JP2010076685A - Automated guided vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automated guide vehicle enabling improvement of an arranging work of a power line. <P>SOLUTION: A turning shaft 52 of a turning shaft mechanism 50 is formed as a hollow shaft. The power lines L1 and L2 of motors M1 and M2, a signal line SL1 of a sensor GS and a signal line SL2 of a marker sensor MS are bundled in a frame member 32, are inserted into the turning shaft 52, are wired with an upper surface of a top plate 12 and are connected to a control device 4. As a result, the power lines L1 and L2 and the signal lines SL1 and SL2 are not required to be set to arrangement and lengths considered in rotation in relation to the top plate 12 of the driving unit 30, wires can be easily arranged. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an automatic guided vehicle.

A ceiling base plate attached to the carriage, a movable base plate that can be moved up and down with respect to the ceiling base plate, and a central portion of the movable base plate that can be moved up and down integrally with the movable base plate. A cylindrical member, a compression coil spring housed in the cylindrical member, one end abutting on the ceiling base plate and the other end abutting on a step portion on the inner peripheral surface formed in the cylindrical member, and an alignment in the lower part of the cylindrical member A device including a drive unit coupled via a bearing has been proposed (see, for example, Patent Document 1).
In this automatic guided vehicle, the drive unit can be turned around a cylindrical member, and a spring force can always be applied to the steering center, so that stable running can be performed.
Japanese Patent Laid-Open No. 8-11741

  By the way, in an automatic guided vehicle, it is common to arrange a control device for driving and controlling a battery as a power supply source and a driving unit at a place different from the driving unit. Wiring of harnesses such as a power line for exchanging power with the apparatus needs to take into account the turning of the drive unit. In other words, the length and arrangement of the harnesses must be set so that the turning range of the drive unit is limited due to the short length of the harnesses and the harnesses do not interfere with surrounding parts due to poor handling of the harnesses. In other words, the handling work of the harnesses becomes complicated.

  The automatic guided vehicle of this invention aims at improving the management work of an electric power line.

The automatic guided vehicle of the present invention adopts the following means in order to achieve at least a part of the above object.
A top plate connected to the carriage side, a drive unit having an electric motor capable of driving a drive wheel, a turning shaft mechanism including a turning shaft member that rotatably supports the drive unit with respect to the top plate, and the electric motor A control device that drives and controls the swivel shaft mechanism, wherein the swivel shaft mechanism is formed as a hollow shaft in which the swivel shaft member has a through hole therein, and the electric motor and the control device The gist is that an electric power line for exchanging electric power between the rotary shafts is inserted into the through hole of the pivot shaft.

  In this automatic guided vehicle of the present invention, since the power line for exchanging power between the electric motor and the control device is inserted into the through hole of the turning shaft, the turning of the drive unit is taken into consideration when the power line is routed. There is no need to do. In other words, there is no need to perform operations such as setting the length of the power line to a length that takes into account the turning of the drive unit or arranging the power line in consideration of interference with peripheral components. As a result, it is possible to improve the power line handling work.

In such an automated guided vehicle of the present invention, the drive unit is disposed on the left wheel as the drive wheel connected to the left axle disposed on the left side with respect to the traveling direction, and on the right side with respect to the traveling direction. The right wheel as the drive wheel connected to the right axle coaxially arranged with the left axle, the first electric motor as the electric motor capable of rotating the left wheel, and the right wheel capable of rotating the right wheel A holding plate for holding the drive unit so as to be swingable with respect to the traveling direction is provided between the top plate and the drive unit. Is a lead passing through the intersection of the center line in the traveling direction passing through the approximate center between the left axle and the right axle and the axis of the left axle and the right axle in the holding plate. An upper projecting portion projecting vertically upward from a position corresponding to the vicinity of a point on the vertical line of the direction, and projecting downward vertically at a position corresponding to the upper projecting portion of the top plate A lower projecting portion constituting the pivot shaft member that is loosely fitted to the upper projecting portion, and a spring member disposed on an outer periphery of the upper projecting portion and / or the lower projecting portion, The power line may be inserted into the upper protrusion and / or the lower protrusion.
In this way, it is possible to improve the power line handling work in the automatic guided vehicle capable of ensuring the turning performance, the swinging performance, and the traveling performance of the drive unit while reducing the height direction of the automatic guided vehicle itself.

