JP7222183B2 - Conveyor - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a conveying device for placing and conveying objects to be conveyed such as materials and equipment.

At a construction site, materials and equipment may be transported using a transport device. The materials and equipment are placed on two spaced timbers, and the conveying device lifts the materials and equipment from the timbers and transports them between the timbers. In this case, a transport device that easily changes direction so that materials and equipment can be transported to other floors is being studied (see Patent Document 1, for example). The truck described in this document includes four mecanum wheels, a plurality of casters arranged inside these mecanum wheels, and a jack for raising and lowering the mounting table. The control unit of the truck causes the truck to run or turn in a predetermined direction (front-rear direction, left-right direction, oblique direction) by controlling the rotational direction and speed of the motors to which the wheels are attached.

JP 2016-113283 A

In the truck described in the above document, the mounting table is raised and lowered by a jack, so the bottom surface of the vehicle body of the truck is determined by the height of the wheels. For this reason, there is a possibility that the bottom surface of the vehicle body will rub against the road surface in a place where the road surface is undulating, such as at the top of a slope. In this case, running may be hindered, and the bottom surface of the vehicle body may be scratched.

A conveying apparatus for solving the above problems comprises a main body having a mounting surface on which an object to be conveyed is placed, a plurality of drive wheel groups attached to the main body and capable of controlling a rotation direction and speed, and the main body. a lifting mechanism unit fixed to a unit and provided for each driving wheel group to raise and lower the driving wheel group ; a driving motor attached to the main body unit for driving each driving wheel group; and each driving wheel group and a control unit for controlling forward/backward movement, lateral movement, oblique straight movement, and turning around the central axis , and the driving wheel group is a wheel through which a rotating shaft driven using a belt penetrates. wherein the elevating mechanism includes an actuator having a telescopic part fixed to the main body so as to extend in a horizontal direction; a transmission device for converting the telescopic motion of the telescopic part of the actuator into a rotational motion; A gear rotated by the rotary motion of the transmission device, a rack gear engaged with the gear and extending in the height direction, a guide member guiding the movement in the height direction, and a square frame surrounding the outside of the wheel. a support member having a plurality of side plate portions forming a shape, and an output shaft of the drive motor attached to the body portion is rotatable with a first pulley attached to the rotating shaft and the body portion. and a second pulley attached to the second pulley and disposed diagonally below the second pulley, the belt is wound around the output shaft, the first pulley and the second pulley, and the Both ends of the rotating shaft are rotatably supported by first side plate portions facing each other in the plurality of side plate portions, and the rack gear and the guide member are arranged in the plurality of side plate portions so as to be connected to the first side plate portions. The lifting mechanism section is provided on each of the second side plate sections that are orthogonal and opposed to each other, and the lifting mechanism section lifts and lowers the drive wheel group by moving the tip of the expansion and contraction section, and the first pulley moves the mounting surface in a lowered state. is located in the lateral direction of the second pulley, and is located obliquely below the output shaft so as to be aligned with the second pulley and the output shaft in the raised state of the mounting surface.

According to the present invention, the vehicle can be smoothly driven even on an uneven road surface.

BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing of the whole trolley|bogie in embodiment, Comprising: (a) is a perspective view, (b) is a side view of the lowered state of a mounting surface, (c) is a side view of the raised state of a mounting surface. FIG. 4 is a layout view of the members forming the carriage in the embodiment, as viewed from the bottom. 2A is an enlarged view of the main part of FIG. 2, FIG. 4B is a side view seen from the direction of line 3b-3b in FIG. ) is a side view seen from the direction of line 3c-3c in (a). Fig. 3(a) is a side view of the main part of the truck in the embodiment, (a) is a side view seen from the direction of line 4a-4a in Fig. 3(a), and (b) is a direction of line 4b-4b in Fig. 3(a). side view from the top. FIG. 1 is a block diagram for explaining the configuration of a control device for a truck according to an embodiment; 4(a) is a side view corresponding to FIG. 4(a), and (b) is a side view corresponding to FIG. 4(b); FIG. . FIG. 4 is a side view of the main part of the carriage with the mounting surface raised according to the embodiment; It is a figure which shows the structure of the truck in a modification, (a) is a side view of the lowered state of a mounting surface, (b) is a side view of the raised state of a mounting surface.

