internal structure is shown by looking through the vehicle housing 110, and the first drive unit 401 is shown in an enlarged manner. FIG. 11 is a plan view showing a transport truck 500 including a configuration other than the embodiment described above, and shows the internal structure by looking through the truck housing 110. FIG. 12 is a diagram in which a lifting mechanism 105 is provided on a mounting portion 103 of a transport vehicle. FIG. 13 is a diagram illustrating an example of a transportation method when the loading section 103 of the transportation vehicle is equipped with the lifting mechanism 105.

The present invention will be explained below. It should be understood that the terms used herein have the meanings commonly used in the art, unless otherwise specified. Accordingly, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In case of conflict, the present specification (including definitions) will control.

As used herein, "about" refers to a range of ±10% of the following number.

As used herein, "self-propelled" means that the object itself has a device for running.

An object of the present invention is to obtain a self-propelled transport vehicle capable of transporting heavy objects.
A self-propelled transport vehicle,
A trolley housing including a loading section on which luggage is placed;
four drives with drive rollers and at least one free roller;
Equipped with
The above-mentioned problem is solved by providing a transport carriage in which the drive roller and at least one free roller are disposed side by side so as to share a rotation axis.

In other words, in the present invention, since the transport vehicle is equipped with four driving bodies, the load applied to one driving body can be reduced to 1/4 of the load applied to the transport vehicle. Since one or more free rollers that share a rotating shaft are provided, the load applied to the driving body of the conveyance truck is distributed between the driving roller and the free roller, and the load applied to each driving roller is reduced. As a result, it becomes possible to place heavy objects on the carrier. Further, by increasing the number of free rollers in accordance with an increase in the weight of the load to be transported by the transport vehicle, it becomes possible to transport large weight loads.

Accordingly, the carrier of the present invention includes four driving bodies, each of the four driving bodies having a driving roller and at least one free roller, and the driving roller and the at least one free roller share a rotation axis. It is not particularly limited as long as it is suitable.

(Arrangement of four driving bodies)
However, it is preferable that the four driving bodies are arranged at symmetrical positions with respect to the center of the trolley housing. In this case, it is possible to equalize the load applied to each of the four driving bodies, avoid biasing the load on any one of the driving bodies, and as a result, increase the maximum weight of cargo that can be carried by the carrier.

Further, the four driving bodies are not limited to being arranged at points symmetrical positions with respect to the center of the trolley housing, for example, the four driving bodies are arranged along the traveling direction of the trolley housing. Alternatively, the four driving bodies may be arranged symmetrically with respect to the center line along the left-right direction of the traveling direction of the cart housing. .

With such a line-symmetrical arrangement of the four driving bodies, it is possible to equalize the load between the pair of driving bodies located on both sides of the center line.

Further, the positions of the drive sources of the four drive bodies disposed inside the bogie housing are not necessarily limited, but for example, the drive sources of the four drive bodies are arranged approximately at the center of the bogie housing. In this case, from the viewpoint of effective use of space within the bogie housing, the four driving bodies should be arranged on both sides of the drive source located approximately in the center of the bogie housing, that is, on the peripheral edge side of the bogie housing. becomes. In this case, the separation distance between the driving bodies arranged on the left and right sides of the cart housing becomes wider, allowing stable running of the transport cart.

On the other hand, when four drivers are arranged in the center of the truck housing, the drivers are placed on both sides of the driver located approximately in the center of the truck housing, that is, on the periphery of the truck housing. A number of driving sources will be installed. In this case, the drive body is usually attached to a substantially rectangular chassis member, so if the drive body is placed in the center of a disc-shaped trolley housing, the outer periphery of the disc-shaped trolley housing will have an arc-shaped curved surface. Since an arc-shaped space is created between the side wall of the bogie housing and the side of the rectangular chassis, this space can be used to place the motor that is the drive source of the drive body. This makes it possible to reduce the occupied area.

(When there is a driven body between adjacent driving bodies in the direction of travel)
A plurality of free rollers are further arranged between the rollers of the driving bodies adjacent in the traveling direction among the four driving bodies, and these free rollers support the load applied to the bogie casing together with the driven body. It may be configured to have a function. By doing so, it becomes possible to further reduce the load applied to each drive body.

(Example of configuration of roller arrangement within the drive body)
Further, the driving body may include a driving roller and at least one free roller, and the plurality of rollers (driving roller and free roller) that constitute the driving body may share a rotation axis. , one drive roller and one free roller, or one drive roller and two or more free rollers.

In this way, in the drive body, the drive roller and one of the two free rollers, which are provided side by side and share a rotation axis, may be arranged in the center of the drive body.

In this case, the free roller placed in the center has a convex crown shape, or has a smaller outer diameter than the drive roller and free roller located on both sides, or , it is preferable that the ground contact area is smaller than that of the drive roller and free roller located on both sides thereof.

With such a drive body, the drive roller can be reliably grounded to the work floor surface, and slipping of the drive roller can be suppressed.

In addition, in a drive body including a drive roller and two free rollers, the drive roller may be located in the middle, but in that case, in order to reduce slip between the drive roller and the work floor surface, it is necessary to The diameter or footprint of the roller is preferably larger than the free roller.

Furthermore, it is preferred that the drive roller and the free roller have different hardnesses. In this case, by adjusting the hardness of both, it is possible to adjust the effect of reducing the slip of the drive roller on the work surface, or the effect of the free roller reducing the load on the drive roller. Because it will be. For example, a roller made of urethane is used as the roller. If the hardness of the drive roller is made too hard, the roller wears down too quickly, and if the hardness of the roller is made too low, slips will increase.

(Configuration of the chassis that constitutes the driving body)
The truck casing has one or more chassis that rotatably supports the rollers included in the four drive bodies, and the number of chassis in the truck casing is not limited.

For example, it is preferable that the truck housing includes a first chassis that accommodates two of the four drive bodies, and a second chassis that accommodates the remaining two drive bodies.

In this case, by attaching a drive source for driving the drive bodies housed in each chassis, each chassis can be used as a first drive unit and a second drive unit for self-propelling the transport vehicle. can.

