JPWO2018207639A1 - Carrier - Google Patents

Abstract

The present invention provides a carrier truck in which a drive source for traveling also serves as a drive source for raising and lowering a conveyed object, and also capable of quickly raising and lowering the conveyed object. The carrier vehicle 1 includes a vehicle body 10, an elevating unit 50, a turning unit 11 rotatable on the vehicle body 10, a pair of drive tires (driving wheels) 12 pivotally supported by the turning unit 11, and a turning unit 11. A drive motor 13 that is arranged for each drive tire 12 and is capable of rotating in the forward and reverse directions, and stands up in an arc shape along the outer peripheral portion of the turning portion 11, and its upper portion rises from one side in the circumferential direction to the other side. The peripheral wall portion 60 formed as described above, and the cam member 55 supported by the elevating portion 50 and capable of coming into contact with and separating from the upper portion of the peripheral wall portion 60 are provided. As the cam member 55 moves in the vertical direction according to the height of the peripheral wall portion 60 that rotates as the swivel portion 11 rotates, the elevating portion 50 moves up and down.

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a carrier truck that includes a lifting mechanism that lifts and lowers a transported object.

  2. Description of the Related Art Conventionally, there is known a carrier truck that includes a lifting mechanism that lifts and lowers a transported object. For example, Patent Document 1 discloses this type of technology. Patent Document 1 describes a mechanism in a forklift portion, which is a part of a carrier, to rotate a traveling wheel of the forklift portion by rotating in the left and right directions to rotate the fork, and to raise and lower the fork via a ball screw provided inside. ..

Japanese Patent No. 5862986

  By utilizing the driving force of the driving unit for driving the transport carriage to lift the lifting mechanism, the driving unit for lifting the lifting mechanism can be omitted. However, in the configuration of Patent Document 1, it is necessary to rotate the body many times in order to move up and down via the ball screw, and it takes a long time to move up and down to a predetermined position. Further, in this configuration, in order to lift a heavy object or the like, it is necessary to relatively increase the rotational force of the traveling wheels during rotation, and it is necessary to increase the size of the motor.

  SUMMARY OF THE INVENTION It is an object of the present invention to provide a transport carriage that allows a traveling drive source to also serve as a lift drive source for raising and lowering a conveyed object, and that can rapidly raise and lower the conveyed object.

The present invention relates to a vehicle body (for example, a vehicle body 10 described below), a lifting unit that can be raised and lowered with respect to the vehicle body (for example, a lifting unit 50 described below), and a turning unit that is rotatably attached to the vehicle body. (For example, a turning portion 11 described below), a pair of driving wheels (for example, driving tires 12 described below) pivotally supported by the turning portion, and the driving wheels are arranged in the turning portion for each of the driving wheels and can be rotated in the forward and reverse directions. A drive motor (for example, a drive motor 13 described later) and an arcuate shape standing along the outer peripheral portion of the revolving portion, and its upper portion is formed so as to rise from one side in the circumferential direction toward the other side And a cam member (for example, a cam member 55 described later) supported by the elevating part and capable of coming into contact with and separated from an upper part of the peripheral wall portion. Depending on the height of the peripheral wall that rotates with the rotation of By serial cam member moves up and down, about the transport carriage the lifting unit moves up and down (e.g., the conveyance carriage 1 will be described later).
Thus, the elevating unit can be moved up and down by using the driving force of the drive motor that drives the drive wheels, and the drive source for traveling and the drive source for raising and lowering can be shared. In addition, since it is configured to stand up along the outer peripheral part of the swivel part and to push up the elevating part by the peripheral wall part located away from the center of rotation, the rotation angle can be changed due to the change in height of the upper part of the peripheral wall part (for example, inclination angle) Even if it is not increased, the required rising length can be secured with a small rotation angle (for example, 90 degrees), and the lifting time can be shortened.

The drive motor is preferably arranged on the upper surface of the turning portion and inside the peripheral wall portion.
As a result, the layout is such that the drive motor is placed inside the peripheral wall, so the drive wheels are placed away from the center of rotation of the turning part, and a large distance (radial length) is secured between the drive wheels. Then, the force point can be placed at a position away from the center of rotation. As a result, the lever principle (moment of force) makes it possible to raise and lower the elevating part with a strong force even if the motor rotation force is weak compared to a configuration in which the force point is located near the center of rotation. It is also possible to achieve downsizing and downsizing of the vehicle body.

