JP3142631U - Automated guided vehicle - Google Patents

Abstract

The present invention provides an automatic guided vehicle that does not have a risk of approaching and colliding with mechanical equipment or the like located near a guide tape.
A steering drive unit 16 includes a magnetic sensor 18 for detecting a magnetic tape, a drive wheel, a drive motor, a steering motor, and a control box 26 as a control device, and wheels provided at four corners of a lower surface. In the automatic guided vehicle 10, the two front wheels 30 and 30 are free casters, one of the two rear wheels 32 is a free caster, and the other rear wheel 34 is a fixed caster. did.
[Selection] Figure 2

Description

  The present invention relates to an automatic guided vehicle (commonly known as AGV) that travels along a guide tape preliminarily laid on the floor of a factory or warehouse.

  For the guidance method using guided tape for automatic guided carriages, the magnetic tape laid on the floor of factories and warehouses is detected by a magnetic sensor and travels along the magnetic tape. There is an optical induction method in which a reflective tape such as an aluminum tape laid on the floor of the floor is detected by an optical sensor and travels along the reflective tape.

  Conventionally, it is an automatic guided vehicle having wheels at the four corners of the lower surface, two of the front wheels are free casters, and two of the rear wheels are fixed casters, and includes a magnetic sensor for detecting magnetic tape, a drive wheel, and a drive motor. It is known that one steering drive unit having an automatic steering device for the drive wheel is attached to the lower surface of the carriage slightly closer to the front wheel (see, for example, Patent Document 1).

  Swivel casters are those provided so that the traveling direction of the wheels can be freely changed in all directions regardless of the front, back, left and right of the automatic guided vehicle. The fixed casters are those in which the traveling direction of the wheels is unmanned. It means what is fixed in the front-rear linear direction of the carriage.

  In addition, it is an automatic guided vehicle having wheels at the four corners of the lower surface and all wheels are free casters, and includes a magnetic sensor for detecting magnetic tape, a drive wheel, a drive motor, and an automatic steering device for the drive wheel. 2. Description of the Related Art A drive unit is known in which two drive units are detachably attached to the front and rear portions of the lower surface of a carriage (see, for example, Patent Document 2).

Registered Utility Model No. 3013716 (pages 11-12 and 3-4) Japanese Patent Laid-Open No. 10-39925 (page 3, FIG. 1-2)

  However, among these conventional examples, one steering drive unit is mounted on the lower surface of the carriage slightly closer to the front wheel, has wheels at the four corners of the lower surface, two of the front wheels are free casters, and two of the rear wheels are fixed casters. A certain automatic guided vehicle has no problem in a straight run, but has a problem in a curved run such as a corner.

In other words, because the steering drive unit is attached to the front wheel slightly closer to the front caster, the front wheel can be forcibly steered, but the rear wheel, which is a fixed caster, is simply dragged in the traveling direction of the drive wheel. However, a large inner ring difference occurs in curved driving, and the front part of the carriage advances along the magnetic tape, but the rear part of the carriage does not advance along the magnetic tape, and the machine equipment located inside the corner. There was a risk of collision.
For this reason, it has been necessary to ensure a sufficient distance between the mechanical equipment and the magnetic tape.
The inner ring difference here refers to the difference in the trajectory drawn by the front wheel and the rear wheel on the rotation center side.

  In addition, two steering drive units are attached to the front and rear parts of the lower surface of the carriage, and wheels are provided at the four corners of the lower face. In addition, the rear wheels could be forcibly steered, and the car could run along the magnetic tape not only on a straight line but also on a curved line such as a corner.

