WO2018207639A1 - Conveyance cart - Google Patents

Conveyance cart Download PDF

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Publication number
WO2018207639A1
WO2018207639A1 PCT/JP2018/016976 JP2018016976W WO2018207639A1 WO 2018207639 A1 WO2018207639 A1 WO 2018207639A1 JP 2018016976 W JP2018016976 W JP 2018016976W WO 2018207639 A1 WO2018207639 A1 WO 2018207639A1
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WO
WIPO (PCT)
Prior art keywords
drive
turning
lifting
unit
peripheral wall
Prior art date
Application number
PCT/JP2018/016976
Other languages
French (fr)
Japanese (ja)
Inventor
義人 大竹
哲朗 山野邉
卓生 小林
伸広 難波
琢也 古野
康 渡邉
恵一 島崎
後藤　雅史
Original Assignee
本田技研工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Priority to JP2019517559A priority Critical patent/JP6800321B2/en
Publication of WO2018207639A1 publication Critical patent/WO2018207639A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D47/00—Loading or unloading devices combined with vehicles, e.g. loading platforms, doors convertible into loading and unloading ramps

Definitions

  • the present invention relates to a transport carriage provided with a lifting mechanism for lifting and lowering a transported object.
  • Patent Document 1 discloses this type of technology.
  • Patent Document 1 describes a mechanism that, in a forklift unit which is a part of a transport carriage, rotates the traveling wheels of the forklift unit by turning the left and right reversely, and raises and lowers the fork through a ball screw provided inside. .
  • An object of the present invention is to provide a transport carriage capable of moving up and down the transported object promptly while using a driving source for traveling doubles as a driving source for moving up and down the transported object.
  • a vehicle body for example, a vehicle body 10 described later
  • a lifting unit for example, a lifting unit 50 described later
  • a turning unit rotatably attached to the vehicle body
  • a pair of driving wheels for example, driving tires 12 described later
  • each turning wheel disposed in the turning portion It is erected in a circular arc along the outer peripheral portion of the drive unit (for example, the drive motor 13 described later) and the turning portion, and the upper portion thereof is formed to be higher from one side to the other side in the circumferential direction.
  • a cam member (e.g., a cam member 55 described later) supported by the elevating unit and capable of contacting and separating at an upper portion of the peripheral wall portion; According to 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).
  • the elevating part can be raised and lowered using the drive force of the drive motor for driving the drive wheel, and the drive source for traveling and for raising and lowering can be combined.
  • the rotation angle is changed by the change in height of the upper portion of the peripheral wall portion (for example, inclination angle)
  • the necessary lifting length can be secured with a small rotation angle (for example, 90 degrees) without increasing the length, and shortening of the lifting time can be realized.
  • the drive motor is disposed on the upper surface of the turning portion and inside the peripheral wall portion.
  • the drive wheel is disposed at a position away from the rotation center of the turning portion to secure a large distance (length in the radial direction) between the drive wheels. Then you can place the point of effort away from the center of rotation.
  • the leverage the moment of force
  • the leverage can realize raising and lowering of the elevating part with a strong force even if the torque of the motor is weak. And the downsizing of the car body can be achieved.
  • the transport carriage further includes a lock mechanism that is disposed on the vehicle body and that can fix the position of the elevating unit at an elevated position. Accordingly, since the lifting unit raised by the turning unit can be fixed at the rising position, the turning unit can be moved forward by returning the position of the turning unit to the normal position after rotating the turning unit to raise the lifting unit. In addition, also when the transport carriage is traversed in a state where the turning portion is rotated, it is possible to prevent the lowering of the lifting and lowering portion from the unintentional rising position.
  • the lock mechanism is located in the vicinity of the elevating part, and holds the fulcrum part (for example, a link fulcrum part 526 described below) of a link mechanism (for example, a link mechanism 52 described later) of the elevating part It is preferable to fix the position of. As a result, the lock mechanism can be made smaller with less space, and by clamping the fulcrum of the link mechanism, it is possible to reduce the force required to hold the fixing, and hence the drive portion of the lock mechanism. Can also be miniaturized.
  • the present invention it is possible to realize a transport carriage in which the drive source for traveling doubles as the drive source for raising and lowering the conveyed product and can move the conveyed object up and down rapidly.
  • the conveyance trolley of this embodiment WHEREIN: It is a figure which shows typically an example of operation control when a turning part advances at a normal position. In the conveyance trolley of this embodiment, it is a figure showing typically an example of operation control when a revolving part advances in a crossing position.
  • FIG. 1 is a plan view schematically showing an internal configuration of a transport carriage 1 according to an embodiment of the present invention.
  • FIG. 2 is a perspective view showing the turning portion 11 of the transport carriage 1 of the present embodiment.
  • the upper cover for concealing the internal configuration is not shown.
  • the transport carriage 1 shown in FIG. 1 is a low-floor AGV (Automatic Guided Vehicle) which dives under a transported object having a space below and lifts the transported object to a predetermined position.
  • the object to be conveyed by the conveyance carriage 1 is, for example, a carriage that accommodates parts and the like.
  • the configuration of the transport carriage 1 will be described.
  • the transport carriage 1 according to the present embodiment includes a vehicle body 10, a pivoting portion 11 rotatably supported by the vehicle body 10, a pair of drive tires 12 attached to the pivoting portion 11, and 2 provided for each drive tire 12.
  • the drive motor 13 is provided, a control box 30 for controlling the transport carriage 1 in various ways, various electrical components to be described later, and a lifting mechanism 15 for lifting and lowering the transported object.
  • the vehicle body 10 is formed in a flat box shape elongated in a predetermined direction.
  • the front-rear direction means a direction parallel to the longitudinal direction of the carrier 1
  • the left-right direction means a direction parallel to the lateral direction of the carrier 1.
  • casters 14 as driven wheels are disposed on the right front, right rear, left front and left rear, respectively.
  • scanner sensors 35 corresponding to the traveling direction are respectively disposed.
  • the scanner sensor 35 disposed on the front side is used when the transport carriage 1 advances, and the scanner sensor 35 disposed in the left-right direction is used when the transport carriage 1 traverses.
  • the control box 30 is a computer including a substrate and the like, and performs various controls of the transport carriage 1.
  • the above-described electrical components include a control battery 32, a capacitor 33, a motor driver 34, a harness (not shown), and the like, and perform supply of power to the drive motor 13 and input / output of signals to the control box 30.
  • the pivoting portion 11 is a disk member disposed at the center of the vehicle body 10 in the front-rear direction.
  • the pivoting portion 11 is rotatably supported by the vehicle body 10 via the rotation support portion 18, and in the embodiment, a bearing or the like is used.
  • the rotation of the turning portion 11 also enables the direction change of the transport carriage 1.
  • a pair of drive tires 12 is attached to the turning portion 11.
  • two recessed portions 111 which are notched in the radial direction are formed. The layout is such that the drive tire 12 is located inside the recess 111.
  • FIG. 1 shows a state in which the pivoting portion 11 is at the normal position when the transport carriage 1 advances.
  • the drive tire 12 located on the right side when the turning portion 11 is in the normal position in FIG. 1 will be described as a first drive tire 12a, and the drive tire 12 located on the left side will be described as a second drive tire 12b.
  • the position of the turning portion 11 when the direction of the pair of drive tires 12 is parallel to the left-right direction is taken as the horizontal position.
  • the pair of drive motors 13 is 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.
  • the transmission mechanism 20 includes a reduction gear 21, pulley mechanisms 22 and 23, a tension roller 24 and the like.
  • the reduction gear 21 is connected to the drive motor 13 via the pulley mechanism 22 and is connected to the drive tire 12 via the pulley mechanism 23.
  • the rotational force of the drive motor 13 is input to the reduction gear 21 via the pulley mechanism 22.
  • the tension is applied to the pulley mechanism 22 by the tension roller 24, and the tension is managed within a predetermined range.
  • the reduction gear 21 decelerates the rotational force input through the pulley mechanism 22 and transmits the rotational force to the drive tire 12 through the pulley mechanism 23.
  • the drive motor 13 and the transmission mechanism 20 are disposed for each drive tire 12.
  • the driving force of one first drive motor 13a is transmitted to the first drive tire 12a via the first transmission mechanism 20a, and the driving force of the other second drive motor 13b is second drive via the second transmission mechanism 20b. It is transmitted to the tire 12b.
  • the transport carriage 1 of the present embodiment since the transport carriage 1 of the present embodiment includes independent drive sources for each of the first drive tire 12a and the second drive tire 12b, the transport carriage 1 according to this embodiment rotates for each of the first drive tire 12a and the second drive tire 12b. It is possible to change the direction. For example, in FIG. 1, when the turning portion 11 is in the normal position, the first drive tire 12a and the second drive tire 12b in the direction to move the transport carriage 1 forward are made forward rotation, and reverse rotation is reverse rotation I assume. In this case, the turning portion 11 can be rotated counterclockwise by rotating the first drive tire 12a forward and the second drive tire 12b reversely. Similarly, when the second drive tire 12b is rotated forward and the first drive tire 12a is rotated reversely, the turning portion 11 rotates clockwise.
  • An upper surface plate 16 is disposed above the pivoting portion 11.
  • the upper surface plate 16 is a plate-like member elongated in the front-rear direction.
  • a step absorbing spring 17 is disposed on the upper surface plate 16. In the present embodiment, the step absorption spring 17 is arranged at the rotation center of the turning portion 11.
  • FIG. 3 is a plan view showing 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 the elevator 50 and the peripheral wall 60 of the present embodiment as viewed from the outside of the transport carriage 1.
  • the lifting mechanism 15 of the present embodiment includes a pair of left and right lifting and lowering portions 50, a pair of peripheral wall portions 60 integrally rotating with the turning portion 11, and a cam member 55 disposed on each of the left and right pair of lifting and lowering portions 50; And four lock mechanisms 70 for fixing the lifting unit 50 in the raised position (see FIG. 1).
  • the elevators 50 are disposed on the left and right of the vehicle body 10 respectively.
  • the first lifting unit 50a positioned on the right side and the second lifting unit 50b positioned on the left side are configured in substantially the same shape.