It is preferable that the carrier vehicle further includes a lock mechanism that is disposed on the vehicle body and that can fix the position of the elevating unit at a raised position.
With this, since the lift unit raised by the swing unit can be fixed at the lift position, it is possible to rotate the swing unit and raise the lift unit, and then return the position of the swing unit to the normal position and move forward. Further, even when the transport carriage is traversed while the turning portion is being rotated, it is possible to prevent the raising / lowering portion from being lowered from an unintentionally raised position.

The lock mechanism is located in the vicinity of the elevating part, and holds the fulcrum part (eg, link fulcrum part 526 described later) of a link mechanism (eg, link mechanism 52 described later) of the elevating part by sandwiching the elevating part. It is preferable to fix the position of.
As a result, the lock mechanism can be downsized in a space-saving manner, and by holding the fulcrum of the link mechanism, it is possible to reduce the force required to hold the lock. Can be downsized.

  According to the present invention, it is possible to realize a carrier truck in which a drive source for traveling also serves as a drive source for raising and lowering a transported object and at the same time can quickly raise and lower the transported object.

It is a top view which shows typically the internal structure of the conveyance vehicle which concerns on one Embodiment of this invention. It is a perspective view showing a situation of a turning part of a conveyance truck of this embodiment. It is a top view showing a situation of a drive motor and a drive tire of this embodiment. It is a side view which shows a mode that the raising / lowering part and peripheral wall part of this embodiment were seen from the outside of a conveyance trolley. It is a side view which shows a mode that the link plate and the linear bush of this embodiment were seen from the outside of a conveyance carriage. It is a top view showing a situation of a link plate and a linear bush of this embodiment. It is a figure which shows typically an example of operation control when a turning part advances in a normal position in the conveyance vehicle of this embodiment. It is a figure which shows typically an example of operation control when a revolving part advances in a transverse position in the conveyance vehicle of this embodiment.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a plan view schematically showing an internal configuration of a carrier vehicle 1 according to an embodiment of the present invention. FIG. 2 is a perspective view showing a state of the turning portion 11 of the carrier vehicle 1 according to the present embodiment. 1 and 2, the illustration of the upper cover that hides the internal configuration is omitted.

  1 is a low-floor AGV (Automatic Guided Vehicle) that dives under a conveyed product having a space below and lifts the conveyed product to a predetermined position. An object to be conveyed by the carriage 1 is, for example, a carriage that accommodates parts and the like.

  The configuration of the carrier vehicle 1 will be described. The carriage 1 of the present embodiment is provided with a vehicle body 10, a turning portion 11 rotatably supported by the vehicle body 10, a pair of driving tires 12 attached to the turning portion 11, and two driving tires 12 provided for each driving tire 12. Each drive motor 13, a control box 30 for performing various controls of the transport carriage 1, various electrical components described below, and a lifting mechanism 15 for lifting and lowering a transported object are provided.

  The vehicle body 10 is formed in a flat box shape elongated in a predetermined direction. In the following description, the front-rear direction means a direction parallel to the longitudinal direction of the carriage 1, and the left-right direction means a direction parallel to the lateral direction of the carriage 1.

  In the vehicle body 10 of the present embodiment, casters 14 as driven wheels are arranged at the right front portion, the right rear portion, the left front portion, and the left rear portion, respectively. Further, scanner sensors 35 corresponding to the traveling direction are arranged on the front, rear, left and right of the vehicle body 10. For example, the scanner sensor 35 arranged on the front side is used when the carriage 1 moves forward, and the scanner sensors 35 arranged in the left-right direction are used when the carriage 1 traverses.

  A control box 30 and various electrical components are arranged inside the vehicle body 10. The control box 30 is a computer including a board and the like, and performs various controls of the carrier vehicle 1. The above-mentioned electrical components include a control battery 32, a capacitor 33, a motor driver 34, a harness (not shown), etc., and supply electric power to the drive motor 13 and input / output signals to / from the control box 30.

  The swivel portion 11 is a disc member arranged in the center of the vehicle body 10 in the front-rear direction. The turning portion 11 is rotatably supported by the vehicle body 10 via a rotation support portion 18, and uses a bearing or the like in the embodiment. The rotation of the swivel unit 11 enables the direction change of the carrier 1. A pair of drive tires 12 are attached to the turning portion 11. In the swivel portion 11 of the present embodiment, two recessed portions 111 that are cut out in the radial direction are formed. The layout is such that the driving tire 12 is located inside the recess 111.

