KR20210102805A - An automatic guided vehicle - Google Patents

Abstract

The objective of the present invention is to further reduce a vehicle height in an automated carrier which tows a vehicle while entering the underside of the vehicle and lifting a pair of wheels from the ground. A top plate (8) and a vehicle body (2) are connected by lifters (10a, 10b, 10c) so that the top plate (8) can be lifted and lowered, and an upper surface (8b) of the top plate (8) in a lowered state and an upper surface (2bu) of a bulging part (2b) of the vehicle body (2) are substantially the same in height. In addition, lifting levers (12a, 12b, 12c, 12d) used for lifting front wheels (Wfr, Wfl) of the vehicle (Car) from the ground (f) are supported on a lower surface of the top plate (8) in a manner of being capable of rotating (swinging) in a horizontal plane. As a result, the configuration of the top plate (8) in the height direction can be suppressed to be low. In addition, since the lifting levers (12a, 12b, 12c, 12d) are not arranged on the upper surface (8b) of the top plate (8), the height of an automated transport vehicle (1) can be further reduced.

Description

Unmanned Carrier {AN AUTOMATIC GUIDED VEHICLE}

The present invention relates to an unmanned transport vehicle disposed below a vehicle and towing the vehicle with a pair of wheels of the vehicle lifted with respect to the floor.

Japanese Utility Model Laid-Open No. 59-12784 (Patent Document 1) discloses an unmanned transport vehicle including a lifter having a catcher on an upper portion of a vehicle body. The unmanned transport vehicle slides under the vehicle, and a lifter pushes the vehicle up while pressing the hook firmly against the lower arm connected to the front wheel of the vehicle. As a result, the unmanned transport vehicle tows the vehicle with the front wheels of the vehicle lifted from the floor. The vehicle transport system using the unmanned transport vehicle has good maintenance properties because of its simple and easy configuration.

Japanese Utility Model Publication No. 59-12784 Gazette

However, in order to push the unmanned transport vehicle into the limited space below the vehicle, it is necessary to keep the height of the unmanned transport vehicle low. However, since the unmanned transport vehicle described in the above-mentioned publication has a catcher and a lifter on the upper part of the vehicle body, there is a limit in reducing the height of the vehicle. For this reason, depending on the type of vehicle to be towed, it may be difficult to push the unmanned transport vehicle under the vehicle.

The present invention has been made in view of the above, and in an unmanned transport vehicle that squeezes under the vehicle and tows the vehicle with a pair of wheels lifted from the floor, further reduction of the height of the vehicle It aims to provide technology that contributes to

The unmanned transport vehicle of the present invention includes the following means in order to achieve the above object.

According to a preferred aspect of the unmanned transport vehicle according to the present invention, an unmanned transport vehicle that is disposed below the vehicle and pulls the vehicle with a pair of wheels raised with respect to the floor is configured. The unmanned transport vehicle includes: a vehicle body; a drive unit having driving wheels; a rotation shaft disposed between the vehicle body and the drive unit to connect the vehicle body and the drive unit in a relative rotation manner; and a top plate disposed above the vehicle body; , a plurality of lifter levers disposed between the floor and the top plate, a lever driving unit supported on the top plate to be disposed between the floor and the top plate, and at least one connecting the top plate and the vehicle body so that the top plate can be raised and lowered with respect to the vehicle body I have a dog lifter. The plurality of lifter levers are supported by the top plate so as to be rotatable in the horizontal plane with the first end in the longitudinal direction as a fulcrum. Further, the plurality of lifter levers includes a first lifter lever disposed on the left side in the traveling direction when the unmanned transport vehicle travels straight, a second lifter lever disposed on the right side in the traveling direction, and a left side and a left side in the traveling direction It has a third lifter lever disposed on the rear side of the first lifter lever, and a fourth lifter lever disposed on the right side in the traveling direction and also behind the second lifter lever. The lever driving unit is connected to the plurality of lifter levers so as to be able to rotate the plurality of lifter levers. In addition, the lever driving unit has a second longitudinal end of the first and second lifter levers facing in a traveling direction, and a second longitudinal end of the third and fourth lifter levers facing in a direction opposite to the traveling direction. between the first state and a second state in which the second ends of the first and third lifter levers face to the left and the second ends of the second and fourth lifter levers face to the right, the first and second The 2nd, 3rd and 4th lifter levers can be rotated. And in the second state, the distance between the first lifter lever and the third lifter lever and the distance between the second lifter lever and the fourth lifter lever are smaller than the diameters of the pair of wheels. Here, "arranged between the vehicle body and the drive unit" in the present invention means not only an aspect in which all of the rotation shaft is disposed between the vehicle body and the drive unit, but also a part of the rotation shaft is disposed between the vehicle body and the vehicle body. It very suitably includes aspects that allow it to be disposed between the drive unit and the drive unit. In the present invention, "arranged above the vehicle body" suitably includes not only the aspect in which the top plate is disposed above the entire vehicle body, but also the aspect in which the top plate is disposed above a part of the vehicle body.

According to the present invention, since the plurality of lifter levers are disposed between the top plate and the floor rather than on the top plate, the height of the unmanned transport vehicle can be further reduced. In addition, since the plurality of lifter levers are in the first state when the unmanned transport vehicle does not tow the vehicle, it is possible to suppress an unnecessary increase in the vehicle width of the unmanned transport vehicle. Thereby, the easiness of getting into and out of the vehicle of the unmanned transport vehicle is improved. Further, since the distance between the first lifter lever and the third lifter lever and the distance between the second lifter lever and the fourth lifter lever in the second state are smaller than the diameters of the pair of wheels, The above pair of wheels can be reliably accepted. Thereby, the said pair of wheels can be made into the state lifted from the floor reliably.

According to still another aspect of the unmanned transport vehicle according to the present invention, there is further provided a regulating unit capable of regulating that the plurality of lifter levers change from the second state to the first state.

According to this aspect, when a pair of left and right wheels are lifted from the floor by the lifter lever, even if a force to return the lifter levers to the first state acts on the lifter levers, the lifter levers return to the first state. Since what is regulated by the regulating unit, a pair of wheels can be reliably lifted from the floor.

According to still another aspect of the unmanned transport vehicle according to the present invention, when the plurality of lifter levers are in the second state, the regulating unit includes a first end of the first lifter lever, a first end of the third lifter lever, and a second a first regulating plate disposed between the first end of the first lifter lever and the first end of the third lifter lever to abut against the first end of the second lifter lever and the first end of the fourth lifter lever; and and a second regulating plate disposed between the first end of the lifter lever and the first end of the fourth lifter lever.