  • the second lifting unit 50b disposed on the left side will be described.
  • the first elevator unit 50a on the right side also has the same configuration, and is assigned the same reference numerals and will not be described separately.
  • the second lifting unit 50 b includes a plate main body 51 extending in a bar shape in the front-rear direction, link mechanisms 52 disposed at the front and rear of the plate main body 51, and a guide member 53 for guiding the plate main body 51 up and down.
  • the plate main body 51 functions as a loading platform on which the transported object is placed.
  • a projecting piece 54 is provided at the lower part of 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 respectively disposed in the front-rear direction of one plate main body 51.
  • the two link mechanisms 52 arranged in front and back have the same configuration except that the directions are different.
  • FIG. 5 is a side view showing the link mechanism 52 and the guide member 53 of this embodiment as viewed from the outside of the transport carriage 1.
  • FIG. 6 is a plan view showing the link mechanism 52 and the guide member 53 of the present embodiment.
  • the link mechanism 52 includes a connecting bar 520, a first link member 521, and a second link member 522.
  • the connecting bar 520 is a flat shaft member connected to the end of the plate body 51.
  • the first link member 521 has its one end rotatably supported by the inner surface of the connecting bar 520 and the other end rotatable to the second link member 522 via the link fulcrum 526. Connected to An end of the second link member 522 opposite to the side connected to the first link member 521 is rotatably supported on the side of the vehicle body 10.
  • the guide member 53 may be any mechanism that guides the vertical movement of the plate main body 51, and in the present embodiment, a linear bush is used.
  • the guide member 53 includes a cylindrical body 531, a rod 532, and a rod holding portion 533.
  • the cylindrical body 531 is fixed to the vehicle body 10.
  • the rod 532 is supported slidably relative to the cylinder 531 and is fixed to the plate main body 51 via the rod holding portion 533.
  • the peripheral wall portion 60 is formed in a wall shape standing along the outer periphery of the turning portion 11.
  • the peripheral wall portion 60 is formed in an arc shape in plan view.
  • the peripheral wall portion 60 is configured by the first inclined block 60a and the second inclined block 60b, and the position where the first inclined block 60a and the second inclined block 60b are opposed to each other across the rotation center of the turning portion 11.
  • the first drive motor 13a, the second drive motor 13b, the first transmission mechanism 20a, and the second transmission mechanism 20b have a layout located radially inward of the first inclination block 60a and the second inclination block 60b.
  • the second inclined block 60b will be described.
  • the first inclined block 60a has the same configuration as that of the first inclined block 60a.
  • the upper portion of the second inclined block 60b is inclined such that its height gradually increases as it proceeds from one side to the other side in the circumferential direction.
  • the inclination angle of the inclined surface (upper end surface) 600 of the second inclined block 60b has a shape that differs stepwise. That is, in the first inclined portion 601 having a relatively lower height and the second inclined portion 602 having a relatively higher height, the slope of the first inclined portion 601 is larger than that of the second inclined portion 602. There is.
  • the cam member 55 is a cam piece configured such that the rotary shaft portion projects radially inward from the protruding portion 54 in the radial direction of the turning portion 11 and can be separated at the upper portion of the peripheral wall portion 60.
  • the cam member 55 is in contact with the first inclined portion 601 of the peripheral wall portion 60 in a state where the turning portion 11 is in the normal position and the lock mechanism 70 described later is not in operation (unlocked state).
  • the lifting and lowering operation of the lifting and lowering mechanism 15 will be described. Assuming that 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, each of the first drive tire 12a and the second drive tire 12b However, in order to move in the opposite direction to each other, the turning portion 11 pivotally supporting the first drive tire 12a and the second drive tire 12b is turned. The circumferential wall 60 standing on the turning portion 11 also rotates, and the cam member 55 moves up and down according to the height of the circumferential wall 60 while sliding on the upper portion of the circumferential wall 60.
  • 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.
  • the cam member 55 moves in such a manner that its position gradually rises in the vertical direction, although its position does not change in plan view or is substantially the same position even if it changes.
  • the plate body 51 moves upward by the force received through the cam member. With the movement of the plate main body 51, the link mechanism 52 is turned into an I-shape along the vertical direction from a state in which the link mechanism 52 is bent in a substantially L-shape, and the elevating part 50 is raised. At this time, since the vertical movement of the elevating unit 50 is guided by the guide member 53, the vertical movement of the elevating unit 50 is smooth without being shaken.
  • the lock mechanism 70 includes a clamp arm 71 for clamping the link fulcrum 526, a clamp arm support 72 for rotatably supporting the clamp arm 71, and a clamping position of the clamp arm 71.
  • An interlocking mechanism 73 for moving between the release positions and a solenoid 74 for driving the interlocking mechanism 73 are provided.
  • the clamp arm 71 is a flat member.
  • the clamp arm 71 is formed with a first notch 711 for holding the link fulcrum 526 and a second notch 712 engaged with the interlocking mechanism 73 driven by the solenoid 74.
  • the first notch 711 is notched upward from the lower end and is formed relatively close to the turning portion 11.
  • the second notch portion 712 is cut downward from the upper end portion and is formed at a position relatively away from the turning portion 11.
  • the clamp arm 71 rotates as the second notch 712 becomes a force point to which the driving force is transmitted from the interlocking mechanism 73, and the first notch 711 becomes an action point.
  • the fulcrum portion 526 is held.
  • 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 notch portion 711 in a state where the plate main body 51 is at the upper end position.
  • the interlocking mechanism 73 and the solenoid 74 are fixed to the caster accommodating portion 140 via the bracket 75.
  • the interlocking mechanism 73 includes a rotating shaft 731 facing in the vertical direction, and an engaging portion 732 supported by the rotating shaft 731.
  • the engagement portion 732 is configured such that one end thereof is connected to the operation rod 741 of the solenoid 74 and the other end thereof is engageable with the second cutout 712.
  • the operating portion 741 of the solenoid 74 projects and retracts to interlock the engaging portion 732, and the engaging portion 732 allows the clamp arm 71 to move between the holding position and the release position.
  • the movement of the link fulcrum 526 in the front-rear direction is restricted by the clamp arm 71, so the first link member 521 and the second link member 522 are held in a state of being aligned in a straight line.
  • the first cutaway portion 711 and the second cutaway portion 712 are formed at positions separated from each other in the front-rear direction, and since the cutaway directions are alternately up and down, the second cutaway portion 712 However, even if the amount by which the force is pressed to the turning portion 11 side is small, it is possible to move the clamp arm 71 from the release position to the holding position.
  • the release operation of the lock mechanism 70 moves the operating rod 741 of the solenoid 74 to the retracted position and rotates the clamp arm 71 upward from the clamping position to the release position.
  • the force associated with the link fulcrum 526 is achieved by further rotating the pivoting part 11 counterclockwise to bias the plate main body 51 in the upward direction.
  • FIG. 7 is a view schematically showing an example of operation control when the turning portion 11 travels at the normal position in the transport carriage 1 of the present embodiment.
  • hatching is hatched to the part of the lock mechanism 70 in FIG. 7, it means that the lock mechanism 70 is in a locked state.
  • the control box 30 causes the first drive motor 13 a to rotate the pivoting portion 11 from the transverse position to the normal position while holding the lock state of the lock mechanism 70. , Control the second drive motor 13b. As a result, the pivoting portion 11 returns to the normal position while the elevating portion 50 is held at the upper end position. Since rotation of the turning portion 11 is performed while 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. And as shown to (D) in FIG. 7, the 1st drive motor 13a and the 2nd drive motor 13b are forwardly rotated, and the conveyance trolley 1 is moved forward.
  • the operation shifts to a lowering preparation operation.
  • the first drive is performed to rotate the turning unit 11 clockwise 90 degrees and return to the normal position.
  • Control for driving the motor 13a and the second drive motor 13b is performed.
  • the pivoting portion 11 is again rotated counterclockwise, and the cam member 55 is in the traverse position where the cam member 55 contacts the peripheral wall portion 60.
  • unlock control is performed to release the holding by the lock mechanism 70.
  • the elevator unit 50 is lowered by the movement of the peripheral wall portion 60 by rotating the turning portion 11 from the transverse position to the normal position in a state where the clamping by the lock mechanism 70 is released. .
  • FIG. 8 is a view schematically showing an example of operation control when the turning portion 11 travels at the traverse position in the transport carriage 1 of the present embodiment.
  • hatching is applied to the portion of the lock mechanism 70, it means that the lock mechanism 70 is in the locked state.
  • the plate main body 51 of the transport carriage 1 is at the lower end position.
  • the control box 30 controls the 1st drive motor 13a and the 2nd drive motor 13b, and makes the turning part 11 a traverse position from a normal position.
  • the lifting unit 50 moves to the upper end position in the process of rotation of the turning unit 11.
  • the control box 30 controls the four lock mechanisms 70 to lock the lift 50 at the upper end position.
  • the first drive motor 13 a and the second drive motor 13 b are rotated in the same direction to traverse the transport carriage 1.
  • both the first drive motor 13a and the second drive motor 13b are reversely rotated or positively rotated.
  • the lifting unit 50 is lowered after the end of the conveyance, the operation shifts to a lowering preparation operation shown in (D) in FIG.
  • the unlocking control of the lock mechanism 70 is performed in a state where the turning portion 11 is in the transverse position.
  • the turning unit 11 is rotated from the transverse position to the normal position Move 50 to the lower end position.
  • the transport carriage 1 includes a vehicle body 10, an elevating unit 50 capable of moving up and down with respect to the vehicle body 10, a swing unit 11 rotatably attached to the vehicle body 10, and a pair of shafts supported by the swing unit 11.
  • a drive tire (drive wheel) 12 and a drive motor 12 which can be rotated in forward and reverse directions and which is disposed in the swing portion 11 for each drive tire 12 is erected in an arc along an outer peripheral portion of the swing portion 11 It has a peripheral wall portion 60 formed so as to become higher from one side to the other side in the circumferential direction, and a cam member 55 supported by the raising and lowering portion 50 and capable of contacting and separating to the upper portion of the peripheral wall portion 60 As the cam member 55 moves up and down 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.