  Hereinafter, the position of the turning portion 11 when the transport vehicle 1 moves in the front-rear direction will be referred to as a normal position. FIG. 1 shows a state in which the revolving unit 11 is at the normal position when the transport vehicle 1 moves forward. In FIG. 1, when the turning portion 11 is in the normal position, the driving tire 12 located on the right side is referred to as a first driving tire 12a, and the driving tire 12 located on the left side is referred to as a second driving tire 12b. Further, the position of the turning portion 11 when the direction of the pair of driving tires 12 is parallel to the left-right direction is defined as the traverse position.

  The pair of drive motors 13 are fixed to the upper surface of the turning portion 11. The drive motor 13 includes a stator, a rotor, a shaft, a brake mechanism (all not shown), and the like. The driving force of the drive motor 13 is transmitted to the drive tire 12 via the transmission mechanism 20. As shown in FIG. 2, the transmission mechanism 20 includes a speed reducer 21, pulley mechanisms 22 and 23, a tension roller 24, and the like. The speed reducer 21 is connected to the drive motor 13 via a pulley mechanism 22 and is connected to the drive tire 12 via a pulley mechanism 23. The rotational force of the drive motor 13 is input to the speed reducer 21 via the pulley mechanism 22. Tension rollers 24 apply tension to the pulley mechanism 22, and the tension is controlled within a predetermined range. The speed reducer 21 reduces the rotational force input via the pulley mechanism 22 and transmits the rotational force to the driving tire 12 via the pulley mechanism 23.

  The drive motor 13 and the transmission mechanism 20 are arranged for each drive tire 12. The driving force of one first driving motor 13a is transmitted to the first driving tire 12a via the first transmission mechanism 20a, and the driving force of the other second driving motor 13b is second driven via the second transmission mechanism 20b. It is transmitted to the tire 12b.

  As described above, since the carrier vehicle 1 of the present embodiment is provided with the independent drive source for each of the first driving tire 12a and the second driving tire 12b, it is rotated for each of the first driving tire 12a and the second driving tire 12b. It is possible to change the direction. For example, in FIG. 1, with the revolving unit 11 in the normal position, the rotations of the first driving tire 12a and the second driving tire 12b in the direction in which the transport carriage 1 is moved forward are defined as normal rotation, and the rotation on the opposite side is defined as reverse rotation. And In this case, the turning portion 11 can be rotated counterclockwise by rotating the first driving tire 12a in the forward direction and rotating the second driving tire 12b in the reverse direction. Similarly, when the second driving tire 12b is rotated in the normal direction and the first driving tire 12a is rotated in the reverse direction, the turning portion 11 rotates in the clockwise direction.

  An upper surface plate 16 is arranged above the swivel unit 11. The top plate 16 is a plate-shaped member that is elongated in the front-rear direction. A step absorption spring 17 is arranged on the upper surface plate 16. In the present embodiment, the layout is such that the step absorption spring 17 is located at the rotation center of the swivel portion 11.

  Next, the lifting mechanism 15 will be described. FIG. 3 is a plan view showing a state in the vicinity of the second drive motor 13b and the second drive tire 12b of the present embodiment. FIG. 4 is a side view showing a state where the elevating part 50 and the peripheral wall part 60 of this embodiment are viewed from the outside of the carrier 1.

  The elevating mechanism 15 of the present embodiment includes a pair of left and right elevating sections 50, a pair of peripheral wall sections 60 that rotate integrally with the swivel section 11, and cam members 55 that are arranged in each of the left and right elevating sections 50. And four lock mechanisms 70 for fixing the elevating part 50 in the raised position (see FIG. 1).

  The elevating parts 50 are arranged on the left and right sides of the vehicle body 10. Of the left and right pair, the first elevating part 50a located on the right side and the second elevating part 50b located on the left side are configured to have substantially the same shape. Hereinafter, the second elevating part 50b arranged on the left side will be described. The first elevating part 50a on the right side has the same configuration, and the same reference numerals are given and the individual description is omitted.

  The second elevating part 50b includes a plate main body 51 extending in a bar shape in the front-rear direction, link mechanisms 52 arranged in front and rear of the plate main body 51, and a guide member 53 for guiding the elevating and lowering of the plate main body 51.

