JP2020078978A - Dolly - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a trolley that easily realizes movement between rails.
SOLUTION: A raceway wheel 36 running on a rail 80 laid in a greenhouse, and an omniwheel 39 contacting the ground G of the greenhouse in a state where the raceway wheel is not traveling on the rail 80 are provided. The omni wheel 39 has a wheel body that rotates around the Y axis and a plurality of roller portions provided on the outer edge of the wheel body. Therefore, rotation of the wheel body about the Y axis allows the carriage to travel on the ground G along the X axis direction, and rotation of the roller portion contacting the ground G causes the carriage to move on the ground G along the Y axis direction. It is possible to drive.
[Selection diagram] Figure 4

Description

  The present invention relates to a truck.

  In a greenhouse in which large-scale cultivation is typified by a solar-powered plant factory, a large number of cultivation beds extending in one axial direction are arranged along the other axial direction orthogonal to the one axial direction. Workers often work while uniaxially moving between cultivation beds, and recently, they work while pushing a cart installed on a rail laid between cultivation beds, or traveling on a rail. Sometimes I work on a trolley. As the rails, hot water pipes used for heating the greenhouse are used.

  In order to reduce the effort required to move the carriage from one rail to another rail, a technique of providing a vertically movable left and right moving wheel at the bottom of the carriage (see, for example, Patent Document 1), or a rail end in the left-right direction There is known a technique using another moving carriage (see, for example, Patent Document 2).

  Further, when an AGV (Automatic Guided Vehicle) is used as a carriage, movement between rails can be automated (see, for example, Patent Document 3).

  Further, there is known a cremation carrier that includes an omnidirectional moving wheel and a drive unit that drives the omnidirectional moving wheel (see, for example, Patent Document 4).

JP, 2009-77656, A JP, 11-90286, A JP 2012-80843 A JP, 2008-25379, A

  However, when the truck moves between the rails, if the left and right moving wheels are moved up and down or another truck that moves in the left and right direction is used as in the above-mentioned Patent Documents 1 and 2, if the truck is moved up and down, or another truck It takes time and effort to transfer. Further, when the AGV is adopted as in the above-mentioned Patent Document 3, the cost is high, and high-precision control is required when changing the direction of the carriage. Further, when moving the transport vehicle in all directions by using the omnidirectional moving wheels as in Patent Document 4, high precision control is required because each wheel is individually drive-controlled.

  Therefore, it is an object of the present invention to provide a carriage that can easily realize movement between tracks.

  The trolley of the present invention includes a trolley body, a first wheel provided on the trolley body, traveling on an orbit laid in a field, and moving the trolley body in the front-back direction of the trolley body. And a second wheel that comes into contact with the surface of the field in a state in which the first wheel is not traveling on the track, and the second wheel is a wheel portion that rotates around the first axis. And a plurality of roller portions provided on the outer edge of the wheel portion, the rotation of the wheel portion around the first axis causes the trolley body to cross a second axis perpendicular to the first axis. Of the plurality of roller portions, the trolley body travels along the first axis by rotation of a roller portion that comes into contact with the surface of the field, and the trolley body moves along the first axis or the second axis. The direction corresponds to the front-back direction of the bogie body.

  The bogie of the present invention has an effect that movement between tracks can be easily realized.

It is a figure showing roughly the inside of the greenhouse in which the truck concerning one embodiment is used. It is a figure which shows the state which looked at some rails installed between two cultivation beds from the upper part. It is a figure which shows schematically the state which looked at the trolley|bogie which moves along a rail from the -Y direction. It is a figure which shows the state which looked at the trolley drive part mounted in the rail from the upper direction. FIG. 5(a) is a view of the raceway wheel traveling on the rail as seen from the +X side, and FIG. 5(b) is a view of the raceway wheel not traveling on the rail from the +X side. It is the figure seen. FIG. 6A is a diagram showing a state of the outer ring viewed from the −Y side, and FIG. 6B is a diagram showing a state of the inner ring when the outer ring is in the state of FIG. 6A. .. It is a figure which shows a guide part. FIG. 8A and FIG. 8B are views (No. 1) for explaining the function of the guide portion. 9A to 9C are views (No. 2) for explaining the function of the guide portion. It is a figure which expands a part of greenhouse and shows movement of a truck drive part typically. FIG. 11A and FIG. 11B are views (No. 1) showing modified examples. It is a figure (the 2) which shows a modification.