The automatic guided vehicle according to the present invention further includes detection means capable of detecting information necessary for driving and controlling the drive unit, and the control device is configured to detect the drive wheel based on the information detected by the detection means. The signal line for exchanging signals between the detection means and the control device may be inserted into the through hole of the pivot shaft.
In this way, it is possible to improve the signal line handling work in the automatic guided vehicle capable of ensuring the turning performance, the swinging performance, and the traveling performance of the drive unit while reducing the height direction of the automatic guided vehicle itself.

In the automatic guided vehicle of the present invention of this aspect, the detection means is a means for detecting a guide band installed on a road surface for guiding the drive unit, or the detection means includes a stop mode. It can be a means for detecting a command for switching the traveling mode of the automatic guided vehicle, or the detection means can be a means for detecting contact between the automatic guided vehicle and an obstacle.
In this way, the signal line for connecting the detection means for detecting the command for switching the operation mode of the automatic guided vehicle and the operation mode of the signal line for connecting the detection means for detecting the induction band and the control apparatus and the control apparatus for the control line. The efficiency of the handling work, the handling work of the signal line connecting the control means and the detection means for detecting the contact between the automatic guided vehicle and the obstacle can be improved.

Next, the best mode for carrying out the present invention will be described using examples.
FIG. 1 is an external view showing an example of an external appearance of an automatic guided vehicle 1 as an embodiment of the present invention, and FIG. 2 is a plan view of the automatic guided vehicle 1 of the present invention as viewed from above.
As shown in FIGS. 1 and 2, the automatic guided vehicle 1 according to the embodiment includes a carriage main body 2, a control unit 4 that controls the entire automatic guided vehicle 1, and a substantially central portion of the lower surface of the base plate 2 a of the carriage main body 2. And a drive device 10 attached thereto, and is configured to be able to automatically travel along the guide band G.

  A pair of left and right casters 5 and 5 are attached to the lower surface of the base plate 2a of the carriage body 2 on the front side in the traveling direction (left side in FIG. 1), and the rear side in the traveling direction of the base plate 2a of the carriage body 2 (in FIG. 1). A pair of left and right fixed rings 6 and 6 are attached to the lower surface of the right side. In addition, a handle 8 is attached to the upper surface of the carriage body 2 on the front side in the traveling direction of the base plate 2a so that the automatic guided vehicle 1 can be pushed by hand when the automatic guided vehicle 1 travels manually. Has been.

The control unit 4 is configured as a microprocessor centered on a CPU (not shown). In addition to the CPU, a ROM (not shown) that stores a processing program, a RAM (not shown) that temporarily stores data, and an input / output (not shown). And a port.
In the control unit 4, a motor rotation number from a rotation sensor (not shown) attached to motors M1 and M2 to be described later, a travel position from a sensor GS to be described later, a command signal from the marker sensor MS, and the like via an input port Have been entered. Here, the marker is provided in the vicinity of the guidance band G for a command for switching a traveling mode such as a forward mode, a reverse mode, a transverse mode, or a stop mode. Further, the control unit 4 outputs drive signals to the motors M1 and M2 through an output port. The control unit 4 is disposed on the front upper surface in the traveling direction of the base plate 2a of the carriage 2.

FIG. 3 is an external perspective view showing an external appearance of the drive device 10, and FIG. 4 is an exploded perspective view showing an outline of the configuration of the drive device 10.
As shown in FIGS. 3 and 4, the driving device 10 includes a top plate 12 that is attached and fixed to the lower surface of the base plate 2 a, a holding plate 20 that is connected to the top plate 12 through a pivot shaft mechanism 50, A drive unit 30 that is swingably held by the holding plate 20 and an elevating mechanism 70 that is attached and fixed to the top plate 12 and elevates and lowers the drive unit 30 are provided.

  As shown in FIG. 4, the top plate 12 includes a base portion 14 having a through hole 14 a formed in the center portion, and a protruding portion 16 that is integrally protruded from one long side portion 14 b of the base portion 14. It is comprised and has comprised the external appearance approximate T shape. The base portion 14 is formed with an arc hole 14c that covers approximately half or more of the outer periphery of the through hole 14a, and a notch opening 14d that opens from the through hole 14a to the root portion 16a of the protruding portion 16 is formed.