  The plate main body 51 functions as a loading platform on which a conveyed product is placed. A protruding piece 54 is provided below the plate body 51. The protruding piece 54 is a portion to which a cam member 55 described later is attached.

  The link mechanisms 52 are arranged in the front-rear direction of the single plate body 51. The two link mechanisms 52 arranged at the front and rear have the same configuration except that the directions are different.

  FIG. 5 is a side view showing a state in which the link mechanism 52 and the guide member 53 of the present embodiment are viewed from the outside of the carriage 1. FIG. 6 is a plan view showing a state of the link mechanism 52 and the guide member 53 of this embodiment.

  The link mechanism 52 includes a connecting bar 520, a first link member 521, and a second link member 522. The connection bar 520 is a rectangular shaft-shaped member connected to the end of the plate body 51. One end of the first link member 521 is rotatably supported on the inner surface of the connecting bar 520, and the other end thereof is rotatable to the second link member 522 via the link fulcrum 526. Connected to. The second link member 522 is rotatably supported on the vehicle body 10 side at the end opposite to the side connected to the first link member 521.

  The guide member 53 may be any mechanism that guides the vertical movement of the plate body 51, and a linear bush is used in this embodiment. The guide member 53 includes a tubular body 531, a rod 532, and a rod holding portion 533. The tubular body 531 is fixed to the vehicle body 10. The rod 532 is slidably supported with respect to the tubular body 531 and is fixed to the plate body 51 via a rod holding portion 533.

  Next, the peripheral wall portion 60 will be described with reference to FIGS. 2 to 4. The peripheral wall portion 60 is formed in a wall shape that stands upright along the outer circumference of the turning portion 11. The peripheral wall portion 60 is formed in an arc shape in a plan view.

  In the present embodiment, the peripheral wall portion 60 is composed of a first slant block 60a and a second slant block 60b, and the first slant block 60a and the second slant block 60b are opposed to each other with the rotation center of the swivel portion 11 interposed therebetween. It is provided in. The 1st drive motor 13a, the 2nd drive motor 13b, and the 1st transmission mechanism 20a and the 2nd transmission mechanism 20b are the layout located in the radial inside of the 1st inclination block 60a and the 2nd inclination block 60b. Hereinafter, the second inclined block 60b will be described. The first sloping block 60a has the same configuration, and the same reference numerals are given to omit the individual description.

  The upper part of the second inclined block 60b is inclined so that the height gradually increases from one side to the other side in the circumferential direction. In the present embodiment, the inclination angle of the inclined surface (upper end surface) 600 of the second inclined block 60b is different in steps. That is, in the first slanted portion 601 having a relatively low height and the second slanted portion 602 having a relatively high height, the slope of the first slanted portion 601 is larger than that of the second slanted portion 602. There is.

  Next, the cam member 55 will be described. The cam member 55 is a cam piece in which a rotary shaft portion projects radially inward of the revolving portion 11 from the projecting piece 54 and is separable from the upper portion of the peripheral wall portion 60. The cam member 55 contacts the first inclined portion 601 of the peripheral wall portion 60 when the swivel portion 11 is in the normal position and the lock mechanism 70 described later is not operating (unlocked state).

  The lifting operation of the lifting mechanism 15 will be described. When the rotation directions of the first drive motor 13a and the second drive motor 13b arranged for each of the first drive tire 12a and the second drive tire 12b are different from each other, the first drive tire 12a and the second drive tire 12b respectively Of the first driving tire 12a and the second driving tire 12b pivot to pivot in opposite directions. The peripheral wall portion 60 erected on the swivel portion 11 also rotates, and the cam member 55 moves in the vertical direction according to the height of the peripheral wall portion 60 while sliding on the upper portion of the peripheral wall portion 60. For example, when the turning portion 11 is rotated 90 degrees from the normal position to the counterclockwise transverse position, the contact portion of the cam member 55 with the peripheral wall portion 60 shifts from the first inclined portion 601 to the second inclined portion 602. At this time, the cam member 55 moves so that its position does not change in plan view or is substantially the same position even if it changes, but the position gradually rises in the vertical direction.

  The plate body 51 moves upward by the force received via the cam member. Along with the movement of the plate body 51, the link mechanism 52 is bent in a substantially L shape, and is rotated in an I shape along the vertical direction, so that the elevating part 50 is raised. At this time, since the guide member 53 guides the vertical movement of the lifting unit 50, the vertical movement of the lifting unit 50 is smooth without blurring.