  • the elevating unit 50 can be raised and lowered using the driving force of the drive motor 13 for driving the drive tire 12, and the driving source for traveling and elevating can also be used.
  • the rising and falling portion 50 is pushed up via the cam member 55 by the peripheral wall portion 60 which is erected along the outer peripheral portion of the turning portion 11 and away from the rotation center.
  • the required rise length can be secured with a small rotation angle (90 degrees in the present embodiment) without increasing the rotation angle, and shortening of the elevation time can be realized.
  • the drive motor 13 is disposed on the upper surface of the turning portion 11 and inside the peripheral wall portion 60.
  • the drive motor 13 is arranged inside the peripheral wall portion 60. Therefore, the drive tire 12 is disposed at a position away from the rotation center of the turning portion 11, and the distance between the drive tires 12 Can be large and the force point can be placed at a position away from the rotation center.
  • raising and lowering of the elevating unit 50 can be realized by a strong force compared to the configuration in which the power point is located near the rotation center by leverage principle (moment of force)
  • the downsizing of the motor 13 and the downsizing of the vehicle body can also be achieved.
  • transport carriage 1 of the present embodiment is further provided with a lock mechanism 70 which is disposed on the vehicle body 10 and can fix the position of the elevating unit 50 at the raised position.
  • the lifting unit 50 lifted by the turning unit 11 can be fixed at the upper end position (raising position), the turning unit 11 is rotated to raise the lifting unit 50 and then the position of the turning unit 11 is set to the normal position. It is also possible to go back and forward. Further, also when the transport carriage 1 is traversed in a state in which the turning portion 11 is rotated, it is possible to prevent the lowering from the unintended upper end position (raising position) of the lifting and lowering portion 50.
  • the lock mechanism 70 of the present embodiment is located in the vicinity of the elevating unit 50, and fixes the position of the elevating unit 50 by sandwiching the link fulcrum 526 of the link mechanism 52 of the elevating unit 50.
  • the lock mechanism 70 can be downsized in a space-saving manner, and by clamping the link fulcrum portion 526 of the link mechanism 52, the force necessary for holding the fixation can be reduced.
  • the drive unit of the mechanism 70 can also be miniaturized.
  • the present invention is not limited to this type.
  • the present invention can be applied to various transport carriages provided with a lift mechanism that lifts and lowers a load.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Handcart (AREA)

Abstract

The present invention provides a conveyance cart capable of lifting and lowering conveyed objects swiftly, wherein the drive source for traveling doubles as the drive source for lifting and lowering conveyed objects. The conveyance cart 1 is provided with: a vehicle body 10; a lifting unit 50; a turning unit 11 rotatable with respect to the vehicle body 10; one pair of drive tires (drive wheels) 12 rotatably supported about a shaft by the turning unit 11; a drive motor 13 disposed in the turning unit 11 for each of the pair of drive tires 12 and rotatable in forward and backward directions; a peripheral wall section 60 erected along the periphery of the turning unit 11 in arc shape and formed such that the upper part thereof grows progressively higher from one side to the other side in the peripheral direction; and a cam member 55 supported on the lifting unit 50 and separable from the upper part of the peripheral wall section 60. The lifting unit 50 lifts and lowers as the cam member 55 moves in the vertical direction according to the height of the peripheral wall section 60, which rotates with the rotation of the turning unit 11.

Description

搬送台車Transport carriage
　本発明は、搬送物を昇降する昇降機構を備える搬送台車に関する。 BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a transport carriage provided with a lifting mechanism for lifting and lowering a transported object.
　従来、搬送物を昇降する昇降機構を備える搬送台車が知られている。この種の技術を開示するものとして例えば特許文献１がある。特許文献１には、搬送台車の一部であるフォークリフト部において、フォークリフト部の走行輪を左右逆回転することで自転させ、内部に備えたボールネジを介しフォークの昇降を行う機構について記載されている。 2. Description of the Related Art Heretofore, there has been known a transport carriage provided with a lifting and lowering mechanism for lifting and lowering a load. For example, Patent Document 1 discloses this type of technology. Patent Document 1 describes a mechanism that, in a forklift unit which is a part of a transport carriage, rotates the traveling wheels of the forklift unit by turning the left and right reversely, and raises and lowers the fork through a ball screw provided inside. .
特許第５８６２９８６号公報Patent No. 5862986
　搬送台車を駆動するための駆動部の駆動力を昇降機構の昇降に利用することにより、昇降機構を昇降させるための駆動部を省略できる。しかし、特許文献１の構成では、ボールネジを介して昇降を行うために何度も自転させる必要があり、所定の位置まで昇降させるための時間が長くなってしまう。また、この構成では重量物等を持ち上げるために、自転時における走行輪の回転カを相対的に強くする必要があり、モータを大型化する必要がある。 By utilizing the driving force of the drive unit for driving the transport carriage for lifting and lowering of the lifting and lowering mechanism, it is possible to omit the driving unit for lifting and lowering the lifting and lowering mechanism. However, in the configuration of Patent Document 1, it is necessary to rotate many times in order to move up and down through the ball screw, and the time to move up and down to a predetermined position becomes long. Further, in this configuration, it is necessary to relatively strengthen the rotating force of the traveling wheel at the time of rotation in order to lift a heavy load or the like, and it is necessary to enlarge the motor.
　本発明は、走行用の駆動源が、搬送物を昇降する昇降用の駆動源を兼用するとともに、搬送物の昇降を速やかに行うことができる搬送台車を提供することを目的とする。 An object of the present invention is to provide a transport carriage capable of moving up and down the transported object promptly while using a driving source for traveling doubles as a driving source for moving up and down the transported object.
　本発明は、車体本体（例えば、後述の車体本体１０）と、前記車体本体に対して昇降可能な昇降部（例えば、後述の昇降部５０）と、前記車体本体に回転可能に取り付けられる旋回部（例えば、後述の旋回部１１）と、前記旋回部に軸支される一対の駆動輪（例えば、後述の駆動タイヤ１２）と、前記旋回部に前記駆動輪ごとに配置され、正逆回転可能な駆動モータ（例えば、後述の駆動モータ１３）と、前記旋回部の外周部分に沿って円弧状に立設し、その上部が周方向の一側から他側に向かって高くなるように形成される周壁部（例えば、後述の周壁部６０）と、前記昇降部に支持され、前記周壁部の上部に接離可能なカム部材（例えば、後述のカム部材５５）と、を備え、前記旋回部の回転に伴って回転する前記周壁部の高さに応じて前記カム部材が上下方向に移動することにより、前記昇降部が昇降する搬送台車（例えば、後述の搬送台車１）に関する。
　これにより、駆動輪を駆動する駆動モータの駆動力を利用して昇降部を昇降させることができ、走行用と昇降用の駆動源を兼用することができる。また、旋回部の外周部分に沿って立設され、回転中心から離れた位置にある周壁部によって昇降部を押し上げる構成なので、周壁部上部の高さの変化（例えば、傾斜角度）により、回転角度を大きくしなくても僅かな回転角度（例えば、９０度）で必要な上昇長さを確保でき、昇降時間の短縮を実現できる。 According to the present invention, there is provided a vehicle body (for example, a vehicle body 10 described later), a lifting unit (for example, a lifting unit 50 described later) capable of moving up and down with respect to the vehicle body, and a turning unit rotatably attached to the vehicle body (For example, a turning portion 11 described later), a pair of driving wheels (for example, driving tires 12 described later) supported by the turning portion, and each turning wheel disposed in the turning portion It is erected in a circular arc along the outer peripheral portion of the drive unit (for example, the drive motor 13 described later) and the turning portion, and the upper portion thereof is formed to be higher from one side to the other side in the circumferential direction. And a cam member (e.g., a cam member 55 described later) supported by the elevating unit and capable of contacting and separating at an upper portion of the peripheral wall portion; According to 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).
As a result, the elevating part can be raised and lowered using the drive force of the drive motor for driving the drive wheel, and the drive source for traveling and for raising and lowering can be combined. In addition, since the rising / falling portion is pushed up by the peripheral wall portion which is erected along the outer peripheral portion of the turning portion and separated from the rotation center, the rotation angle is changed by the change in height of the upper portion of the peripheral wall portion (for example, inclination angle) The necessary lifting length can be secured with a small rotation angle (for example, 90 degrees) without increasing the length, and shortening of the lifting time can be realized.
　前記駆動モータは、前記旋回部の上面であって前記周壁部の内側に配置されることが好ましい。
　これにより、周壁部の内側に駆動モータが配置されるレイアウトになるので、旋回部の回転中心から離れた位置に駆動輪を配置して駆動輪間の距離（径方向の長さ）を大きく確保して回転中心から離れた位置に力点を置くことができる。これによって、てこの原理（力のモーメント）により、回転中心の近くに力点が位置する構成に比べ、モータの回転力が弱くても、強い力で昇降部の昇降を実現でき、駆動モータの小型化、車体本体の小型化も達成できる。 It is preferable that the drive motor is disposed on the upper surface of the turning portion and inside the peripheral wall portion.
As a result, since the drive motor is arranged inside the peripheral wall portion, the drive wheel is disposed at a position away from the rotation center of the turning portion to secure a large distance (length in the radial direction) between the drive wheels. Then you can place the point of effort away from the center of rotation. By this, compared with the configuration in which the power point is located near the rotation center, the leverage (the moment of force) can realize raising and lowering of the elevating part with a strong force even if the torque of the motor is weak. And the downsizing of the car body can be achieved.
　前記搬送台車は、前記車体本体に配置され、前記昇降部の位置を上昇位置で固定可能なロック機構を更に備えることが好ましい。
　これにより、旋回部によって上昇した昇降部を上昇位置で固定することができるので、旋回部を回転させて昇降部を上昇させた後に旋回部の位置を通常位置に戻して前進することもできる。また、旋回部を回転させたままの状態で搬送台車を横行させるときも、昇降部の意図しない上昇位置からの下降を防止することができる。 It is preferable that the transport carriage further includes a lock mechanism that is disposed on the vehicle body and that can fix the position of the elevating unit at an elevated position.