However, although there is no risk of approaching and colliding with machinery and equipment located inside the corner, the structure of the bogie is complicated and the production of the bogie is complicated because it must be equipped with two steering drive units. There were problems such as high costs.
If there is only one steering drive unit at the front, the two rear wheels, which are free casters, are different from the traveling direction of the automatic guided vehicle due to the action of centrifugal force in curved traveling such as corners. Because it tries to run with its wheels rotating outside the curve, the rear side of the automated guided vehicle is swung outside the curve, and a part of the rear side of the automated guided vehicle is located outside the corner. There was a risk of collision with approaching machinery and equipment, and when changing from curving to straight traveling, the unmanned transport cart would run with the front-rear direction tilted horizontally with respect to the induction tape. There is a fear that a part of the automatic guided carriage may approach and collide with mechanical equipment or the like provided near the induction tape.
For this reason, it has been necessary to ensure a sufficient distance between the mechanical equipment and the magnetic tape.

  The present invention can have one steering drive unit, and there is a possibility that a part of the carriage may approach and collide with a mechanical facility or the like located near the guide tape even in a straight traveling or a curved traveling such as a corner. The aim is to provide no automated guided vehicles.

  The invention according to claim 1 includes a steering drive unit including a sensor for detecting an induction tape, a drive wheel, a drive motor, a steering motor, and a control device, and wheels provided at four corners of the lower surface. An automatic guided vehicle that is guided by a laid induction tape and travels, wherein two of the wheels are front casters, one of the rear wheels is a free caster, and the other is a fixed caster It is characterized by being.

For this reason, in curved traveling, the rear wheels that are fixed casters are simply dragged in the traveling direction of the drive wheels, but the two front wheels that are free casters are forcibly steered by the drive wheels.
Furthermore, the rear wheels, which are free casters, are steered by the drive wheels in the direction opposite to the direction of the drive wheels and the two front wheels without being dragged in the direction of travel of the drive wheels.

  For this reason, since neither of the two rear wheels is simply dragged in the direction of travel of the drive wheel, there is no large difference between the inner wheels, and the rear side of the automatic guided vehicle is swung to the outside of the curve. It will never be done.

  In addition, when the vehicle travels from a straight line to a straight line, the front-rear linear direction of the automatic guided vehicle may be temporarily changed even when the front-rear direction of the automatic guided vehicle is temporarily inclined with respect to the guide tape. Only by the action of the rear wheel, which is a fixed caster that tries to run by rotating its own wheel, the tilt in the front-rear direction of the automatic guided vehicle is corrected to a state along the guide tape.

  Invention of Claim 2 is the automatic guided vehicle of Claim 1, Comprising: The suspension wheel which can be moved up and down was provided in all the wheels provided in the four corners of the said driving wheel and the said lower surface, To do.

  According to a third aspect of the present invention, there is provided a floor surface including a steering drive unit including a sensor for detecting a guide tape, a drive wheel, a drive motor, a steering motor, and a control device, and wheels provided at four corners of a lower surface. An automatic guided vehicle having a tow truck that is guided by a laid guide tape and traveled by a tow truck through a connecting member, and wheels at four corners of the lower surface of the towed truck Among the wheels of the towed truck, two of the front wheels are free casters, one of the two rear wheels is a free caster, and the other is a fixed caster. It is.

For this reason, in curved traveling, although the rear wheel, which is a fixed caster of the towed truck, is simply dragged in the traveling direction of the towed truck, the two front wheels that are free casters of the towed truck are caused by the towed truck. It is forcibly steered.
Further, the rear wheel, which is a free caster, is steered in the direction opposite to the direction of the two front wheels, which are free casters, without being simply dragged in the traveling direction of the tow truck by the tow cart.

  For this reason, since neither of the two rear wheels of the towed truck is simply dragged in the traveling direction of the towed truck, the towed truck does not cause a large inner ring difference, and The rear side is not swung outside the curve.

  Furthermore, when the vehicle travels from a straight line to a straight line, the front / rear direction of the towed carriage may be temporarily changed while the front / rear direction of the towed truck is inclined horizontally with respect to the guide tape. Only by the action of the rear wheel, which is a fixed caster that tries to run by rotating its own wheel, the tilt in the front-rear direction of the towed carriage is corrected to a state along the guide tape.