  When the elevating part 50 moves to the upper end position (elevating position), the position of the plate body 51 is fixed by the lock mechanism 70 arranged in the front-rear and left-right directions. Next, the configuration of the lock mechanism 70 that holds the plate body 51 at the upper end position will be described.

  As shown in FIGS. 5 and 6, the lock mechanism 70 includes a clamp arm 71 that clamps the link fulcrum portion 526, a clamp arm support portion 72 that rotatably supports the clamp arm 71, and a clamping position of the clamp arm 71. An interlocking mechanism 73 that moves between the release positions and a solenoid 74 that drives the interlocking mechanism 73 are provided.

  The clamp arm 71 is a plate-shaped member. The clamp arm 71 is formed with a first notch 711 for holding the link fulcrum 526 and a second notch 712 engaging with the interlocking mechanism 73 driven by the solenoid 74. The first notch portion 711 is notched upward from the lower end portion and is formed at a position relatively close to the swivel portion 11. The second cutout portion 712 is cut out downward from the upper end portion and is formed at a position relatively distant from the swivel portion 11. In the fixing operation of the lock mechanism 70, which will be described later, the second cutout portion 712 serves as a force point where the driving force is transmitted from the interlocking mechanism 73, the clamp arm 71 rotates, and the first cutout portion 711 serves as an action point. The fulcrum part 526 is clamped.

  The clamp arm support portion 72 supports the clamp arm 71 at a position where the link fulcrum portion 526 can be held by the first cutout portion 711 when the plate body 51 is at the upper end position.

  The interlocking mechanism 73 and the solenoid 74 are fixed to the caster housing portion 140 via the bracket 75. As shown in FIG. 6, the interlocking mechanism 73 includes a rotating shaft 731 that faces the vertical direction, and an engaging portion 732 supported by the rotating shaft 731. The engaging portion 732 is configured such that one end portion is connected to the operating rod 741 of the solenoid 74 and the other end portion is engageable with the second cutout portion 712. The engaging rod 732 is interlocked by the operation rod 741 of the solenoid 74 protruding and retracting, and the engaging arm 732 enables the clamp arm 71 to move between the holding position and the releasing position.

  The fixing operation of the lock mechanism 70 will be described. With the plate body 51 moved to the upper end position and the first link member 521 and the second link member 522 line up in a straight line, the operating rod 741 of the solenoid 74 advances to the projecting position. By the forward movement of the operating rod 741, the engaging portion 732 rotates to push the second cutout portion 712 toward the swivel portion 11 side, and the clamp arm 71 rotates downward from the release position to the sandwiching position to move the first cutout portion. The link fulcrum portion 526 is sandwiched by 711. At the sandwiching position, the clamp arm 71 restricts the movement of the link fulcrum portion 526 in the front-rear direction, so that the first link member 521 and the second link member 522 are held in a state of being linearly aligned. In the clamp arm 71, the first cutout portion 711 and the second cutout portion 712 are formed at positions distant from each other in the front-rear direction, and the cutout directions alternate with each other in the vertical direction. It is possible to move the clamp arm 71 from the release position to the sandwiching position even if the amount of the push arm pushed toward the swivel portion 11 is small.

  In the releasing operation of the lock mechanism 70, the operating rod 741 of the solenoid 74 is moved to the retracted position and the clamp arm 71 is rotated upward from the holding position to the releasing position. In the present embodiment, when the clamp arm 71 releases the holding force, the swivel portion 11 is further rotated counterclockwise to urge the plate body 51 in the upward direction, so that the force applied to the link fulcrum portion 526 is increased. Is reduced, and the unclamping by the driving force of the solenoid 74 is easily performed.

  With the link fulcrum portion 526 fixed to the lock mechanism 70 is released, the turning portion 11 rotates clockwise, whereby the plate member 51 gradually descends while the cam member 55 slides on the inclined surface 600 of the peripheral wall portion 60. To do.

  Next, operation control of the carrier vehicle 1 according to the present embodiment will be described with reference to two examples. FIG. 7 is a diagram schematically illustrating an example of operation control when the turning unit 11 advances at the normal position in the transport carriage 1 of the present embodiment. It should be noted that in FIG. 7, when the lock mechanism 70 is hatched, it means that the lock mechanism 70 is in the locked state.

