JP6806722B2 - Automatic guided vehicles and autonomous vehicles - Google Patents

Automatic guided vehicles and autonomous vehicles Download PDF

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JP6806722B2
JP6806722B2 JP2018054364A JP2018054364A JP6806722B2 JP 6806722 B2 JP6806722 B2 JP 6806722B2 JP 2018054364 A JP2018054364 A JP 2018054364A JP 2018054364 A JP2018054364 A JP 2018054364A JP 6806722 B2 JP6806722 B2 JP 6806722B2
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inclined surface
bogie
traveling vehicle
automatic
automatic traveling
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JP2019166876A (en
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岳人 柴
岳人 柴
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Toshiba Corp
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Description

本発明の実施形態は、自動搬送車及び自動走行車に関する。 Embodiments of the present invention relate to automatic guided vehicles and autonomous vehicles.

工場等において、部品や製品などの物品を台車に搭載し、この台車を自動走行車（ＡＧＶ：Automatic Guided Vehicle）で動かすことで自動搬送を行う自動搬送車がある。この自動搬送車において、エネルギー消費を増大させることなく自動走行車のスリップを抑制することが求められる。 In factories and the like, there are automatic guided vehicles that carry articles such as parts and products on a trolley and move the trolley with an automatic guided vehicle (AGV). In this automatic guided vehicle, it is required to suppress the slip of the automatic traveling vehicle without increasing the energy consumption.

特開２０１６−１５０６９１号公報Japanese Unexamined Patent Publication No. 2016-150691

本発明が解決しようとする課題は、エネルギー消費を増大させることなく自動走行車のスリップを抑制可能な自動搬送車及び自動走行車を提供することである。 An object to be solved by the present invention is to provide an automatic guided vehicle and an automatic traveling vehicle capable of suppressing slip of the automatic traveling vehicle without increasing energy consumption.

実施形態に係る自動搬送車は、台車と、自動走行車と、重量伝達機構と、を備える。前記台車には、被搬送物が搭載される。前記自動走行車は、前記台車の下に位置し、前記台車を動かす。前記重量伝達機構は、前記台車と前記自動走行車との間に位置し、前記台車の重量の一部を前記自動走行車に伝える。前記重量伝達機構は、第１部材と、第２部材と、を有する。前記第１部材は、前記台車及び前記自動走行車の一方に固定される。前記第１部材は、前記自動走行車の進行方向及び上下方向と交差する傾斜面を有する。前記第２部材は、前記台車及び前記自動走行車の他方に固定される。前記第２部材は、前記傾斜面に押しつけられる。前記第１部材は、前記傾斜面の傾斜角度を調整できる傾斜調整機構を有する。 The automatic guided vehicle according to the embodiment includes a trolley, an automatic traveling vehicle, and a weight transmission mechanism. An object to be transported is mounted on the trolley. The self-driving car is located below the trolley and moves the trolley. The weight transmission mechanism is located between the bogie and the self-driving car, and transmits a part of the weight of the bogie to the self-driving car. The weight transmission mechanism includes a first member and a second member. The first member is fixed to one of the bogie and the self-driving car. The first member has an inclined surface that intersects the traveling direction and the vertical direction of the automatic traveling vehicle. The second member is fixed to the other of the bogie and the self-driving car. The second member is pressed against the inclined surface. The first member has an inclination adjusting mechanism capable of adjusting the inclination angle of the inclined surface.