  Invention of Claim 4 is the automatic guided vehicle of Claim 3, Comprising: Suspension which can be moved up and down was provided in all the wheels provided in the four corners of the lower surface of the said towed truck. To do.

Invention of Claim 5 is the automatic guided vehicle of Claim 3 or 4, Comprising: The said tow cart is the automatic guided vehicle of Claim 1. It is characterized by the above-mentioned.
For this reason, in curved traveling, there is no large difference between the inner wheels of the tow truck and the towed truck, and each rear side is not swung to the outside of the curve.

  Furthermore, when changing from a curved run to a straight run, the tow cart is temporarily run while the front and rear directions of the tow cart and the towed cart are tilted horizontally with respect to the guide tape. And the tilt of the tow truck and the towed truck in the longitudinal direction by the action of the rear wheel, which is a fixed caster of each carriage to rotate by rotating its own wheel only in the longitudinal direction of the towed truck. Is corrected to a state along the guide tape.

Invention of Claim 6 is the automatic guided vehicle of Claim 3 or 4, Comprising: The said tow cart is an automatic guided vehicle of Claim 2, It is characterized by the above-mentioned.
For this reason, in curved traveling, there is no large difference between the inner wheels of the tow truck and the towed truck, and each rear side is not swung to the outside of the curve.

  Furthermore, when changing from a curved run to a straight run, the tow cart is temporarily run while the front and rear directions of the tow cart and the towed cart are tilted horizontally with respect to the guide tape. And the tilt of the tow truck and the towed truck in the longitudinal direction by the action of the rear wheel, which is a fixed caster of each carriage to rotate by rotating its own wheel only in the longitudinal direction of the towed truck. Is corrected to a state along the guide tape.

The automatic guided vehicle according to claim 1 may be a single unit without two steering drive units, and a part of the automatic guided vehicle may collide with mechanical equipment or the like located inside or outside the corner. In addition, it can travel smoothly in a curved line.Furthermore, since the horizontal inclination with respect to the guide tape in the front-rear direction of the automated guided carriage can be corrected early, a part of the automated guided carriage is provided near the guided tape. There is no risk of collision with approaching machinery and equipment.
Therefore, it is not necessary to ensure a sufficient interval between the mechanical equipment and the induction tape.

The automatic guided vehicle according to claim 2 has the same effect as the automatic guided vehicle according to claim 1, and even if the floor surface is uneven, all of the wheels provided at the four corners of the driving wheel and the lower surface are provided. Can be grounded to the floor surface in a stable state without being raised from the floor surface.

The automatic guided vehicle according to the third aspect can smoothly travel in a curved line because there is no possibility that a part of the towed cart approaches and collides with mechanical equipment or the like located inside or outside the corner.
Furthermore, since it is possible to correct the inclination in the horizontal direction with respect to the guide tape in the front-rear direction of the towed carriage early, there is a risk that a part of the towed carriage will approach and collide with mechanical equipment or the like provided near the guide tape. Nor.
Furthermore, since the steering drive unit is provided only in the tow truck without providing the steering drive unit in the towed truck, the structure of the automatic guided carriage is not complicated, and the manufacturing cost is also expensive. It doesn't become a thing.

  The automatic guided vehicle according to claim 4 has the same effect as the automatic guided vehicle according to claim 3, and even if the floor surface is uneven, the wheels provided at the four corners of the lower surface of the towed truck All can be grounded to the floor surface in a stable state without being lifted from the floor surface.

  The automatic guided vehicle according to claim 5 has the same effects as the automatic guided vehicle according to claim 3 or 4 and can smoothly run the towed vehicle and the towed vehicle in a curved line. There is no possibility that a part of the carriage approaches and collides with machinery or the like located inside or outside the corner.