An embodiment of a conveying device will be described below with reference to FIGS. 1 to 7. FIG.
As shown in FIG. 1(a), a carriage 10 as a transport device has a substantially rectangular parallelepiped body portion 11 having a substantially square plane with a side of about 1 m and an open bottom surface. The main body 11 has a plate-shaped upper surface and four side surfaces, and is movably supported by four wheel groups 21, 22, 23, and 24, which will be described later. The upper surface of the upper surface portion 11a of the main body portion 11 serves as a mounting surface for mounting materials and equipment to be conveyed.

Each of the wheel groups 21 to 24 is spaced apart from each other and has two wheels 21w, 22w, 23w, and 24w as drive wheels. In this embodiment, Mecanum wheels are used as the wheels 21w to 24w. A bumper sensor (not shown) for detecting contact with a wall or the like is attached to the side surface of the main body 11 .

FIG. 1(b) is a side view of the carriage 10 lowered to the height H1, and FIG. 1(c) is a side view of the carriage 10 raised to the height H2. Heights H1 and H2 are heights from the road surface G1. FIG. 2 is a bottom view of the truck 10. FIG. The heights H1 and H2 of the mounting surface of the carriage 10 are changed by raising and lowering the wheel groups 21 to 24 with respect to the main body 11. FIG.

As shown in FIG. 2, the truck 10 includes a support member 50 that rotatably supports the wheel groups 21-24. In this embodiment, each of the wheel groups 21 to 24 is lifted and driven by mechanisms having the same configuration, and these mechanisms are arranged so as to be symmetrical with respect to the left-right and top-bottom lines L1 and L2 in FIG. be. Rotation shafts 21s, 22s, 23s, and 24s pass through the wheels 21w, 22w, 23w, and 24w of the wheel groups 21 to 24, respectively. A pulley 60 is attached to the tip of each of the rotating shafts 21s to 24s.

The motors 61 , 62 , 63 , 64 are provided corresponding to the wheel groups 21 , 22 , 23 , 24 and fixed to the upper surface portion 11 a of the body portion 11 . Each of the motors 61-64 is a speed control motor that can change the speed and rotation direction, and rotates the wheel groups 21-24 individually. By using mecanum wheels as the wheels 21w to 24w, the carriage 10 can be moved forward and backward, laterally, turned, and obliquely at any speed. Further, in this embodiment, the output shafts 61a, 62a, 63a, 64a of the motors 61, 62, 63, 64 are provided eccentrically.

Further, rectangular frame-shaped support members 50 surrounding the wheel groups 21 to 24 respectively rotatably support the respective rotating shafts 21s to 24s. Electric cylinders 26 , 27 , 28 and 29 as actuators are provided corresponding to the support members 50 in order to move the wheel groups 21 , 22 , 23 and 24 up and down. Each of the electric cylinders 26 to 29 is arranged so as to extend in the horizontal direction and is fixed to the upper surface portion 11a of the main body portion 11. As shown in FIG. Rods 26a, 27a, 28a, and 29a, which are extension and retraction portions of electric cylinders 26, 27, 28, and 29, extend and retract in the horizontal direction, and their tip portions reciprocate in the horizontal direction (arrow D1 direction and the opposite direction). A block 30 is provided at each end of the rods 26a-29a of the electric cylinders 26-29.

Next, the configuration of the truck 10 will be described in detail with reference to FIGS. 2 to 4. FIG. Here, as described above, mechanisms having the same configuration are arranged symmetrically with respect to the lines L1 and L2. Description of the configuration of the groups 22, 23, and 24 is omitted.