第１実施形態に係る自動搬送車を表す模式的側面図である。It is a schematic side view which shows the automatic guided vehicle which concerns on 1st Embodiment. 第１実施形態に係る自動搬送車の重量伝達機構を表す模式的斜視図である。It is a schematic perspective view which shows the weight transmission mechanism of the automatic guided vehicle which concerns on 1st Embodiment. 図３（ａ）は、第１実施形態の第１変形例に係る自動搬送車の重量伝達機構を表す模式的側面図である。図３（ｂ）は、第１実施形態の第２変形例に係る自動搬送車の重量伝達機構を表す模式的側面図である。FIG. 3A is a schematic side view showing the weight transmission mechanism of the automatic guided vehicle according to the first modification of the first embodiment. FIG. 3B is a schematic side view showing the weight transmission mechanism of the automatic guided vehicle according to the second modification of the first embodiment. 第１実施形態の第３変形例に係る自動搬送車の重量伝達機構を表す模式的側面図である。It is a schematic side view which shows the weight transmission mechanism of the automatic guided vehicle which concerns on 3rd modification of 1st Embodiment. 図５（ａ）は、第１実施形態の第４変形例に係る自動搬送車の重量伝達機構を表す模式的側面図である。図５（ｂ）は、図５（ａ）に示すＡ−Ａ’線による断面図である。FIG. 5A is a schematic side view showing the weight transmission mechanism of the automatic guided vehicle according to the fourth modification of the first embodiment. FIG. 5B is a cross-sectional view taken along the line AA'shown in FIG. 5A. 第２実施形態に係る自動搬送車を表す模式的側面図である。It is a schematic side view which shows the automatic guided vehicle which concerns on 2nd Embodiment.

以下に、本発明の各実施形態について図面を参照しつつ説明する。
図面は模式的または概念的なものであり、各部分の厚さと幅との関係、部分間の大きさの比率などは、必ずしも現実のものと同一とは限らない。同じ部分を表す場合であっても、図面により互いの寸法や比率が異なって表される場合もある。
本願明細書と各図において、既出の図に関して前述したものと同様の要素には同一の符号を付して詳細な説明は適宜省略する。
本願明細書と各図において、Ｘ軸、Ｙ軸、及びＺ軸は、互いに直交する。Ｘ軸方向は前後方向であり、Ｙ軸方向は左右方向であり、Ｚ軸方向は上下方向である。床面は、Ｘ軸方向及びＹ軸方向に沿う。 Hereinafter, each embodiment of the present invention will be described with reference to the drawings.
The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the ratio of the sizes between the parts, etc. are not always the same as the actual ones. Even if the same part is represented, the dimensions and ratios may be different depending on the drawing.
In the present specification and each figure, the same elements as those described above with respect to the above-mentioned figures are designated by the same reference numerals, and detailed description thereof will be omitted as appropriate.
In the present specification and each figure, the X-axis, the Y-axis, and the Z-axis are orthogonal to each other. The X-axis direction is the front-back direction, the Y-axis direction is the left-right direction, and the Z-axis direction is the up-down direction. The floor surface is along the X-axis direction and the Y-axis direction.

（第１実施形態）
図１は、第１実施形態に係る自動搬送車を表す模式的側面図である。
図１に表したように、自動搬送車１０は、被搬送物が搭載される台車２０と、台車２０の下に位置し台車２０を動かす自動走行車３０と、台車２０と自動走行車３０との間に位置し、台車２０の重量の一部を自動走行車３０に伝える重量伝達機構４０と、を備える。自動走行車３０は、台車２０の下に潜り込むように配置される。なお、本願明細書において、例えば、１つの台車２０と、１つの自動走行車３０と、を有するものを「自動搬送車」と称する。自動搬送車１０の構成は、例えば、複数の台車２０と、複数の自動走行車３０と、を有する搬送システムに適用することもできる。 (First Embodiment)
FIG. 1 is a schematic side view showing an automatic guided vehicle according to the first embodiment.
As shown in FIG. 1, the automatic guided vehicle 10 includes a trolley 20 on which an object to be transported is mounted, an automatic traveling vehicle 30 located under the trolley 20 and moving the trolley 20, the trolley 20 and the automatic traveling vehicle 30. A weight transmission mechanism 40, which is located between the two and transmits a part of the weight of the bogie 20 to the automatic traveling vehicle 30, is provided. The self-driving car 30 is arranged so as to sneak under the bogie 20. In the specification of the present application, for example, a vehicle having one trolley 20 and one automatic traveling vehicle 30 is referred to as an "automatic guided vehicle". The configuration of the automatic guided vehicle 10 can also be applied to a transport system including, for example, a plurality of carriages 20 and a plurality of automatic traveling vehicles 30.