Further, since the horizontal inclination with respect to the guide tape in the front-rear direction of each of the tow cart and the towed cart can be corrected early, a part of each of the tow cart and the towed cart is provided near the guide tape. There is no risk of collision when approaching machinery.
For this reason, it is not necessary to ensure a sufficient interval between the mechanical equipment and the induction tape.

  The automatic guided vehicle according to claim 6 has the same effect as the automatic guided vehicle according to claim 3 or 4 and can smoothly run the towed vehicle and the towed vehicle in a curved line. There is no possibility that a part of the carriage approaches and collides with machinery or the like located inside or outside the corner.

Further, since the horizontal inclination with respect to the guide tape in the front-rear direction of each of the tow cart and the towed cart can be corrected early, a part of each of the tow cart and the towed cart is provided near the guide tape. There is no risk of collision when approaching machinery.
For this reason, it is not necessary to ensure a sufficient interval between the mechanical equipment and the induction tape.

  Furthermore, even if there are irregularities on the floor surface, all of the driving wheels of the tow truck and the wheels provided at the four corners of the lower surface are kept on the floor surface in a stable state without being lifted from the floor surface. Can be grounded.

  An automated guided vehicle that enables smooth running is realized with the minimum number of parts, with two front wheels as free casters, one of the rear wheels as free casters, and the other as fixed casters. .

A first embodiment of the present invention will be described below with reference to FIGS.
The unmanned transport cart 10 (hereinafter referred to as the cart 10) of the present invention is a frame in which a frame 12 of dozens of thin-walled steel materials is assembled into a box shape by welding. Is provided with a base 14 and casters at four corners of the lower surface.
The carriage 10 is intended to be guided along a magnetic tape 13 that is a guide path laid in a substantially oval plane on a floor (not shown).

Furthermore, one steering drive unit 16 is provided at the center of the lower surface of the carriage 10 via the mounting plate 15.
The steering drive unit 16 includes a magnetic sensor 18, a drive wheel 20, a drive motor 22, a steering motor 24, and a control box 26 that is a control device. Connected.
In addition, the steering drive unit 16 is a well-known thing, It is not limited to this, You may employ | adopt another well-known thing.

The magnetic sensor 18 is for detecting the magnetic tape 13 by detecting the magnetism generated by the magnetic tape 13, and is provided at the front in the traveling direction via a holder 19 and a support 21 of the drive wheel 20 described later. Is provided.
In addition, the kind of sensor is not limited to this, When a guide tape is reflective tapes, such as an aluminum tape, a well-known optical sensor will be used.

The drive wheel 20 provided with the holder 19 is located behind the magnetic sensor 18 and is provided almost in front of the carriage 10.
A suspension that is a coil spring (not shown) is provided between the lower surface of the carriage 10 and the holder 19, and the drive wheel 20 can always be grounded to the floor even if the floor is uneven.

The suspension is not limited to the coil spring, and other known suspensions may be used.
The drive motor 22 is for driving the drive wheel 20 and is provided behind the drive wheel 20.

The steering motor 24 is provided in a suspended manner behind the drive motor 22.
The steering motor 24 connects the pulley (not shown) provided perpendicularly to the holder 19 of the drive wheel 20 and the pulley (not shown) provided in the steering motor 24 by a timing belt (not shown). Steer.

  A control box 26 serving as a control device is used to perform arithmetic processing on the magnetism detected by the magnetic sensor 18 and control the drive motor 22 and the steering motor 24, and is provided behind the steering motor 24.

  For this reason, the steering drive unit 16 controls the drive motor 22 and the steering motor 24 after calculating the magnetism generated by the magnetic tape 13 as a guide path by the magnetic sensor 18 and then performing arithmetic processing in the control box 26. The carriage 10 is caused to travel along the magnetic tape 13.