  Hereinafter, one embodiment of the carriage will be described in detail with reference to FIGS. 1 to 10.

  FIG. 1 is a diagram schematically showing the inside of a greenhouse 100 in which a truck 10 according to an embodiment is used. As shown in FIG. 1, a large number of cultivation beds 90 are provided in the greenhouse 100. In the cultivation bed 90, crops such as tomato and paprika are cultivated. In the present embodiment, the longitudinal direction of the cultivation bed 90 is the X-axis direction, and the direction in which the cultivation beds 90 are closely arranged (the lateral direction of the cultivation bed 90) is the Y-axis direction. The orthogonal direction (vertical direction) is the Z-axis direction. The space between the cultivation beds 90 adjacent to each other in the X-axis direction in the greenhouse 100 is used as a work road.

  FIG. 2 shows a state in which a part of a rail (track) 80 installed between two cultivation beds 90 arranged along the Y-axis direction is viewed from above (+Z direction). As the rail 80, for example, an aluminum pipe having a diameter of 50 mm can be used. When a pipe is used as the rail 80, it can be used as a heating facility (hot water pipe) in the greenhouse 100 by passing hot water inside. However, a guide other than a pipe may be used as the rail 80. The rail 80 is fixed to a plate-shaped sleeper member 82 installed on the ground G in the greenhouse 100 at predetermined intervals in the X-axis direction.

  FIG. 3 schematically shows a state in which the carriage 10 moving along the rail 80 is viewed from the −Y direction. As shown in FIG. 3, the bogie 10 includes a bogie drive unit 12 that can travel on the rail 80 or on the ground G, and a work platform 14 provided on the bogie drive unit 12. The work table portion 14 is a table on which a worker can ride and perform work. The portion of the workbench portion 14 on which the worker rides may be vertically movable (Z-axis direction). Further, a sensor or a camera (monitoring device) may be installed on the workbench portion 14. By running the cart 10 on which the monitoring device is installed, it is possible to collect information on crops (tomatoes, etc.) cultivated in the cultivation bed 90 (information on flowering, fruit setting, growth status, etc.). Further, the workbench portion 14 may be equipped with a device for controlling work, which has a nozzle, a pump, a tank and the like. Further, the workbench unit 14 may be equipped with a work robot that has a robot arm, a monitoring device, and the like, and is capable of automatically performing planting, flower picking, fruit picking, leaf cutting, attracting, pollination, and harvesting work. it can.

  FIG. 4 shows a state in which the carriage drive unit 12 mounted on the rail 80 is viewed from above (+Z direction). In the following, the configuration and the like of the carriage driving unit 12 will be described based on the coordinate system in which the carriage driving unit 12 is on the rail as shown in FIG. That is, in FIG. 4, the front-back direction of the carriage drive unit 12 is the X-axis direction, the left-right direction is the Y-axis direction, and the vertical direction is the Z-axis direction. In FIG. 4, the rail 80 is shown by a broken line.

  As shown in FIG. 4, the carriage driving unit 12 includes a main body portion 22 as a carriage main body, a front wheel portion 24F and a rear wheel portion 24B provided on the main body portion 22, and a drive device 26 for driving the rear wheel portion 24B. , A pair of guide portions 30A and 30B as a guide mechanism supported by a supporting member 28 provided on the −X side of the main body portion 22.

  The main body portion 22 includes a plate-shaped member, holds each portion of the carriage drive portion 12, and supports the work bench portion 14 of FIG. 3 from below.

  The front wheel portion 24F includes a rotating shaft 32 extending in the Y-axis direction, and a pair of wheel portions 34L and 34R provided at both ends of the rotating shaft 32. The one wheel portion 34L includes a bearing ring 36 as a first wheel that travels on the rail 80, and an omni wheel 39 as a second wheel provided on the −Y side of the bearing ring 36. The omni wheel 39 has an outer ring 38A and an inner ring 38B having the same configuration. The other wheel portion 34R has the same structure as the wheel portion 34L. Therefore, in FIG. 4, the same components as the wheel portion 34L of the wheel portion 34R are denoted by the same reference numerals.