FIG. 3(a) is an enlarged view of the upper right portion of FIG. 3(b) is a cross-sectional view taken along line 3b-3b in FIG. 3(a), and FIG. 3(c) is a cross-sectional view taken along line 3c-3c in FIG. 3(a). 4(a) is a sectional view taken along line 4a-4a in FIG. 3(a), and FIG. 4(b) is a sectional view taken along line 4b-4b in FIG. 3(a).

A lifting mechanism for lifting the wheel group 21 includes an electric cylinder 26, a block 30, a fixing member 31, a relaxation member 36, a chain rotating member 37, a roller chain 40, sprockets 41 and 46, rotating shafts 42 and 47, and gears. 44, 45, 49, guide protrusions 48a, 58a, a support member 50, and rack gears 55, 56.

As shown in FIGS. 3(a) and 3(b), the block 30 has a rectangular tubular shape with a horizontal opening. fixed by A U-shaped protrusion 30a is formed on the upper surface of the block 30, and a guide member 34 is engaged with a recess in the center of the protrusion 30a. The guide member 34 is an elongated object that extends in the direction in which the electric cylinder 26 extends, and is fixed to the upper surface portion 11 a of the main body portion 11 .

Further, the block 30 includes a protrusion 30p that protrudes toward the wheel 21w (in a direction orthogonal to the direction of expansion and contraction of the rod 26a of the electric cylinder 26). A hole through which the holding shaft 36s of the relaxation member 36 passes is provided in the center of the projecting portion 30p.

The relaxation member 36 includes a holding shaft 36s supported at both ends and a spring receiving portion through which the holding shaft 36s passes. A spring 35 wound around a holding shaft 36 s is arranged between the spring receiving portion and the projecting portion 30 p of the block 30 . In this embodiment, when the rod 26a of the electric cylinder 26 is extended and the projecting portion 30p of the block 30 is positioned on the outermost side, the spring 35 is arranged to have its natural length.

Further, the relief member 36 has a protruding portion 36a that protrudes to the side opposite to the electric cylinder 26. As shown in FIG. A chain rotating member 37 is attached to the projecting portion 36a.
In addition, the upper surface of the relief member 36 is provided with a concave portion in the center of the protrusion. Above the relaxation member 36, a horizontally extending elongated guide member 39 is fixed to the upper surface portion 11a. The guide member 39 is fitted into a recess formed on the upper surface of the relief member 36 to guide the guide member 39 .

As shown in FIG. 4A, ends of roller chains 40 are attached to the upper and lower ends of the chain rotating member 37, respectively. Then, the roller chain 40 is wound around the sprockets 41 and 46 . Rotation shafts 42 and 47 are passed through the centers of the sprockets 41 and 46 . A transmission device is constituted by the chain rotating member 37 and the roller chain 40 .

As shown in FIG. 3B, the rotating shaft 42 passes through the gear 44 and is rotatably supported by a bearing fixed to the mounting member 43 and a bearing fixed to the side surface of the main body 11. . The mounting member 43 is fixed to the upper surface portion 11 a of the main body portion 11 .

As shown in FIG. 4(b), the gear 44 meshes with a gear 45 arranged below the gear 44. As shown in FIG. A central axis of the gear 45 is rotatably supported by a bearing fixed to the mounting member 43 and a bearing fixed to the side surface of the main body 11 . Gear 45 meshes with rack gear 55 of support member 50 .

On the other hand, as shown in FIGS. 3(b) and 4(a), the rotating shaft 47 of the sprocket 46 is rotatably supported by bearings supported by the mounting member 48. As shown in FIG. This rotating shaft 47 passes through a gear 49 at the end opposite to the sprocket 46 . The mounting member 48 is fixed to the upper surface portion 11 a of the main body portion 11 .