The casters provided at the four corners of the lower surface of the carriage 10 have two front wheels 30 and 30 that are free casters, and of the two rear wheels, one rear wheel 32 is a free caster and the other rear wheel 34 has It is a fixed caster.
Between the lower surface of the carriage 10 and each of the front wheels 30, 30 and the rear wheels 32, 34, a suspension which is a coil spring (not shown) is provided, and even if the floor surface is uneven, the front wheels 30, 30, The rear wheels 32 and 34 can always be grounded to the floor surface.

The suspension is not limited to the coil spring, and other known suspensions may be used.
In this embodiment, a rear wheel 32 that is a free caster is disposed inside a magnetic tape 13 that is laid in a substantially oval flat shape (not shown), and a rear wheel 34 that is a fixed caster is disposed outside the magnetic tape 13. It is provided to be.

The arrangement of the two rear wheels is not limited to this, and a rear wheel 32 that is a free caster is arranged outside the magnetic tape 13, and a rear wheel 34 that is a fixed caster is arranged inside the magnetic tape 13. You may provide so that it may arrange.
Note that the guide tape is not laid in a substantially oval shape on the plane, but may have any other arrangement of the two rear wheels, even if it has other shapes such as a plane meandering line shape or a plane 8 shape. good.

For this reason, as shown in FIG. 4, in the curved traveling such as a corner in the carriage 10, the rear wheels 34 that are fixed casters are simply dragged in the traveling direction of the driving wheels 20, but the driving wheels 20 The two front wheels 30, 30 which are free casters provided almost in front are forcibly steered.
Furthermore, the rear wheels 32, which are free casters, are steered by the drive wheels 20 in a direction opposite to the direction of the drive wheels 20 and the two front wheels 30, 30 without being simply dragged in the traveling direction of the drive wheels 20. Therefore, the cart 10 does not cause a large inner ring difference, and the rear side of the cart 10 is not swung to the outside of the curve.
For this reason, in curving, there is no possibility that a part of the carriage 10 approaches and collides with mechanical equipment or the like located inside or outside the corner.

In addition, when the vehicle travels from a curved line to a straight line, even if the vehicle 10 temporarily travels in a state where the front-rear direction of the carriage 10 is horizontally inclined with respect to the magnetic tape 13, The tilt of the carriage 10 in the front-rear direction is corrected by the action of the rear wheel 34, which is a fixed caster that tries to run by rotating its own wheel only in the linear direction, and the front-rear direction of the carriage 10 is changed to the magnetic tape 13. It can be made to run back to the state along.
For this reason, even in straight running, there is no possibility that a part of the carriage 10 approaches and collides with mechanical equipment or the like provided near the magnetic tape 13.
Therefore, since the carriage 10 can smoothly travel along the magnetic tape 13, it is not necessary to ensure a sufficient distance between the mechanical equipment and the magnetic tape 13.

Hereinafter, Example 2 of the present invention will be described with reference to FIGS.
In the second embodiment, the towing cart is the automatic guided cart 10 (hereinafter referred to as the cart 10) of the first embodiment, and the cart 10 and the towed cart 36 (hereinafter referred to as the cart 36) to be pulled by the cart 10 are used. However, it is intended to be guided along the magnetic tape 13 which is a guide path laid in a substantially oval plane on a floor surface (not shown).
For this reason, the code | symbol of the structure of the trolley | bogie 10 in a present Example is demonstrated using the thing of Example 1. FIG.

  The towing cart is not limited to the one having the configuration of the cart 10, and two steering drive units are detachably attached to the front and rear portions of the bottom surface of the cart, and wheels are provided at the four corners of the bottom surface. It may be a known automatic guided vehicle whose wheels are free casters.

The carriage 10 and the carriage 36 are connected to each other by a connecting member that is a combination of a pulling side connecting member 38 and a towed side connecting member 42.
The pulling side connecting member 38 is disposed at the center of the rear end of the carriage 10 and is provided to protrude outward in the horizontal direction.
A spherical recess 40 with an opening facing downward is provided at the tip of the pulling side connecting member 38.
A spherical body (not shown) provided at the upper end of the pin 44 is fitted in the recess 40 so as to be swingable.