Accordingly, since the lifting unit raised by the turning unit can be fixed at the rising position, the turning unit can be moved forward by returning the position of the turning unit to the normal position after rotating the turning unit to raise the lifting unit. In addition, also when the transport carriage is traversed in a state where the turning portion is rotated, it is possible to prevent the lowering of the lifting and lowering portion from the unintentional rising position.
　前記ロック機構は、前記昇降部の近傍に位置し、前記昇降部のリンク機構（例えば、後述のリンク機構５２）の支点部（例えば、後述のリンク支点部５２６）を挟持することにより前記昇降部の位置を固定することが好ましい。
　これにより、ロック機構を省スペースで小型化を可能にでき、更にリンク機構の支点部を挟持することにより、固定を保持するために必要な力を削減することができるため、ロック機構の駆動部も小型化が可能となる。 The lock mechanism is located in the vicinity of the elevating part, and holds the fulcrum part (for example, a link fulcrum part 526 described below) of a link mechanism (for example, a link mechanism 52 described later) of the elevating part It is preferable to fix the position of.
As a result, the lock mechanism can be made smaller with less space, and by clamping the fulcrum of the link mechanism, it is possible to reduce the force required to hold the fixing, and hence the drive portion of the lock mechanism. Can also be miniaturized.
　本発明によれば、走行用の駆動源が搬送物を昇降する昇降用の駆動源を兼用するとともに搬送物の昇降を速やかに行うことができる搬送台車を実現できる。 According to the present invention, it is possible to realize a transport carriage in which the drive source for traveling doubles as the drive source for raising and lowering the conveyed product and can move the conveyed object up and down rapidly.
本発明の一実施形態に係る搬送台車の内部構成を模式的に示す平面図である。It is a top view which shows typically the internal structure of the conveyance trolley which concerns on one Embodiment of this invention. 本実施形態の搬送台車の旋回部の様子を示す斜視図である。It is a perspective view which shows the mode of the turning part of the conveyance trolley of this embodiment. 本実施形態の駆動モータ及び駆動タイヤの様子を示す平面図である。It is a top view which shows the mode of the drive motor of this embodiment, and a drive tire. 本実施形態の昇降部及び周壁部を搬送台車の外側から見た様子を示す側面図である。It is a side view which shows a mode that the raising / lowering part and surrounding wall part of this embodiment were seen from the outer side of the conveyance trolley. 本実施形態のリンクプレート及びリニアブッシュを搬送台車の外側から見た様子を示す側面図である。It is a side view which shows a mode that the link plate and linear bush of this embodiment were seen from the outer side of the conveyance trolley. 本実施形態のリンクプレート及びリニアブッシュの様子を示す平面図である。It is a top view which shows the appearance of the link plate of this embodiment, and a linear bush. 本実施形態の搬送台車において、旋回部が通常位置で進行するときの動作制御の一例を模式的に示す図である。The conveyance trolley of this embodiment WHEREIN: It is a figure which shows typically an example of operation control when a turning part advances at a normal position. 本実施形態の搬送台車において、旋回部が横行位置で進行するときの動作制御の一例を模式的に示す図である。In the conveyance trolley of this embodiment, it is a figure showing typically an example of operation control when a revolving part advances in a crossing position.
　以下、本発明の好ましい実施形態について、図面を参照しながら説明する。図１は、本発明の一実施形態に係る搬送台車１の内部構成を模式的に示す平面図である。図２は、本実施形態の搬送台車１の旋回部１１の様子を示す斜視図である。なお、図１及び図２では、内部構成を隠す上カバーの図示を省略している。 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 transport carriage 1 according to an embodiment of the present invention. FIG. 2 is a perspective view showing the turning portion 11 of the transport carriage 1 of the present embodiment. In FIGS. 1 and 2, the upper cover for concealing the internal configuration is not shown.
　図１に示す搬送台車１は、下方にスペースを有する搬送物の下に潜り込み、持ち上げて、当該搬送物を所定の位置まで搬送する低床型のＡＧＶ（Automatic　Guided　Vehicle）である。搬送台車１が対象とする搬送物は、例えば部品等を収容する台車等である。 The transport carriage 1 shown in FIG. 1 is a low-floor AGV (Automatic Guided Vehicle) which dives under a transported object having a space below and lifts the transported object to a predetermined position. The object to be conveyed by the conveyance carriage 1 is, for example, a carriage that accommodates parts and the like.
　搬送台車１の構成について説明する。本実施形態の搬送台車１は、車体本体１０と、車体本体１０に回転可能に支持された旋回部１１と、旋回部１１に取り付けられる一対の駆動タイヤ１２と、駆動タイヤ１２ごとに設けられる２個の駆動モータ１３と、搬送台車１の各種の制御を行う制御ボックス３０と、後述する各種の電装部品と、搬送物を昇降するための昇降機構１５と、を備える。 The configuration of the transport carriage 1 will be described. The transport carriage 1 according to the present embodiment includes a vehicle body 10, a pivoting portion 11 rotatably supported by the vehicle body 10, a pair of drive tires 12 attached to the pivoting portion 11, and 2 provided for each drive tire 12. The drive motor 13 is provided, a control box 30 for controlling the transport carriage 1 in various ways, various electrical components to be described later, and a lifting mechanism 15 for lifting and lowering the transported object.
　車体本体１０は、所定方向に細長い扁平な箱状に形成される。以下の説明において前後方向は搬送台車１の長手方向と平行な方向を意味し、左右方向は搬送台車１の短手方向と平行な方向を意味するものとする。 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 carrier 1, and the left-right direction means a direction parallel to the lateral direction of the carrier 1.
　本実施形態の車体本体１０には、右側前部、右側後部、左側前部及び左側後部のそれぞれに従動輪としてのキャスタ１４が配置される。また、車体本体１０の前後左右には進行方向に応じたスキャナセンサ３５がそれぞれ配置される。例えば、前側に配置されるスキャナセンサ３５は搬送台車１が前進するときに使用され、左右方向に配置されたスキャナセンサ３５は、搬送台車１が横行するときに使用される。 In the vehicle body 10 of the present embodiment, casters 14 as driven wheels are disposed on the right front, right rear, left front and left rear, respectively. Further, on front, rear, left and right of the vehicle body 10, scanner sensors 35 corresponding to the traveling direction are respectively disposed. For example, the scanner sensor 35 disposed on the front side is used when the transport carriage 1 advances, and the scanner sensor 35 disposed in the left-right direction is used when the transport carriage 1 traverses.
　車体本体１０の内部には、制御ボックス３０と各種の電装部品が配置される。制御ボックス３０は、基板等を含むコンピュータであり、搬送台車１の各種の制御を行う。上述の電装部品は、制御バッテリ３２、キャパシタ３３、モータドライバ３４、ハーネス（図示省略）等からなり、駆動モータ１３への電力の供給や制御ボックス３０への信号の入出力等を行う。 Inside the vehicle body 10, a control box 30 and various electrical components are disposed. The control box 30 is a computer including a substrate and the like, and performs various controls of the transport carriage 1. The above-described electrical components include a control battery 32, a capacitor 33, a motor driver 34, a harness (not shown), and the like, and perform supply of power to the drive motor 13 and input / output of signals to the control box 30.
　旋回部１１は、車体本体１０の前後方向の中央に配置される円盤部材である。旋回部１１は、車体本体１０に回転支持部１８を介して回転可能に支持され、実施例ではベアリング等を用いている。旋回部１１の回転により、搬送台車１の方向転換も可能となっている。旋回部１１には、一対の駆動タイヤ１２が取り付けられる。本実施形態の旋回部１１には、径方向に切り欠かれた凹部１１１が２箇所形成される。この凹部１１１の内側に駆動タイヤ１２が位置するレイアウトになっている。 The pivoting portion 11 is a disk member disposed at the center of the vehicle body 10 in the front-rear direction. The pivoting portion 11 is rotatably supported by the vehicle body 10 via the rotation support portion 18, and in the embodiment, a bearing or the like is used. The rotation of the turning portion 11 also enables the direction change of the transport carriage 1. A pair of drive tires 12 is attached to the turning portion 11. In the turning portion 11 of the present embodiment, two recessed portions 111 which are notched in the radial direction are formed. The layout is such that the drive tire 12 is located inside the recess 111.
　以下、搬送台車１が前後方向に進むときの旋回部１１の位置を通常位置とする。図１では、搬送台車１が前進するときの通常位置に旋回部１１がある状態が示されている。図１において旋回部１１が通常位置にあるときに右側に位置する駆動タイヤ１２を第１駆動タイヤ１２ａとし、左側に位置する駆動タイヤ１２を第２駆動タイヤ１２ｂとして説明する。また、一対の駆動タイヤ１２の向きが左右方向に平行な状態のときの旋回部１１の位置を横行位置とする。 Hereinafter, the position of the turning portion 11 when the transport carriage 1 travels in the front-rear direction is referred to as a normal position. FIG. 1 shows a state in which the pivoting portion 11 is at the normal position when the transport carriage 1 advances. The drive tire 12 located on the right side when the turning portion 11 is in the normal position in FIG. 1 will be described as a first drive tire 12a, and the drive tire 12 located on the left side will be described as a second drive tire 12b. Further, the position of the turning portion 11 when the direction of the pair of drive tires 12 is parallel to the left-right direction is taken as the horizontal position.
　一対の駆動モータ１３は、旋回部１１の上面に固定される。駆動モータ１３は、ステータ、ロータ、シャフト及びブレーキ機構（何れも図示省略）等からなる。駆動モータ１３の駆動力は伝達機構２０を介して駆動タイヤ１２に伝達される。図２に示すように、伝達機構２０は、減速機２１、プーリ機構２２，２３、テンションローラ２４等からなる。減速機２１は、プーリ機構２２を介して駆動モータ１３に接続されるとともに、プーリ機構２３を介して駆動タイヤ１２に接続される。駆動モータ１３の回転力はプーリ機構２２を介して減速機２１に入力される。プーリ機構２２にはテンションローラ２４によって張力が付与されており、張力が所定の範囲に管理される。減速機２１は、プーリ機構２２を介して入力された回転力を減速し、プーリ機構２３を介して駆動タイヤ１２に回転力を伝達する。 The pair of drive motors 13 is 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 reduction gear 21, pulley mechanisms 22 and 23, a tension roller 24 and the like. The reduction gear 21 is connected to the drive motor 13 via the pulley mechanism 22 and is connected to the drive tire 12 via the pulley mechanism 23. The rotational force of the drive motor 13 is input to the reduction gear 21 via the pulley mechanism 22. The tension is applied to the pulley mechanism 22 by the tension roller 24, and the tension is managed within a predetermined range. The reduction gear 21 decelerates the rotational force input through the pulley mechanism 22 and transmits the rotational force to the drive tire 12 through the pulley mechanism 23.