According to this aspect, the first regulating plate disposed between the first end of the first lifter lever and the first end of the third lifter lever, and the first end of the second lifter lever and the first end of the fourth lifter lever When the plurality of lifter levers are in the second state, the second regulating plate disposed between the ends and the first end of the first lifter lever and the first end of the third lifter lever, and the second limit of the second lifter lever Since only the first end and the first end of the fourth lifter lever are brought into contact with each other, it is possible to prevent a plurality of lifter levers from unintentionally going from the second state to the first state with a simple and easy configuration.

According to still another aspect of the unmanned transport vehicle according to the present invention, the first ends of the plurality of lifter levers have cams. In addition, the lever driving unit is engaged with a first motor having a rotating shaft, a male screw rod connected to the rotating shaft, and a cam, and is screwed onto the male screw rod so as to be movable on the male screw rod with rotation of the male screw rod. It has associated contacts. The cam has a shape capable of converting the linear motion of the contactor into rotation of the plurality of lifter levers. Here, in the present invention, "the first ends in the longitudinal direction of the plurality of lifter levers have cams" means other than the aspect in which the cams are integrally formed with the first ends of each lifter lever itself, the cams It suitably includes an aspect in which a member having a <RTI ID=0.0>

According to this aspect, the contactor linearly moves on the external screw rod in the axial direction of the said male screw rod by rotating the male screw rod by a 1st motor. The linear motion of the contactor is converted into rotation (oscillation) of the plurality of lifter levers by the cam. In this way, a structure capable of rotating the plurality of lifter levers to the first and second states can be simply and easily secured.

According to still another aspect of the unmanned transport vehicle according to the present invention, it further includes a caster supported by the vehicle body. Then, when the unmanned transport vehicle is viewed from one side in the direction along the axis of the rotation shaft, the connection point between the top plate and the vehicle body and at least one lifter is a pair of wheels just before being lifted by the plurality of lifter levers; It is arrange|positioned in the area|region which tied the 1st contact point of the floor, the 2nd contact point of the caster, and the floor, and the 3rd contact point of a drive wheel and the floor by the imaginary straight line.

According to this aspect, when a pair of wheels of a vehicle are lifted with respect to the floor, since it can suppress favorably that a drive wheel and a caster float off from the floor, a pair of wheels can be lifted with respect to the floor stably. .

According to still another aspect of the unmanned transport vehicle according to the present invention, the lifter has a telescopic jack and a second motor connected to the jack so that the jack can be expanded and contracted.

According to this aspect, a simple and easy structure of the lifter can also be realized compactly.

According to still another aspect of the unmanned transport vehicle according to the present invention, a vehicle body includes a first part for supporting a rotation shaft and a second part arranged at a position lower than the first part. The top plate is arrange|positioned above the 2nd part. The plurality of lifter levers, the lever driving unit, and the lifter are supported by the top plate. And the lifter connects the top plate and the 2nd part.

According to this aspect, a configuration in which the plurality of lifter levers, the lever driving unit, and the lifter are not disposed above the top plate can be simply and easily realized.

ADVANTAGE OF THE INVENTION According to this invention, in the unmanned transport vehicle which squeezes under the vehicle and pulls the vehicle with a pair of wheels lifted from the floor, it is possible to further reduce the height of the vehicle.

1 is a plan view of an unmanned transport vehicle 1 according to an embodiment of the present invention as viewed from above.
2 is a side view of the unmanned transport vehicle 1 according to the embodiment of the present invention as viewed from the side.
3 is a plan view of the vehicle body 2 viewed from above.
FIG. 4 is a cross-sectional view showing a cross section AA of FIG. 3 .
5 is a schematic configuration diagram showing the outline of the configuration of the drive unit 4 .
Fig. 6 is a cross-sectional view showing a cross section corresponding to a cross section BB of Fig. 5 .
Fig. 7 is a cross-sectional view showing a cross section corresponding to the section CC of Fig. 5 .
It is sectional drawing which shows the cross section corresponding to the GG cross section of FIG.
9 is an external view showing the external appearance of the top plate 8 .
10 is a schematic configuration diagram showing the outline of the configuration of lifters 10a, 10b, and 10c.
11 is an explanatory diagram showing the arrangement of lifters 10a, 10b, and 10c.
12 is a perspective view showing the appearance of the lifter levers 12a, 12b, 12c, and 12d.
Fig. 13 is a plan view of the lifter levers 12a, 12b, 12c, and 12d seen from above.
Fig. 14 is an explanatory view showing the arrangement of the lifter levers 12a, 12b, 12c, and 12d.
Fig. 15 is an explanatory view of the lifter levers 12a, 12b, 12c, 12d being attached to the top plate 8 as viewed from the side.
16 is an explanatory view schematically showing the configuration of a bracket 39. As shown in FIG.
Fig. 17 is a plan view of the lever driving unit 60 seen from above.
18 is a side view of the lever driving unit 60 as seen from the side.
19 is an explanatory view showing the arrangement of the lever driving units 60 and 60 and the stoppers 70 and 70;
20 : is explanatory drawing which looked at the attachment state to the top plate 8 of the stoppers 70 and 70 from the side.
21 is a plan view of the stopper 70 seen from above.
22 is a front view of the stopper 70 seen from the front.
23 is a cross-sectional view showing a cross section KK of FIG. 22 .
24 is an explanatory view showing the arrangement of the lifter levers 12a, 12b, 12c, 12d and the stopper 70;
25 is a perspective view showing the arrangement of the lifter levers 12a, 12b, 12c, and 12d and the stopper plate 80. As shown in FIG.
26 : is explanatory drawing which shows the state in which the stopper 70 operated.
27 is a perspective view showing the arrangement of the lifter levers 12a, 12b, 12c, 12d and the stopper plate 80 in a state in which the stopper 70 is operated.
Fig. 28 is a front view of the unmanned transport vehicle 1 that has been pushed into the lower side of the vehicle Car as viewed from the front side in the forward running direction.
Fig. 29 is an explanatory view of the unmanned transport vehicle 1 stopped at a predetermined stop position to lift the front wheels Wfr and Wfl as viewed from above.
Fig. 30 is an explanatory view of the unmanned transport vehicle 1 stopped at a predetermined stop position to lift the front wheels Wfr and Wfl as viewed from the side.
Fig. 31 is an explanatory diagram showing a state in which the lifter levers 12a, 12b, 12c, and 12d are rotated (fluctuated).
Fig. 32 is an explanatory view of the unmanned transport vehicle 1 just before lifting the front wheels Wfr and Wfl as viewed from above.
Fig. 33 is an explanatory view of the unmanned transport vehicle 1 just before lifting the front wheels Wfr and Wfl viewed from the front side in the forward travel direction.
Fig. 34 is an explanatory view of the unmanned transport vehicle 1 just before lifting the front wheels Wfr and Wfl as viewed from the side.
Fig. 35 is an explanatory view of the unmanned transport vehicle 1 in which the front wheels Wfr and Wfl are lifted as viewed from the front side in the forward traveling direction.
Fig. 36 is an explanatory view of the unmanned transport vehicle 1 in which the front wheels Wfr and Wfl are lifted as viewed from the side.