The lower end of the pin 44 is connected to the tip of a towed side connecting member 42 of a carriage 36 described later. Accordingly, when the pin 44 is swingable with respect to the recess 40, the carriage 36 is swingable in the horizontal direction around the pin 44.
In addition, about the other structure of the trolley | bogie 10, since it is common with the trolley | bogie 10 in Example 1, the description is abbreviate | omitted.

Similar to the carriage 10, the carriage 36 is constructed by welding dozens of frames 46, which are thin steel materials, into a box shape by welding, and a carriage 48 for placing an object to be conveyed on the upper surface. And casters at the four corners of the lower surface.
At the center of the tip of the carriage 36, a towed side connecting member 42, which is a part of the above-described connecting member for connecting the carriage 36 and the carriage 10, is provided to protrude outward in the horizontal direction.

A pin 44 is connected in the vertical direction to the tip of the pulled side connecting member 42.
As described above, the pin 44 is for allowing the carriage 36 to swing in the horizontal direction around the pin 44.
Note that the connecting member for connecting the carriage 10 and the carriage 36 is not limited to the combination of the towing side connecting member 38 and the towed side connecting member 42, and swings the towed carriage. Other known means that can be freely connected may be used.

The casters provided at the four corners of the lower surface of the carriage 36 have two front wheels 50 and 50 that are free casters, and of the two rear wheels, one rear wheel 52 is a free caster and the other rear wheel 54 has It is a fixed caster.
Between the lower surface of the carriage 36 and the front wheels 50 and 50 and the rear wheels 52 and 54, suspensions, which are coil springs (not shown), are provided, and even if the floor surface is uneven, the front wheels 50, 50, The rear wheels 52 and 54 can always be grounded to the floor surface.

The suspension is not limited to the coil spring, and other known suspensions may be used.
In the present embodiment, a rear wheel 52 that is a free caster is disposed inside the magnetic tape 13 that is laid in a substantially oval plane, and a rear wheel 54 that is a fixed caster is disposed outside the magnetic tape 13. It is provided as follows.

The arrangement of the two rear wheels is not limited to this, and a rear wheel 52 that is a free caster is arranged outside the magnetic tape 13, and a rear wheel 54 that is a fixed caster is arranged inside the magnetic tape 13. You may provide so that it may arrange.
Note that the guide tape is not laid in a substantially oval shape on the plane, but may have any other arrangement of the two rear wheels, even if it has other shapes such as a plane meandering line shape or a plane 8 shape. good.

For this reason, in curved traveling such as a corner of the carriage 10, the rear wheel 34 that is a fixed caster is simply dragged in the traveling direction of the driving wheel 20, but is provided almost forward by the driving wheel 20. The two front wheels 30, 30 that are free casters are forcibly steered.
Furthermore, the rear wheels 32, which are free casters, are steered by the drive wheels 20 in a direction opposite to the direction of the drive wheels 20 and the two front wheels 30, 30 without being simply dragged in the traveling direction of the drive wheels 20. Therefore, the cart 10 does not cause a large inner ring difference, and the rear side of the cart 10 is not swung to the outside of the curve.
For this reason, in curving, there is no possibility that a part of the carriage 10 approaches and collides with mechanical equipment or the like located inside or outside the corner.

In addition, when the vehicle travels from a curved line to a straight line, even if the vehicle 10 temporarily travels in a state where the front-rear direction of the carriage 10 is horizontally inclined with respect to the magnetic tape 13, The tilt of the carriage 10 in the front-rear direction is corrected by the action of the rear wheel 34, which is a fixed caster that tries to run by rotating its own wheel only in the linear direction, and the front-rear direction of the carriage 10 is changed to the magnetic tape 13. It can be made to run back to the state along.
For this reason, even in straight running, there is no possibility that a part of the carriage 10 approaches and collides with mechanical equipment or the like provided near the magnetic tape 13.