As shown in FIG. 4, the holding plate 20 is formed with a circular hole 20a at the center, and both ends in the front-rear direction, which is the advancing direction of the automatic guided vehicle 1, are bent vertically downward to form a folding surface 20b. , 20c are formed. Further, a stopper pin SP is attached and fixed in front of the outer peripheral portion of the circular hole 20a of the holding plate 20 (left side in FIG. 4) so as to protrude vertically upward. That is, the stopper pin SP is disposed at a position where the stopper pin SP is engaged with the arc hole 14 c of the top plate 12 when the holding plate 20 is connected to the top plate 12. Thereby, the turning range with respect to the top plate 12 of the drive unit 30 mentioned later via the holding | maintenance plate 20 is controlled.
Further, a holder member 22 is attached to the lower surface of the holding plate 20. The holder member 22 is formed in a bottomed shape having an opening at the top and a bottom surface 24 at the bottom, and is attached to the holding plate 20 so that the opening corresponds to the circular hole 20a. A circular hole 24 a is formed at the center of the bottom surface 24.

FIG. 5 is an exploded perspective view illustrating a state in which the drive unit 30 is disassembled, and FIG.
As shown in FIG. 5, the drive unit 30 includes a frame member 32, two gear boxes 34 a and 34 b attached and fixed in the frame member 32, and the gear boxes 34 a and 34 b via rotation shafts 36 a and 36 b. Two motors M1, M2 connected, a left axle 37a connected to the gear box 34a, a left wheel 38a attached to the left axle 37a, a right axle 37b connected to the gear box 34b, and a right axle 37b The front side 32a and the rear side 32b of the frame member 32 are provided with a sensor GS for detecting the induction band G and a marker sensor MS for detecting the marker.

  As shown in FIGS. 4 and 6, the drive unit 30 has the front surface portion 32 a of the frame member 32 and the folding surface 20 b of the holding plate 20 fixed by the swing pin P, and the rear surface portion 32 b of the frame member 32. The folding surface 20c of the holding plate 20 is pivotally fixed by the swing pin P, so that it can be swingably connected in the space defined by the folding surface 20b and the folding surface 20c. As a result, it is possible to connect the holding plate 20 and the frame member 32, that is, the holding plate 20 and the drive unit 30 in a close state, while ensuring the swingability of the drive unit 30 with respect to the holding plate 20.

  The motors M1, M2 and the gear boxes 34a, 34b are accommodated in the frame member 32 so that a central space CA is formed between the left axle 37a and the right axle 37b, as shown in FIGS. In the central space CA, when the drive unit 30 is connected and held to the holding plate 20, the holder member 22 attached to the holding plate 20 is an opening hole formed in the upper surface center portion of the frame member 32. It is accommodated via 32c. At this time, as shown in FIGS. 4 and 6, the bottom surface 24 of the holder member 22 has a center line CL1, a left axle 37a, and a right axle 37b in the traveling direction passing through substantially the center between the left axle 37a and the right axle 37b. Among the points on the vertical line VL in the vertical direction passing through the intersection with the axis CL2, the plane is arranged in a plane including a point vertically below the axis CL2.

  The motors M1 and M2 are provided with power lines L1 and L2 electrically connected to the phase coils of the motors M1 and M2, and a control device 4 that drives and controls the motors M1 and M2 by the power lines L1 and L2. Connected to. The sensor GS and the marker sensor MS are connected to the control device 4 by signal lines SL1 and SL2.

  As shown in FIG. 6, the turning shaft mechanism 50 includes a turning shaft 52 as a hollow shaft having a flange portion 52 a formed at one end and a hollow inside, and a rotatable shaft around the turning shaft 52. A bearing member 54 loosely fitted so as to be movable in a direction, a stepped cylindrical member 56 attached and fixed to the bearing member 54 by a snap ring R, and a ring-shaped plate member 58 attached to the upper end of the pivot shaft 52; The rotating shaft 52 and the coil spring 60 disposed on the outer periphery of the stepped cylindrical member 56 are configured.