Hereinafter, the best mode for implementing this invention is demonstrated using an Example.

<Example>

As shown in FIG. 1 , an unmanned transport vehicle 1 according to the present embodiment includes a vehicle body 2 , a drive unit 4 connected to the vehicle body 2 via a rotation shaft 6 , and a vehicle body Casters 7a, 7b, 7c, 7d mounted to (2), a top plate 8 mounted to the vehicle body 2 via lifters 10a, 10b, 10c, and a lifter lever 12a mounted to the top plate , 12b, 12c, 12d), lever driving units 60 and 60 connected to the lifter levers 12a, 12b, 12c, 12d, and a control device 14 for controlling the entire unmanned transport vehicle 1, have. In the present embodiment, the unmanned transport vehicle 1 pulls the vehicle Car in a state where a pair of front wheels Wfr and Wfl (only the front wheels Wfr are described in FIG. 2 ) of the vehicle Car is lifted from the floor f. In addition, in this embodiment, for convenience, the upper part of FIG. 1 is prescribed|regulated as a "forward running direction", and the downward direction of FIG. 1 is prescribed|regulated as a "reverse running direction". In addition, the left side of FIG. 2 is prescribed|regulated as "upper side" thru|or "upper side", and the right side of FIG.

As shown in Figs. 3 and 4, the vehicle body 2 has a flat base portion 2a and a bulging portion 2b that bulges upward from the base portion 2a. The bulge 2b has a hexagonal shape in plan view, as shown in FIG. 3 . Moreover, as shown in FIG. 6, the bulging part 2b has a hollow shape in which the downward (bottom f) side was opened. In other words, it can be said that the bulge 2b has a hexagonal cylindrical shape. The base part 2a respond|corresponds to the "second part" in this invention, and the bulging part 2b is an example of the implementation structure corresponding to the "first part" in this invention.

The drive unit 4 is, as shown in FIG. 5, the drive wheels 21a, 21b, 22a, 22b supported by the frame 20 which has a cylindrical shape, and the upper wall 20a of the frame 20 via brackets BRKT1, BRKT2. ), the driving motors M1a and M1b connected to the driving wheels 21a and 21b through the reducers 23a and 23b, and the driving motors M2a and M2b connected to the driving wheels 22a and 22b through the reducers 24a and 24b, and , four supporting rollers 26 , 26 , 26 , 26 , rotatably supported by the upper wall 20a of the frame 20 , and a travel sensor RS fixed to the frame 20 . The drive unit 4 is accommodated (arranged) inside the bulging part 2b of the vehicle body 2, as shown in FIG. In addition, the drive unit 4 can independently drive the four drive wheels 21a, 21b, 22a, 22b by the four drive motors M1a, M1b, M2a, M2b.

As shown in FIG. 5, the support rollers 26, 26, 26 and 26 are arranged at equal intervals (90 degree intervals) in the circumferential direction at positions near the outer periphery of the upper wall 20a of the frame 20, have. The travel sensor RS is a magnetic sensor capable of detecting a guide band (not shown) made of a magnetic tape or a reflective tape. The travel sensor RS outputs a signal (for example, an on/off signal) in response to detection of a guide band (not shown) to the control device 14 .

The rotation shaft 6 is bearing BRG which connects the 1st shaft part 28a, the 2nd shaft part 28b, the 1st shaft part 28a, and the 2nd shaft part 28b, as shown in FIG.6 and FIG.7. has a The first shaft portion 28a is fastened to the back surface 2bb of the bulge portion 2b of the vehicle body 2 by a fastening member such as a bolt (not shown). The second shaft portion 28b is fastened to the upper wall 20a of the frame 20 of the drive unit 4 by a fastening member such as a bolt (not shown). The bearing BRG has an inner ring, an outer ring, and a rolling element (for example, a ball) arrange|positioned between the inner ring and the outer ring. As for bearing BRG, an inner ring is fitted to the outer peripheral surface of the 1st shaft part 28a, and an outer ring is fitted to the inner peripheral surface of the inner hole of the 2nd shaft part 28b. Thereby, relative rotation of the 1st shaft part 28a and the 2nd shaft part 28b is attained via bearing BRG. That is, the drive unit 4 is supported so that relative rotation is possible by the vehicle body 2 (the bulging part 2b) via the rotation shaft 6 . Further, in a state in which the drive unit 4 is supported by the vehicle body 2 (the bulging portion 2b), as shown in FIG. 8 , the support rollers 26 , 26 , which are rotatably supported by the frame 20 , 26 and 26 are in contact with the back surface 2bb of the bulge 2b. As a result, when towing the vehicle Car, the weight of the vehicle Car acting on the drive unit 4 through the top plate 8 can be carried not only by the bearing BRG, but also by the support rollers 26, 26, 26, 26. have.

The casters 7a, 7b, 7c, and 7d are wheels that support the unmanned transport vehicle 1 together with the driving wheels 21a, 21b, 22a, and 22b, and follow the moving direction of the unmanned transport vehicle 1 to change directions. do. The casters 7a, 7b, 7c, and 7d are fastened to the back surface (the surface opposite to the floor f) of the vehicle body 2 by fastening members such as bolts (not shown), as shown in FIGS. 1 to 3 . The casters 7a and 7b are disposed on the forward travel direction side of the drive unit 4 . The casters 7a and 7b are in the center of the width direction of the vehicle body 2 (left-right direction toward the forward travel direction, left-right direction in FIGS. 1 and 3) in series (on a straight line) toward the forward travel direction. is placed. The casters 7c and 7d are rearmost of the vehicle body 2 (rearmost toward the forward travel direction), and are in the width direction of the vehicle body 2 (left and right direction toward the forward traveling direction, left and right directions in FIGS. 1 and 3 ). ) is located at both ends.

The top plate 8 has a hexagonal opening 8a, as shown in FIG. The top plate 8 is a flat plate having a substantially A-shape in plan view. Further, the bulged portion 2b of the vehicle body 2 is inserted through the opening 8a (see Figs. 1 and 4).

The lifters 10a, 10b, and 10c all have the same configuration, and as shown in Fig. 10, have a motor M3 and a jack 30 connected to the motor M3. The jack 30 includes a bevel gear 30b rotatably supported by the base 30a, a first screw shaft 30c integral with the bevel gear 30b, and the first It has a 2nd screw shaft 30d screw-engaged with the screw shaft 30c, and the 3rd screw shaft 30e screw-engaged with the said 2nd screw shaft 30d. The second screw shaft 30d is externally wrapped around the first screw shaft 30c, and the third screw shaft 30e is externally wrapped around the second screw shaft 30d. That is, the jack 30 has a telescopic structure. The bevel gear 30b meshes with the pinion gear 3b integral with the rotation shaft 3a of the motor M3. Moreover, the flange 30f is integral with the 3rd screw shaft 30e. The motor M3 is an example of the implementation structure corresponding to the "second motor" in the present invention.