  Further, the rear wheel portion 24B has the same configuration as the front wheel portion 24F. Therefore, in FIG. 4, the same components as the front wheel portion 24F of the rear wheel portion 24B are denoted by the same reference numerals.

  FIG. 5A is a view of the bearing ring 36 traveling on the rail 80 as seen from the +X side (rear), and FIG. 5B shows the bearing ring 36 traveling on the rail 80. It is the figure which looked at the state where it has not been seen from the +X side.

  As shown in FIG. 5A, the omni wheel 39 is in non-contact with the ground G (in a floating state) while the races 36 of the front wheel portion 24F and the rear wheel portion 24B are traveling on the rail 80. ). On the other hand, when the bearing ring 36 is not traveling on the rail 80, a part of the omni wheel 39 contacts the ground G.

  Here, the omni wheel 39 (outer ring 38A, inner ring 38B) will be described in detail with reference to FIGS. 6(a) and 6(b). 6A shows the outer ring 38A as viewed from the -Y side, and FIG. 6B shows the state of the inner ring 38B when the outer ring 38A is in the state of FIG. 6A. Has been done.

  As shown in FIGS. 6(a) and 6(b), the outer ring 38A and the inner ring 38B each have a substantially disc-shaped wheel body 40, and roller portions 42 provided at the outer edge of the wheel body 40 at predetermined intervals. Have. The rotation shaft 32 is fixed to the center of the wheel body 40, and the wheel body 40 can rotate around the Y axis around the rotation shaft 32. The roller portion 42 is rotatable around each rotation axis (the axis indicated by the alternate long and short dash line). The rotation axis of each roller portion 42 substantially coincides with the tangential direction of the wheel body 40. Since the roller portion 42 is not connected to a drive source (motor or the like), the rotation driving force is not transmitted from the drive source to the roller portion 42.

  In the present embodiment, at least one roller portion 42 included in the outer ring 38A and the inner ring 38B contacts the ground G. In the case of FIGS. 6A and 6B, the roller portion 42 (hereinafter, referred to as “roller portion 42a”) located at the −Z end of the outer ring 38A is in contact with the ground G. In this case, when a force in the Y-axis direction acts on the carriage driving unit 12, the roller portion 42a rotates about the X-axis, so that the carriage driving unit 12 can move smoothly in the Y-axis direction. Further, the carriage drive unit 12 can move on the ground G in the front-rear direction (X-axis direction) by the rotation of the wheel body 40 around the rotation axis 32 (rotation around the Y-axis). As described above, in the present embodiment, the trolley drive unit 12 can move on the ground G along the X axis direction and the Y axis direction by the omni wheel 39. In the present embodiment, since the front wheel portion 24F and the rear wheel portion 24B integrally move in the same manner, the trolley 10 moves along the X-axis direction, the Y-axis direction, or the direction intersecting the X-axis and the Y-axis. It is possible to move on G. In this case, since it is difficult to rotate the carriage 10 around the Z-axis, the direction of the carriage 10 (for example, the front-back direction of the carriage 10 matches the X-axis direction) is changed while the carriage 10 is being moved. It is supposed not to be done.

  Regarding the omni wheel 39, by making the roller portion 42 of the outer ring 38A (or the inner ring 38B) smaller and narrowing the interval between the adjacent roller portions 42, one of the roller portions 42 and the ground G can always be brought into contact with each other. If so, the inner ring 38B (or the outer ring 38A) can be omitted. In this case, one of the outer ring 38A and the inner ring 38B can be omitted, so that the number of parts can be reduced and the truck can be downsized. However, the present invention is not limited to this, and each omni wheel 39 may coaxially have a wheel having the same or equivalent configuration as the outer ring 38A and the inner ring 38B, in addition to the outer ring 38A and the inner ring 38B.

  Returning to FIG. 4, the drive device 26 includes a motor, a gear, and the like, and rotationally drives the rear wheel portion 24B (rotating shaft 32) around the Y axis in response to an operator input to a controller (not shown). As a result, when part of the omni wheel 39 is in contact with the ground G, the carriage drive unit 12 moves on the ground G in the X-axis direction in response to an input from the operator. Further, when the bearing ring 36 is placed on the rail 80, the carriage drive unit 12 moves in the X-axis direction along the rail 80 according to the input of the operator.