As shown in FIG. 3( a ), the mounting member 48 is provided with two guide protrusions 48 a that guide the lifting of the support member 50 . The guide projections 48a are spaced apart so as to sandwich the gear 49 and the rack gear 56 of the support member 50 therebetween.

The support member 50 has a rectangular frame shape surrounding the two connected wheels 21w, and includes side plate portions 51 and 52 and side plate portions 53 and . Bearings that support the rotating shaft 21s are arranged on the opposing side plate portions 51 and 52, respectively. The opposing side plate portions 53 and 54 are provided with rack gears 55 and 56 projecting outward.

The side plate portion 53 (54) includes two guide members 53a (54a) spaced apart. The guide members 53a and 54a have vertically extending grooves in their centers. The guide protrusion 48a of the mounting member 48 is slidably fitted into the groove of the guide member 54a.

Furthermore, a guide member 58 is fixed to the end region of the side surface of the main body 11 . The guide member 58 includes two guide protrusions 58a spaced apart in the height direction (extending in the vertical direction). The guide protrusion 58a is slidably fitted into the groove of the guide member 53a and guides the lifting of the support member 50. As shown in FIG.

As shown in FIG. 3(c), a belt 69 is wound around the output shaft 61a of the motor 61. As shown in FIG. This belt 69 is also wound around a pulley 66 rotatably attached to the fixed member 65 and a pulley 60 of the rotating shaft 21s of the wheel 21w. Thereby, the rotational force of the output shaft 61a of the motor 61 is transmitted to the wheel 21w via the belt 69. As shown in FIG.

Also, a control device 70 shown in FIG.
As shown in FIG. 5 , the control device 70 includes a control section 71 and a storage section 72 . The control device 70 is connected to the motors 61-64 and the electric cylinders 26-29. Further, the control device 70 is connected to a road mark detection section 75 and an operation section 76 .

The road surface mark detection unit 75 detects the position and shape of a magnetic tape as a guide member attached to the floor. The operation unit 76 includes a display unit such as a touch panel and an input unit. An operation screen is displayed on the touch panel of the operation unit 76 . In addition, through the touch panel, an automatic operation instruction and information about a transportation start point, a transportation end point, and a transportation start in automatic operation are input. Note that the control device 70 may be remotely operated. In this case, remote operation is performed by connecting the control device 70 and the operation unit 76 by wireless or wired communication.

A control unit 71 of the control device 70 performs travel control of the truck 10 . Specifically, the control unit 71 acquires information on the transportation start point, the transportation end point, and the transportation start along with the automatic operation instruction via the touch panel of the operation unit 76 . The controller 71 identifies the position and mark of the magnetic tape based on the signal from the road surface mark detector 75 . The control unit 71 causes the carriage 10 to travel on the magnetic tape and stop on the mark indicating the stop.

In this case, information for controlling the movement of the carriage 10 is recorded in the storage unit 72 . Specifically, wheel control data relating to the rotational directions and relative velocities of the wheels 21w to 24w are recorded.

The controller 71 uses the wheel control data to drive the motors 61-64 and control the wheels 21w-24w. By controlling the rotational direction and relative speed of the wheels 21w to 24w, the carriage 10 is caused to travel or turn in predetermined directions (front-rear direction, left-right direction, diagonal direction).

Further, the control unit 71 of the control device 70 performs up/down control of the wheels 21w to 24w. Specifically, the control unit 71 controls the electric cylinders 26 to 29 to raise and lower the rack gears 55 and 56 attached to the support members 50, thereby raising and lowering the wheels 21w to 24w (from the lowest position to the highest position). position).
Further, the carriage 10 is equipped with a battery (not shown). This battery supplies electric power to the electric cylinders 26 to 29, the motors 61 to 64, the control device 70, and the like.