The base 30a is fastened to the base part 2a of the vehicle body 2 by fastening members, such as a bolt (not shown), as shown in FIG. Moreover, the flange 30f is fastened to the top plate 8 by fastening members, such as a bolt not shown. In this way, the top plate 8 and the vehicle body 2 are connected by the lifters 10a, 10b, and 10c. Further, the connection points Cpla and Cplb between the lifters 10a and 10b, the top plate 8 and the base portion 2a, that is, the fastening portion between the base 30a and the base portion 2a of the lifters 10a, 10b, and As shown in Fig. 11, the fastening portions of the flanges 30f of the lifters 10a and 10b and the top plate 8 are arranged in the regions Rega and Regb.

Here, the areas Rega and Regb are, as shown in Fig. 11, the contact points Cpwfr and Cpwfl of the front wheels Wfr, Wfl and the floor f immediately before being lifted by the lifter levers 12a, 12b, 12c, 12d, and the casters 7b. It is an area in which the contact point Cpc between the and the floor f and the contact points Cpda and Cpdb between the driving wheels 21a and 21b and the floor f are bundled by an imaginary straight line. Contacts Cpwfr and Cpwfl respectively correspond to the "first contact" in the present invention, the contact Cpc corresponds to the "second contact" in the present invention, and the contacts Cpda and Cpdb respectively in the present invention It is an example of the implementation structure corresponding to the "third contact point" of .

Further, the top plate 8 and the base portion 2a are connected by lifter guides 11a, 11b, and 11c in addition to the lifters 10a, 10b, and 10c, as shown in Fig. 11 .

The lifters 10a, 10b, and 10c constructed in this way drive the motor M3 to expand and contract the jack 30 to raise and lower the top plate 8 with respect to the vehicle body 2 . Here, in the state in which the top plate 8 is lowered (the state closest to the vehicle body 2), as shown in FIG. 4 , the upper surface 8b of the top plate 8 is the bulge 2b of the vehicle body 2 . ) is almost the same height as the upper surface (2bu).

The lifter levers 12a, 12b, 12c, and 12d have basically the same configuration. More specifically, the lifter levers 12a, 12d and the lifter levers 12b, 12c have the same configuration, but are in a mirror image relationship. As shown in Fig. 12, the lifter levers 12a, 12b, 12c, and 12d are bosses integral with the lever portions 32a, 32b, 32c, and 32d, respectively, and the lever portions 32a, 32b, 32c, and 32d. It has portions 34a, 34b, 34c, and 34d, and flange portions 36a, 36b, 36c, and 36d integrated with the boss portions 34a, 34b, 34c, and 34d. The lifter lever 12a corresponds to the “second lifter lever” in the present invention, the lifter lever 12b corresponds to the “fourth lifter lever” in the present invention, and the lifter lever 12c , corresponding to the "first lifter lever" in the present invention, and the lifter lever 12d is an example of an embodiment corresponding to the "third lifter lever" in the present invention.

The lever portions 32a, 32b, 32c, and 32d have an inclined portion 31 as shown in FIG. 12 . When viewed from one side in the extension direction of the lever portions 32a, 32b, 32c, and 32d, the inclined portion 31 has a downward inclination from upper to lower.

The bosses 34a, 34b, 34c, and 34d have through-holes 35 penetrating in the height direction (up-down direction in FIG. 12 ), as shown in FIG. 12 . As shown in Fig. 13, the flange portions 36a, 36b, 36c, and 36d extend from the boss portions 34a, 34b, 34c, 34d to the lever portions 32a, 32b, 32c, and 32d. extends in the opposite direction, and in a direction opposite to the direction in which the inclined portion 31 of the lever portions 32a, 32b, 32c, and 32d faces. In other words, it can be said that the flange portions 36a, 36b, 36c, and 36d extend from the boss portions 34a, 34b, 34c, and 34d in a fan shape. Moreover, the flange parts 36a, 36b, 36c, and 36d have the elongate hole 37 penetrating in the thickness direction (the up-down direction in FIG. 12). The boss portions 34a, 34b, 34c, 34d and the flange portions 36a, 36b, 36c, and 36d correspond to the "first end" in the present invention, and the through hole 35 in the present invention It is an example of the implementation configuration corresponding to the "point" of .

The long hole 37 has a substantially V-shape in plan view. More specifically, as shown in Fig. 13, the elongated hole 37 is a first portion 37a extending in a direction substantially perpendicular to the extending direction of the lever portions 32a, 32b, 32c, and 32d. ) and the direction from the first portion 37a toward the inclined portion 31 (lower side in FIG. 13 ), extending in the direction (left side of FIG. 13 ) closer to the boss portions 34a , 34b , 34c , 34d and a second part 37b. In addition, the upper surface (surface arrange|positioned above in FIG. 12) of the flange parts 36a, 36b, 36c, 36d is the upper surface (surface arrange|positioned above in FIG. 12) of the boss|hub parts 34a, 34b, 34c, 34d. and on one side. The long hole 37 is an example of the implementation structure corresponding to the "cam" in this invention.

The lifter levers 12a, 12b, 12c, and 12d constructed in this way are supported on the top plate 8 by a bracket 39 as shown in FIGS. 14 and 15 . As shown in Figs. 15 and 16, the bracket 39 includes a flange 39a fastened to the lower surface 8c of the top plate 8 by a fastening member such as a bolt (not shown), and the flange 39a. and has an integral shaft (39b). The shaft 39b has an outer diameter slightly smaller than the inner diameter of the through hole 35 of the bosses 34a, 34b, 34c, and 34d. The bracket 39 is inserted through the shaft 39b through the through hole 35, whereby the lifter levers 12a, 12b, 12c, 12d can be rotated (swung) about the shaft 39b. do. Further, as shown in Fig. 14, the lifter levers 12a and 12c are arranged on the front side (upper side in Fig. 14) in which the lever portions 32a, 32c are arranged on the front side (upper side in Fig. 14) toward the forward travel direction (upward direction in Fig. 14). At 12b and 12d, as shown in FIG. 14, the lever parts 32b, 32d are arranged on the front side (lower side in FIG. 14) toward the forward traveling direction (upper direction in FIG. 14).