Furthermore, the first chassis and the second chassis may be attached to the carriage housing so as to be swingable around an axis parallel to the traveling direction of the carriage. Note that here, the traveling direction of the carrier is a direction parallel to a plane perpendicular to the height direction of the carrier and orthogonal to the axle. In this case, even if the slope of the work surface is different on both sides of the central axis along the traveling direction of the transport vehicle (that is, on both the left and right sides of the traveling transport vehicle), any of the rollers of the drive body, including the drive roller, It is possible to avoid or suppress lifting from the work floor surface.

Further, the first chassis and the second chassis may be attached to the trolley housing so as to be able to swing around an axis parallel to the left-right direction (direction of the axle) with respect to the traveling direction of the transport trolley. . In this case, even if the inclination of the work floor changes along the direction in which the transport vehicle moves, any of the rollers of the drive body, including the drive roller, will be prevented or suppressed from lifting off the work floor. Is possible.

(Indicator showing forward direction)
Further, although it is possible for the transport vehicle to move forward, backward, left, or right, it is preferable that the transport vehicle indicates the transport direction intended by the operator using the remote control of the transport vehicle. In particular, when the outer diameter of the cart casing is approximately disk-shaped, it is preferable that the cart is further provided with a direction indicator (for example, a laser pointer) that indicates the forward direction of the transport cart. In this case, by operating the laser pointer, a laser light emitting surface is formed on the forward side of the transport vehicle, so that the operator or the like can easily recognize the direction in which the transport vehicle is moving forward.

(Placement part)
Further, the cart casing has a placing section on which the cargo is placed, and it is preferable that this placing section is configured to be rotatable on the cart casing. By making this rotatable, it is possible to change the traveling direction of the transport vehicle without changing the orientation of the loading section where the cargo is placed, and when transporting one cargo with multiple transport vehicles This can be done easily.

As described above, the conveyance truck of the present invention includes four driving bodies, each of the four driving bodies has a driving roller and at least one free roller, and the driving roller and at least one free roller constituting each of the four driving bodies There is no particular limitation as long as the two free rollers share a rotation axis.

In Embodiments 1 to 4 below, differences in the configurations of the drive units (combinations of the chassis, drive body, driven body, and motor) will be specifically explained, and a transport vehicle 500 having a different configuration will be explained.

(1) The transport vehicle 100 of the first embodiment (FIGS. 1 to 6) includes a first drive unit 101 and a second drive unit 102, and each drive unit has one chassis 131, a first drive body 10, The second driving body 20 and the driven body 30 are accommodated, and one motor 151 is attached. Here, each of the drive units 101 and 102 is attached to the trolley housing 110 so that it can swing in the left and right directions with respect to the traveling direction of the transport trolley 100, and the motor 151 is located at the center of the trolley housing 110. installed.

(2) The transport vehicle 200 of the second embodiment (FIGS. 7 and 8) includes a first drive unit 201 and a second drive unit 202, and each drive unit includes a first drive body 10a, a first drive body 10a, The second drive body 20a, the first driven body 30a, and the second driven body 40a are accommodated, and a first motor 251 and a second motor 252 are attached. Here, each of the drive units 201 and 202 is attached to the truck housing 110 so as to be swingable in the front and rear directions with respect to the traveling direction of the transportation truck 200.

(3) The transport vehicle 300 of Embodiment 3 (FIG. 9) includes four drive units 301 to 304, first to fourth, and each drive unit has one chassis 331, a first drive body 10b, a first drive unit It has a configuration in which a first driven body 20b, a second driven body 30b, and a third driven body 40b are accommodated, and one motor 351 is mounted. Each of the drive units 301 to 304 is attached to the truck housing 110 so as to be swingable in the front-rear direction and in the left-right direction with respect to the traveling direction of the transport truck 300.

(4) The transport vehicle 400 of the fourth embodiment (FIG. 10) includes two drive units 401 and 402, a first drive unit 401 and a second drive unit 402. It has a configuration in which two driving bodies 20c and a driven body 30c are accommodated, and a motor 451 is attached. Each of the drive units 401 and 402 is attached to the trolley housing 110 so as to be swingable in the left and right directions with respect to the traveling direction of the transport trolley 400, and so that its motor 451 is located on the peripheral wall side of the trolley housing 110. ing.

(5) The transport vehicle 500 (FIG. 11) having another configuration includes two drive units 501 and 502, a first and a second drive unit, and these drive units are It has the same configuration as the drive units 301 and 304 of No. 4. Each of the drive units 501 and 502 is attached to the truck housing 110 so as to be swingable in the front and rear directions with respect to the traveling direction of the transportation truck 500.

Embodiments of the present invention will be described below with reference to the drawings.

(Embodiment 1)
FIG. 1 is a perspective view for explaining a transport vehicle 100 according to Embodiment 1 of the present invention, FIG. 1(a) shows its appearance, and FIG. The internal structure of the truck 100 is shown through the truck housing 110.

The transport vehicle 100 of the first embodiment is a self-propelled transport vehicle whose travel is controlled by remote control using a remote control 100a, and includes a trolley housing 110 including a loading section 103 on which the luggage Pa is placed, and a trolley housing The apparatus includes a first drive unit 101 and a second drive unit 102 that move the drive unit 110 . The remote control may be wireless or wired, and in the case of a wireless remote control, communication may be by light (for example, infrared rays) or radio waves, or the transport vehicle may be autonomously controlled.

Here, the first drive unit 101 includes two drive bodies 10, 20 and one driven body 30, a substantially rectangular chassis 131 that supports them, and a motor 151 that is a drive source for these drive bodies. have. Similarly to the first drive unit 101, the second drive unit 102 also includes drive bodies 10, 20, one driven body 30, a substantially rectangular chassis 131, and a motor 151. Unlike the drive unit 101, the arrangement of the components (drivers 10, 20, driven body 30, chassis 131, and motor 151) is symmetrical with respect to the central axis along the traveling direction. They differ in some respects.