　駆動モータ１３及び伝達機構２０は、駆動タイヤ１２ごとに配置される。一方の第１駆動モータ１３ａの駆動力は第１伝達機構２０ａを介して第１駆動タイヤ１２ａに伝達され、他方の第２駆動モータ１３ｂの駆動力は第２伝達機構２０ｂを介して第２駆動タイヤ１２ｂに伝達される。 The drive motor 13 and the transmission mechanism 20 are disposed for each drive tire 12. The driving force of one first drive motor 13a is transmitted to the first drive tire 12a via the first transmission mechanism 20a, and the driving force of the other second drive motor 13b is second drive via the second transmission mechanism 20b. It is transmitted to the tire 12b.
　このように、本実施形態の搬送台車１は、第１駆動タイヤ１２ａ，第２駆動タイヤ１２ｂごとに独立した駆動源を備えているので、第１駆動タイヤ１２ａ，第２駆動タイヤ１２ｂごとに回転方向を異ならせることが可能になっている。例えば、図１において旋回部１１が通常位置にある状態で、搬送台車１を前進させる方向の第１駆動タイヤ１２ａ，第２駆動タイヤ１２ｂの回転を正回転とし、その逆側の回転を逆回転とする。この場合、第１駆動タイヤ１２ａを正回転させ、第２駆動タイヤ１２ｂを逆回転させることにより、旋回部１１を反時計回りに回転させることができる。同様に、第２駆動タイヤ１２ｂを正回転とし、第１駆動タイヤ１２ａを逆回転させれば、旋回部１１が時計回りに回転する。 As described above, since the transport carriage 1 of the present embodiment includes independent drive sources for each of the first drive tire 12a and the second drive tire 12b, the transport carriage 1 according to this embodiment rotates for each of the first drive tire 12a and the second drive tire 12b. It is possible to change the direction. For example, in FIG. 1, when the turning portion 11 is in the normal position, the first drive tire 12a and the second drive tire 12b in the direction to move the transport carriage 1 forward are made forward rotation, and reverse rotation is reverse rotation I assume. In this case, the turning portion 11 can be rotated counterclockwise by rotating the first drive tire 12a forward and the second drive tire 12b reversely. Similarly, when the second drive tire 12b is rotated forward and the first drive tire 12a is rotated reversely, the turning portion 11 rotates clockwise.
　旋回部１１の上方には上面プレート１６が配置される。上面プレート１６は、前後方向に細長の板状部材である。この上面プレート１６には段差吸収バネ１７が配置される。本実施形態では、段差吸収バネ１７が旋回部１１の回転中心に位置するレイアウトになっている。 An upper surface plate 16 is disposed above the pivoting portion 11. The upper surface plate 16 is a plate-like member elongated in the front-rear direction. A step absorbing spring 17 is disposed on the upper surface plate 16. In the present embodiment, the step absorption spring 17 is arranged at the rotation center of the turning portion 11.
　次に、昇降機構１５について説明する。図３は、本実施形態の第２駆動モータ１３ｂ及び第２駆動タイヤ１２ｂの近傍の様子を示す平面図である。図４は、本実施形態の昇降部５０及び周壁部６０を搬送台車１の外側から見た様子を示す側面図である。 Next, the lifting mechanism 15 will be described. FIG. 3 is a plan view showing 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 the elevator 50 and the peripheral wall 60 of the present embodiment as viewed from the outside of the transport carriage 1.
　本実施形態の昇降機構１５は、左右一対の昇降部５０と、旋回部１１と一体的に回転する一対の周壁部６０と、左右一対の昇降部５０のそれぞれに配置されるカム部材５５と、昇降部５０を上昇位置で固定するための４個のロック機構７０と、を備える（図１参照）。 The lifting mechanism 15 of the present embodiment includes a pair of left and right lifting and lowering portions 50, a pair of peripheral wall portions 60 integrally rotating with the turning portion 11, and a cam member 55 disposed on each of the left and right pair of lifting and lowering portions 50; And four lock mechanisms 70 for fixing the lifting unit 50 in the raised position (see FIG. 1).
　昇降部５０は、車体本体１０の左右それぞれに配置される。左右一対のうち、右側に位置する第１昇降部５０ａと、左側に位置する第２昇降部５０ｂと、は略同様の形状に構成される。以下、左側に配置される第２昇降部５０ｂについて説明する。右側の第１昇降部５０ａも同様の構成であり、同じ符号を付して個別の説明について省略する。 The elevators 50 are disposed on the left and right of the vehicle body 10 respectively. Among the pair of left and right, the first lifting unit 50a positioned on the right side and the second lifting unit 50b positioned on the left side are configured in substantially the same shape. Hereinafter, the second lifting unit 50b disposed on the left side will be described. The first elevator unit 50a on the right side also has the same configuration, and is assigned the same reference numerals and will not be described separately.
　第２昇降部５０ｂは、前後方向に棒状に延びるプレート本体５１と、プレート本体５１の前後それぞれに配置されるリンク機構５２と、プレート本体５１の昇降をガイドするガイド部材５３と、を備える。 The second lifting unit 50 b includes a plate main body 51 extending in a bar shape in the front-rear direction, link mechanisms 52 disposed at the front and rear of the plate main body 51, and a guide member 53 for guiding the plate main body 51 up and down.
　プレート本体５１は、搬送物を載置する荷載台として機能する。プレート本体５１の下部には突出片５４が設けられる。突出片５４は、後述するカム部材５５が取り付けられる部位である。 The plate main body 51 functions as a loading platform on which the transported object is placed. At the lower part of the plate body 51, a projecting piece 54 is provided. The protruding piece 54 is a portion to which a cam member 55 described later is attached.
　リンク機構５２は、１つのプレート本体５１の前後方向にそれぞれ配置される。前後に配置される２個のリンク機構５２は、方向が異なる以外は同様の構成となっている。 The link mechanisms 52 are respectively disposed in the front-rear direction of one plate main body 51. The two link mechanisms 52 arranged in front and back have the same configuration except that the directions are different.
　図５は、本実施形態のリンク機構５２及びガイド部材５３を搬送台車１の外側から見た様子を示す側面図である。図６は、本実施形態のリンク機構５２及びガイド部材５３の様子を示す平面図である。 FIG. 5 is a side view showing the link mechanism 52 and the guide member 53 of this embodiment as viewed from the outside of the transport carriage 1. FIG. 6 is a plan view showing the link mechanism 52 and the guide member 53 of the present embodiment.
　リンク機構５２は、連結バー５２０と、第１リンク部材５２１と、第２リンク部材５２２と、から構成される。連結バー５２０は、プレート本体５１の端部に連結される平角状の軸状部材である。第１リンク部材５２１は、その一側の端部が連結バー５２０の内側面に回転可能に軸支されるとともに他側の端部がリンク支点部５２６を介して第２リンク部材５２２に回転可能に連結される。第２リンク部材５２２は、第１リンク部材５２１に連結される側と反対側の端部が車体本体１０側に回転可能に軸支される。 The link mechanism 52 includes a connecting bar 520, a first link member 521, and a second link member 522. The connecting bar 520 is a flat shaft member connected to the end of the plate body 51. The first link member 521 has its one end rotatably supported by the inner surface of the connecting bar 520 and the other end rotatable to the second link member 522 via the link fulcrum 526. Connected to An end of the second link member 522 opposite to the side connected to the first link member 521 is rotatably supported on the side of the vehicle body 10.
　ガイド部材５３は、プレート本体５１の上下方向の移動をガイドする機構であればよく、本実施例ではリニアブッシュを用いている。ガイド部材５３は、筒体５３１と、ロッド５３２と、ロッド保持部５３３と、を備える。筒体５３１は車体本体１０に固定される。ロッド５３２は、筒体５３１に対してスライド移動可能に支持され、ロッド保持部５３３を介してプレート本体５１に固定される。 The guide member 53 may be any mechanism that guides the vertical movement of the plate main body 51, and in the present embodiment, a linear bush is used. The guide member 53 includes a cylindrical body 531, a rod 532, and a rod holding portion 533. The cylindrical body 531 is fixed to the vehicle body 10. The rod 532 is supported slidably relative to the cylinder 531 and is fixed to the plate main body 51 via the rod holding portion 533.
　次に、図２から図４を参照して周壁部６０について説明する。周壁部６０は、旋回部１１の外周に沿って立設する壁状に構成される。周壁部６０は、平面視において円弧状に形成される。 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 standing along the outer periphery of the turning portion 11. The peripheral wall portion 60 is formed in an arc shape in plan view.
　本実施形態では、周壁部６０は、第１傾斜ブロック６０ａ，第２傾斜ブロック６０ｂとで構成され、第１傾斜ブロック６０ａと第２傾斜ブロック６０ｂが旋回部１１の回転中心を挟んで対向する位置に設けられる。第１駆動モータ１３ａ，第２駆動モータ１３ｂ及び第１伝達機構２０ａ，第２伝達機構２０ｂは、第１傾斜ブロック６０ａ，第２傾斜ブロック６０ｂの径方向内側に位置するレイアウトになっている。以下、第２傾斜ブロック６０ｂについて説明する。第１傾斜ブロック６０ａも同様の構成であり、同じ符号を付して個別の説明について省略する。 In the present embodiment, the peripheral wall portion 60 is configured by the first inclined block 60a and the second inclined block 60b, and the position where the first inclined block 60a and the second inclined block 60b are opposed to each other across the rotation center of the turning portion 11. Provided in The first drive motor 13a, the second drive motor 13b, the first transmission mechanism 20a, and the second transmission mechanism 20b have a layout located radially inward of the first inclination block 60a and the second inclination block 60b. Hereinafter, the second inclined block 60b will be described. The first inclined block 60a has the same configuration as that of the first inclined block 60a.