  In the start state shown in (A) of FIG. 7, the plate body 51 of the carrier 1 is at the lower end position (standby position). Next, as shown in (B) of FIG. 7, the control box 30 rotates the first drive motor 13a in the forward direction and rotates the second drive motor 13b in the reverse direction to rotate the swivel unit 11 counterclockwise. Rotate 90 degrees to the traverse position. At this time, the elevating part 50 moves to the upper end position during the rotation of the turning part 11. In this state, the control box 30 drives each solenoid 74 of the four lock mechanisms 70 to move the clamp arm 71 to the holding position and lock the elevating part 50 at the upper end position. By the movement of the elevating part 50 to the upper end position, the transported object (carriage) is moved upward and is ready to be transported.

  Next, as shown in (C) of FIG. 7, the control box 30 keeps the locked state of the lock mechanism 70 and rotates the revolving unit 11 from the traverse position to the normal position. , And controls the second drive motor 13b. As a result, the revolving unit 11 returns to the normal position while the lifting unit 50 is held at the upper end position. Since the revolving portion 11 is rotated while the fixing by the lock mechanism 70 is maintained, the elevating portion 50 is held at the upper end position even when the cam member 55 is separated from the peripheral wall portion 60. Then, as shown in FIG. 7D, the first drive motor 13a and the second drive motor 13b are normally rotated to move the transport carriage 1 forward.

  When the conveyed object is conveyed to a predetermined position and the elevating unit 50 is lowered, the descending preparation operation is performed. As shown in (E) in FIG. 7, in the descent preparation operation, in order to move the elevating part 50 to the lower end position, the swivel part 11 is rotated 90 degrees clockwise and the first drive is performed to return to the normal position. Control for driving the motor 13a and the second drive motor 13b is performed. As a result, the swivel portion 11 rotates counterclockwise again, and the cam member 55 comes to the traverse position in which the cam member 55 contacts the peripheral wall portion 60. In this state, unlock control for releasing the pinch by the lock mechanism 70 is performed. As shown in (F) of FIG. 7, by rotating the revolving part 11 from the traverse position to the normal position in a state where the holding by the lock mechanism 70 is released, the elevating part 50 is lowered by the movement of the peripheral wall part 60. ..

  Next, an example of operation control when the carrier 1 is traversed will be described. FIG. 8: is a figure which shows typically an example of operation control when the turning part 11 advances in a traverse position in the carrier vehicle 1 of this embodiment. Note that, also in FIG. 8, when the lock mechanism 70 is hatched, it means that the lock mechanism 70 is in the locked state.

  In the starting state shown in (A) of FIG. 8, the plate body 51 of the carrier 1 is at the lower end position. Next, as shown in (B) of FIG. 8, the control box 30 controls the first drive motor 13a and the second drive motor 13b to move the turning portion 11 from the normal position to the traverse position. At this time, the elevating part 50 moves to the upper end position during the rotation of the turning part 11. In this state, the control box 30 controls the four lock mechanisms 70 to lock the elevating part 50 at the upper end position.

  Next, as shown in (C) of FIG. 8, the first carriage 13a and the second carriage 13b are rotated in the same direction to traverse the carrier 1. For example, both the first drive motor 13a and the second drive motor 13b are reversely rotated or normally rotated. When the elevating unit 50 is to be lowered after the conveyance is completed, the process proceeds to the descent preparation operation shown in (D) of FIG. In the descending preparation operation, unlocking control of the lock mechanism 70 is performed with the revolving unit 11 in the traverse position. Next, as shown in (E) of FIG. 8, with the lock mechanism 70 releasing the holding of the elevating part 5050 at the upper end position, the revolving part 11 is rotated from the traverse position to the normal position to move the elevating part. Move 50 to the bottom position.

As described above, according to the carrier vehicle 1 of the present embodiment described above, the following effects can be obtained.
That is, the transport carriage 1 includes a vehicle body 10, an elevating unit 50 that can be moved up and down with respect to the vehicle body 10, a swivel unit 11 that is rotatably attached to the vehicle body 10, and a pair of pivotally supported by the swivel unit 11. A driving tire (driving wheel) 12 is arranged for each driving tire 12 in the turning portion 11, a forward / reverse rotatable drive motor 13, and an arc-shaped standing along the outer peripheral portion of the turning portion 11, and the upper portion thereof is The revolving part includes a peripheral wall part 60 formed to be higher from one side in the circumferential direction toward the other side, and a cam member 55 supported by the elevating part 50 and capable of coming into contact with and separating from the upper part of the peripheral wall part 60. By moving the cam member 55 in the up-down direction according to the height of the peripheral wall portion 60 that rotates with the rotation of 11, the elevating portion 50 moves up and down.