Note that a battery (not shown) is mounted on the cart housing 110 as a power source for driving the transport cart 100, and the motors of the first drive unit 101 and the second drive unit 102 are also activated based on an operation signal from the remote controller 100a. A control unit (not shown) for controlling 151 is installed.

This will be explained in detail below.

2 is a plan view of the transport vehicle 100 shown in FIG. 1 viewed from direction A, FIG. 2(a) shows the entire internal structure as seen through the vehicle housing 110, and FIG. 2(b) , shows an enlarged view of the first drive unit 101 included in the transport vehicle 100. 3 is a side view showing the transport vehicle 100 shown in FIG. 2, FIG. 3(a) shows the structure of the transport vehicle 100 shown in FIG. 2 shows the structure of the transport vehicle 100 shown in FIG. 2 when viewed from direction C.

For example, in the first drive unit 101, the first drive body 10 and the second drive body 20 are installed side by side along the traveling direction inside the chassis 131, and the first drive body 10 and the second drive body A driven body 30 is attached between the driven body 20 and the driven body 20 . Further, a motor 151 is attached to one side piece of the chassis 131 along the traveling direction so as to be located outside the chassis 131. Here, the traveling direction of the carrier is a direction parallel to a plane perpendicular to the height direction of the carrier and orthogonal to the axle.

The first driving body 10 has a first roller 11, a second roller 12, and a third roller 13, which are arranged in this order from the side opposite to the motor 151, and mounted on a chassis 131 with a bearing (not shown). The first roller shaft 1 is rotatably attached to the first roller shaft 1 via the first roller shaft 1. Here, the first roller 11 is a drive roller (indicated by dots) that generates a driving force, and is fixed to the first roller shaft 1 so that the rotational force of the first roller shaft 1 is transmitted. Further, the second roller 12 and the third roller 13 are free rollers that rotate freely relative to the first roller shaft 1 without generating a driving force, and are rotatably mounted on the first roller shaft 1. There is.

Like the first driver 10, the second driver 20 also includes a first roller 21, a second roller 22, and a third roller 23, which are arranged in this order from the side opposite to the motor 151 side. , is supported by the second roller shaft 2 which is rotatably attached to the chassis 131 via a bearing (not shown). Here, the first roller 21 is a drive roller (indicated by dots), and is fixed to the second roller shaft 2 so that the rotational force of the second roller shaft 2 is transmitted. Further, the second roller 22 and the third roller 23 are free rollers, and are rotatably mounted on the second roller shaft 2.

Similarly to the driving body described above, the driven body 30 also has three rollers, that is, a first roller 31, a second roller 32, and a third roller 33, in this order from the side opposite to the motor 151 side. It is located. Here, the first rollers 31 to 33 are free rollers, and are rotatably mounted on the third roller shaft 3.

Here, the four driving bodies, that is, the first driving body 10 and the second driving body 20 of the first driving unit 101, and the first driving body 10 and the second driving body 20 of the second driving unit 102, are mounted in a bogie housing. It is arranged at a point symmetrical position with respect to the center of the body 110. With such a line-symmetrical arrangement of the four driving bodies, it is possible to equalize the load between the pair of driving bodies located on both sides of the center line.

Note that the four driving bodies are not limited to being arranged at points symmetrical positions with respect to the center of the trolley housing 110; for example, the four driving bodies are arranged at points symmetrical with respect to the center line of the trolley housing 110. Alternatively, the four driving bodies may be arranged symmetrically in the front and rear with respect to the center line along the left-right direction of the traveling direction of the truck housing.

Even with such a line-symmetrical arrangement of the four driving bodies, it is possible to equalize the load between a pair of driving bodies located on both sides of the center line.

Further, a driven body 30 including a free roller is arranged between the rollers of the driving bodies 10 and 20 adjacent to each other in the traveling direction of the four driving bodies. In such a configuration, the free rollers of the driven body 30 support the load applied to the truck casing together with the rollers of the driving body, making it possible to further reduce the load applied to the driving body.

Further, motors 151 and 152, which are drive sources for the four drive bodies described above, are arranged approximately at the center of the truck housing 110. In this case, from the viewpoint of effective use of space within the bogie housing, the four driving bodies are arranged on both sides of the drive source located approximately at the center of the bogie housing, that is, on the periphery side of the bogie housing. It happens. In this case, the separation distance between the driving bodies arranged on the left and right sides of the cart housing becomes wider, allowing stable running of the transport cart. The motor serving as the drive source may be provided in each drive body, or may be integrated.

Further, here, a roller made of urethane is used as the roller, but the constituent material of the roller is not limited to urethane, and may be hard rubber or metal such as iron or stainless steel.

Here, in the driving bodies 10 and 20, three rollers with the same outer diameter and shape are used, but the first roller is the driving roller, and the second and third rollers are free rollers. may differ in at least one of the outer diameter and shape.

(Modified example of first driving body 10)
FIG. 4 is a side view showing driving bodies 10d and 10e, which are modified examples of the first driving body 10 shown in FIG. The free roller has a smaller outer diameter than the rollers on both sides, and FIG. 4(b) shows that the middle free roller included in the first driving body 10e has a convex crown shape. , the contact surface is narrower than the rollers on both sides.

For example, in this carrier 100, a driver 10d shown in FIG. 4(a) may be used instead of the first driver 10 and second driver 20 shown in FIGS. 1 and 2.

In this drive body 10d, the outer diameter of the middle roller 21d among the first to third rollers 11d, 12d, and 13d is smaller than the other rollers 11d and 13d. Here, the first roller 11d is a drive roller, and the second roller 12d and third roller 13d are free rollers.

In this way, by making the outer diameter of the middle roller smaller than the outer diameter of the rollers on both sides thereof, the grip force on the ground surface of the driving roller 11d on the one end side is increased, and slipping on the work floor surface FL is suppressed. be able to.

Furthermore, for example, in this transport vehicle 100, a driver 10e shown in FIG. 4(b) may be used instead of the first driver 10 and second driver 20 shown in FIGS. 1 and 2.