　第２傾斜ブロック６０ｂの上部は、周方向で一側から他側に進むにつれて高さが徐々に高くなるように傾斜している。本実施形態では、第２傾斜ブロック６０ｂの傾斜面（上端面）６００の傾斜角度が段階的に異なる形状となっている。即ち、相対的に高さが低い第１傾斜部６０１と相対的に高さが高い第２傾斜部６０２では、第２傾斜部６０２に比べて第１傾斜部６０１の勾配の方が大きくなっている。 The upper portion of the second inclined block 60b is inclined such that its height gradually increases as it proceeds 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 has a shape that differs stepwise. That is, in the first inclined portion 601 having a relatively lower height and the second inclined portion 602 having a relatively higher height, the slope of the first inclined portion 601 is larger than that of the second inclined portion 602. There is.
　次に、カム部材５５について説明する。カム部材５５は、突出片５４から回転軸部分が旋回部１１の径方向内側に突出し、周壁部６０の上部に切離可能に構成されるカム駒である。旋回部１１が通常位置にあり、後述するロック機構７０が動作していない状態（アンロック状態）では、カム部材５５が周壁部６０の第１傾斜部６０１に接触する構成となっている。 Next, the cam member 55 will be described. The cam member 55 is a cam piece configured such that the rotary shaft portion projects radially inward from the protruding portion 54 in the radial direction of the turning portion 11 and can be separated at the upper portion of the peripheral wall portion 60. The cam member 55 is in contact with the first inclined portion 601 of the peripheral wall portion 60 in a state where the turning portion 11 is in the normal position and the lock mechanism 70 described later is not in operation (unlocked state).
　昇降機構１５の昇降動作について説明する。第１駆動タイヤ１２ａ，第２駆動タイヤ１２ｂごとに配置される第１駆動モータ１３ａ，第２駆動モータ１３ｂの回転方向を互いに異なる方向にすると、第１駆動タイヤ１２ａ，第２駆動タイヤ１２ｂのそれぞれが互いに逆方向に進もうとして第１駆動タイヤ１２ａ，第２駆動タイヤ１２ｂを軸支する旋回部１１が回動する。旋回部１１に立設した周壁部６０も回転し、カム部材５５は周壁部６０の上部を滑りながら、当該周壁部６０の高さに応じて上下方向に移動する。例えば、旋回部１１を通常位置から反時計回りの横行位置まで９０度回転させると、カム部材５５の周壁部６０との接触部分は第１傾斜部６０１から第２傾斜部６０２へと移行する。このとき、カム部材５５は、平面視ではその位置が変わらない又は変わっても略同じ位置であるものの、上下方向ではその位置が徐々に上昇するように移動する。 The lifting and lowering operation of the lifting and lowering mechanism 15 will be described. Assuming that 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, each of the first drive tire 12a and the second drive tire 12b However, in order to move in the opposite direction to each other, the turning portion 11 pivotally supporting the first drive tire 12a and the second drive tire 12b is turned. The circumferential wall 60 standing on the turning portion 11 also rotates, and the cam member 55 moves up and down according to the height of the circumferential wall 60 while sliding on the upper portion of the circumferential wall 60. For example, when the turning portion 11 is rotated 90 degrees from the normal position to the counterclockwise crossing 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 in such a manner that its position gradually rises in the vertical direction, although its position does not change in plan view or is substantially the same position even if it changes.
　プレート本体５１は、カム部材を介して受けた力により上方に移動する。プレート本体５１の移動に伴ってリンク機構５２が略Ｌ字状に屈曲した状態から鉛直方向に沿ったＩ字状に回動し、昇降部５０が上昇する。このとき、ガイド部材５３によって昇降部５０の上下方向の移動がガイドされるので、昇降部５０の上下方向の移動は、ぶれることなくスムーズなものとなる。 The plate body 51 moves upward by the force received through the cam member. With the movement of the plate main body 51, the link mechanism 52 is turned into an I-shape along the vertical direction from a state in which the link mechanism 52 is bent in a substantially L-shape, and the elevating part 50 is raised. At this time, since the vertical movement of the elevating unit 50 is guided by the guide member 53, the vertical movement of the elevating unit 50 is smooth without being shaken.
　昇降部５０が上端位置(上昇位置)まで移動すると前後・左右方向に配置されるロック機構７０によってプレート本体５１の位置が固定される。次に、プレート本体５１を上端位置で保持するロック機構７０の構成について説明する。 When the elevating unit 50 moves to the upper end position (raising position), the position of the plate main body 51 is fixed by the lock mechanism 70 disposed in the front and rear and left and right directions. Next, the configuration of the lock mechanism 70 for holding the plate body 51 at the upper end position will be described.
　図５及び図６に示すように、ロック機構７０は、リンク支点部５２６をクランプするクランプアーム７１と、クランプアーム７１を回転可能に支持するクランプアーム支持部７２と、クランプアーム７１を挟持位置と解除位置の間で移動させる連動機構７３と、連動機構７３を駆動させるソレノイド７４と、を備える。 As shown in FIGS. 5 and 6, the lock mechanism 70 includes a clamp arm 71 for clamping the link fulcrum 526, a clamp arm support 72 for rotatably supporting the clamp arm 71, and a clamping position of the clamp arm 71. An interlocking mechanism 73 for moving between the release positions and a solenoid 74 for driving the interlocking mechanism 73 are provided.
　クランプアーム７１は、平板状の部材である。クランプアーム７１には、リンク支点部５２６を挟持するための第１切欠部７１１と、ソレノイド７４によって駆動される連動機構７３と係合する第２切欠部７１２と、が形成される。第１切欠部７１１は下端部から上方に切り欠かれるとともに相対的に旋回部１１寄りの位置に形成される。また、第２切欠部７１２は上端部から下方に切り欠かれるとともに相対的に旋回部１１から離れた場所に形成される。後述するロック機構７０の固定動作では、第２切欠部７１２が連動機構７３から駆動力が伝達される力点となってクランプアーム７１が回動し、第１切欠部７１１が作用点となってリンク支点部５２６を挟持する。 The clamp arm 71 is a flat member. The clamp arm 71 is formed with a first notch 711 for holding the link fulcrum 526 and a second notch 712 engaged with the interlocking mechanism 73 driven by the solenoid 74. The first notch 711 is notched upward from the lower end and is formed relatively close to the turning portion 11. In addition, the second notch portion 712 is cut downward from the upper end portion and is formed at a position relatively away from the turning portion 11. In the fixing operation of the lock mechanism 70 described later, the clamp arm 71 rotates as the second notch 712 becomes a force point to which the driving force is transmitted from the interlocking mechanism 73, and the first notch 711 becomes an action point. The fulcrum portion 526 is held.
　クランプアーム支持部７２は、プレート本体５１が上端位置にある状態で第１切欠部７１１によってリンク支点部５２６を挟持できる位置でクランプアーム７１を支持する。 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 notch portion 711 in a state where the plate main body 51 is at the upper end position.
　連動機構７３及びソレノイド７４は、ブラケット７５を介してキャスタ収容部１４０に固定される。図６に示すように、連動機構７３は、鉛直方向を向く回転軸７３１と、回転軸７３１に支持される係合部７３２と、を備える。係合部７３２は、一側の端部がソレノイド７４の動作棒７４１に連結されるとともに他側の端部が第２切欠部７１２に係合可能に構成される。ソレノイド７４の動作棒７４１が突出及び退避により係合部７３２が連動し、該係合部７３２によってクランプアーム７１が挟持位置と解除位置の間を移動可能になっている。 The interlocking mechanism 73 and the solenoid 74 are fixed to the caster accommodating portion 140 via the bracket 75. As shown in FIG. 6, the interlocking mechanism 73 includes a rotating shaft 731 facing in the vertical direction, and an engaging portion 732 supported by the rotating shaft 731. The engagement portion 732 is configured such that one end thereof is connected to the operation rod 741 of the solenoid 74 and the other end thereof is engageable with the second cutout 712. The operating portion 741 of the solenoid 74 projects and retracts to interlock the engaging portion 732, and the engaging portion 732 allows the clamp arm 71 to move between the holding position and the release position.
　ロック機構７０の固定動作について説明する。プレート本体５１が上端位置に移動して第１リンク部材５２１と第２リンク部材５２２が直線状に並ぶ状態で、ソレノイド７４の動作棒７４１が突出位置に前進する。動作棒７４１の前進移動により、係合部７３２が回動して第２切欠部７１２を旋回部１１側に押し、クランプアーム７１を解除位置から挟持位置に下方に回動し、第１切欠部７１１にリンク支点部５２６が挟持される。挟持位置ではクランプアーム７１によってリンク支点部５２６の前後方向の移動が規制されるので、第１リンク部材５２１と第２リンク部材５２２が直線状に並んだ状態で保持される。クランプアーム７１において、第１切欠部７１１と第２切欠部７１２は、前後方向では互いに離れた位置に形成されるとともに、切り欠かれる方向が上下で互い違いになっているので、第２切欠部７１２が旋回部１１側に押される量が僅かでもクランプアーム７１を解除位置から挟持位置に移動させることが可能になっている。 The fixing operation of the lock mechanism 70 will be described. With the plate main body 51 moved to the upper end position and the first link member 521 and the second link member 522 being linearly aligned, the operating rod 741 of the solenoid 74 is advanced to the projecting position. Due to the forward movement of the operating rod 741, the engaging portion 732 is rotated to push the second notch 712 toward the turning portion 11, and the clamp arm 71 is rotated downward from the release position to the holding position, and the first notch The link fulcrum portion 526 is held at 711. At the clamping position, the movement of the link fulcrum 526 in the front-rear direction is restricted by the clamp arm 71, so the first link member 521 and the second link member 522 are held in a state of being aligned in a straight line. In the clamp arm 71, the first cutaway portion 711 and the second cutaway portion 712 are formed at positions separated from each other in the front-rear direction, and since the cutaway directions are alternately up and down, the second cutaway portion 712 However, even if the amount by which the force is pressed to the turning portion 11 side is small, it is possible to move the clamp arm 71 from the release position to the holding position.