  The guide portions 30A and 30B are provided on the front side (−X side) of the main body portion 22, and when the carriage driving portion 12 traveling on the ground G approaches the rail 80 from the +X side, the bearing rings 36 are provided. Has a function of adjusting the position of the carriage driving unit 12 in the Y-axis direction so that the vehicle can easily ride on the rail 80. As shown in FIG. 4, the guide portions 30A and 30B extend in a direction inclined with respect to the X axis and the Y axis, and the distance between the +X end portion of the guide portion 30A and the +X end portion of the guide portion 30B. Is shorter than the distance between the -X end of the guide portion 30A and the -X end of the guide portion 30B. The distance between the +X end portion of the guide portion 30A and the +X end portion of the guide portion 30B is set to be slightly larger than or equal to the width (dimension in the Y-axis direction) of the rail 80. Furthermore, as shown in FIG. 3, the guide portions 30A and 30B are in a posture such that the −X end portion is located higher (+Z side) than the +X end portion.

  FIG. 7 is a view showing the guide portions 30A and 30B taken out. As shown in FIG. 5, the guide portions 30A and 30B include a plurality of roller members 52 as rotating members having a substantially columnar shape, and a rectangular frame-shaped frame member that pivotally supports each of the plurality of roller members 52 on a shaft portion 54. 56 and.

  Since each roller member 52 is rotatably held by the frame member 56 about the shaft portion 54, the roller member 52 rotates between the guide portions 30A and 30B and the rail 80 when the rail 80 contacts. It is designed to reduce friction.

  Here, the functions of the guide portions 30A and 30B will be described based on FIGS. 8A to 9C. As described above, the guide portions 30A and 30B function when the carriage drive portion 12 moves from the state in which it is located on the ground G to the rail 80.

  As shown in FIG. 8A, with the center of the rail 80 in the Y-axis direction (two-dot chain line) and the center of the carriage drive unit 12 in the Y-axis direction (one-dot chain line) deviated, the carriage drive unit 12 Is moving in the -X direction. In this case, when the carriage drive unit 12 approaches the rail 80 as shown in FIG. 8B, the rail 80 and the guide unit 30B come into contact with each other. In this case, if the carriage drive unit 12 continues to move in the -X direction, the +Y direction force continues to act on the carriage drive unit 12 due to the contact between the guide portion 30B and the rail 80. Thereby, as shown in FIG. 9A, the carriage driving unit 12 also moves in the -Y direction along with the movement in the -X direction (moves in an oblique direction in which the guide portion 30B extends in the XY plane). It is like this.

  Immediately before the carriage drive unit 12 transfers to the rail 80, as shown in FIG. 9B, the center of the rail 80 in the Y axis direction (two-dot chain line) and the center of the carriage drive unit 12 in the Y axis direction. The position of the carriage drive unit 12 in the Y-axis direction is adjusted so as to coincide with (dashed line). As a result, the carriage drive unit 12 can smoothly transfer to the rail 80, as shown in FIG. 9C.

(About movement of trolley 10 during work)
Next, the movement of the dolly 10 (the dolly driving unit 12) when the worker works in the greenhouse 100 will be described with reference to FIG. 10: is a figure which expands a part inside greenhouse 100 and shows the movement of the truck drive part 12 typically.

  As shown in FIG. 10, the worker starts the work from a state where the carriage 10 (the carriage drive unit 12) is located at the position P1 of the work road.

  First, the operator operates the controller to move the carriage drive unit 12 in the arrow A direction. At this time, the carriage drive unit 12 approaches the rail 80 while the position of the carriage drive unit 12 in the Y-axis direction is adjusted as described above (see FIGS. 8A to 9C). Then, when the carriage drive unit 12 has moved onto the rail 80, the worker rides on the work base portion 14 of the carriage 10 and operates the controller to move the carriage 10 (the carriage drive unit 12) in the arrow B direction (-X direction). ) To move. During this movement, the worker manages, prepares, and harvests the crops cultivated on the +Y side cultivation bed 90 of the carriage 10.