In this driving body 10e, the central roller 12e among the first to third three rollers 11e, 12e, and 13e has a crown shape with a convex center, so that its ground contact surface touches the other rollers 11e and 13e. It is small in comparison. Here, the first roller 11e is a driving roller, and the second roller 12e and third roller 13e are free rollers.

In this way, by making the contact surface of the middle roller smaller than the rollers on both sides, the grip force on the contact surface of the drive roller 11e on the one end side is increased, and slipping on the work floor surface FL is suppressed. Can be done.

Further, a gear mechanism 106 is provided in a region on one end side of the chassis 131, that is, in a region between the motor 151 and the above-mentioned driving bodies 10, 20 and driven body 30.

Here, the gear mechanism 106 includes a power gear 160, a first drive gear 161, a second drive gear 162, a first transmission gear 161a, and a second transmission gear 162a. Power gear 160 is directly connected to motor shaft 151a of motor 151, and first drive gear 161 and second drive gear 162 are fixed to first roller shaft 1 and second roller shaft 2, respectively. Then, the rotational force of the power gear 160 is transmitted to the first drive gear 161 via the first transmission gear 161a to rotate the first roller shaft 1, and similarly, the rotational force of the power gear 160 is transmitted to the second transmission gear 162a. A first transmission gear 161a and a second transmission gear 162a are rotatably attached to the chassis 131 so that the transmission is transmitted to the second drive gear 162 via the first transmission gear 161a and the second transmission gear 162a.

As described above, the second drive unit 102 differs from the first drive unit 101 only in that the arrangement of the components is symmetrical with respect to the central axis along the traveling direction of the transport vehicle 100. .

Two rod-shaped frames 121 and 122, a first and second rod-shaped frame along the width direction (direction of the axle), are attached to the front and rear of the cart casing 110 of the transport cart 100, as described above. The first drive unit 101 and the second drive unit 102 are attached to these rod-shaped frames so as to be swingable left and right with respect to the traveling direction.

That is, one end side of the chassis 131 of the first drive unit 101 is rotatably supported by the first rod-shaped frame 121 by the front support pin 141a, and the other end side of the chassis 131 is rotatably supported by the second rod-shaped frame 122 by the rear support pin 142a. Supported. Further, one end side of the chassis 131 of the second drive unit 102 is rotatably supported by the first rod-shaped frame 122 by a rear support pin 141b, and the other end side of the chassis 131 is rotatably supported by the second rod-shaped frame 122 by a rear support pin 142b. Supported.

Further, a top plate frame 123 is attached to the cart housing 110 so as to be located between the first rod-shaped frame 121 and the second rod-shaped frame 122, and the top plate frame 123 has a mount including a turntable 104. A mounting section 103 is attached.

Note that the turntable 104 has a table main body 104a, a thrust bearing 104b, and a radial bearing 104c, as shown in FIGS. The table main body 104a is rotatably supported by the trolley housing 110 by 104c.

FIG. 5 is a perspective view for explaining the function of the traveling direction indicator 111a as a direction indicator mounted on the transport vehicle 100 shown in FIG.

In the transport vehicle 100, the direction indicator 111a is configured to point within a predetermined range (for example, a range of 90° exceeding 0°) using a limiting member that limits the light emitting region of a laser having a 360° light emitting region. By using a laser beam whose light emitting region has a predetermined area, rather than a directional laser pointer, the direction of the transport vehicle can be more clearly understood.

Next, the operation of the transport vehicle 100 will be explained.

FIG. 6 is a side view showing how the first drive unit 101 and the second drive unit 102 swing left and right with respect to the traveling direction as an operation of the transport vehicle 100 shown in FIG. 6(b) shows the case where the working floor surface FL is flat, FIG. 6(b) shows the case where the working floor surface FL has a valley shape along the horizontal direction of the traveling direction, and FIG. 6(c) shows the case where the working floor surface FL is flat. A case is shown in which the surface FL has a mountain shape along the left and right directions of the traveling direction.

First, for example, a lifting device such as a jack is used to create a space under the cargo Pa to put the transport vehicle 100 in, and with the transport vehicle 100 placed below the cargo Pa, the cargo Pa is turned around the transport vehicle 100. Place it on the table 104. As a result, the cargo Pa is placed on the transport vehicle 100. Note that a chain block may be used instead of the jack, or a lifting device such as a crane or a forklift may be used.

Next, the operator moves the transport vehicle 100 by operating the remote control. At this time, a traveling direction indicator 111a indicating the traveling direction is lit so that a third party can also see the moving direction of the transport vehicle 100. This traveling direction indicator 111a limits the light emission direction of the 360° laser to a predetermined range on the traveling direction side, for example, a range of about 120°, and as shown in FIG. A substantially triangular light exit surface L is formed.

When the motors 151 of the first drive unit 101 and the second drive unit 102 of the transport vehicle 100 are turned on in this state, in each drive unit, the first roller 11 of the first drive body 10 and the first roller of the second drive body 20 are turned on. As the rollers 21 rotate, the carrier 100 moves on the work floor FL with the load Pa placed thereon, and the carrier 100 transports the load Pa.

While the transport vehicle 100 is transporting the cargo Pa in this manner, the transport vehicle 100 moves from the flat work floor FL as shown in FIG. 6(a) to as shown in FIG. 6(b). , when the chassis 131 of the first drive unit 101 enters the valley-shaped bent area of the work floor FL, the chassis 131 of the first drive unit 101 is moved against the trolley housing 110 (specifically, the first rod-shaped frame 121 and the second rod-shaped frame 122). It will swing around the axes of the front support pin 141a and the rear support pin 142a (that is, the axis along the direction of movement). Similarly, in the second drive unit 102, the chassis 131 has the shafts of the front support pin 141b and the rear support pin 142b ( In other words, it swings about an axis along the direction of travel.

Therefore, in each drive unit drive body 101 and 102, the three rollers 11 to 13 forming the first drive body 10 and the three rollers 11 to 13 forming the second drive body 20 are connected to the work floor surface FL. The grounded state is maintained. As a result, even if the work floor FL is bent in a trough shape, the load of the cargo Pa can be distributed and received by all the rollers.