　ロック機構７０の解除動作は、ソレノイド７４の動作棒７４１を退避位置に移動させてクランプアーム７１を挟持位置から解除位置に上方に回動させる。本実施形態では、クランプアーム７１による挟持解除の際に、旋回部１１を更に反時計回りに回転させてプレート本体５１を上昇方向に付勢することにより、リンク支点部５２６に係っている力が軽減され、ソレノイド７４の駆動力によるアンクランプを行い易い構成となっている。 The release operation of the lock mechanism 70 moves the operating rod 741 of the solenoid 74 to the retracted position and rotates the clamp arm 71 upward from the clamping position to the release position. In the present embodiment, when releasing clamping by the clamp arm 71, the force associated with the link fulcrum 526 is achieved by further rotating the pivoting part 11 counterclockwise to bias the plate main body 51 in the upward direction. Thus, it is easy to perform unclamping by the driving force of the solenoid 74.
　ロック機構７０にリンク支点部５２６の固定が解除された状態で、旋回部１１が時計回りに回転することにより、カム部材５５が周壁部６０の傾斜面６００を滑りながらプレート本体５１が徐々に下降する。 In a state where the link fulcrum 526 is released from the lock mechanism 70, the pivot member 11 rotates clockwise, whereby the plate body 51 gradually descends while the cam member 55 slides on the inclined surface 600 of the peripheral wall 60. Do.
　次に、本実施形態の搬送台車１の動作制御について２つの例を挙げて説明する。図７は、本実施形態の搬送台車１において、旋回部１１が通常位置で進行するときの動作制御の一例を模式的に示す図である。なお、図７においてロック機構７０の部分に斜線のハッチングが付されている場合は、ロック機構７０がロック状態であることを意味する。 Next, operation control of the transport carriage 1 of the present embodiment will be described by giving two examples. FIG. 7 is a view schematically showing an example of operation control when the turning portion 11 travels at the normal position in the transport carriage 1 of the present embodiment. In addition, when hatching is hatched to the part of the lock mechanism 70 in FIG. 7, it means that the lock mechanism 70 is in a locked state.
　図７中の（Ａ）に示す開始状態では、搬送台車１のプレート本体５１は下端位置（待機位置）にある。次に、図７中の（Ｂ）に示すように、制御ボックス３０は、第１駆動モータ１３ａを正回転させるとともに第２駆動モータ１３ｂを逆回転させることにより、旋回部１１を反時計回りに９０度回転させて横行位置にする。このとき、旋回部１１の回転の過程で昇降部５０が上端位置に移動する。この状態で、制御ボックス３０は、４個のロック機構７０の各ソレノイド７４をそれぞれ駆動し、クランプアーム７１を挟持位置に移動させて昇降部５０を上端位置でロックする。この昇降部５０の上端位置への移動によって搬送物（台車）が上方に移動し、搬送可能な状態になる。 In the start state shown in (A) in FIG. 7, the plate main body 51 of the transport carriage 1 is at the lower end position (standby position). Next, as shown in (B) in FIG. 7, the control box 30 rotates the first driving motor 13 a forward and the second driving motor 13 b reversely to turn the turning portion 11 counterclockwise. Rotate 90 degrees to the horizontal position. At this time, the lifting unit 50 moves to the upper end position in the process of rotation of the turning unit 11. In this state, the control box 30 drives the respective solenoids 74 of the four lock mechanisms 70, moves the clamp arm 71 to the holding position, and locks the lift 50 at the upper end position. By the movement of the elevating unit 50 to the upper end position, the conveyed product (carriage) is moved upward and can be conveyed.
　次に、図７中の（Ｃ）に示すように、制御ボックス３０は、ロック機構７０のロック状態を保持したまま、旋回部１１を横行位置から通常位置に回転させるように第１駆動モータ１３ａ，第２駆動モータ１３ｂを制御する。これによって、昇降部５０が上端位置で保持されたまま旋回部１１が通常位置に戻る。ロック機構７０による固定は維持されたままで旋回部１１の回転が行われるので、カム部材５５が周壁部６０から離間した状態でも昇降部５０は上端位置で保持される。そして、図７中の（Ｄ）に示すように、第１駆動モータ１３ａ，第２駆動モータ１３ｂを正回転させて搬送台車１を前進移動させる。 Next, as shown in (C) in FIG. 7, the control box 30 causes the first drive motor 13 a to rotate the pivoting portion 11 from the transverse position to the normal position while holding the lock state of the lock mechanism 70. , Control the second drive motor 13b. As a result, the pivoting portion 11 returns to the normal position while the elevating portion 50 is held at the upper end position. Since rotation of the turning portion 11 is performed while 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. And as shown to (D) in FIG. 7, the 1st drive motor 13a and the 2nd drive motor 13b are forwardly rotated, and the conveyance trolley 1 is moved forward.
　搬送物を所定位置まで搬送し、昇降部５０を下降させる場合は、下降準備動作に移行する。図７中の（Ｅ）に示すように、下降準備動作では、昇降部５０を下端位置に移動させるために、旋回部１１を時計回りに９０度回転して通常位置に戻すように第１駆動モータ１３ａ，第２駆動モータ１３ｂを駆動する制御が行われる。これによって、旋回部１１が再び反時計回りに回転し、カム部材５５が周壁部６０に接触する横行位置となる。この状態でロック機構７０による挟持を解除するアンロック制御を行う。図７中の（Ｆ）に示すように、ロック機構７０による挟持が解除された状態で旋回部１１を横行位置から通常位置に回転させることにより、昇降部５０が周壁部６０の移動によって下降する。 In the case where the conveyed product is conveyed to a predetermined position and the elevating unit 50 is lowered, the operation shifts to a lowering preparation operation. As shown in (E) in FIG. 7, in the lowering preparation operation, in order to move the lifting and lowering unit 50 to the lower end position, the first drive is performed to rotate the turning unit 11 clockwise 90 degrees and return to the normal position. Control for driving the motor 13a and the second drive motor 13b is performed. As a result, the pivoting portion 11 is again rotated counterclockwise, and the cam member 55 is in the traverse position where the cam member 55 contacts the peripheral wall portion 60. In this state, unlock control is performed to release the holding by the lock mechanism 70. As shown in (F) in FIG. 7, the elevator unit 50 is lowered by the movement of the peripheral wall portion 60 by rotating the turning portion 11 from the transverse position to the normal position in a state where the clamping by the lock mechanism 70 is released. .
　次に、搬送台車１を横行させるときの動作制御の例について説明する。図８は、本実施形態の搬送台車１において、旋回部１１が横行位置で進行するときの動作制御の一例を模式的に示す図である。なお、図８においてもロック機構７０の部分に斜線のハッチングが付されている場合は、ロック機構７０がロック状態であることを意味する。 Next, an example of operation control when the transport carriage 1 is traversed will be described. FIG. 8 is a view schematically showing an example of operation control when the turning portion 11 travels at the traverse position in the transport carriage 1 of the present embodiment. In FIG. 8 as well, when hatching is applied to the portion of the lock mechanism 70, it means that the lock mechanism 70 is in the locked state.
　図８中の（Ａ）に示す開始状態では、搬送台車１のプレート本体５１は下端位置にある。次に、図８中の（Ｂ）に示すように、制御ボックス３０は、第１駆動モータ１３ａ，第２駆動モータ１３ｂを制御して旋回部１１を通常位置から横行位置にする。このとき、旋回部１１の回転の過程で昇降部５０が上端位置に移動する。この状態で、制御ボックス３０は、４個のロック機構７０を制御して昇降部５０を上端位置でロックする。 In the start state shown in (A) in FIG. 8, the plate main body 51 of the transport carriage 1 is at the lower end position. Next, as shown to (B) in FIG. 8, the control box 30 controls the 1st drive motor 13a and the 2nd drive motor 13b, and makes the turning part 11 a traverse position from a normal position. At this time, the lifting unit 50 moves to the upper end position in the process of rotation of the turning unit 11. In this state, the control box 30 controls the four lock mechanisms 70 to lock the lift 50 at the upper end position.
　次に、図８中の（Ｃ）に示すように、第１駆動モータ１３ａ，第２駆動モータ１３ｂを同じ方向に回転させて搬送台車１を横行する。例えば、第１駆動モータ１３ａ，第２駆動モータ１３ｂの両方を逆回転又は正回転させる。搬送終了後、昇降部５０を下降させる場合は図８中の（Ｄ）に示す下降準備動作に移行する。下降準備動作では、旋回部１１が横行位置にある状態でロック機構７０のアンロック制御を行う。次に、図８中の（Ｅ）に示すように、ロック機構７０による昇降部５０５０の上端位置での保持が解除された状態で、旋回部１１を横行位置から通常位置に回転させて昇降部５０を下端位置に移動させる。 Next, as shown in (C) in FIG. 8, the first drive motor 13 a and the second drive motor 13 b are rotated in the same direction to traverse the transport carriage 1. For example, both the first drive motor 13a and the second drive motor 13b are reversely rotated or positively rotated. When the lifting unit 50 is lowered after the end of the conveyance, the operation shifts to a lowering preparation operation shown in (D) in FIG. In the lowering preparation operation, the unlocking control of the lock mechanism 70 is performed in a state where the turning portion 11 is in the transverse position. Next, as shown in (E) in FIG. 8, with the holding at the upper end position of the lifting and lowering unit 5050 released by the lock mechanism 70, the turning unit 11 is rotated from the transverse position to the normal position Move 50 to the lower end position.