Next, referring to FIGS. 1 to 7, the transportation process in the carriage 10 described above will be described.
Here, a magnetic tape is pasted on the route from the place where the article is placed (transportation start point) to the transportation end point such as an elevator car. At the loading/unloading place (transportation start point, transportation end point) of the transported goods, two staves are installed with an interval therebetween. As in the conventional case, the height of this sill is higher than the height H1 of the mounting surface of the carriage 10 when it is lowered and lower than the height H2 of the mounting surface when it is raised. In addition, a mark indicating the stop position is provided between the woods.

Then, the carriage 10 is installed at a predetermined position (standby position) provided on the magnetic tape. The control unit 71 of the carriage 10 acquires information about the transportation start point and the transportation end point and the automatic operation instruction by the operator's operation using the touch panel of the operation unit 76 . Then, the controller 71 moves the carriage 10 along the magnetic tape detected by the road surface mark detector 75 to the transport start position.

When the arrival at the transport start position is detected, the control device 70 of the cart 10 executes loading processing on the cart 10 . Here, the control unit 71 of the control device 70 drives the electric cylinders 26 to 29 in order to raise the mounting surface of the carriage 10 on which the article is to be mounted to a position higher than the upper surface of the wood.

Here, the control unit 71 of the control device 70 contracts the rods 26a-29a of the electric cylinders 26-29. As a result, the projecting portion 30p of the block 30 moves in the arrow D1 direction (horizontal direction) in FIG. 2, and the relaxation member 36 presses the natural length spring 35 and then moves in the arrow D1 direction.
Then, as shown in FIG. 4A, the chain rotating member 37 moves to the right along with the movement of the relief member 36, and as a result, the roller chain 40 rotates clockwise.

As shown in FIGS. 4A and 4B, the rotation of the roller chain 40 causes the sprocket 41, the rotating shaft 42 and the gear 44 to rotate clockwise, and the gear 45 to rotate counterclockwise. As the gear 45 rotates, the rack gear 55 is pushed down.
Further, the rotation of the roller chain 40 rotates the sprocket 46, the rotating shaft 47 and the gear 49 clockwise, and pushes down the rack gear 56. As shown in FIG.

By pushing down the rack gears 55 and 56, the relative distance between the wheels 21w (22w to 24w) and the body portion 11 increases, and the body portion 11 rises. In this case, the main body 11 rotatably supports the rotating shaft 21s (22s to 24s) and rotates along the grooves of the guide members 53a and 54a (the mounting member 48 and the guide protrusions 48a and 58a of the guide member 58). to rise.

As a result, as shown in FIGS. 6(a) and 6(b), the mounting surface of the carriage 10 has a height H2 higher than the floor, and the article is mounted thereon.
In this case, as shown in FIG. 7, the rotational force of the output shaft 61a (62a-64a) of the motor 61 (62-64) fixed to the raised main body 11 is transferred via the belt 69 to the wheel 21w ( 22w to 24w) are transmitted to the rotating shaft 21s (22s to 24s).

Then, the control device 70 moves the carriage 10 with the object to be conveyed on the mounting surface to the destination, the conveyance end point, along the magnetic tape. In this case, the controller 70 controls the rotational direction and speed of the motors 61-64 to drive the wheels 21w-24w while detecting the magnetic tape.

Then, when the controller 70 of the carriage 10 detects arrival at the transportation end point, it executes movement stop processing. Specifically, the control unit 71 of the control device 70 stops the motors 61 to 64 to stop the carriage 10 at a position between the wooden floors.

Next, the control device 70 of the truck 10 executes unloading processing from the truck. Here, the control unit 71 of the control device 70 drives the electric cylinders 26-29 to extend the rods 26a-29a. As a result, the projecting portion 30p of the block 30 moves in the direction opposite to the mounting process described above (in the direction opposite to the arrow D1 in FIG. 2), and the relaxation member 36 moves in the direction opposite to the arrow D1.

