JP7828796B2 - Carts and automated transport systems - Google Patents

Description

One embodiment of the present invention relates to a trolley transported by an automated guided vehicle (AGV) used at a construction site. Another embodiment of the present invention relates to an automated transport system including a trolley and an AGV.

In recent years, technological development in automated guided vehicles (AGVs) has progressed, and AGVs are beginning to be used in a variety of situations. For example, using AGVs in a warehouse where goods are stored makes it possible to automatically transport a wide variety of goods. This improves work efficiency and reduces costs. One type of AGV known is one that moves under a cart, lifts the cart, and then transports it (see, for example, Patent Document 1).

Japanese Patent Publication No. 2019-59460

At construction sites, the materials loaded onto trolleys are often large and heavy. Therefore, if the weight distribution of the materials is uneven, the load may shift when the automated guided vehicle (AGV) lifts the trolley.

One embodiment of the present invention aims to provide a trolley that can suppress variations in the position of an automated guided vehicle (AGV) that slides under the loading platform, thereby preventing cargo collapse, in view of the above-mentioned problems. Another embodiment of the present invention aims to provide an automated transport system including the trolley and the AGV.

A trolley according to one embodiment of the present invention is a trolley transported by an automated guided vehicle (AGV) that moves beneath the platform, and includes a plurality of first guide frames provided on the bottom surface of the platform to guide a substantially circular, liftable table provided by the AGV when the AGV moves beneath the platform, and a second guide frame provided on the bottom surface of the platform to guide the liftable table when it is raised. The plurality of first and second guide frames are arranged to follow the substantially circular shape of the liftable table, each of the plurality of first guide frames has an L-shaped cross-section, and the second guide frame has a rectangular cross-section.

The height of each of the multiple first guide frames from the bottom surface of the loading platform may be greater than the height of the second guide frame from the bottom surface of the loading platform.

The second guide frame may be curved to conform to the approximately circular shape of the lifting table.

One of the multiple first guide frames, positioned opposite the second guide frame, may be curved to conform to the approximately circular shape of the lifting table.

One of the multiple first guide frames, positioned opposite the second guide frame, may have a projection that engages with a groove provided on the side of the lifting table. The cross-sectional area of the projection may increase from bottom to top.

An automated transport system according to one embodiment of the present invention includes the above-mentioned trolley and the above-mentioned automated transport vehicle.

According to one embodiment of the present invention, the position of the automated guided vehicle below the platform of the trolley can be stabilized. Furthermore, it is possible to prevent the load from shifting.

This is a schematic diagram showing the configuration of an automated transport system according to one embodiment of the present invention. This is a schematic diagram showing the configuration of a trolley for an automated transport system according to one embodiment of the present invention. This is a schematic diagram showing the configuration of a trolley for an automated transport system according to one embodiment of the present invention. This is a schematic diagram showing the configuration of an automated guided vehicle in an automated guided vehicle system according to one embodiment of the present invention. This is a schematic diagram illustrating the operation in which an automated guided vehicle slides under the loading platform of a trolley in an automated guided vehicle system according to one embodiment of the present invention. This is a schematic diagram illustrating the operation in which an automated guided vehicle slides under the loading platform of a trolley in an automated guided vehicle system according to one embodiment of the present invention. This is a schematic diagram illustrating the rotational movement of an automated guided vehicle below the loading platform of a trolley in an automated guided vehicle system according to one embodiment of the present invention. This is a schematic diagram illustrating the prevention of cargo collapse in an automated transport system according to one embodiment of the present invention. This is a schematic diagram showing the configuration of a trolley in one modified example of an automated transport system according to one embodiment of the present invention. This is a schematic diagram showing the configuration of an L-shaped guide frame and a lifting table in one modified example of an automated transport system according to one embodiment of the present invention. This is a schematic diagram illustrating the engagement operation between an L-shaped guide frame and a lifting table in one modified example of an automated transport system according to one embodiment of the present invention.