As shown in Figs. 17 and 18, the lever driving units 60 and 60 include motors M4 and M4, external threaded rods 62 and 62 connected to a rotation shaft (not shown) of the motors M4 and M4, and the externally threaded rod ( It has two female threaded bodies 64, 64, 65, 65 screwed to 62, 62). The external threaded rods 62 and 62 are rotatably supported by the top plate 8 by brackets 68a, 68b, 68c, 68d as shown in FIGS. 18 and 19 . The brackets 68a, 68b, 68c, 68d are fastened to the lower surface 8c of the top plate 8, as shown in FIG. Moreover, the guide plate 66 is fastened to the brackets 68a, 68b, 68c, as shown in FIG.17 and FIG.18. The motor M4 corresponds to the "first motor" in the present invention, and a rotation shaft (not shown) of the motor M4 is an example of an embodiment configuration corresponding to the "rotation shaft" in the present invention.

The female screw bodies 64 and 65 have basically the same configuration, except that the winding directions of the threads of the main bodies 64a and 65a, which will be described later, are different. As shown in Figs. 17 and 18, the female screw bodies 64 and 65 include main bodies 64a and 65a and rollers 64b and 65b rotatably supported by the main bodies 64a and 65a. The female screw bodies 64 and 65 are an example of the implementation structure corresponding to the "contactor" in this invention.

The main bodies 64a and 65a have female threaded holes (not shown) that can be screwed into the male threaded rods 62 and 62 . The winding direction of the thread of the female threaded hole of the main body 64a and the winding direction of the thread of the female threaded hole of the main body 65a are opposite to each other (when the female threaded hole of the main body 64a is a right-handed thread, the main body 65a) When the female threaded hole of is a left-hand thread and the female threaded hole of the main body 64a is a left-hand thread, the female threaded hole of the main body 65a is a right-hand thread). The rollers 64b and 65b have the width dimension of the long hole 37 of the flange portions 36a, 36b, 36c, 36d of the lifter levers 12a, 12b, 12c, 12d (the extension of the long hole 37). It has a diameter equal to or slightly smaller than the dimension in the direction orthogonal to the direction at) (refer to FIG. 26).

The guide plate 66 is an elongate flat plate which has a length spanning from the bracket 68a to the bracket 68b, as shown in FIG.17 and FIG.18. The guide plate 66 is disposed parallel to the male screw rod 62 . The guide plate 66 is in contact with one side of the main body 64a, 65a of the female screw bodies 64 and 65 . This prevents the female screw bodies 64 and 65 from rotating integrally with the male screw rod 62 . That is, when the male screw rod 62 rotates, the female screw bodies 64 and 65 linearly move on the male screw rod 62 in the axial direction of the male screw rod 62 .

The lever drive parts 60 and 60 constructed in this way are supported by the top plate 8 with the roller 64b engaged with the elongate hole 37 . At this time, the lever driving units 60 , 60 are disposed inside the lifter levers 12a , 12b , 12c and 12d in the top plate 8 . In this way, since the roller 64b is engaged with the elongated hole 37 , when the female screw bodies 64 and 65 linearly move on the male screw rod 62 in the axial direction of the male screw rod 62 , the lifter lever (12a, 12b, 12c, 12d) rotates (oscillates) about the axis|shaft 39b (refer FIG. 14). That is, the rotational motion of the male screw rod 62 is converted into a linear motion of the female screw bodies 64 and 65 by the guide plate 66, and the linear motion of the female screw bodies 64 and 65 is converted into a linear motion of the female screw body 64, 65 by the roller 64b. , 65b) and the long hole 37, it is converted into rotation (oscillation) of the lifter levers 12a, 12b, 12c, 12d. In addition, as for the lifter levers 12a, 12b, 12c, 12d, the tips of the lever parts 32a and 32c face the forward travel direction (up-down direction in Fig. 14), and the tips of the lever parts 32b, 32d are In a state (hereinafter, referred to as a “first state”) facing the backward traveling direction (downward direction in FIG. 14 ), the tips of the lever portions 32a and 32c are orthogonal to the forward and backward traveling direction (vertical direction in FIG. 14 ) In the direction, in a direction in which the tip ends face opposite each other (left and right direction in FIG. 14) and the tip ends of the lever portions 32b and 32d are orthogonal to the forward/backward travel direction (up and down direction in FIG. 14), It rotates (oscillates) between the state (hereinafter, referred to as a “second state”) in which the tips face opposite sides (the left-right direction in FIG. 14 ). Further, the distance d1 between the lifter levers 12a and 12b in the second state and the distance d2 between the lifter levers 12c and 12d in the second state are smaller than the diameters D of the front wheels Wfr and Wfl. set (Fig. 32).

Here, in the top plate 8, as shown in Figs. 14, 19 and 20, after the lifter levers 12a, 12b, 12c, and 12d are in the second state, there is a mechanism for preventing unintentionally entering the first state. Stoppers 70 and 70 are provided.

The stopper 70 is disposed between the lifter levers 12a and 12b and between the lifter levers 12c and 12d, as shown in Fig. 19 . As shown in Figs. 21 to 23, the stopper 70 includes a motor M5 and a bracket 71 for mounting the motor M5 to the top plate 8, and a pair of guide plates fastened to the bracket 71 ( 72, 72), a cylindrical rotating body 74 connected to a rotating shaft (not shown) of the motor M5, a roller 76 integral with the rotating body 74, and engaging the roller 76; Moreover, it has the moving plate 78 arrange|positioned between the pair of guide plates 72 and 72, and the stopper plate 80 fastened to the said moving plate 78. The stopper 70 is an example of the implementation structure corresponding to the "regulation part" in this invention.

The bracket 71 is fastened to the lower surface 8c of the top plate 8, as shown in FIG. The guide plates 72 and 72 have guide grooves 72a and 72a extending in the vertical direction (the vertical direction in FIGS. 22 and 23 ), as shown in FIGS. 21 to 23 . The guide plates 72 and 72 are fastened to the bracket 71 so that the guide grooves 72a and 72a face each other. The guide grooves 72a and 72a are arranged near the end of the guide plates 72 and 72 on the opposite side to the side fastened to the bracket 71, as shown in FIG.

The rotating body 74 has a cylindrical shape, as shown in FIGS. 21-23. The rotating body 74 is connected to the said rotating shaft so that it may become coaxial with the rotating shaft (not shown) of the motor M5. The roller 76 is arrange|positioned in the position eccentric with respect to the rotating body 74, as shown in FIG. 22 and FIG.