台車２０には、被搬送物が搭載される。被搬送物は、例えば、物品である。台車２０は、例えば、被搬送物が搭載される搭載部２２と、台車２０の移動に使用される車輪部２４と、搭載部２２と車輪部２４とを接続する脚部２６と、を有する。 The trolley 20 is loaded with the object to be transported. The object to be transported is, for example, an article. The carriage 20 has, for example, a mounting portion 22 on which an object to be transported is mounted, a wheel portion 24 used for moving the carriage 20, and a leg portion 26 connecting the mounting portion 22 and the wheel portion 24.

搭載部２２は、被搬送物を搭載可能な任意の構成でよい。搭載部２２は、例えば、上部に被搬送物を載せるトレー状でもよいし、内部に被搬送物を収納するキャビネット状でもよいし、パイプなどで組まれたフレーム上に被搬送物を載せるフレーム状でもよい。 The mounting unit 22 may have an arbitrary configuration in which an object to be transported can be mounted. The mounting portion 22 may be, for example, a tray shape on which the object to be transported is placed on the upper portion, a cabinet shape for storing the object to be transported inside, or a frame shape on which the object to be transported is placed on a frame assembled of pipes or the like. It may be.

車輪部２４は、床面ＦＬに接地しており、台車２０が動く際に回転する。この例では、車輪部２４は、搭載部２２よりも下に設けられている。つまり、車輪部２４は、Ｚ軸方向において、搭載部２２と床面ＦＬとの間に設けられている。車輪部２４は、例えば、搭載部２２の左右方向の両端に設けられてもよい。つまり、搭載部２２は、Ｙ軸方向において、車輪部２４の間に設けられてもよい。車輪部２４の数は、３以上の任意の数である。この例では、車輪部２４の数は、前輪及び後輪が２つずつの合計４つである。車輪部２４の一部又は全部は、Ｘ軸方向及びＹ軸方向の角度を自在に変えることができる車輪でもよい。 The wheel portion 24 is in contact with the floor surface FL and rotates when the carriage 20 moves. In this example, the wheel portion 24 is provided below the mounting portion 22. That is, the wheel portion 24 is provided between the mounting portion 22 and the floor surface FL in the Z-axis direction. The wheel portions 24 may be provided at both ends of the mounting portion 22 in the left-right direction, for example. That is, the mounting portion 22 may be provided between the wheel portions 24 in the Y-axis direction. The number of wheel portions 24 is any number of 3 or more. In this example, the number of wheel portions 24 is four in total, two for each of the front wheels and two for the rear wheels. A part or all of the wheel portion 24 may be a wheel whose angles in the X-axis direction and the Y-axis direction can be freely changed.

脚部２６は、Ｚ軸方向において、搭載部２２と車輪部２４との間に位置し、搭載部２２と車輪部２４とを接続する。後述のように、搭載部２２と床面ＦＬとの間には、自動走行車３０及び重量伝達機構４０が配置される。例えば、脚部２６の長さにより、搭載部２２と床面ＦＬとの間の距離を調整することができる。脚部２６は、必要に応じて設けられ、省略可能である。例えば、車輪部２４の直径が大きく、搭載部２２と床面ＦＬとの間に、自動走行車３０及び重量伝達機構４０が収まる空間がある場合には、脚部２６を省略してもよい。 The leg portion 26 is located between the mounting portion 22 and the wheel portion 24 in the Z-axis direction, and connects the mounting portion 22 and the wheel portion 24. As will be described later, the automatic traveling vehicle 30 and the weight transmission mechanism 40 are arranged between the mounting portion 22 and the floor surface FL. For example, the distance between the mounting portion 22 and the floor surface FL can be adjusted by the length of the leg portion 26. The legs 26 are provided as needed and can be omitted. For example, if the diameter of the wheel portion 24 is large and there is a space between the mounting portion 22 and the floor surface FL for accommodating the automatic traveling vehicle 30 and the weight transmission mechanism 40, the leg portion 26 may be omitted.