The embodiments of the present invention will be described below with reference to the drawings. Note that these embodiments are merely examples, and those that a person skilled in the art could easily conceive of by modifying them appropriately while maintaining the spirit of the invention are naturally included within the scope of the present invention. Furthermore, in order to clarify the explanation, the drawings may schematically represent the width, thickness, shape, etc., of each part compared to the actual embodiment. However, the illustrated shapes are merely examples and do not limit the interpretation of the present invention.

In this specification, for the sake of clarity, terms such as "upper," "above," or "upper part," or "lower," "below," or "lower part" are used, but these merely describe the hierarchical relationships of the components. For example, when describing the positional relationships of a structure (e.g., a trolley or automated guided vehicle), the side on which the structure is installed (e.g., the floor side) may be referred to as "lower," "below," or "lower part," based on the typical manner in which the structure is used.

In this specification, the terms "First," "Second," or "Third" attached to each component are merely convenient markers used to distinguish between components and, unless otherwise specified, have no further meaning.

In this specification and drawings, the same reference numeral is used to collectively represent multiple identical or similar components. When distinguishing between these components, uppercase or lowercase letters may be used. Furthermore, when distinguishing between multiple parts of a single component, hyphens and natural numbers may be used.

In this specification, "automated guided vehicle" refers to a vehicle capable of autonomous driving that lifts a trolley and transports it to a designated location.

In this specification, "trolley" refers to a vehicle capable of loading materials or other items onto its platform.

In this specification, "automated driving" includes not only driving based on programmed instructions, but also autonomous driving using the control devices provided by the automated guided vehicle (AGV). Autonomous driving includes not only driving along a predetermined route toward a destination, but also driving while following a target object.

[1. Configuration of the automated transport system 10]
Figure 1 is a schematic diagram showing the configuration of an automated transport system 10 according to one embodiment of the present invention. Specifically, Figure 1 is a side view of the automated transport system 10.

As shown in Figure 1, the automated transport system 10 includes a trolley 100 and an automated guided vehicle 200. The trolley 100 includes a loading platform 110, casters 120, an L-shaped guide frame 131, and an I-shaped guide frame 132. The automated guided vehicle 200 includes a main body 210, crawlers 220, a lifting table 231, and a lifting movable part 232.

In the automated transport system 10, the automated guided vehicle (AGV) 200 slides under the loading platform 110 of the trolley 100. The L-shaped guide frame 131 and I-shaped guide frame 132 of the trolley 100 engage with the lifting table 231 of the AGV 200, thereby connecting the trolley 100 and the AGV 200. This allows the AGV 200 to lift and transport the trolley 100. The configurations of the trolley 100 and the AGV 200 will be described in detail below with reference to Figures 2 to 4.

[2. Configuration of the trolley 100]
Figures 2 and 3 are schematic diagrams showing the configuration of a trolley 100 of an automated transport system 10 according to one embodiment of the present invention. Specifically, Figures 2(A) and 2(B) show a side view and a bottom view of the trolley 100, respectively. Figure 3 shows a cross-sectional view of the trolley 100 cut along the line A1-A2 shown in Figure 2(B).

As shown in Figures 2(A) and 2(B), the bottom surface of the platform 110 of the trolley 100 is fitted with four casters 120, three L-shaped guide frames 131, and one I-shaped guide frame 132. The platform 110 is rectangular in shape, with long and short sides, and the four casters 120 are positioned at each of the four corners of the platform 110. Each caster 120 includes a wheel, which may be fixed in one direction of travel or may be fixed to rotate freely so as to change direction. Note that the trolley 100 is not limited to the above configuration. For example, the platform 110 of the trolley 100 may be approximately circular or polygonal.

As shown in Figure 3, the L-shaped guide frame 131 is a member having an L-shaped cross-section. Specifically, the L-shaped guide frame 131 is configured with a first flat plate portion 131a extending substantially perpendicularly to the bottom surface of the loading platform 110, and a second flat plate portion 131b extending substantially horizontally from the first flat plate portion 131a to the bottom surface of the loading platform 110, with these portions perpendicular to each other, resulting in an L-shaped cross-section. The L-shaped guide frame 131 is bent so that the second flat plate portion 131b faces the center of the loading platform 110. The I-shaped guide frame 132 is a member having an I-shaped (rectangular) cross-section. Specifically, the I-shaped guide frame 132 is composed only of a first flat plate portion 132a extending substantially perpendicularly to the bottom surface of the loading platform 110, and has an I-shaped cross-section.