Conversely, the transport vehicle 100 enters from the flat work floor FL as shown in FIG. 6(a) into the chevron-shaped bent area of the work floor FL as shown in FIG. 6(c). Even if the chassis 131 of the first drive unit 101 is connected to the shafts of the front support pin 141a and the rear support pin 142a ( In other words, it swings about an axis along the direction of travel. Similarly, in the second drive unit 102, the chassis 131 is connected to the shafts of the front support pin 141b and the rear support pin 142b with respect to the truck housing 110 (specifically, the first rod-shaped frame 121 and the second rod-shaped frame 122). (that is, the axis along the direction of travel).

Therefore, in each drive unit drive body 101 and 102, the three rollers 11 to 13 forming the first drive body 10 and the three rollers 11 to 13 forming the second drive body 20 are connected to the work floor surface FL. The grounded state is maintained. Thereby, even if the work floor surface FL is bent in a mountain shape, the load of the cargo Pa can be distributed and received by all the rollers. Particularly in this case, in each of the drive units 101 and 102, the drive rollers 11 and 21 of the drive bodies 10 and 20 are not separated from the work floor FL, and slipping of the drive rollers can be suppressed.

In the first embodiment, a case is shown in which one luggage Pa is transported by one transport vehicle 100, but a plurality of transport vehicles 100 may be used to transport one luggage Pa.

For example, the transport carts 100 are arranged at the vertices of a substantially triangular shape (for example, a substantially equilateral triangle or a substantially isosceles triangle) that is inscribed in the bottom surface of the cargo Pa (a substantially square, substantially rectangular, substantially circular, or substantially elliptical bottom surface). Then, the luggage Pa may be placed on these three transport vehicles 100, and one luggage Pa may be transported by the three transport vehicles 100.

Furthermore, in the first embodiment, the first drive unit 101 and the second drive unit 102 of the transport vehicle 100 are shown as swinging around an axis along the traveling direction of the transport vehicle 100. The first drive unit 101 and the second drive unit 102 swing around an axis along the left and right direction with respect to the traveling direction of the transport vehicle 100, that is, in the front and back direction with respect to the traveling direction of the transport vehicle 100. A transport vehicle 200 having such a configuration will be described in Embodiment 2 below.

(Embodiment 2)
FIG. 7 is a plan view showing a transport vehicle 200 according to the second embodiment of the present invention, in which FIG. The first drive unit 201 included in the drive unit 200 is shown enlarged.

The transport vehicle 200 of the second embodiment not only differs from the transport vehicle 100 of the first embodiment in the direction in which the first drive unit 201 and the second drive unit 202 swing. The arrangement of the driving bodies 10a, 20a, the driven bodies 30a, 40a, and the motors 251, 252 within the chassis 231 constituting the 2-drive unit 202 is different from that of the carrier 100 of the first embodiment. However, the carriage casing 110, the mounting section 103 having the turntable 104, the traveling direction indicator 111a, and the remote control 100a in the carriage 200 of the second embodiment are the same as those in the carriage 100 of the first embodiment. .

This will be explained in detail below.

In the first drive unit 201, a first drive body 10a and a second drive body 20a are attached to the inside of a substantially rectangular chassis 231 on both sides of the center line along the traveling direction, and these drive bodies A first driven body 30a and a second driven body 40a are attached adjacent to 10a and 20a so as to be located on both sides of a center line (hereinafter referred to as a reference line) along the traveling direction. Here, the first driving body 10a and the first driven body 30a are arranged along one side of the reference line of the cart, and the second driving member 20a and the second driven member 40a are arranged along the reference line of the cart. It is placed along the direction of travel on the other side of the line.

The first driving body 10a has a first roller 11a and a second roller 12a, the first roller 11a is located on the side opposite to the center side of the chassis 231, and the second roller 12a is located on the center side of the chassis 231. It is located in These rollers are supported by a first roller shaft 1a rotatably attached to the chassis 231 via bearings (not shown). Here, the first roller 11a is a drive roller (indicated by dots) that generates a driving force, and is fixed to the first roller shaft 1a so that the rotational force of the first roller shaft 1a is transmitted. Further, the second roller 12a is a free roller that freely rotates with respect to the first roller shaft 1a without generating a driving force, and is rotatably mounted on the first roller shaft 1a. The first motor 2 is located in the center of the chassis 231.
51 is attached, and its motor shaft is connected to the first roller shaft 1a.

The second driving body 20a has a similar configuration to the first driving body 10a, and includes a first roller 21a that is a driving roller, a second roller 22a that is a free roller, and a second roller shaft that supports these rollers. 2a, and a second motor 251 is attached to the center of the chassis 231 to drive the first roller 21a.

The first driven body 30a has a first roller 31a and a second roller 32a, these rollers are free rollers, and are rotatably supported by a third roller shaft 3a attached to the chassis 231. There is.

The second driven body 40a also has the same configuration as the first driven body 30a, and has a first roller 41a and a second roller 42a. These rollers are free rollers and are attached to the chassis 231. The fourth roller shaft 4a is rotatably supported.

In addition, as described above, the second drive unit 202 is different from the first drive unit 201 in that the arrangement of the components is symmetrical with respect to the central axis along the left-right direction (width direction) in the traveling direction of the transport vehicle 200. The only difference is that

A pair of rod-shaped frames (first and second two rod-shaped frames 221 and 222) are attached to the carriage casing 110 of the transport carriage 200 along the traveling direction, and the above-mentioned first drive unit 201 and the second drive unit 202 are attached to these rod-shaped frames so as to be swingable in the front and rear directions of the traveling direction.

That is, one side of the chassis 231 of the first drive unit 201 is rotatably supported by the front end of the first rod-shaped frame 221 by the support pin 241a, and the other end side of the chassis 231 is supported by the support pin 241b in the second rod-like shape. It is rotatably supported by the front end of the frame 222. Further, the other side side part of the chassis 231 of the second drive unit 202 is rotatably supported by the rear end part of the first rod-shaped frame 221 by a support pin 242a, and the one side part of the chassis 231 is rotatably supported by the second side part by a support pin 242b. It is rotatably supported by the rear end of the rod-shaped frame 222.