自動走行車３０は、台車２０の下に位置する。つまり、自動走行車３０は、Ｚ軸方向において、台車２０と床面ＦＬとの間に位置する。この例では、自動走行車３０は、Ｚ軸方向において、台車２０の搭載部２２と床面ＦＬとの間に配置されている。自動走行車３０は、台車２０と直接的又は間接的に連結されており、自動走行車３０が動くことで台車２０を動かすことができる。自動走行車３０は、例えば、車体部３２と、自動走行車３０の移動に使用される車輪部３４と、を有する。 The self-driving car 30 is located below the bogie 20. That is, the automatic traveling vehicle 30 is located between the carriage 20 and the floor surface FL in the Z-axis direction. In this example, the self-driving car 30 is arranged between the mounting portion 22 of the bogie 20 and the floor surface FL in the Z-axis direction. The self-driving car 30 is directly or indirectly connected to the bogie 20, and the bogie 20 can be moved by moving the self-driving car 30. The self-driving car 30 has, for example, a vehicle body portion 32 and a wheel portion 34 used for moving the self-driving car 30.

車体部３２は、例えば、筐体と、筐体の内部に設けられた駆動部（例えば、モータ）と、を有する。駆動部を駆動させることで、車輪部３４を回転させ、自動走行車３０を動かすことができる。 The vehicle body unit 32 has, for example, a housing and a driving unit (for example, a motor) provided inside the housing. By driving the drive unit, the wheel unit 34 can be rotated and the automatic traveling vehicle 30 can be moved.

車輪部３４は、床面ＦＬに接地しており、車輪部３４が回転することで、自動走行車３０が動く。車輪部３４の少なくとも一部は、駆動輪である。この例では、車輪部３４は、車体部３２よりも下に設けられている。つまり、車輪部３４は、Ｚ軸方向において、車体部３２と床面ＦＬとの間に設けられている。車輪部３４は、例えば、車体部３２の左右方向の両端に設けられてもよい。つまり、車体部３２は、Ｙ軸方向において、車輪部３４の間に設けられてもよい。車輪部３４の数は、３以上の任意の数である。この例では、車輪部３４の数は、前輪及び後輪が２つずつの合計４つである。車輪部３４の一部又は全部は、Ｘ軸方向及びＹ軸方向の角度を自在に変えることができる車輪でもよい。 The wheel portion 34 is in contact with the floor surface FL, and the automatic traveling vehicle 30 moves when the wheel portion 34 rotates. At least a part of the wheel portion 34 is a driving wheel. In this example, the wheel portion 34 is provided below the vehicle body portion 32. That is, the wheel portion 34 is provided between the vehicle body portion 32 and the floor surface FL in the Z-axis direction. The wheel portions 34 may be provided at both ends of the vehicle body portion 32 in the left-right direction, for example. That is, the vehicle body portion 32 may be provided between the wheel portions 34 in the Y-axis direction. The number of wheel portions 34 is any number of 3 or more. In this example, the number of wheel portions 34 is four in total, with two front wheels and two rear wheels. A part or all of the wheel portion 34 may be a wheel whose angles in the X-axis direction and the Y-axis direction can be freely changed.

重量伝達機構４０は、Ｚ軸方向において、台車２０と自動走行車３０との間に位置する。重量伝達機構４０は、台車２０の重量の一部を自動走行車３０に伝える。この例では、重量伝達機構４０は、台車２０の搭載部２２の下面に固定された第１部材４１と、自動走行車３０の車体部３２の上面に固定された第２部材４２と、を有する。車体部３２は、例えば、第２部材４２を上下動させる機構を有する。なお、この例では、１つの重量伝達機構４０が設けられているが、重量伝達機構４０は複数設けられてもよい。 The weight transmission mechanism 40 is located between the carriage 20 and the automatic traveling vehicle 30 in the Z-axis direction. The weight transmission mechanism 40 transmits a part of the weight of the carriage 20 to the automatic traveling vehicle 30. In this example, the weight transmission mechanism 40 has a first member 41 fixed to the lower surface of the mounting portion 22 of the bogie 20, and a second member 42 fixed to the upper surface of the vehicle body portion 32 of the automatic traveling vehicle 30. .. The vehicle body portion 32 has, for example, a mechanism for moving the second member 42 up and down. In this example, one weight transmission mechanism 40 is provided, but a plurality of weight transmission mechanisms 40 may be provided.