  Then, after the carriage 10 (the carriage drive unit 12) has moved to the position P2 (-X end of the rail 80) in FIG. 10, the operator operates the controller to move the carriage 10 in the arrow C direction (+X direction). To move. During this movement, the worker manages, prepares, and harvests the crops cultivated in the -Y side cultivation bed 90 of the carriage 10. After that, when the carriage 10 moves to the +X end portion of the rail 80, the worker descends from the work bench portion 14 and operates the controller to further drive the carriage 10 in the +X direction (see arrow D) to reach the position P1. To move.

  After that, the worker applies (presses) a force in the −Y direction to the carriage 10 to move the carriage 10 in the arrow E direction on the work road and position the carriage 10 at the position P3. The movement of the carriage 10 in the Y-axis direction is realized by rotation of the roller portion 42a (see FIG. 6A) of the omni wheel 39, which is in contact with the ground G, about the X-axis.

  When positioning the carriage 10 at the position P3, the positions of the rail 80 and the carriage 10 (the carriage drive unit 12) in the Y-axis direction do not have to match. This is because the Y position of the carriage 10 is adjusted by the guide portions 30A and 30B while the carriage 10 is moved in the −X direction, as described with reference to FIGS. 8A to 9C.

  After that, by repeating the above-described operations, management, preparation, harvesting work, etc. of the entire crop in the greenhouse 100 are performed.

  As described above in detail, according to the present embodiment, the bogie 10 has the bearing ring 36 running on the rail 80 laid in the greenhouse 100, and the state in which the bearing ring 36 is not running on the rail 80. And an omni wheel 39 that is in contact with the ground G of the greenhouse 100. The omni wheel 39 includes a wheel body 40 that rotates around the Y axis, and a plurality of roller portions 42 that are provided on the outer edge of the wheel body 40. Therefore, rotation of the wheel body 40 about the Y axis allows the carriage 10 to travel on the ground G along the X axis direction, and rotation of the roller portion 42a that contacts the ground G causes the carriage 10 to move on the ground G in the Y direction. It can run along the axial direction. As a result, in the present embodiment, when the carriage 10 is on the rail 80, it travels by the bearing ring 36, and when the carriage 10 is off the rail 80, the omni wheel 39 allows the carriage 10 to move in the X-axis and Y-axis directions. It is possible to drive. In this way, the trolley 10 can travel on the ground G in the X-axis and Y-axis directions, so that the rails 80 laid in the greenhouse 100 are separated from each other by a predetermined distance in the Y-axis direction. It is possible to easily transfer the carriage 10 to the rail 80 of the above. Further, since the movement in the Y-axis direction is realized by being manually pushed by the operator, no control is required and the cost can be reduced.

  Further, in the present embodiment, the omni wheel 39 and the bearing ring 36 are provided on the same rotary shaft 32 in the front wheel portion 24F and the rear wheel portion 24B. As a result, the structure can be simplified as compared with the case where the omni wheel 39 and the bearing ring 36 are provided on different rotating shafts. Further, the single drive device 26 can drive the carriage 10 in the front-rear direction (X-axis direction) on the rail 80 and the ground G.

  Further, in the present embodiment, the guide portions 30A and 30B are provided at the −X end portion of the carriage 10, and the guide portions 30A and 30B come into contact with the rail 80 while the carriage 10 approaches the rail 80, so that the carriage is The position of 10 in the left-right direction (X-axis direction) is adjusted. As a result, in the present embodiment, even when the carriage 10 and the rail 80 do not coincide in the Y-axis direction position, while the carriage 10 is being moved in the X-axis direction by the action of the guide portions 30A and 30B. Moreover, the position of the carriage 10 in the Y-axis direction can be adjusted.

  In addition, in the present embodiment, a plurality of roller members 52 are provided at locations where the rails 80 of the guide portions 30A and 30B come into contact. As a result, the friction caused by the contact between the rail 80 and the guide portions 30A and 30B can be reduced, and the position of the carriage 10 in the Y-axis direction can be adjusted smoothly. In this case, since it is not necessary to adjust the position of the carriage 10 in the Y-axis direction using a sensor, an actuator, or the like, cost reduction can be achieved.

  In the above embodiment, the case where the front wheel portion 24F is not driven by the drive device 26 has been described, but the present invention is not limited to this. For example, the drive device 26 may drive the front wheel portion 24F instead of the rear wheel portion 24B. Further, the drive device 26 may drive both the rear wheel portion 24B and the front wheel portion 24F. Further, when the cart 10 is pushed by hand, the drive device 26 may be omitted.