The three L-shaped guide frames 131 and the one I-shaped guide frame 132 are positioned on approximately the circumference of a predetermined circle that is the center of the loading platform 110. In other words, the three L-shaped guide frames 131 and the one I-shaped guide frame 132 are positioned at a 45-degree rotation from the center of symmetry of the loading platform 110. Therefore, one of the three L-shaped guide frames 131 is positioned opposite the I-shaped guide frame 132, and the remaining two L-shaped guide frames 131 are positioned opposite each other. The I-shaped guide frame 132 is positioned on the long side of the loading platform 110. As will be described in detail later, the automated guided vehicle 200 can get under the loading platform 110 from the long side on which the I-shaped guide frame 132 is positioned. For the sake of explanation, in the following, the area inside the circle inscribed in the first flat plate portion 131a of the three L-shaped guide frames 131 and the one I-shaped guide frame 132 (first flat plate portion 132a) may be referred to as the "guide frame interior area." In the automated transport system 10, when the lifting table 231 of the automated guided vehicle 200 is located within the guide frame, the automated guided vehicle 200 can lift and transport the trolley 100, or rotate it. Therefore, when the lifting table 231 of the automated guided vehicle 200 is located within the guide frame interior area, the trolley 100 and the automated guided vehicle 200 may be said to be engaged.

As shown in Figure 3, the height h2 of the I-shaped guide frame 132 from the bottom surface of the loading platform 110 (i.e., the height of the first flat plate portion 132a) is smaller than the height h1 of the L-shaped guide frame 131 from the bottom surface of the loading platform 110 (i.e., the height h1 of the first flat plate portion 131a). Furthermore, the height h2 of the I-shaped guide frame 132 from the bottom surface of the loading platform 110 is smaller than the distance d1 from the bottom surface of the loading platform 110 to the second flat plate portion 131b of the L-shaped guide frame 131.

As will be explained in more detail later, the L-shaped guide frame 131 can guide the lifting table 231 as it enters the area within the guide frame. Furthermore, both the L-shaped guide frame 131 and the I-shaped guide frame 132 can guide the lifting table 231 during the rotational movement of the automated guided vehicle 200.

Figure 2(B) shows three L-shaped guide frames 131, but the number of L-shaped guide frames 131 is not particularly limited. There may be one, two, or four or more L-shaped guide frames 131. If there are four or more L-shaped guide frames 131, two L-shaped guide frames 131 are positioned at locations corresponding to the diameter of the guide frame inner region, and the remaining L-shaped guide frames 131 are continuously arranged along the semicircle of the guide frame inner region. Also, Figure 2(B) shows one I-shaped guide frame 132, but the number of I-shaped guide frames 132 may be two or more. If there are two or more I-shaped guide frames 132, they are continuously arranged along the semicircle of the guide frame inner region. Furthermore, the center of the guide frame inner region is not limited to the center of the loading platform 110. The center of the guide frame inner region may, for example, be the center of gravity of the trolley 100.

[3. Configuration of the Automated Guided Vehicle 200]
Figure 4 is a schematic diagram showing the configuration of an automated guided vehicle 200 of an automated transport system 10 according to one embodiment of the present invention. Specifically, Figure 4(A) is a perspective view of the automated guided vehicle 200 with the lifting table 231 in the lowered position, and Figure 4(B) is a perspective view of the automated guided vehicle 200 with the lifting table 231 in the raised position.

As shown in Figures 4(A) and 4(B), a pair of crawlers 220 are installed on the side of the main body 210. The automated guided vehicle (AGV) 200 moves by the rotation of the pair of crawlers 220. When the pair of crawlers 220 rotate in the same direction, the AGV 200 can move forward or backward. When the pair of crawlers 220 rotate in different directions, the AGV 200 can rotate in its current position.