The moving plate 78 has a stepped shape, as shown in FIG. 21 . Specifically, the moving plate 78 has a pair of thin plate parts 78a and 78a and a thick plate part 78b disposed between the thin plate parts 78a and 78a. The thin plate portions 78a and 78a extend in the height direction of the movable plate 78 (up-and-down direction in FIG. 22 ). The thin plate portions 78a and 78a have a plate thickness slightly smaller than the groove width (the vertical dimension in FIG. 21 and the horizontal dimension in FIG. 23) of the guide grooves 72a and 72a of the guide plates 72 and 72, have. The thin plate portions 78a and 78a engage with the guide grooves 72a and 72a of the guide plates 72 and 72 . The thick plate part 78b has the elongate hole 79 extending in the horizontal direction (left-right direction in FIG. 22), as shown in FIG. The elongated hole 79 has a width dimension substantially equal to or slightly larger than the diameter of the roller 76 (a dimension in the vertical direction in FIG. 22 ). The stopper plate 80 is fastened to the thick plate portion 78b by a fastening member such as a bolt (not shown). The stopper plate 80 is an example of the implementation structure corresponding to the "first regulating plate" and the "second regulating plate" in the present invention.

The moving plate 78 constructed in this way moves the stopper plate 80 in the vertical direction by driving the motor M5. In more detail, the rotation body 74 is rotated by the drive of the motor M5, and the roller 76 revolves around the axial center of the rotation body 74 with rotation of the said rotation body 74. When the roller 76 revolves, since it moves in the elongated hole 79 of the moving plate 78, the moving plate 78 moves in the vertical direction. As a result, the stopper plate 80 moves in the vertical direction. Here, as shown in Figs. 24 and 25, when the stopper plate 80 is positioned at the lowermost position (when the roller 76 is arranged at the center of the elongated hole 79 in the extending direction), , the stopper plate 80 does not come into contact with any of the lifter levers 12a, 12b, 12c, 12d. Thereby, the lifter levers 12a, 12b, 12c, and 12d can freely rotate (oscillate). On the other hand, as shown in FIGS. 26 and 27 , when the stopper plate 80 is positioned at the uppermost position (when the roller 76 is disposed at the end of the long hole 79 in the extension direction) ), the stopper plate 80 has a height substantially equal to the height of the flange portions 36a, 36b, 36c, 36d of the lifter levers 12a, 12b, 12c, 12d in the second state. As a result, the stopper plate 80 is brought into contact with the flange portions 36a, 36b, 36c, and 36d, so that rotation (oscillation) of the lifter levers 12a, 12b, 12c, 12d in the second state is prohibited. do. That is, the lifter levers 12a, 12b, 12c, 12d in the second state are prohibited from being inadvertently brought to the first state.

The control device 14 is provided with a microprocessor centering on a CPU (not shown). In addition, the control device 14 includes a ROM (not shown) that stores a processing program other than the CPU, a RAM (not shown) that temporarily stores data, an input/output port (not shown), and a communication port (not shown). not), etc. are provided. In the control device 14, a signal from a travel sensor RS or a marker sensor not shown; On (on) and off (off) signals of (limit switch) are being input through the input port.

In addition, the marker sensor is installed on the floor f (guide table) in order to cause the unmanned transport vehicle 1 to execute a predetermined command, for example, a "towing preparation command" for towing the vehicle Car. It is a sensor for detecting a marker (not shown) installed in the vicinity. Further, a limit switch is provided in the lifters 10a, 10b, 10c, the lever driving units 60 and 60, and the stopper 70, and the strokes of the lifters 10a, 10b, and 10c are provided. The stroke, the stroke of the female screw bodies 64 and 65, and the stroke of the stopper plate 80 are detected.

Further, from the control device 14, the drive signals to the drive motors M1a, M1b, M2a, M2b, the motor M3, the motors M4, M4, and the motor M5 are outputted through the output port.

Next, the operation of the unmanned transport vehicle 1 constructed in this way, in particular, the operation when the front wheels Wfr and Wfl of the vehicle Car are lifted from the floor f will be described. In a state where the unmanned transport vehicle 1 is not towing the vehicle Car, as shown in FIGS. 29 and 30 , the lifter levers 12a, 12b, 12c, 12d are in the first state. With the lifter levers 12a, 12b, 12c, and 12d in the first state, the unmanned transport vehicle 1 traveling along a guide platform (not shown) squeezes under the vehicle Car as shown in FIG. 28 . and when a marker sensor (not shown) detects a "towing preparation command" marker (not shown), the CPU of the control device 14 sends the drive motors M1a, M1b, M2a, M2b (refer to FIG. 5 ) ) and outputting a drive signal to the motors M4 and M4 (see Figs. 17 and 18) to stop the unmanned transport vehicle 1, and the lifter levers 12a, 12b, 12c , 12d) as the second state is executed.

Here, as shown in Fig. 29, when the unmanned transport vehicle 1 is viewed from above, the axial center lines CL of the front wheels Wfr and Wfl of the vehicle Car are in the second state, the lifter levers 12a and 12b (Fig. 29) and between the lifter levers 12c and 12d (dotted-dotted line in FIG. 29) in the second state, the unmanned transport vehicle 1 cannot be stopped. A “towing preparation command” marker is placed at the location.

When the motors M4 and M4 are driven, the male screw rods 62 and 62 rotate, and the female screw bodies 64 and 65 linearly move on the male screw rods 62 and 62 in the axial direction (refer to FIGS. 17 and 18). . At this time, the female screw bodies 64 and 65 move in a direction away from each other. As shown in FIG. 31, the rollers 64b, 65b are moved by the linear movement of the female screw bodies 64, 65, and the second of the long holes 37, 37 of the lifter levers 12a, 12b, 12c, 12d. The parts 37b and 37b run. Here, the force Fa (force along the axial direction of the male screw rods 62 and 62) input to the long holes 37 and 37 from the rollers 64b and 65b is orthogonal to the inner wall surfaces of the second portions 37b and 37b. Due to the vertical component force Fv acting in the direction of Thereby, as shown in Figs. 32 to 34, the lifter levers 12a, 12b, 12c, 12d are changed from the first state to the second state.

When it is detected by an on signal from a limit switch (not shown) that the lifter levers 12a, 12b, 12c, and 12d are in the second state, the CPU of the control device 14 sends a drive signal to the motor M5. output, and a process for raising the stopper plate 80 is executed. Thereby, as shown in FIGS. 26 and 27, the stopper plate 80 rises to the height of the flange portions 36a, 36b, 36c, 36d of the lifter levers 12a, 12b, 12c, 12d, and the lifter lever ( The rotation (oscillation) of 12a, 12b, 12c, 12d) is prohibited. That is, the lifter levers 12a, 12b, 12c, 12d in the second state are prohibited from being inadvertently brought to the first state.

In this way, when the unintentional rotation (fluctuation) of the lifter levers 12a, 12b, 12c, and 12d to the first state is prohibited, the CPU of the control device 14 sends a drive signal to the motors M3, M3, and M3. print out When the motors M3, M3, and M3 are driven, the pinion gear 3b integrated with the rotation shaft 3a is rotated. As a result, the first screw shaft 30c is rotated, and the second screw shaft 30d and the third screw shaft 30e are moved in the axial direction. As a result, the top plate 8 moves in a direction away from the vehicle body 2 . That is, the top plate 8 is raised by the lifters 10a, 10b, and 10c.