  In addition, in the said embodiment, although the guide part 30A, 30B demonstrated the case provided in the -X side of the main-body part 22, in addition to this, you may provide a guide part also in the +X side of the main-body part 22. .. By doing so, the work can be performed on the cultivation bed 90 located on the +X side of the work road in FIG. 1 without changing the direction of the carriage 10.

  In addition, in the said embodiment, although the trolley|bogie 10 demonstrated the case where four orbital rings 36 and four omni wheels 39 were described, it is not restricted to this. For example, the truck 10 may have four orbital rings 36 and three omni-wheels 39, as shown in FIG. Note that FIG. 11A illustrates an example in which one omni wheel 39 is provided on the −X side of the main body portion 22 instead of the omni wheel 39 of the front wheel portion 24F, but the present invention is not limited to this. .. For example, instead of the omni wheel 39 of the rear wheel portion 24B, one omni wheel 39 may be provided on the +X side of the main body portion 22.

  Further, in the above embodiment, the case where the two bearing rings 36 and the two omni wheels 39 are provided coaxially (the rotation shaft 32) has been described, but the present invention is not limited to this. For example, as shown in FIG. 11B, the rotating shaft 32 provided with the bearing ring 36 and the rotating shaft 132 provided with the omni wheel 39 may be different.

  In the above embodiment, the rotation direction of the bearing ring 36 and the rotation direction of the omni wheel 39 are made to coincide with each other (see FIG. 4), but the present invention is not limited to this. For example, as shown in FIG. 12, the rotating direction of the omni wheel 39 (rotating shaft 232) may be different from the rotating direction of the bearing ring 36 (rotating shaft 32) by 90°. In the example of FIG. 12, the omni wheel 39 rotates around the X axis. Even in this case, the carriage driving unit 12 can travel on the ground G in the left-right direction (Y-axis direction) by the rotation of the omni wheel 39 about the X-axis, and at the same time, the roller unit 42a that contacts the ground G. The rotation about the Y axis allows the vehicle to travel in the X axis direction.

  In addition, although the said embodiment demonstrated the case where the trolley|bogie 10 was utilized in the greenhouse 100, it is not restricted to this, For example, it can be utilized also in a factory or a warehouse.

  The embodiment described above is an example of the preferred embodiment of the present invention. However, the present invention is not limited to this, and various modifications can be made without departing from the scope of the present invention.

10 dolly 22 main body (bogie main body)
80 rails (tracks)
36 bearing ring (first wheel)
39 omni wheel (2nd wheel)
40 Wheel body (wheel part)
42 Roller part 30A, 30B Guide part (guide mechanism)
52 Roller member (rotating member)

Claims (5)

With the dolly body,
A first wheel provided on the trolley body, traveling on an orbit laid in the field, and moving the trolley body in the front-back direction of the trolley body;
A second wheel that is provided on the trolley body and that contacts the surface of the field in a state where the first wheel is not traveling on the track;
The second wheel is an omniwheel having a wheel portion that rotates around a first axis and a plurality of roller portions provided on an outer edge of the wheel portion,
Due to the rotation of the wheel portion around the first axis, the carriage body travels along a second axis orthogonal to the first axis, and among the plurality of roller portions, a roller portion that comes into contact with the surface of the farm field. Rotation of the carriage body travels along the first axis,
The direction of the first axis or the second axis is the same as the front-back direction of the bogie body,
A dolly characterized by that. The direction of the second axis coincides with the front-back direction of the bogie body,
The trolley according to claim 1, wherein the first wheel and the second wheel are provided on a common shaft member.   The trolley|bogie of Claim 1 or 2 which has a drive device which rotationally drives the shaft member in which the said 1st wheel was provided.   The second wheel is provided on at least one of the front and rear sides of the bogie body, and while the second wheel travels through the field and the bogie body approaches the orbit, contacts the orbit to adjust the lateral position of the bogie body. The trolley|bogie as described in any one of Claims 1-3 further equipped with the guide mechanism to do. The trolley|bogie of Claim 4 provided in the location which contacts the said track|track of the said guide mechanism is provided with the rotating member which rotates when it contacts the said track|track.

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