  In the pivot shaft mechanism 50, the flange portion 52 a is attached and fixed to the bottom surface 24 of the holder member 22 with a fastening component such as a bolt (not shown), and the upper end surface of the stepped cylindrical member 56 is fastened to the top plate 12 with a bolt or the like (not shown). The top plate 12 and the holding plate 20 are connected by being fixed by the parts. Here, the turning shaft 52 and the stepped cylindrical member 56 are attached to the bottom surface 24 of the holder member 22 and the top plate 12 so that the respective axes substantially coincide with the vertical line VL. The axis of the coil spring 60 is also arranged on the outer periphery of the turning shaft 52 and the stepped cylindrical member 56 so as to substantially coincide with the vertical line VL.

  As shown in FIG. 6, the stepped tubular member 56 includes a large diameter tubular portion 56 b and a small diameter tubular portion 56 c, and the large diameter tubular portion 56 b is attached to the top plate 12. Further, as shown in FIG. 4, the large-diameter cylindrical portion 56 b has a notch opening 56 b ′ partially cut away, and this notch opening 56 b ′ corresponds to the notch opening 14 d of the top plate 12. It attaches to the top plate 12 so that it may become direction.

  One end of the coil spring 60 is in contact with the flange portion 52 a of the turning shaft 52, and the other end is in contact with the stepped portion 56 a of the stepped cylindrical member 56, so that the turning shaft 52 and the stepped cylindrical member 56 are connected. A spring force acts in a direction away from each other. The ground force is generated on the left wheel 38a and the right wheel 38b by the spring force of the coil spring 60.

  With the pivot shaft mechanism 50 configured in this way, the drive unit 30 is supported by the top plate 12 via the holding plate 20 so as to be rotatable about the axis center of the pivot shaft 52 and the top plate 12 via the holding plate 20. It is pressed vertically downward with respect to the plate 12. Here, since the axis of the coil spring 60 is arranged so as to substantially coincide with the vertical line VL, the ground load between the left wheel 38a and the right wheel 38b can be made substantially uniform. As a result, the traveling stability of the automatic guided vehicle 1 can be improved.

Moreover, as shown in FIG. 6, since most of the turning shaft mechanism 50 is accommodated in the holder member 22, the top plate 12 and the holding plate 20 can be connected in a close state. Moreover, since the holder member 22 is accommodated in the central space CA formed in the frame member 32, the top plate 12, the holding plate 20, and the drive unit 30 can be connected in a closer state. As a result, the dimension of the driving device 10 in the height direction can be reduced, and the floor can be lowered.
Here, in the embodiment, by setting the bottom surface 24 of the holder member 22 to be vertically lower than the axis line CL <b> 2, a larger part of the turning shaft mechanism 50 is accommodated in the holder member 22 and held with the top plate 12. The plate 20 can be connected in a closer state. As a result, the height direction dimension of the driving device 10 can be further reduced, and the floor can be further reduced.

  Further, since the coil spring 60 is disposed between the flange portion 52a of the turning shaft 52 and the stepped portion 56a of the stepped cylindrical member 56, that is, on the outer peripheral surface of the turning shaft 52, the coil spring 60 is disposed within the turning shaft 52. The spring diameter can be set larger than Accordingly, the axial length can be set short to generate the same spring force (the larger the spring diameter, the larger the linear region can be taken), and therefore the axial length of the turning shaft mechanism 50 can be further shortened. . As a result, the height direction dimension of the driving device 10 can be further reduced, and the floor can be further reduced.

FIG. 7 is a state diagram showing the wiring states of the power lines L1 and L2 and the signal lines SL1 and SL2.
The power lines L1 and L2 of the motors M1 and M2 and the signal lines SL1 and SL2 of the sensor GS and the marker sensor MS are bundled in the frame member 32 and inserted into the turning shaft 52 as shown in FIGS. The upper surface of the top plate 12 is wired through the turning shaft 52 and connected to the control device 4.
Thus, by using the wiring that allows the power lines L1 and L2 and the signal lines SL1 and SL2 to be inserted into the turning shaft 52, the wiring can be easily routed. That is, it is not necessary to set the power lines L1 and L2 and the signal lines SL1 and SL2 to an arrangement and length in consideration of the rotation of the drive unit 30 with respect to the top plate 12.