As the top plate 8 is raised by the lifters 10a, 10b, 10c, as shown in Figs. 35 and 36, the front wheel Wfr disposed between the lifter levers 12a, 12b and between the lifter levers 12c, 12d; Wfl is lifted from the floor f. Thereafter, the CPU of the control device 14 outputs a drive signal to the drive motors M1a, M1b, M2a, and M2b. Thereby, the driving wheels 21a, 21b, 22a, 22b are rotated. In this way, the vehicle Car with the front wheels Wfr and Wfl lifted from the floor is towed by the unmanned transport vehicle 1 .

Then, when the vehicle Car is transported to the destination by the unmanned transport vehicle 1 , the CPU of the control device 14 causes the front wheels Wfr and Wfl to be grounded on the floor in a reverse order to the above-described procedure. That is, the CPU of the control device 14 outputs drive signals to the motors M3, M3, and M3 to lower the lifters 10a, 10b, and 10c, so that the top plate 8 ) is lowered.

When the front wheels Wfr and Wfl are grounded to the ground, the CPU of the control device 14 outputs a drive signal to the motors M4 and M4 to put the lifter levers 12a, 12b, 12c, and 12d in the first state. Thereafter, the CPU of the control device 14 outputs a drive signal to the drive motors M1a, M1b, M2a, and M2b to rotate the drive wheels 21a, 21b, 22a, and 22b to reach the next destination of the unmanned transport vehicle. (1) is driven.

According to the unmanned transport vehicle 1 according to the present embodiment described above, the top plate 8 can be raised and lowered, and the upper surface 8b of the top plate 8 in the lowered state is the bulge part ( The top plate 8 and the vehicle body 2 are connected by lifters 10a, 10b, and 10c so as to be substantially flush with the upper surface 2bu of 2b). Then, the lifter levers 12a, 12b, 12c, 12d for lifting the front wheels Wfr and Wfl of the vehicle Car from the floor f are supported by the lower surface 8c of the top plate 8 so as to be rotatably (swung) in a horizontal plane. do. That is, since the arrangement of the top plate 8 in the height direction is suppressed low and the lifter levers 12a, 12b, 12c, 12d are not disposed on the upper surface 8b of the top plate 8, the unmanned transport vehicle ( The height of the vehicle 1) is determined by the position in the height direction of the bulge 2b of the vehicle body 2 . Accordingly, it is possible to further reduce the height of the solar unmanned transport vehicle 1 , which pushes under the vehicle Car and pulls the vehicle Car with the front wheels Wfr and Wfl lifted from the floor f.

In addition, when the unmanned transport vehicle 1 does not tow the vehicle Car, the lifter levers 12a, 12b, 12c, and 12d are in the first state, so that the vehicle width of the unmanned transport vehicle 1 is suppressed from unnecessarily increasing. can Accordingly, it is possible to improve the easiness of the unmanned transport vehicle 1 sliding into the lower side of the vehicle Car. Further, since the distance d1 between the lifter levers 12a and 12b in the second state and the distance d2 between the lifter levers 12c and 12d in the second state are smaller than the diameters D of the front wheels Wfr and Wfl, the front wheels Wfr , Wfl can be accepted with certainty. Accordingly, the front wheels Wfr and Wfl can be reliably lifted from the floor f.

Further, according to the unmanned transport vehicle 1 according to the present embodiment, when the lifter levers 12a, 12b, 12c, 12d are in the second state, they come into contact with the flange portions 36a, 36b, 36c, 36d. Since the stopper plate 80 is raised to a possible position, rotation (fluctuation) of the lifter levers 12a, 12b, 12c, 12d in the second state is prohibited. Thereby, for example, the force to return the lifter levers 12a, 12b, 12c, 12d due to the weight of the vehicle Car to the first state is transmitted through the front wheels Wfr and Wfl to the lifter levers 12a, 12b, 12c, Even if it acts on 12d), it is possible to prevent the lifter levers 12a, 12b, 12c, 12d in the second state from unintentionally entering the first state.

Further, according to the unmanned transport vehicle 1 according to the present embodiment, the connection points Cpla and Cplb between the lifters 10a and 10b, the top plate 8 and the base portion 2a, that is, the lifters 10a and 10b) Since the fastening part of the base 30a and the base part 2a of the and the fastening part of the flange 30f of the lifters 10a, 10b and the top plate 8 are arranged in the areas Rega and Regb, with respect to the floor f When the front wheels Wfr and Wfl of the vehicle Car are raised, it is possible to favorably suppress the drive wheels 21a, 21b, 22a, 22b and the casters 7a, 7b from floating off the floor f. Thereby, the front wheels Wfr and Wfl can be stably lifted with respect to the floor f.

In the present embodiment, the male screw rods 62 and 62 are rotated by the motors M4 and M4 to linearly move the female screw bodies 64 and 65 in the axial direction of the male screw rods 62 and 62. However, limited to this. doesn't happen For example, even if the female screw bodies 64 and 65 are integrated with the rod of a hydraulic cylinder or pneumatic cylinder, the female screw body 64, 65 is linearly moved in the axial direction of the rod by expanding and contracting the rod. good.

In this embodiment, the rotational motion of the male screw rod 62 is converted into a linear motion of the female screw bodies 64 and 65 by the guide plate 66, and the linear motion of the female screw bodies 64 and 65 is further converted into a linear motion of the roller 64b. . For example, it is good also as a structure which directly rotates (oscillates) the lifter levers 12a, 12b, 12c, 12d. In this case, the shaft 39b of the bracket 39 is a separate body from the bracket 39, and the shaft 39b is rotatably supported on the bracket 39 by a motor or the like, and is attached to the shaft 39b. It can be set as the structure in which the lifter levers 12a, 12b, 12c, 12d are attached integrally.

In the present embodiment, the upper surface 8b of the top plate 8 in the lowered state is substantially flush with the upper surface 2bu of the bulging portion 2b of the vehicle body 2, but the present invention is not limited thereto. The upper surface 8b of the top plate 8 may be lower than the upper surface 2bu of the bulge 2b, and conversely, the upper surface 8b of the top plate 8 may be higher than the upper surface 2bu of the bulge 2b. .

In the present embodiment, between the flange portions 36a and 36b of the lifter levers 12a and 12b in the second state, and between the flange portions 36c and 36d of the lifter levers 12c and 12d in the second state. Although the disposed stopper plates 80 and 80 prevent the lifter levers 12a, 12b, 12c, 12d from being inadvertently brought to the first state, but not limited thereto. For example, a stopper pin capable of engaging with the lifter levers 12a, 12b, 12c, 12d is provided, and when the lifter levers 12a, 12b, 12c, 12d are in the second state, the stopper By engaging the pin with the lifter levers 12a, 12b, 12c, and 12d, the lifter levers 12a, 12b, 12c, 12d may be prevented from unintentionally entering the first state.