Further, a top plate frame 223 is attached to the trolley housing 110 so as to be located between the first rod-shaped frame 221 and the second rod-shaped frame 222, and the top plate frame 223 has a mounting plate including the turntable 104. A mounting section 103 is attached.

Next, the operation of the transport vehicle 200 will be explained.

FIG. 8 is a side view showing how the first drive unit 201 and the second drive unit 202 swing back and forth with respect to the traveling direction as an operation of the transport vehicle 200 shown in FIG. ) shows the case where the working floor surface FL is flat, FIG. 8(b) shows the case where the working floor surface FL is bent in a valley shape along the traveling direction, and FIG. 8(c) shows the case where the working floor surface FL is flat. This shows a case where the FL is bent in a mountain shape along the traveling direction.

As described in the second embodiment, after the cargo Pa is placed on the transport vehicle 300, the motors 251 of the first drive unit 201 and the second drive unit 202 of the transport vehicle 200 are turned on while the traveling direction indicator 111a is lit. , 252 are turned on, the first roller 11a of the first drive body 10a and the first roller 21a of the second drive body 20a rotate in each drive unit, so that the carriage 200 carries out work with the cargo Pa loaded thereon. The cargo Pa is transported by the transport vehicle 200 while moving on the floor FL.

While the cargo Pa is being transported by the transport vehicle 200 in this manner, the transport vehicle 200 passes through the flat work floor FL as shown in FIG. 8(a), and then moves as shown in FIG. 8(b). Next, when proceeding to the valley-shaped bent portion of the work floor FL, the chassis 231 of the first drive unit 201 swings back and forth in the traveling direction of the transport vehicle 200. In other words, it swings relative to the cart housing 110 about the axes of the support pins 241a and 241b. At this time, in the second drive unit 202 as well, the chassis 231 similarly swings relative to the truck housing 110 around the axes of the support pins 242a and 242b.

Therefore, in each drive unit driver 201 and 202, the contact state between the driver 10a and the eight rollers forming the driven members 20a, 30a, and 40a and the work floor FL is maintained. As a result, even if the work floor FL is bent in a trough shape, the load of the cargo Pa can be distributed and received by all the rollers.

Conversely, the transport vehicle 200 passes through the flat work floor FL as shown in FIG. When traveling, the chassis 231 of the first drive unit 201 swings relative to the cart housing 110 around the axes of the support pins 141a and 141b. Similarly, in the second drive unit 202, the chassis 231 swings relative to the truck housing 110 around the axes of the support pins 242a and 242b.

Therefore, in each drive unit driver 201 and 202, the contact state between the driver 10a and the eight rollers forming the driven members 20a, 30a, and 40a and the work floor FL is maintained. Thereby, even if the work floor surface FL is bent in a mountain shape, the load of the cargo Pa can be distributed and received by all the rollers. Particularly in this case, in each of the drive units 201 and 202, the drive rollers 11 and 21 of the drive bodies 10a and 20a can be suppressed from lifting off the work floor surface FL, thereby making it difficult for the drive rollers to slip.

In addition, in Embodiment 1, the first drive unit 101 and the second drive unit 102 swing to the left and right in the traveling direction of the transport vehicle 100 as the transport vehicle 100, and further, in the second embodiment, the transport vehicle 100 200, the first drive unit 201 and the second drive unit 202 swing back and forth in the direction of movement of the transport vehicle 200. The carriage 300 may be one that swings both left and right and front and back, and a transport carriage 300 having such a configuration will be described in the following third embodiment.

(Embodiment 3)
FIG. 9 is a plan view showing a transport cart 300 according to Embodiment 3 of the present invention, FIG. 9(a) shows the entire internal structure as seen through the cart housing 110, and FIG. 9(b) shows the The first drive unit 301 included in the transport vehicle 300 is shown enlarged.

The transport vehicle 300 of the third embodiment is different from the transport vehicle 100 of the first embodiment or the embodiment in which the directions in which the first drive unit 301, the second drive unit 302, the third drive unit 303, and the fourth drive unit 304 swing are different from each other. In addition to being different from the transport vehicle 200 of Embodiment 2, the arrangement of the driving bodies 10b and 20b, the driven bodies 30b and 40b, and the motor 351 within the chassis 331 constituting each drive unit is different from that of the transport vehicle 200 of Embodiment 1. 100 and the transport vehicle 200 of the second embodiment. However, the carriage housing 110, the mounting section 103 having the turntable 104, the traveling direction indicator 111a, and the remote control 100a in the carriage 300 of the third embodiment are different from those of the carriage 100 of the first embodiment or the carriage of the second embodiment. It is the same as that in 200.

This will be explained in detail below.

The transport vehicle 300 of the third embodiment includes four drive units 301 to 304 that can swing both left and right in the direction of travel and back and forth.

The first drive unit 301 replaces the second drive body 20a with the first driven body 20b in the first drive unit 201 (FIG. 7(b)) of the second embodiment, and further includes a drive source that drives the second drive body 20a. The motor 252 is removed, and the other configurations are the same as the first drive unit 201 of the second embodiment.

That is, the first drive body 10b in the first drive unit 301 is the same as the first drive body 10a in the first drive unit 201 of the second embodiment, and the corresponding first roller shaft 1b and first roller (drive roller ) 11b, and a second roller (free roller) 12b.

The first driven body 20b in the first drive unit 301 replaces the second drive body 20a in the first drive unit 201 of the second embodiment (FIG. 7), and includes a first roller shaft 2b, a first roller (free roller ) 21b, and a second roller (free roller) 22b.

The second drive body 30b in the first drive unit 301 is the same as the first driven body 30a in the first drive unit 201 of the second embodiment, and the corresponding first roller shaft 3b and first roller (free roller) 31b , and a second roller (free roller) 32b.

The third drive body 40b in the first drive unit 301 is the same as the second driven body 40a in the first drive unit 201 of the second embodiment, and the corresponding first roller shaft 4b and first roller (free roller) 41b , and a second roller (free roller) 42b.