FIG. 8 is a configuration diagram showing an outline of the configuration of the lifting mechanism 70.
As shown in FIG. 8, the elevating mechanism 70 includes an elevating motor M3, a cam follower 72 connected to the rotating shaft of the elevating motor M3, an elevating rod 74 connected to the cam follower 72, and an elevating rod. 74, and a lever member 76 that engages with the plate member 58 of the turning shaft mechanism 50. The drive unit 30 is moved up and down by the rotation of the lifting motor M3.

  The elevating motor M3 is disposed at the side of the drive unit 30 by being attached to the lower surface side of the top plate 12 via the bracket B at the tip end portion of the projecting portion 16 of the top plate 12. Thereby, the dimension in the height direction is prevented from increasing.

  As shown in the figure, the cam follower 72 is concentrically connected to the rotating shaft of the lifting motor M3, and the lifting rod 74 is connected to a position (radially outward) that is eccentric from the center by a predetermined distance. Further, the cam follower 72 is prevented from falling in a direction perpendicular to the rotation axis of the lifting motor M3 by the two roller members R attached to the bracket B.

  As shown in FIGS. 4 and 8, the elevating rod 74 is formed in a substantially “h” shape, and the top plate 12 extends along the notch opening 14 d formed in the top plate 12 from the position of the cam follower 72. It extends to the through hole 14a. Thus, when the cam follower 72 rotates, the lifting rod 74 can swing in the front-rear direction (vertical direction in FIG. 8). That is, the lifting rod 74 converts the rotational motion by the lifting motor M3 into horizontal motion in cooperation with the cam follower 72. Here, the lifting rod 74 is notched in the top plate 12 when it is swung to the lever member 76 side, that is, the front side (left side in FIG. 4 or lower side in FIG. 8) by at least the rotation of the cam follower 72. A part thereof is accommodated in 14d. Thereby, it is suppressed that the dimension of the height direction of the automatic guided vehicle 1 by the rocking | fluctuation of the raising / lowering rod 74 increases.

  As shown in FIG. 8, the lever member 76 is formed of a plate having a substantially isosceles triangle shape, and a top portion 76 a at which two sides having substantially the same length intersect each other can swing freely at the tip portion of the lifting rod 74. One end portion 76b of the bottom side is connected and supported by an L-shaped bracket (not shown) attached and fixed to the top plate 12, and the other end portion 76c of the bottom side is engaged with the plate member 58 of the turning shaft mechanism 50 via the ring member 78. Is done. That is, the lever member 76 is formed as a link member having the top portion 76a as a force point, the bottom end portion 76b as a fulcrum, and the bottom end portion 76c as an action point. Here, the ring member 78 and the plate member 58 are engaged via a notch opening 56 b ′ formed in the large-diameter cylindrical portion 56 b of the stepped cylindrical member 56.

  Thus, the cam follower 72 is rotated by the rotation of the rotating shaft of the lifting motor M3, and accordingly, the lifting rod 74 swings in the horizontal direction (vertical direction in FIG. 8) to swing the lever member 76. The swing shaft 52 of the swing shaft mechanism 50 is moved vertically upward against the spring force of the coil spring 60 by the swing of the lever member 76. In other words, the rotation of the lifting motor M3 depends on the lever ratio, which is the ratio of the distance from the top portion 76a of the lever member 76 to the bottom end portion 76b and the distance from the bottom end portion 76b to the bottom end portion 76c. Converting to vertical movement, the drive unit 30 is separated from the road surface via the holding plate 20 to which the turning shaft 52 is attached. As described above, the lifting mechanism 70 can raise the drive unit 30 vertically upward while suppressing an increase in the dimension in the height direction, thereby increasing the separation distance of the drive unit 30 from the road surface.

  According to the automatic guided vehicle 1 of the embodiment described above, the turning shaft 52 of the turning shaft mechanism 50 is formed as a hollow shaft, the power lines L1 and L2 of the motors M1 and M2, the signal line SL1 of the sensor GS1, the marker sensor MS. The signal lines SL2 are bundled in the frame member 32, inserted in the turning shaft 52, wired on the top surface of the top plate 12, and connected to the control device 4. Therefore, the power lines L1, L2 and the signal lines SL1, SL2 are connected to each other. It is not necessary to set the arrangement and length in consideration of the rotation of the drive unit 30 with respect to the top plate 12. As a result, the wiring can be easily routed.