Then, as shown in FIGS. 6A and 6B, the chain rotating member 37 moves leftward along with the movement of the relief member 36, and the roller chain 40 rotates counterclockwise. As a result, the sprocket 41, the rotating shaft 42, the gear 44, the sprocket 46, the rotating shaft 47 and the gear 49 rotate counterclockwise, and the gear 45 rotates clockwise to push up the rack gears 55 and 56. In this case, since the rack gears 55 and 56 are pushed up, the relative distance between the wheels 21w (22w to 24w) and the body portion 11 is shortened, and the body portion 11 moves toward the grooves (the guide protrusions 48a, 48a, 54a) of the guide members 53a and 54a. 58a) is guided down. Then, when the mounting surface of the carriage 10 becomes lower than the wood, the goods to be conveyed are transferred to the wood. By the above, the transportation process of the trolley 10 is completed.

According to this embodiment, the following effects can be obtained.
(1) The carriage 10 of the present embodiment includes an elevating mechanism that lifts and lowers the wheel groups 21 to 24 with respect to the main body 11 having a mounting surface on which an object to be conveyed is mounted. Thereby, the main body part 11 can be raised and lowered. Therefore, when traveling, the distance between the wheel groups 21 to 24 and the body portion 11 can be increased, and the bottom surface of the body portion 11 can be raised. Further, the distance between the bottom surface of the main body part 11 and the road surface G1 is increased, so that the carriage 10 can run smoothly even on an undulating road surface G1.

(2) Each wheel group 21-24 of the truck 10 of the present embodiment includes two wheels 21w-24w. As a result, even when small-diameter wheels 21w to 24w are used in order to lower the vehicle height of the carriage 10, the mecanum wheels can support the load of the transported object as it travels.

(3) In the truck 10 of the present embodiment, the rotating shaft 21s (22s-24s) penetrating the two wheels 21w (22w-24w) is driven by the motor 61 (62-64). As a result, a plurality of wheels 21w (22w to 24w) controlled in the same rotational direction and speed can be efficiently driven.

(4) The bogie 10 of the present embodiment includes electric cylinders 26-29 corresponding to the wheel groups 21-24. As a result, each wheel group 21-24 can be raised and lowered by using the corresponding electric cylinders 26-29. For example, even with an electric cylinder having a relatively small output, each wheel group 21 to 24 can be raised and lowered individually.

(5) In the electric cylinders 26-29 of this embodiment, the tips of the rods 26a-29a move horizontally. Then, the rack gears 55, 56 convert the movement of the ends of the rods 26a-29a into a vertical motion to lift the supporting member 50 supporting the wheels 21w-24w. As a result, the electric cylinders 26 to 29 for controlling the elevation can be arranged in the carriage 10 which has a low vehicle height and is long in the horizontal direction.

(6) In this embodiment, the motors 61 to 64 and the rotating shafts 21s to 24s of the wheels 21w to 24w are wound around the belt 69 . As a result, even when the positional relationship between the motors 61 to 64 and the rotary shafts 21s to 24s is changed by elevation, the rotational force of the output shafts 61a to 64a of the motors 61 to 64 can be transferred to the wheels 21w to 24w. It can be transmitted to the rotating shafts 21s to 24s.

(7) The support member 50 of the present embodiment is provided with rack gears 55 and 56 on the opposing side plate portions 53 and 54 . As a result, the support member 50 can be moved up and down with good balance.

The above embodiment can be implemented with the following modifications. The above embodiments and the following modifications can be combined with each other within a technically consistent range.
In the above embodiment, the extension/contraction movement of the rods 26a-29a of the electric cylinders 26-29 is converted into rotational movement by the chain turning member 37 and the roller chain 40. Then, the support member 50 having the rack gears 55 and 56 meshing with the gears 45 and 49 rotated by the rotational motion of the roller chain 40 was moved up and down to move the wheels 21w to 24w up and down. The configuration of the lifting mechanism that lifts and lowers the wheels 21w to 24w is not limited to this. For example, the wheels 21w to 24w may be raised and lowered by rotational motion without using rack gears.