In addition, this chassis 331 includes a first driver 10b in place of the motor 251 that drives the first driver 10a and the motor 252 that drives the second driver 20a in the first drive unit 201 of the second embodiment. One motor 351 is provided for driving.

In this transport vehicle 300, the second drive unit 302, third drive unit 303, and fourth drive unit 304 have the same configuration as the first drive unit 301.

A pair of rod-shaped frames (a first rod-shaped frame 321 and a second rod-shaped frame 322) are attached to the truck casing 310 of the transport truck 300 along the left and right directions of the traveling direction.

A first frame frame 330a and a second frame frame 330b are attached to these rod frames 321 and 322 by support pins 371a, 371b, 372a, and 372b so as to be able to swing left and right in the direction of movement. Furthermore, support pins 341a, 342a, 343a, 344a are provided on the first frame 330a so that the respective chassis 331 of the first drive unit 301 and the third drive unit 303 can swing back and forth in the traveling direction. The second frame-like frame 330b has support pins 343a, 344a, 343b, so that each chassis 331 of the second drive unit 302 and the fourth drive unit 304 can swing back and forth in the traveling direction. 344b.

In the carrier 300 having such a configuration, each of the first to fourth drive units 301 to 304 is configured to be able to swing both left and right in the traveling direction of the carrier 300 and back and forth in the traveling direction. , even when the transport vehicle 300 passes through a region bent in a valley shape or a region bent in a mountain shape on the work floor surface FL, the rollers included in the driving body and the driven body in each drive unit move toward the work floor surface FL. It is possible to prevent the rollers from floating up from the surface FL, and furthermore, even if the work surface FL has a complicated slope, all the rollers can be constantly worked by swinging around the two orthogonal axes parallel to the horizontal plane as described above. A state in which it is in contact with the floor surface FL can be maintained.

In addition, in the embodiment described above, the motor that drives the driving body is arranged in the center of the cart casing of the transport cart, but the motor does not necessarily need to be arranged in the center of the cart casing. , may be arranged at the peripheral edge of the cart casing, and such a transport cart will be described in the following fourth embodiment.

(Embodiment 4)
FIG. 10 is a plan view showing a transport vehicle 400 according to Embodiment 4 of the present invention, FIG. The drive unit 401 is shown enlarged.

In the transport vehicle 400 of the fourth embodiment, in the transport vehicle 100 of the first embodiment, the motors 151 in the first drive unit 101 and the second drive unit 102 are moved from the center of the vehicle housing 110 to the periphery of the vehicle housing 110. The layout has been changed.

That is, the transport vehicle 400 of this fourth embodiment includes a first drive unit 401 and a second drive unit 402. Here, these drive units 401 and 402 are arranged close to each other in the center of the truck housing 110, and a motor 451 that drives the first drive body 10c and the second drive body 20c of the first drive unit 401, and A motor 451 that drives the first drive body 10c and the second drive body 20c of the second drive unit 402 is arranged on the peripheral edge side of the cart housing 110.

Further, like the first driving body 10 in the transport vehicle 100 of the first embodiment, the first driving body 10c includes a first roller 11c which is a driving roller, a second roller 12c which is a free roller, and a second roller which is a free roller. It has three rollers 13c, and these rollers are supported by the first roller shaft 1c.

Further, the second driving body 20c, like the second driving body 20 in the conveyance truck 100 of the first embodiment, includes a first roller 21c which is a driving roller, a second roller 22c which is a free roller, and a second roller which is a free roller. It has three rollers 23c, and these rollers are supported by the first roller shaft 2c.

Furthermore, the driven body 30c has a first roller 31c, a second roller 32c, and a third roller 33c as free rollers. It is supported by a shaft 3c.

In addition, in the first drive unit 401 of this carrier 400, similarly to the carrier 100 of the first embodiment, the rotational force of the motor 451 is applied to the first roller (driver) of the first driver 10c and the second driver 20c. A gear mechanism 106 for transmitting information to the rollers) 11c and 21c is provided, but here, since the drive rollers of each drive body are located on the motor 451 side of the chassis 431, the gear mechanism 106 is also located on the motor 451 side of the chassis 431. It is located in Note that the arrangement of the gear mechanism 106 and the motor 451 in the second drive unit 402 is similar to that in the first drive unit 401.

In this transport vehicle 400, similarly to the first embodiment, the vehicle housing 110 includes two rod-shaped frames 421, a first and a second rod-shaped frame along the width direction (direction orthogonal to the forward direction and the vehicle height direction). , 422 are attached to the front and rear of the cart housing 110, and the above-mentioned first drive unit 401 and second drive unit 402 have support pins 441a, 441b, It is attached at 442a and 442b. Further, a top plate frame 423 is attached to the two rod-shaped frames 421 and 422, and a mounting section 103 having a turntable 104 is attached to this top plate frame 423.

In the transport vehicle 400 of the fourth embodiment having such a configuration, the motor 451 is placed in an arch-shaped empty space that is inevitably created when the approximately rectangular chassis 431 is housed in the approximately disk-shaped truck housing 110. can be arranged, and the size of the transport vehicle 400 can be reduced.

In addition, in the description of the above-mentioned embodiment, the transport vehicle was shown as having four driving bodies, but in principle, the transport vehicle has two driving bodies on both sides of the central axis along the traveling direction of the transport vehicle casing 110. It is sufficient if one driving body is arranged. This is because when a transport vehicle has such two driving bodies, the steering of the transport vehicle can be controlled by adjusting the rotation speed of the drive rollers of the two driving bodies. The configuration of the trolley will be briefly explained.

FIG. 11 is a plan view showing a transport vehicle 500 having two driving bodies, and shows the internal structure as seen through the vehicle housing 110.

The transport vehicle 500 shown in FIG. 11 is different from the transport vehicle 200 of the second embodiment shown in FIG. This is replaced with the configuration of the first drive unit 301 and the fourth drive unit 304 of Embodiment 3, which include two drive bodies.