A lifting table 231 is installed on the main body 210 of the automated guided vehicle (AGV) 200 (see Figure 4(A)). The lifting table 231 can be raised and lowered by a movable lifting part 232 installed on the upper surface of the main body 210 (see Figure 4(B)). Once the AGV 200 has moved beneath the loading platform 110 of the trolley 100, it can raise the lifting table 231 to lift the trolley 100. Furthermore, in the automated transport system 10, with the AGV 200 lifting the trolley 100, a pair of crawlers 220 can be driven to transport the trolley 100.

The lifting table 231 has a circular shape. The size of the circular shape of the lifting table 231 is smaller than the size of the area within the guide frame. Furthermore, the size of the circular shape of the lifting table 231 is larger than the size of the circle inscribed in the second flat plate portion 131b of the L-shaped guide frame 131. Within the area within the guide frame, the lifting table 231 contacts the bottom surface of the loading platform 110, allowing the trolley 100 to be lifted.

[4. Operation of the automated transport system 10]
Next, the operation of the automated transport system 10 will be explained with reference to Figures 5 to 8. Note that, for the sake of clarity, only parts of the configuration of the trolley 100 and the automated transport vehicle 200 are shown in Figures 5 and 7.

Figures 5 and 6 are schematic diagrams illustrating the operation (i.e., engagement operation) of the automated guided vehicle 200 sliding under the trolley 100 in an automated transport system 10 according to one embodiment of the present invention. The automated guided vehicle 200 slides under the loading platform 110 from the long side of the loading platform 110 (see Figure 5(A)). The distance between the two casters 120 is greater on the long side of the loading platform 110 than on the short side of the loading platform 110. Therefore, the automated guided vehicle 200 can slide under the loading platform 110 without colliding with the casters 120. In addition, an I-shaped guide frame 132 is positioned on the long side of the loading platform 110 into which the automated guided vehicle 200 slides. When the automated guided vehicle 200 slides under the loading platform 110, the height of the lifting table 231 from the floor is less than the height from the floor to the I-shaped guide frame 132. Therefore, the automated guided vehicle 200 can slide under the loading platform 110 without colliding with the I-shaped guide frame 132 (see Figure 5(B)).

As the automated guided vehicle (AGV) 200 moves toward the center of the loading platform 110, the AGV 200's lifting table 231 is guided by two L-shaped guide frames 131 adjacent to the I-shaped guide frame 132. It then contacts the first flat plate portion 131a of the L-shaped guide frame 131 facing the I-shaped guide frame 132, causing the AGV 200 to stop (see Figure 6(A)). The height of the second flat plate portion 131b of the L-shaped guide frame 131 from the floor is less than the height of the lifting table 231 from the floor. Therefore, the AGV 200 can stop by contacting the first flat plate portion 131a of the L-shaped guide frame 131 without colliding with the second flat plate portion 131b (see Figure 6(B)).

In this way, in the automated transport system 10, the lifting table 231 is guided by the L-shaped guide frame 131, and the automated transport vehicle 200 slides under the loading platform 110 of the trolley 100, engaging with the trolley 100. Therefore, the engagement position of the automated transport vehicle 200 below the loading platform 110 of the trolley 100 can be stabilized.

Figure 7 is a schematic diagram illustrating the rotational movement of the automated guided vehicle 200 below the loading platform 110 of the trolley 100 in an automated transport system 10 according to one embodiment of the present invention. During the rotational movement of the automated guided vehicle 200, the lifting table 231 is raised above its engagement position. That is, the lifting table 231 is raised so that its side faces not only the first flat plate portion 131a of the L-shaped guide frame 131, but also the I-shaped guide frame 132. As a result, the position of the lifting table 231 is fixed within the guide frame region. When the automated guided vehicle 200 performs a rotational movement in this state, the lifting table 231 is guided by the three L-shaped guide frames 131 and the one I-shaped guide frame 132, preventing the position of the automated guided vehicle 200 from shifting. Therefore, the rotational movement of the automated guided vehicle 200 can be stabilized.