Specifically, as shown in FIG. 8 , a support member 93 is attached to a body portion 91 of a carriage 90 via a connecting portion 92 . In this case, the connecting portion 92 is rotatably attached to the main body portion 91 and the support member 93 . A wheel 94 is rotatably attached to the side of the support member 93, and the tip of the rod of the electric cylinder 96 is attached. Further, an electric cylinder 96 is rotatably attached to the body portion 91 .

Then, as shown in FIG. 8A, from the state where the mounting surface 91a of the main body 91 is lowered, the rod of the electric cylinder 96 is contracted to pull the support member 93 rightward. In this case, the support member 93 rotates around the mounting position of the body portion 91 of the connecting portion 92 and protrudes downward. As a result, as shown in FIG. 8B, the relative distance between the support member 93 and the body portion 91 increases, and the body portion 91 rises. In this case, the number of parts of the lifting mechanism of the wheel 94 can be reduced. Further, here, a crank mechanism may be arranged between the rod of the electric cylinder 96 and the support member 93 in order to reduce the inclination of the electric cylinder 96 .

- In the above embodiment, the electric cylinders 26 to 29 attached to the truck 10 are operated to raise and lower the wheels 21w to 24w at the same time. Additionally, each electric cylinder 26-29 may be controlled individually. For example, when the road surface on which the carriage 10 travels has an uneven shape and the article to be conveyed placed on the mounting surface is inclined, the height of the wheels 21w to 24w is controlled so that the mounting surface is horizontal. . In this case, the carriage is provided with a tilt detector for detecting the tilt (angle and tilt direction) of the mounting surface, and this tilt detector is connected to the controller 70 . Further, the storage unit 72 of the control device 70 stores tilt control data for controlling the electric cylinders 26 to 29 according to the tilt (angle and tilt direction). Then, the controller 71 uses the tilt control data according to the tilt (angle and tilt direction) detected by the tilt detector to move the electric cylinders 26 to 29 so that the mounting surface of the main body 11 is horizontal. control the amount of expansion and contraction of the rods 26a to 29a. As a result, even if the cart is tilted due to unevenness of the traveling road surface, etc., the mounting surface can be kept horizontal, so that the goods can be conveyed smoothly and stably.

- In the truck 10 of the above embodiment, the electric cylinders 26 to 29 are provided corresponding to the wheel groups 21 to 24, respectively. The electric cylinders 26 to 29 of the truck are not limited to being provided in one-to-one correspondence with the wheel groups 21 to 24 . For example, two electric cylinders may be provided to operate two wheel groups simultaneously. Also, one electric cylinder may be provided to operate all the wheel groups 21 to 24 at the same time.

- In the above embodiment, the electric cylinders 26-29 are used as actuators for lifting and lowering the support member 50 that supports the wheel groups 21-24. The actuator for raising and lowering the support member 50 is not limited to an electric cylinder, and any power source for changing the height of the support member 50 can be used. etc.

- In the bogie 10 of the above embodiment, the mechanisms for driving the wheel groups 21 to 24 are arranged line-symmetrically with respect to the lines L1 and L2. The mechanism for driving the wheel groups 21 to 24 is not limited to the arrangement described above. For example, the mechanism may be arranged so as to be accommodated in a main body portion having a rectangular parallelepiped cross section or a main body portion having a shape corresponding to the shape of the object to be conveyed. good.

In the bogie 10 of the above embodiment, each wheel group 21-24 has two wheels 21w-24w. The number of wheels provided in each wheel group 21 to 24 is not limited to two, and may be one or three or more. It is preferable to use the size and number of wheels according to the assumed load of the object to be conveyed by the carriage 10 .