  Accordingly, the elevating unit 50 can be moved up and down by using the driving force of the drive motor 13 that drives the drive tire 12, and the drive source for traveling and the drive source for raising and lowering can be shared. Moreover, since the elevating part 50 is pushed up via the cam member 55 by the peripheral wall part 60 which is erected along the outer peripheral part of the swivel part 11 and is located away from the center of rotation, the inclination of the inclined surface above the peripheral wall part 60 is increased. Depending on the angle, the required rising length can be secured with a slight rotation angle (90 degrees in this embodiment) without increasing the rotation angle, and the lifting time can be shortened.

  Further, in the present embodiment, the drive motor 13 is arranged on the upper surface of the turning portion 11 and inside the peripheral wall portion 60.

  As a result, the layout is such that the drive motor 13 is arranged inside the peripheral wall portion 60. Therefore, the drive tire 12 is arranged at a position distant from the rotation center of the turning portion 11 and the distance between the drive tires 12 (radial length It is possible to place a force point at a position away from the center of rotation by securing a large value. As a result, as compared with the configuration in which the force point is located near the center of rotation due to the lever principle (moment of force), even if the rotational force of the drive motor 13 is weak, the elevating unit 50 can be moved up and down with a strong force. The motor 13 and the vehicle body can be downsized.

  Further, the carrier vehicle 1 of the present embodiment is further provided with a lock mechanism 70 that is arranged on the vehicle body 10 and that can fix the position of the elevating part 50 at the raised position.

  As a result, the elevating part 50 raised by the swivel part 11 can be fixed at the upper end position (elevated position). You can also go back and move forward. Further, even when the transport vehicle 1 is traversed while the swivel unit 11 is being rotated, it is possible to prevent the elevating unit 50 from being unintentionally lowered from the upper end position (elevated position).

  Further, the lock mechanism 70 of the present embodiment is located near the elevating part 50, and fixes the position of the elevating part 50 by sandwiching the link fulcrum part 526 of the link mechanism 52 of the elevating part 50.

  As a result, the lock mechanism 70 can be downsized in a space-saving manner, and further, by sandwiching the link fulcrum portion 526 of the link mechanism 52, it is possible to reduce the force required to hold the lock, so that the lock mechanism 70 can be locked. The drive unit of the mechanism 70 can also be downsized.

  Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and can be modified as appropriate.

  In the above embodiment, the low floor type AGV is described as an example of the carrier vehicle 1, but the present invention is not limited to this type. The present invention can be applied to various transport carriages provided with a lifting mechanism for lifting and lowering a transported object.

1 Carriage Truck 10 Body Body 11 Turning Section 12 Drive Tire (Drive Wheel)
13 Drive motor 50 Elevating part 55 Cam member 60 Peripheral wall part

Claims (4)

With the body
An elevating part capable of elevating with respect to the vehicle body,
A turning portion rotatably attached to the vehicle body,
A pair of drive wheels pivotally supported by the turning portion,
A drive motor that is arranged for each of the drive wheels in the turning portion and is capable of forward and reverse rotation,
A peripheral wall portion formed so as to stand in an arc shape along the outer peripheral portion of the swivel portion, and the upper portion thereof is formed so as to rise from one side in the circumferential direction toward the other side,
A cam member that is supported by the elevating part and that can come into contact with and separate from the upper part of the peripheral wall part;
Equipped with
A carrier truck in which the elevating unit moves up and down by moving the cam member in the vertical direction according to the height of the peripheral wall unit that rotates with the rotation of the turning unit.   The carrier truck according to claim 1, wherein the drive motor is arranged on an upper surface of the turning portion and inside the peripheral wall portion.   The carrier truck according to claim 1 or 2, further comprising a lock mechanism that is disposed on the vehicle body and is capable of fixing the position of the elevating part at a raised position.   The carrier according to claim 3, wherein the lock mechanism is located in the vicinity of the elevating part, and fixes the position of the elevating part by sandwiching a fulcrum part of a link mechanism of the elevating part.

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