Figure 8 is a schematic diagram illustrating the load collapse prevention mechanism of an automated transport system 10 according to one embodiment of the present invention. As shown in Figure 8, even if the trolley 100, lifted by the raised lifting table 231, loses its balance, the lifting table 231 is secured by at least one of the three L-shaped guide frames 131, preventing the loading platform 110 from tilting significantly. Therefore, the materials loaded on the loading platform 110 will not fall, thus preventing load collapse.

As described above, in the automated transport system 10 according to one embodiment of the present invention, the L-shaped guide frame 131 positioned on the bottom surface of the loading platform 110 of the trolley 100 guides the lifting table 231 of the automated transport vehicle 200, engaging the trolley 100 and the automated transport vehicle 200, and enabling the automated transport vehicle 200 to transport the trolley 100. Therefore, the engagement position of the automated transport vehicle 200 below the loading platform 110 of the trolley 100 can be stabilized. Furthermore, even during the rotational movement of the automated transport vehicle 200, the lifting table 231 is guided by the L-shaped guide frame 131 and the I-shaped guide frame 132, thus stabilizing the rotational movement of the automated transport vehicle 200. Additionally, the L-shaped guide frame 131 suppresses the tilting of the loading platform 110, thus preventing cargo collapse.

The following describes some modifications of the automated transport system 10 according to the above-described embodiment. However, the automated transport system 10 is not limited to the following modifications. Furthermore, in the following, when the configuration of a modification is the same as the configuration described above, the description of the configuration of the modification may be omitted.

<Variation 1>
Figure 9 is a schematic diagram showing the configuration of a trolley 100A in one modified example of an automated transport system 10 according to one embodiment of the present invention. As shown in Figure 9(A), two L-shaped guide frames 131, one L-shaped guide frame 131A, and one I-shaped guide frame 132A are arranged on the bottom surface of the loading platform 110 of the trolley 100A. The L-shaped guide frame 131A is positioned opposite the I-shaped guide frame 132A. Furthermore, the two L-shaped guide frames 131, one L-shaped guide frame 131A, and one I-shaped guide frame 132A are positioned at a 45-degree rotation from the center of the loading platform 110 as the center of symmetry.

The shape of the I-shaped guide frame 132A is curved along the circumference of the area within the guide frame. Furthermore, as shown in Figure 9(B), the L-shaped guide frame 131A has a curved surface on the side of the first flat plate portion 131Aa facing the area within the guide frame. That is, the L-shaped guide frame 131A is also curved along the circumference of the area within the guide frame. In the trolley 100A, when the lifting table 231 is positioned within the area within the guide frame, the contact area between the L-shaped guide frame 131A and the I-shaped guide frame 132 and the lifting table 231 can be increased. Therefore, in the trolley 100A, the engagement position of the automated guided vehicle 200 below the loading platform 110 of the trolley 100A can be further stabilized.

<Modified Example 2>
Figure 10 is a schematic diagram showing the configuration of the L-shaped guide frame 131B and the lifting table 231B in one modified example of the automatic transport system 10 according to one embodiment of the present invention. Figure 11 is a schematic diagram illustrating the engagement operation between the L-shaped guide frame 131B and the lifting table 231B in one modified example of the automatic transport system 10 according to one embodiment of the present invention.

As shown in Figure 10(A), the L-shaped guide frame 131B includes a first flat plate portion 131Ba, a second flat plate portion 131Bb, and a projection portion 131Bc. The projection portion 131Bc is provided on a part of the surface of the first flat plate portion 131Ba on the side of the second flat plate portion 131Bb. For example, the projection portion 131Bc may be provided in the upper region of the surface of the first flat plate portion 131Ba (a region away from the second flat plate portion 131Bb). The projection portion 131Bc includes one or more projections, and the number of projections is not particularly limited. The cross-sectional shape of the projection is, for example, triangular, but is not limited to this. The cross-sectional area of the projection increases from bottom to top (as it moves away from the second flat plate portion 131Bb).