- Mecanum wheels are used as drive wheels for the wheels 21w to 24w of the carriage 10 of the above embodiment. The driving wheels of the carriage 10 are not limited to mecanum wheels as long as they are capable of at least linear movement and turning around the central axis by controlling the rotation direction and speed. For example, an omniwheel (registered trademark) may be used. Here, if at least straight movement and turning around the central axis can be performed by controlling the direction of rotation and speed, the number of wheel groups attached to the truck is not limited to four. There may be.

- In the said embodiment, it demonstrated as the truck 10 which conveys material equipment etc. as a conveying apparatus. An object to be conveyed by the conveying device is not limited to an object, and may be a person or the like.

G1... road surface, H1, H2... height, L1, L2... line, L3, L4... distance, 10, 90... bogie, 11, 91... body part, 11a... upper surface part, 21, 22, 23, 24... wheel Group 21s, 22s, 23s, 24s Rotation shafts 21w, 22w, 23w, 24w, 94 Wheels 26, 27, 28, 29, 96 Electric cylinders 26a, 27a, 28a, 29a Rods 30 Block 30a... Protruding part 30p... Protruding part 31, 65... Fixing member 34, 39, 58... Guide member 35... Spring 36... Relaxing member 36a... Protruding part 36s... Holding shaft 37... Chain rotating members 40 Roller chains 41, 46 Sprockets 42, 47 Rotating shafts 43, 48 Mounting members 44, 45, 49 Gears 48a, 58a Guide projections 50, 93 Supporting member 51, 52, 53, 54 Side plate portion 53a, 54a Guide member 55, 56 Rack gear 60, 66 Pulley 61, 62, 63, 64 Motor 61a, 62a, 63a, 64a ... Output shaft 69 ... Belt 70 ... Control device 71 ... Control section 72 ... Storage section 75 ... Road mark detection section 76 ... Operation section 91a ... Placement surface 92 ... Connection section.

Claims (3)

a main body having a mounting surface on which an object to be conveyed is mounted;
a plurality of drive wheel groups that are attached to the main body and that can control the direction and speed of rotation;
an elevating mechanism portion fixed to the main body portion and provided for each of the driving wheel groups for lifting and lowering the driving wheel groups;
a drive motor attached to the main body and driving each of the drive wheel groups;
a control unit that drives each of the drive wheel groups to control forward/backward movement, lateral movement, oblique straight movement, and turning around the central axis;
The drive wheel group includes a wheel through which a rotating shaft driven using a belt passes ,
The elevating mechanism is
an actuator having an extendable portion fixed to the body portion so as to extend in a horizontal direction;
a transmission device that converts the expansion and contraction motion of the expansion and contraction portion of the actuator into rotary motion;
a gear rotated by the rotary motion of the transmission;
A support member having a rack gear that engages with the gear and extends in the height direction, a guide member that guides movement in the height direction, and a plurality of side plate portions that form a rectangular frame shape surrounding the outside of the wheel. and
The output shaft of the drive motor attached to the main body is located between a first pulley attached to the rotating shaft and a second pulley rotatably attached to the main body, It is arranged diagonally below the pulley,
the belt is wound around the output shaft, the first pulley and the second pulley;
both ends of the rotating shaft are rotatably supported by respective opposing first side plate portions in the plurality of side plate portions;
The rack gear and the guide member are provided on each of the second side plate portions orthogonal to and facing the first side plate portion in the plurality of side plate portions,
The elevating mechanism unit elevates the drive wheel group by moving the tip of the extensible unit ,
The first pulley is positioned laterally of the second pulley when the mounting surface is lowered, and is aligned with the second pulley and the output shaft when the mounting surface is raised. A conveying device characterized by being positioned obliquely below an output shaft . 2. The conveying apparatus according to claim 1, wherein the control unit individually controls each of the actuators so that the mounting surface is horizontal. 3. The conveying apparatus according to claim 1, wherein each drive wheel group comprises a plurality of wheels connected by the rotating shaft.

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