　以上、説明した本実施形態の搬送台車１によれば、以下のような効果を奏する。
　即ち、搬送台車１は、車体本体１０と、車体本体１０に対して昇降可能な昇降部５０と、車体本体１０に回転可能に取り付けられる旋回部１１と、旋回部１１に軸支される一対の駆動タイヤ（駆動輪）１２と、旋回部１１に駆動タイヤ１２ごとに配置され、正逆回転可能な駆動モータ１３と、旋回部１１の外周部分に沿って円弧状に立設し、その上部が周方向の一側から他側に向かって高くなるように形成される周壁部６０と、昇降部５０に支持され、周壁部６０の上部に接離可能なカム部材５５と、を備え、旋回部１１の回転に伴って回転する周壁部６０の高さに応じてカム部材５５が上下方向に移動することにより、昇降部５０が昇降する。 According to the transport carriage 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 capable of moving up and down with respect to the vehicle body 10, a swing unit 11 rotatably attached to the vehicle body 10, and a pair of shafts supported by the swing unit 11. A drive tire (drive wheel) 12 and a drive motor 12 which can be rotated in forward and reverse directions and which is disposed in the swing portion 11 for each drive tire 12 is erected in an arc along an outer peripheral portion of the swing portion 11 It has a peripheral wall portion 60 formed so as to become higher from one side to the other side in the circumferential direction, and a cam member 55 supported by the raising and lowering portion 50 and capable of contacting and separating to the upper portion of the peripheral wall portion 60 As the cam member 55 moves up and down 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.
　これにより、駆動タイヤ１２を駆動する駆動モータ１３の駆動力を利用して昇降部５０を昇降させることができ、走行用と昇降用の駆動源を兼用することができる。また、旋回部１１の外周部分に沿って立設され、回転中心から離れた位置にある周壁部６０によってカム部材５５を介して昇降部５０を押し上げる構成なので、周壁部６０上部の傾斜面の傾斜角度により、回転角度を大きくしなくても僅かな回転角度（本実施形態では９０度）で必要な上昇長さを確保でき、昇降時間の短縮を実現できる。 As a result, the elevating unit 50 can be raised and lowered using the driving force of the drive motor 13 for driving the drive tire 12, and the driving source for traveling and elevating can also be used. In addition, the rising and falling portion 50 is pushed up via the cam member 55 by the peripheral wall portion 60 which is erected along the outer peripheral portion of the turning portion 11 and away from the rotation center. Depending on the angle, the required rise length can be secured with a small rotation angle (90 degrees in the present embodiment) without increasing the rotation angle, and shortening of the elevation time can be realized.
　また、本実施形態では、駆動モータ１３は、旋回部１１の上面であって周壁部６０の内側に配置される。 Further, in the present embodiment, the drive motor 13 is disposed on the upper surface of the turning portion 11 and inside the peripheral wall portion 60.
　これにより、周壁部６０の内側に駆動モータ１３が配置されるレイアウトになるので、旋回部１１の回転中心から離れた位置に駆動タイヤ１２を配置して駆動タイヤ１２間の距離（径方向の長さ）を大きく確保して回転中心から離れた位置に力点を置くことができる。これによって、てこの原理（力のモーメント）により、回転中心の近くに力点が位置する構成に比べ、駆動モータ１３の回転力が弱くても、強い力で昇降部５０の昇降を実現でき、駆動モータ１３の小型化、車体本体の小型化も達成できる。 Thus, the drive motor 13 is arranged inside the peripheral wall portion 60. Therefore, the drive tire 12 is disposed at a position away from the rotation center of the turning portion 11, and the distance between the drive tires 12 Can be large and the force point can be placed at a position away from the rotation center. By this, even if the rotational force of the drive motor 13 is weak, raising and lowering of the elevating unit 50 can be realized by a strong force compared to the configuration in which the power point is located near the rotation center by leverage principle (moment of force) The downsizing of the motor 13 and the downsizing of the vehicle body can also be achieved.
　また、本実施形態の搬送台車１は、車体本体１０に配置され、昇降部５０の位置を上昇位置で固定可能なロック機構７０を更に備える。 Further, the transport carriage 1 of the present embodiment is further provided with a lock mechanism 70 which is disposed on the vehicle body 10 and can fix the position of the elevating unit 50 at the raised position.
　これにより、旋回部１１によって上昇した昇降部５０を上端位置（上昇位置）で固定することができるので、旋回部１１を回転させて昇降部５０を上昇させた後に旋回部１１の位置を通常位置に戻して前進することもできる。また、旋回部１１を回転させたままの状態で搬送台車１を横行させるときも、昇降部５０の意図しない上端位置（上昇位置）からの下降を防止することができる。 Thus, since the lifting unit 50 lifted by the turning unit 11 can be fixed at the upper end position (raising position), the turning unit 11 is rotated to raise the lifting unit 50 and then the position of the turning unit 11 is set to the normal position. It is also possible to go back and forward. Further, also when the transport carriage 1 is traversed in a state in which the turning portion 11 is rotated, it is possible to prevent the lowering from the unintended upper end position (raising position) of the lifting and lowering portion 50.
　また、本実施形態のロック機構７０は、昇降部５０の近傍に位置し、昇降部５０のリンク機構５２のリンク支点部５２６を挟持することにより昇降部５０の位置を固定する。 Further, the lock mechanism 70 of the present embodiment is located in the vicinity of the elevating unit 50, and fixes the position of the elevating unit 50 by sandwiching the link fulcrum 526 of the link mechanism 52 of the elevating unit 50.
　これにより、ロック機構７０を省スペースで小型化を可能にでき、更にリンク機構５２のリンク支点部５２６を挟持することにより、固定を保持するために必要な力を削減することができるため、ロック機構７０の駆動部も小型化が可能となる。 As a result, the lock mechanism 70 can be downsized in a space-saving manner, and by clamping the link fulcrum portion 526 of the link mechanism 52, the force necessary for holding the fixation can be reduced. The drive unit of the mechanism 70 can also be miniaturized.
　以上、本発明の好ましい実施形態について説明したが、本発明は、上述の実施形態に制限されるものではなく、適宜変更が可能である。 As mentioned above, although the preferable embodiment of this invention was described, this invention is not restrict | limited to the above-mentioned embodiment, It can change suitably.
　上記実施形態では、低床型のＡＧＶを搬送台車１の例として説明したが、このタイプに限定される訳ではない。搬送物を昇降する昇降機構を備える種々の搬送台車に本発明を適用することができる。 Although the low floor type AGV has been described as an example of the transport carriage 1 in the above embodiment, the present invention is not limited to this type. The present invention can be applied to various transport carriages provided with a lift mechanism that lifts and lowers a load.
　１　搬送台車
　１０　車体本体
　１１　旋回部
　１２　駆動タイヤ（駆動輪）
　１３　駆動モータ
　５０　昇降部
　５５　カム部材
　６０　周壁部 1 transport carriage 10 body body 11 turning portion 12 drive tire (drive wheel)
13 Drive motor 50 Lifting portion 55 Cam member 60 Peripheral wall portion

Claims (4)

  1. 　車体本体と、
    　前記車体本体に対して昇降可能な昇降部と、
    　前記車体本体に回転可能に取り付けられる旋回部と、
    　前記旋回部に軸支される一対の駆動輪と、
    　前記旋回部に前記駆動輪ごとに配置され、正逆回転可能な駆動モータと、
    　前記旋回部の外周部分に沿って円弧状に立設し、その上部が周方向の一側から他側に向かって高くなるように形成される周壁部と、
    　前記昇降部に支持され、前記周壁部の上部に接離可能なカム部材と、
    を備え、
    　前記旋回部の回転に伴って回転する前記周壁部の高さに応じて前記カム部材が上下方向に移動することにより、前記昇降部が昇降する搬送台車。     Body and
    An elevating unit capable of moving up and down with respect to the vehicle body;
    A pivoting portion rotatably attached to the vehicle body;
    A pair of drive wheels pivotally supported by the turning portion;
    A drive motor which is disposed in the turning portion for each of the drive wheels and which can rotate in forward and reverse directions;
    A circumferential wall portion standing in an arc shape along an outer peripheral portion of the turning portion, the upper portion being formed to be higher from one side to the other side in the circumferential direction;
    A cam member supported by the elevating unit and capable of coming into and coming out of contact with an upper portion of the peripheral wall portion;
    Equipped with
    The carriage according to claim 1, wherein the elevating unit is moved up and down by moving the cam member in the vertical direction according to the height of the peripheral wall portion which rotates with the rotation of the turning portion.
  2. 　前記駆動モータは、前記旋回部の上面であって前記周壁部の内側に配置される請求項１に記載の搬送台車。 The transport carriage according to claim 1, wherein the drive motor is disposed on an upper surface of the turning portion and inside the peripheral wall portion.
  3. 　前記車体本体に配置され、前記昇降部の位置を上昇位置で固定可能なロック機構を更に備える請求項１又は２に記載の搬送台車。 The transport carriage according to claim 1, further comprising a lock mechanism disposed in the vehicle body and capable of fixing the position of the elevating unit at an elevated position.
  4. 　前記ロック機構は、前記昇降部の近傍に位置し、前記昇降部のリンク機構の支点部を挟持することにより前記昇降部の位置を固定する請求項３に記載の搬送台車。 The transport carriage 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 holding a fulcrum of a link mechanism of the elevating part.
PCT/JP2018/016976 2017-05-11 2018-04-26 Conveyance cart WO2018207639A1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08207754A (en) * 1994-11-29 1996-08-13 Fuji Kiki Kogyo Kk Carrier
JPH09301693A (en) * 1996-05-13 1997-11-25 Meidensha Corp Automatic carrier vehicle
US20100104414A1 (en) * 2008-10-23 2010-04-29 Jervis B. Webb Company Workpiece Transport Assembly And Method Of Using Same
JP2010146518A (en) * 2008-12-22 2010-07-01 Toyota Industries Corp Automatic guided vehicle
JP2011195133A (en) * 2010-03-24 2011-10-06 Honda Motor Co Ltd Vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08207754A (en) * 1994-11-29 1996-08-13 Fuji Kiki Kogyo Kk Carrier
JPH09301693A (en) * 1996-05-13 1997-11-25 Meidensha Corp Automatic carrier vehicle
US20100104414A1 (en) * 2008-10-23 2010-04-29 Jervis B. Webb Company Workpiece Transport Assembly And Method Of Using Same
JP2010146518A (en) * 2008-12-22 2010-07-01 Toyota Industries Corp Automatic guided vehicle
JP2011195133A (en) * 2010-03-24 2011-10-06 Honda Motor Co Ltd Vehicle

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