Further, in a curved traveling such as a corner in the carriage 36 pulled by the carriage 10, the rear wheel 54, which is a fixed caster, is simply dragged in the traveling direction of the carriage 10, but the carriage 10 is a free caster. Two front wheels 50 and 50 are forcibly steered.
Furthermore, the rear wheel 52, which is a free caster, is steered by the carriage 10 in the direction opposite to the direction of the two front wheels 50, 50 without being simply dragged in the traveling direction of the carriage 10. There is no large inner ring difference, and the rear side of the carriage 36 is not swung to the outside of the curve.
For this reason, in curved traveling, there is no possibility that a part of the carriage 36 approaches and collides with mechanical equipment or the like located inside or outside the corner.

In addition, even when the vehicle travels in a state where the front-rear direction of the carriage 36 is temporarily inclined in the horizontal direction with respect to the magnetic tape 13 when changing from the curved traveling to the linear traveling, The tilt of the carriage 36 in the front-rear direction is corrected by the action of the rear wheel 54, which is a fixed caster that tries to run by rotating its own wheel only in the linear direction. It can be made to run back to the state along.
For this reason, even in straight running, there is no possibility that a part of the carriage 36 approaches and collides with mechanical equipment or the like provided near the magnetic tape 13.

  Therefore, since the carriage 10 and the carriage 36 pulled by the carriage 10 can smoothly travel along the magnetic tape 13, it is not necessary to ensure a sufficient distance between the mechanical equipment and the magnetic tape 13.

1 is a side view of one side of Example 1. FIG. 1 is a plan view of Example 1. FIG. 3 is a side view of the other side of Embodiment 1. FIG. It is explanatory drawing which shows the driving | running | working state of Example 1. FIG. FIG. 4 is a side view of one side of Example 2. 6 is a plan view of Example 2. FIG. 6 is a side view of the other side of Embodiment 2. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Automatic guided carriage 12 Frame 13 Magnetic tape 14 Stand 15 Mounting plate 16 Steering drive unit 18 Magnetic sensor 19 Holder 20 Drive wheel 21 Support tool 22 Drive motor 24 Steering motor 26 Control box (control device)
28 battery 30 front wheel 32 one rear wheel 34 other rear wheel 36 towed truck 38 towed side connecting member 40 recessed part 42 towed side connecting member 44 pin 46 frame (towed car)
48 (towed truck)
50 Front wheel (towed truck)
52 One rear wheel (towed truck)
54 Rear wheel (towed truck)

Claims (6)

Guided by a guide tape laid on the floor, having a steering drive unit having a sensor for detecting the guide tape, a drive wheel, a drive motor, a steering motor, and a control device, and wheels provided at the four corners of the lower surface. An automated guided vehicle that travels
Two of the front wheels are free casters,
One of the two rear wheels is a free caster, and the other is a fixed caster.   2. The automatic guided vehicle according to claim 1, wherein a suspension capable of moving up and down is provided on all of the wheels provided at the four corners of the drive wheel and the lower surface. Guided by a guide tape laid on the floor, having a steering drive unit having a sensor for detecting the guide tape, a drive wheel, a drive motor, a steering motor, and a control device, and wheels provided at the four corners of the lower surface. A tow truck that travels with
An automatic guided vehicle having a towed truck towed to the towed truck via a connecting member,
Wheels are provided at the four corners of the lower surface of the towed carriage,
Of the wheels of the towed truck,
Two of the front wheels are free casters,
One of the two rear wheels is a free caster, and the other is a fixed caster.   4. The automatic guided vehicle according to claim 3, wherein all of the wheels provided at the four corners of the lower surface of the towed carriage are provided with suspensions that can move up and down.   The automatic guided vehicle according to claim 3 or 4, wherein the tow cart is the automatic guided vehicle according to claim 1.   The automatic guided vehicle according to claim 3 or 4, wherein the tow cart is the automatic guided vehicle according to claim 2.

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