第１部材４１は、自動走行車３０の進行方向（Ｘ軸方向）及び上下方向（Ｚ軸方向）と交差する傾斜面４１ａを有する。第１部材４１は、例えば、傾斜面４１ａと搭載部２２の下面に固定される面とを有するくさび状の部材である。第１部材４１は、例えば、傾斜面４１ａを有する傾斜板であってもよい。第１部材４１の材料は、例えば、金属である。 The first member 41 has an inclined surface 41a that intersects the traveling direction (X-axis direction) and the vertical direction (Z-axis direction) of the automatic traveling vehicle 30. The first member 41 is, for example, a wedge-shaped member having an inclined surface 41a and a surface fixed to the lower surface of the mounting portion 22. The first member 41 may be, for example, an inclined plate having an inclined surface 41a. The material of the first member 41 is, for example, metal.

傾斜面４１ａの傾斜は、Ｘ軸の正方向に向かうにつれてＺ軸の負方向に向かう前方傾斜である。傾斜面４１ａは、床面ＦＬに対して傾斜角度θ１で傾斜している。傾斜角度θ１は、例えば１５度以上７５度以下である。傾斜角度θ１は、例えば３０度以上６０度以下でもよい。傾斜角度θ１は、例えば４５度程度でもよい。 The inclination of the inclined surface 41a is a forward inclination toward the negative direction of the Z axis as it goes toward the positive direction of the X axis. The inclined surface 41a is inclined with respect to the floor surface FL at an inclination angle θ1. The inclination angle θ1 is, for example, 15 degrees or more and 75 degrees or less. The inclination angle θ1 may be, for example, 30 degrees or more and 60 degrees or less. The inclination angle θ1 may be, for example, about 45 degrees.

傾斜面４１ａは、平面でもよいし、曲面でもよい。傾斜面４１ａが曲面の場合、傾斜角度θ１は、例えば、第１部材４１の傾斜面４１ａと第２部材４２との接触部における曲面の接平面と床面ＦＬとがなす角度である。 The inclined surface 41a may be a flat surface or a curved surface. When the inclined surface 41a is a curved surface, the inclination angle θ1 is, for example, an angle formed by the tangent plane of the curved surface and the floor surface FL at the contact portion between the inclined surface 41a of the first member 41 and the second member 42.

第２部材４２は、例えば、回転体を有する。第２部材４２は、例えば、滑車を有する。第２部材４２は、例えば、カムフォロアを有する。第２部材４２の材料は、例えば、金属である。第２部材４２は、第１部材４１の傾斜面４１ａに押しつけられる。これにより、台車２０の重量の一部が自動走行車３０に伝達される。 The second member 42 has, for example, a rotating body. The second member 42 has, for example, a pulley. The second member 42 has, for example, a cam follower. The material of the second member 42 is, for example, metal. The second member 42 is pressed against the inclined surface 41a of the first member 41. As a result, a part of the weight of the bogie 20 is transmitted to the self-driving car 30.

図２は、第１実施形態に係る自動搬送車の重量伝達機構を表す模式的斜視図である。
図２に表したように、第１部材４１は、突出部４１ｂを有する。突出部４１ｂは、傾斜面４１ａの傾斜に沿って設けられ、傾斜面４１ａから突出する。この例では、２つの突出部４１ｂが、傾斜面４１ａの左右方向の両端部から下向きに突出している。突出部４１ｂの高さは、例えば、５ｍｍ以上５０ｍｍ以下である。 FIG. 2 is a schematic perspective view showing the weight transmission mechanism of the automatic guided vehicle according to the first embodiment.
As shown in FIG. 2, the first member 41 has a protruding portion 41b. The protruding portion 41b is provided along the inclination of the inclined surface 41a and projects from the inclined surface 41a. In this example, the two projecting portions 41b project downward from both ends in the left-right direction of the inclined surface 41a. The height of the protruding portion 41b is, for example, 5 mm or more and 50 mm or less.