  Further, according to the automatic guided vehicle 1 of the embodiment, the drive unit 30 is swingably held on the holding plate 20 by the swing pin P having an axis parallel to the traveling direction, and the holding plate 20 is connected to the left axle 37a. It is connected to the top plate 12 on the cart side via a turning shaft mechanism 50 arranged between the right axle 37b. That is, the swinging of the drive unit 30 in the traveling direction is performed independently of the swing shaft mechanism 50 that supports the drive unit 30 so that the drive unit 30 can swing and acts on the drive unit 30, so And no swing limit plate. As a result, it is possible to reduce the height of the automatic guided vehicle itself without being restricted by the alignment bearing, the swing limiter plate, or the like. In addition, since the axis of the coil spring 60 is arranged so as to substantially coincide with the vertical line VL, the ground load between the left wheel 38a and the right wheel 38b can be made substantially uniform, and traveling stability can be improved.

  Furthermore, according to the automated guided vehicle 1 of the embodiment, the bottom line 24 of the holder member 22 passes through the center line CL1 in the traveling direction passing through the approximate center between the left axle 37a and the right axle 37b, and the left axle 37a and the right axle 37b. In a central space CA formed in the frame member 32 so as to be arranged in a plane including a point vertically below the axis CL2 among the points on the vertical line VL passing through the intersection with the axis CL2. Since it is accommodated, most of the pivot shaft mechanism 50 can be accommodated in the frame member 32. As a result, the top plate 12, the holding plate 20, and the drive unit 30 can be connected in a closer state, and the height of the drive device 10 can be further reduced.

  According to the automatic guided vehicle 1 of the embodiment, the rotational motion by the lifting motor M3 disposed on the side of the drive unit 30 is converted into the horizontal motion by the cam follower 72 and the lifting rod 74, and this horizontal motion is further converted. Since the elevating mechanism 70 is configured so that the lever member 76 converts the vertical movement of the drive unit 30 by the lever member 76, an increase in the dimension in the height direction can be suppressed. In addition, when the lifting rod 74 is swung forward (left side in FIG. 4) at least by the rotation of the cam follower 72, that is, when the drive unit 30 is lowered, one of the lifting rods 74 is formed in the notch opening 14d of the top plate 12. Since the portion is accommodated, an increase in the dimension in the height direction of the automatic guided vehicle 1 due to the swinging of the lifting rod 74 can be further suppressed. In addition, since the raising / lowering mechanism 70 can raise the drive unit 30 vertically upward, it can make the separation distance from the road surface of the drive unit 30 large, suppressing the increase in the dimension of the height direction. .

In the automatic guided vehicle 1 of the embodiment, all of the power lines L1 and L2 of the motors M1 and M2, the signal line SL1 of the sensor GS, and the signal line SL2 of the marker sensor MS are inserted into the turning shaft 52 of the turning shaft mechanism 50. However, only one of them may be inserted into the turning shaft 52.
Further, the wiring cord inserted into the turning shaft 52 is not limited to the power lines L1 and L2 and the signal lines SL1 and SL2. For example, the signal line of the obstacle sensor that detects contact between the automatic guided vehicle 1 and the obstacle. Any wiring cord may be inserted.

  In the automatic guided vehicle 1 of the embodiment, the holder member 22 attached to the lower surface of the holding plate 20 is disposed in a plane including a point whose bottom surface 24 is vertically lower than the axis CL2 among points on the vertical line VL. However, the bottom surface 24 is arranged in a plane including a point at the same position as the axis CL2 among the points on the vertical line VL, or is a point vertically above the axis CL2 among the points on the vertical line VL. It may be arranged in a plane including

  In the automatic guided vehicle 1 according to the embodiment, the turning shaft mechanism 50 includes the left wheel by the spring force of the coil spring 60 disposed between the flange portion 52 a of the turning shaft 52 and the stepped portion 56 a of the stepped cylindrical member 56. 38a and the right wheel 38b are configured to generate a ground load, but the swing shaft mechanism 50 uses a cylinder, a solenoid, or the like to contact the left wheel 38a and the right wheel 38b with oil pressure, pneumatic pressure, electromagnetic force, or the like. May be generated.