In this embodiment, although the jack 30 used the screw shaft jack which has 1st, 2nd, and 3rd screw shaft 30c, 30d, 30e, it is not limited to this. For example, the jack 30 may use a hydraulic jack or a pantograph jack.

This embodiment shows an example of the form for implementing this invention. Therefore, this invention is not limited to the structure of this embodiment. In addition, the correspondence between each component of this embodiment and each component of this invention is shown below.

1 Unmanned Carrier (Unmanned Carrier)
2 car body
2a base part (second part) 2b bulge part (first part)
2bu top side 2bb side
3a axis of rotation 3b pinion gear
4 Drive unit (drive unit) 6 Rotation shaft
7a caster 7b caster
7c caster 7d caster
8 top plate 8a opening
8b top surface 8c bottom
10a lifter 10b lifter
10c lifter
11a lifter guide 11b lifter guide
11c lifter guide
12a lift lever (second lifter lever)
12b lift lever (fourth lifter lever)
12c lift lever (first lifter lever)
12d lift lever (3rd lifter lever)
14 control unit
20 frame 20a upper wall
21a drive wheel 21b drive wheel
22a drive wheel 22b drive wheel
24a Reducer 24b Reducer
26 Support roller
28a first shaft portion 28b second shaft portion
30 jack
30a base 30b bevel gear
30c first screw shaft 30d second screw shaft
30e 3rd screw shaft 30f flange
31 slope
32a lever par 32b lever par
32c lever part 32d lever part
34a boss part (first end)
34b boss part (first end)
34c Boss (first end) 34d Boss (first end)
35 through hole (point)
36a Flange portion (first end) 36b Flange portion (first end)
36c Flange portion (first end) 36d Flange portion (first end)
37 long hole (cam)
37a first part 37b second part
39 bracket
39a Flange 39b Shaft
60 Lever Drive 62 Male Thread Rod
64 female thread (contact)
64a body 64b roller
65 Female thread (contact)
65a body 65b roller
66 guide plate
68a bracket 68b bracket
68c bracket 68d bracket
70 stopper (regulatory department) 71 bracket
72 guide plate 72a guide groove
74 Rotating body 76 Roller
78 moving plate
78a thin plate part 78b thick plate part
79 long hole
80 Stopper plate (first regulating plate, second regulating plate)
car vehicle
Wfr front wheel Wfl front wheel
BRKT1 bracket BRKT2 bracket
M1a drive motor M1b drive motor
M2a drive motor M2b drive motor
M3 motor (2nd motor) M4 motor (1st motor)
M5 motor
RS travel sensor BRG bearing
f floor
Cpla connection point Cplb connection point
Rega area Regb area
Cpwfr contact (1st contact) Cpwfl contact (1st contact)
Cpc contact (second contact)
Cpda contact (3rd contact) Cpdb contact (3rd contact)
d1 distance d2 distance
D Diameter CL Shaft Centerline
Fa force Fv vertical component

Claims (7)

An unmanned transport vehicle disposed below the vehicle and towing the vehicle with a pair of wheels of the vehicle lifted with respect to the floor,
car body,
a drive unit having drive wheels;
a rotation shaft disposed between the vehicle body and the driving unit so as to connect the vehicle body and the driving unit so as to be able to rotate relative to each other;
a top plate disposed above the vehicle body;
a plurality of lifter levers disposed between the floor and the top plate and having a point at a first end in the longitudinal direction and supported on the top plate to be rotatable in a horizontal plane around the point;
a lever driving unit supported on the top plate to be disposed between the floor and the top plate and connected to the plurality of lifter levers to rotate the plurality of lifter levers;
at least one lifter connecting the top plate and the vehicle body so that the top plate can be raised and lowered with respect to the vehicle body;
The plurality of lifter levers includes a first lifter lever disposed on the left side in a traveling direction when the unmanned transport vehicle travels straight, a second lifter lever disposed on the right side in the traveling direction, and a first lifter lever disposed on the right side in the traveling direction. a third lifter lever on the left side and disposed behind the first lifter lever, and a fourth lifter lever disposed on the right side toward the traveling direction and behind the second lifter lever toward the traveling direction,
The lever driving unit may include second longitudinal ends of the first and second lifter levers in the traveling direction, and second longitudinal ends of the third and fourth lifter levers in the traveling direction. and a first state in which the first and third lifter levers face in the opposite direction, and the second ends of the first and third lifter levers face the left, and the second ends of the second and fourth lifter levers face the right. It is possible to rotate the first, second, third and fourth lifter levers between the two states,
In the second state, the distance between the first lifter lever and the third lifter lever and the distance between the second lifter lever and the fourth lifter lever are smaller than the diameter of the pair of wheels. A small driverless vehicle. According to claim 1,
and a regulating unit capable of regulating that the plurality of lifter levers change from the second state to the first state. 3. The method of claim 2,
The regulating portion includes, when the plurality of lifter levers are in the second state, the first end of the first lifter lever, the first end of the third lifter lever, and the second end of the second lifter lever. a first regulating plate disposed between the first end of the first lifter lever and the first end of the third lifter lever to abut a first end and the first end of the fourth lifter lever; and and a second regulating plate disposed between the first end of a second lifter lever and the first end of the fourth lifter lever. 4. The method according to any one of claims 1 to 3,
the first end of the plurality of lifter levers has a cam;
The lever driving unit includes a first motor having a rotating shaft, a male screw rod connected to the rotating shaft, and the external screw rod to be engaged with the cam and move on the male screw rod with rotation of the male screw rod. has a screw-connected contactor,
and the cam has a shape capable of converting linear motion of the contactor into rotation of the plurality of lifter levers. 5. The method according to any one of claims 1 to 4,
Further comprising a caster supported on the vehicle body,
When the unmanned transport vehicle is viewed from one side in a direction along the axis of the rotation shaft, a connection point between the top plate and the vehicle body and at least one of the lifters immediately before being lifted by the plurality of lifter levers The unmanned transport vehicle is disposed in an area in which a pair of wheels and a first contact point on the floor, a second contact point between the caster and the floor, and a third contact point between the driving wheel and the floor are bound by an imaginary straight line. 6. The method according to any one of claims 1 to 5,
The lifter is an unmanned transport vehicle having a telescopic jack and a second motor connected to the jack so that the jack can be stretched and contracted. 7. The method according to any one of claims 1 to 6,
The vehicle body has a first part supporting the rotation shaft, and a second part disposed at a lower position than the first part,
The top plate is disposed above the second part,
The plurality of lifter levers and the lever driving unit are supported by the top plate,
The lifter is an unmanned transport vehicle connecting the top plate and the second part.

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