As shown in Figure 10(B), a groove 231Ba is provided on the side surface of the lifting table 231B. The groove 231Ba contains one or more grooves. The number of grooves is preferably the same as, or greater than, the number of projections on the projection 131Bc. The shape of the grooves corresponds to the cross-sectional shape of the projections, for example, a triangular cross-section. Furthermore, the cross-sectional area of the grooves is preferably the same as, or slightly smaller than, the maximum cross-sectional area of the projections.

As shown in Figure 11(A), when the automated guided vehicle (AGV) 200 moves beneath the loading platform 110 of the trolley 100, the AGV 200 moves with the groove 231Ba of the lifting table 231B in front, and the groove 231Ba of the lifting table 231B contacts the first flat plate portion 131Ba of the L-shaped guide frame 131B within the guide frame region. In this state, when the lifting table 231B is raised, the groove of the groove 231Ba engages with the projection of the projection 131Bc. That is, the projection of the projection 131Bc can function as a guide for the groove of the groove 231Ba. Therefore, the lifting table 231B can be raised and its position fixed. Thus, even in this modified example, the engagement position of the AGV 200 beneath the loading platform 110 of the trolley 100 can be further stabilized.

Furthermore, when the projection 131Bc of the L-shaped guide frame 131B and the groove 231Ba of the lifting table 231B are engaged, the automated guided vehicle 200 can rotate while the position of the lifting table 231B is fixed by the L-shaped guide frame 131B. Therefore, the rotational movement of the automated guided vehicle 200 can be made more stable.

The embodiments described above as examples of the present invention can be combined and implemented as appropriate, provided they do not contradict each other. Furthermore, any modifications made by those skilled in the art, based on these embodiments, including additions, deletions, or design changes to components, or additions, omissions, or changes to processes, are also included within the scope of the present invention, as long as they retain the essence of the invention.

Any effects or benefits other than those brought about by the embodiments described above, if they are clear from the description herein or easily predictable to those skilled in the art, are naturally considered to be brought about by the present invention.

10: Automated transport system,
100, 100A: Trolley,
110: Cargo bed,
120: Caster,
131, 131A, 131B: L-shaped guide frame,
131a, 131Aa, 131Ba: First flat plate portion,
131b, 131Bb: Second flat plate section,
131Bc: protrusion,
132, 132A: I-shaped guide frame,
132a: First flat plate portion,
200: Automated guided vehicles,
210: Main unit,
220: Crawler,
231, 231B: Height-adjustable table,
231Ba: groove,
232 Lifting and lowering movable part

Claims (7)

A trolley that is transported by an automated guided vehicle that slides underneath the loading platform,
A plurality of first guide frames are provided on the bottom surface of the loading platform and guide a substantially circular lifting table provided by the automated guided vehicle when the automated guided vehicle moves toward the center of the loading platform below the loading platform ,
The cargo bed includes a second guide frame provided on the bottom surface of the cargo bed, which guides the lifting table when the lifting table is raised,
The plurality of first guide frames and the second guide frames are arranged to follow the substantially circular shape of the lifting table.
Each of the plurality of first guide frames has an L-shaped cross-section,
The aforementioned second guide frame is a trolley having a rectangular cross-section. The trolley according to claim 1, wherein the height of each of the plurality of first guide frames from the bottom surface of the loading platform is greater than the height of the second guide frame from the bottom surface of the loading platform. The trolley according to claim 1 or 2, wherein the second guide frame is curved to conform to the substantially circular shape of the lifting table. The trolley according to any one of claims 1 to 3, wherein one of the plurality of first guide frames, positioned on the opposite side of the second guide frame, is curved to conform to the substantially circular shape of the lifting table. The trolley according to any one of claims 1 to 4, wherein one of the plurality of first guide frames, positioned on the opposite side of the second guide frame, is provided with a projection that engages with a groove provided on the side surface of the lifting table. The trolley according to claim 5, wherein the area of the cross-section of the projection increases from bottom to top. A trolley according to any one of claims 1 to 6,
An automated transport system including the aforementioned automated transport vehicle.