  In the automatic guided vehicle 1 of the embodiment, the holder member 22 is attached to the lower surface of the holding plate 20 by fastening parts such as bolts, but the holder member 22 may be integrally formed with the holding plate 20. .

  In the automatic guided vehicle 1 of the embodiment, the stepped cylindrical member 56 is attached to the lower surface of the top plate 12 by fastening parts such as bolts, but the stepped cylindrical member 56 is integrally formed with the top plate 12. It does n’t matter what you do.

In the automatic guided vehicle 1 of the embodiment, the turning shaft 52 is attached and fixed to the bottom surface 24 of the holder member 22 with a fastening part such as a bolt (not shown) so that a part thereof is accommodated in the holder member 22. The swivel axis may not be accommodated in the holder member.
FIG. 9 is an enlarged view showing a main part of the turning shaft mechanism 150 of the automated guided vehicle 100 according to a modification.

As shown in FIG. 9, a swivel shaft mechanism 150 of the automatic guided vehicle 100 according to the modification includes a main body 152a having a bottomed shape having one end opened and a bottom surface 124 on the other end, and one end of the main body 152a. A pivot shaft 152 having a lunge portion 152b formed on the outer peripheral surface of the end portion, and a flange portion 152c formed on the outer peripheral surface at a position a predetermined distance away from the flange portion 152b on the other end side; A bearing member 154 attached and fixed to the inner peripheral surface by a snap ring R, a hollow cylinder portion 156a loosely fitted to the bearing member 154 so as to be rotatable and axially movable, and formed at one end of the hollow cylinder portion 156a A cylindrical member 156 having a flange portion 156b, one end abutting on the inner step 156a ′ of the hollow cylinder portion 156a, and the other end abutting on the bottom surface 124 of the pivot shaft 152, The pivot shaft 152 and the cylindrical member 156 are composed of a coil spring 160 that exerts a force in a direction away from each other, and the flange portion 152c is attached and fixed to the bottom surface of the holder member 122 by a fastening component such as a bolt (not shown). At the same time, the top plate 112 and the holding plate 120 are connected by attaching and fixing the flange portion 156b to the top plate 112 with fastening parts such as bolts (not shown).
Then, the electric power lines L1 and L2 of the motors M1 and M2, the signal lines SL1 and SL2 of the sensor GS and the marker sensor MS are bundled in the frame member 132, and the circular hole 124a formed in the bottom surface 124 of the main body 152a of the pivot shaft 152. Is inserted into the hollow cylindrical portion 156a of the cylindrical member 156, inserted through the hollow cylindrical portion 156a, and wired to the upper surface of the top plate 112 through the through hole 114a and connected to the control device 4.

  Also in such an automated guided vehicle 100, the same effects as the automated guided vehicle 1 of the embodiment, that is, the effect of reducing the height direction of the automated guided vehicle itself, the effect of improving the running stability, the power lines L1, L2, and the signal There is no need to set the lines SL1 and SL2 to an arrangement or length considering the rotation of the drive unit 30 with respect to the top plate 12, and an effect of facilitating wiring can be achieved.

  As mentioned above, although embodiment of this invention was described using the Example, this invention is not limited to such an Example, In the range which does not deviate from the summary of this invention, it can implement with a various form. Of course.

It is an external view which shows an example of the external appearance of the automatic guided vehicle 1 as one Embodiment of this invention. It is the top view which looked at the automatic guided vehicle 1 of this invention from upper direction. 1 is an external perspective view showing an external appearance of a driving device 10. FIG. 2 is an exploded perspective view showing an outline of the configuration of the driving device 10. FIG. 4 is an exploded perspective view showing a state in which the drive unit 30 is disassembled. 4 is a cross-sectional view of a main part showing a main part of the drive unit 30. FIG. It is a state diagram which shows the wiring state of electric power lines L1, L2 and signal lines SL1, SL2. FIG. 3 is a configuration diagram showing an outline of a configuration of an elevating mechanism 70. It is an enlarged view which expands and shows the principal part of the rotating shaft mechanism 150 of the automatic guided vehicle 100 of the modification.