(Other configurations)
The mounting section 103 included in the transport vehicle of Embodiments 1 to 4 may further include a lifting mechanism 105, as shown in FIG. Lifting mechanism 105 can be of any form. For example, the elevating mechanism 105 may be a slide mechanism using a hydraulic or pneumatic cylinder, an electric slide mechanism, a link mechanism, or the like. For example, if the object W to be placed is heavy, a hydraulic cylinder or the like is used.
FIG. 13 shows an example of a transportation method when the loading section 103 of the transportation vehicle is equipped with a lifting mechanism 105. As shown in FIG. 13(a), first, the object W to be placed is placed on a board or the like. Then, the transport vehicle moves the object W to be placed on a board or the like with the lifting mechanism 105 lowered (FIG. 13()b). Then, by raising the elevating mechanism 105 while confirming the position of the center of gravity of the placement object W, the placement object W is supported on the placement section 103 (FIG. 13(c)). Thereafter, the elevating mechanism 105 is raised, and conveyance is started with the object W placed on the placing portion 103. Note that, after moving to a position where no board or the like is present, the movement is performed with the elevating mechanism 105 in a lowered state (FIG. 13(d)). By lowering the elevating mechanism 105, it becomes possible to improve the stability when transporting the placed object W.
As mentioned above, although the present invention has been illustrated using the preferred embodiment of the present invention, the present invention should not be interpreted as being limited to this embodiment. It is understood that the invention is to be construed in scope only by the claims. It will be understood that those skilled in the art will be able to implement the present invention to an equivalent extent based on the description of the present invention and common general technical knowledge from the description of the specific preferred embodiments of the present invention. It is understood that the documents cited herein are to be incorporated by reference into this specification to the same extent as if the documents themselves were specifically set forth herein.

INDUSTRIAL APPLICABILITY The present invention is useful in the field of self-propelled carriers for transporting loads, as it can provide a self-propelled carrier that can transport heavy objects, for example, loads of approximately 2 tons or more. be.

100, 200, 300, 400, 500 Transport vehicle 103 Placement section 104 Turntable 104a Table body 104b Thrust bearing 104c Radial bearing 105 Elevating mechanism 110 Dolly housing 111a Traveling direction indicator 121, 221, 321, 421 First rod-shaped frame 122 , 222, 322, 422 Second rod-shaped frame 123, 223, 323, 423 Top plate frame 330a First frame-shaped frame 330b Second frame-shaped frame 101, 201, 301, 401 First drive unit 102, 202, 302, 402 Second drive unit 303 Third drive unit 304 Fourth drive unit 131, 231, 331, 431 Chassis 141a, 141b, 142a, 142b, 241a, 241b, 242a, 242b, 341a, 341b, 342a, 342b, 343a, 343b, 344a, 344b, 441a, 441b, 442a, 442b, 541a, 541b, 542a, 542b Support pin 371a, 371b Front support pin 371a, 371b
372a, 372b Rear support pins 372a, 372b
151, 351, 451 motor 151a motor shaft 251 first motor 252 second motor 106 gear mechanism 160 power gear 161 first drive gear 161a first transmission gear 162 second drive gear 162a second transmission gear 10, 10a to 10c first Drive body 10d, 10e Drive body
1, 1a to 1c First roller shaft 11, 11a to 11c, 21, 21a, 21c First roller (drive roller)
12, 12a to 12e, 22, 22a to 22c, 32a, 32b, 42a Second roller (free roller)
13, 13c, 23, 23c Third roller (free roller)
20, 20a, 20c second driving body
2, 2a to 2c Second roller shaft 20b, 30a First driven body 21b, 31a, 31b, 41a, 41b First roller (free roller)
30b, 40a second driven body
3a, 3b Third roller shaft 40b Third driven body
4a, 4b 4th roller shaft W Placed object FL Working floor surface

Claims (12)

A self-propelled transport vehicle,
A trolley housing including a loading section on which luggage is placed;
four drives with drive rollers and at least one free roller;
Equipped with
The drive roller and the at least one free roller are arranged side by side so as to share a rotation axis. The conveyance truck according to claim 1, wherein the four driving bodies are arranged at symmetrical positions with respect to the center of the truck housing. 3. The conveying cart according to claim 1, wherein drive sources for the four driving bodies are arranged approximately in the center of the cart casing. 2. The conveying cart according to claim 1, wherein the four driving bodies each have the driving rollers arranged closer to the outer edge of the cart casing than the free rollers. The conveyance truck according to claim 1, further comprising a plurality of free rollers arranged between adjacent driving bodies among the four driving bodies. the at least one free roller comprises two free rollers;
Of the drive roller and the two free rollers that are disposed side by side and sharing the rotation axis, a free roller is disposed at least in a central portion, and the free roller disposed in the central portion has a crown shape. 2. The transport vehicle according to claim 1, wherein the transport vehicle is configured to have a smaller outer diameter than the drive roller and the free roller located on either side of the drive roller and the free roller. the at least one free roller comprises two free rollers;
Of the drive roller and the two free rollers that are disposed side by side and sharing the rotation axis, a free roller is disposed at least in a central portion, and the free roller disposed in the central portion has a crown shape. 2. The transport vehicle according to claim 1, wherein the transport vehicle is configured to have a smaller ground contact area than the drive roller and the free roller located on either side of the drive roller and the free roller. The conveyance truck according to claim 1, wherein the drive roller and the free roller have different hardnesses. The trolley housing includes a first chassis that accommodates two of the four drive bodies, and a second chassis that accommodates the other two drive bodies,
The transport according to claim 1, wherein the first chassis and the second chassis are attached to the trolley housing so as to be swingable around an axis parallel to the traveling direction of the transport vehicle. Dolly. The trolley housing includes a first chassis that accommodates two of the four drive bodies, and a second chassis that accommodates the other two drive bodies,
The first chassis and the second chassis are attached to the trolley housing so as to be swingable around an axis in the left and right direction with respect to the traveling direction of the transport trolley. Transport vehicle as described. 2. The carrier according to claim 1, wherein the outer edge of the carrier casing is approximately circular, and further includes a laser pointer that indicates the traveling direction of the carrier. The conveyance truck according to claim 1, wherein the mounting section is configured to be rotatable with respect to the truck housing.

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