Explanation of symbols

1,100 automatic guided vehicle 2 bogie body 2a base plate 4 control unit 5 caster 6 fixed wheel 8 handle 10 driving device 12,112 top plate 14 base portion 14a through hole 14b long side portion 14c circular hole 14d notch opening 16 projecting portion 16a Root portion 20, 120 Holding plate 20a Circular hole 20b, 20c Folded curved surface 22 Holder member 24, 124 Bottom surface 24a, 124a Circular hole 30, 130 Drive unit 32 Frame member 32a Front portion 32b Rear surface portion 32c Opening hole 34a, 34b Gear box 36a , 36b Rotating shaft 37a, 137a Left axle 37b, 137b Right axle 38a, 138a Left wheel 38b, 138b Right axle 50, 150 Turning shaft mechanism 52, 152 Turning shaft 52a, 152b, 152c, 156b Flange portion 54, 154 Bearer 56 Stepped cylindrical member 56a Stepped portion 56b Large diameter cylindrical portion 56b 'Notch opening portion 56c Small diameter cylindrical portion 58 Plate member 60, 160 Coil spring 70, 170 Lift mechanism 72, 172 Cam follower 74, 174 Lift Rod 76, 176 Lever member 76a Top 76b Bottom end 76c Bottom other end 78 Ring member 152a Body 156 Cylindrical member 156a Hollow cylinder 156a 'Inner step G Induction band GS sensor MS marker sensor M1, M2 Motor M3 Lifting motor SP Stopper pin P Swing pin CA Central space L1, L2 Power line SL1, SL2 Signal line R Snap ring B Bracket R Roller member CL1 Center line CL2 Axis line VL Vertical line

Claims (6)

A top plate connected to the carriage side, a drive unit having an electric motor capable of driving a drive wheel, a turning shaft mechanism including a turning shaft member that rotatably supports the drive unit with respect to the top plate, and the electric motor A control device for driving and controlling the automatic guided vehicle,
The pivot shaft mechanism is formed as a hollow shaft in which the pivot shaft member has a through hole inside,
An automatic guided vehicle in which an electric power line for exchanging electric power between the electric motor and the control device is inserted into the through hole of the turning shaft. The drive unit comprises a left wheel as the drive wheel connected to a left axle disposed on the left side with respect to the traveling direction;
A right wheel as the driving wheel that is arranged on the right side with respect to the traveling direction and connected to the right axle that is coaxially arranged with the left axle, and a first electric motor as the electric motor that can rotationally drive the left wheel And a second electric motor as the electric motor capable of rotationally driving the right wheel,
Between the top plate and the drive unit, a holding plate for holding the drive unit so as to be swingable in the traveling direction is provided,
The swivel shaft mechanism has a vertical direction passing through an intersection of a center line of the traveling direction passing through a substantially center between the left axle and the right axle and an axis of the left axle and the right axle in the holding plate. An upper protruding portion that protrudes from the position corresponding to the vicinity of a point on the vertical line toward the upper vertical side, and a lower protruding portion provided at a position corresponding to the upper protruding portion of the top plate. A lower projecting portion constituting the pivot shaft member loosely fitted to the upper projecting portion, and a spring member disposed on an outer periphery of the upper projecting portion and / or the lower projecting portion,
The automatic guided vehicle according to claim 1, wherein the power line is inserted into the upper protrusion and / or the lower protrusion. Comprising detection means capable of detecting information necessary for driving and controlling the drive unit;
The control device is configured to control the driving wheel based on information detected by the detecting unit,
The automatic guided vehicle according to claim 1 or 2, wherein a signal line for exchanging signals between the detection means and the control device is inserted into the through hole of the turning shaft. The automatic guided vehicle according to claim 3, wherein the detection unit is a unit that detects a guide band installed on a road surface to guide the drive unit.   The automatic guided vehicle according to claim 3 or 4, wherein the detecting means is a means for detecting a command for switching a traveling mode of the automatic guided vehicle including a stop mode.   The automatic guided vehicle according to any one of claims 3 to 5, wherein the detection means is means for detecting contact between the automatic guided vehicle and an obstacle.

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