次に、本実施形態の動作について説明する。
自動走行車３０がＸ軸の正方向（前方）に進むとき、第１部材４１の傾斜面４１ａは、第２部材４２により押圧される。このとき傾斜面４１ａにかかる力は、Ｘ軸の正方向に沿う（前方に向かう）力Ｆ１と、Ｚ軸の正方向に沿う（上方に向かう）力Ｆ２と、に分解することができる。力Ｆ１により、傾斜面４１ａは前方に向かって押され、第１部材４１と固定されている台車２０は前方に向かって動く。一方、力Ｆ２により、傾斜面４１ａは上方に押され、その反作用として、傾斜面４１ａは力Ｆ２と同じ大きさの力Ｆ３で第２部材４２を下方に押す。これにより、第１部材４１と固定されている台車２０の重量の一部が、力Ｆ３として、第２部材４２と固定されている自動走行車３０に伝達される。 Next, the operation of this embodiment will be described.
When the autonomous vehicle 30 advances in the forward direction (forward) of the X-axis, the inclined surface 41a of the first member 41 is pressed by the second member 42. At this time, the force applied to the inclined surface 41a can be decomposed into a force F1 along the positive direction of the X-axis (forward) and a force F2 along the positive direction of the Z-axis (upward). The inclined surface 41a is pushed forward by the force F1, and the carriage 20 fixed to the first member 41 moves forward. On the other hand, the inclined surface 41a is pushed upward by the force F2, and as a reaction thereof, the inclined surface 41a pushes the second member 42 downward with a force F3 having the same magnitude as the force F2. As a result, a part of the weight of the bogie 20 fixed to the first member 41 is transmitted as a force F3 to the automatic traveling vehicle 30 fixed to the second member 42.

力Ｆ１の大きさをｆ１、力Ｆ２の大きさをｆ２、力Ｆ３の大きさをｆ３とする。傾斜面４１ａが傾斜角度θ１で傾斜している場合、ｆ２＝ｆ１／ｔａｎθ１である。また、上記のように、ｆ３＝ｆ２である。このことから、力Ｆ３の大きさｆ３は、力Ｆ１の大きさｆ１と傾斜面４１ａの傾斜角度θ１とに応じて変化する。より具体的には、力Ｆ１の大きさｆ１が大きいとき、力Ｆ３の大きさｆ３は大きい。また、傾斜面４１ａの傾斜角度θ１が小さいとき、力Ｆ３の大きさｆ３は大きい。力Ｆ１の大きさｆ１及び傾斜面４１ａの傾斜角度θ１を調整することで、力Ｆ３の大きさｆ３（自動走行車３０に伝達される台車２０の重量の大きさ）を調整することができる。 Let the magnitude of the force F1 be f1, the magnitude of the force F2 be f2, and the magnitude of the force F3 be f3. When the inclined surface 41a is inclined at the inclination angle θ1, f2 = f1 / tan θ1. Further, as described above, f3 = f2. From this, the magnitude f3 of the force F3 changes according to the magnitude f1 of the force F1 and the inclination angle θ1 of the inclined surface 41a. More specifically, when the magnitude f1 of the force F1 is large, the magnitude f3 of the force F3 is large. Further, when the inclination angle θ1 of the inclined surface 41a is small, the magnitude f3 of the force F3 is large. By adjusting the magnitude f1 of the force F1 and the inclination angle θ1 of the inclined surface 41a, the magnitude f3 of the force F3 (the magnitude of the weight of the carriage 20 transmitted to the automatic traveling vehicle 30) can be adjusted.

第１部材４１は、例えば、傾斜面４１ａの傾斜角度θ１を変えることができる機械的な機構（傾斜調整機構）を有していてもよい。これにより、自動走行車３０の走行前及び走行中に、傾斜面４１ａの傾斜角度θ１を自在に調整することができる。傾斜調整機構は、台車２０及び自動走行車３０のうち、第１部材４１が固定される側に設けられてもよい。 The first member 41 may have, for example, a mechanical mechanism (inclination adjusting mechanism) capable of changing the inclination angle θ1 of the inclined surface 41a. As a result, the inclination angle θ1 of the inclined surface 41a can be freely adjusted before and during the traveling of the automatic traveling vehicle 30. The inclination adjusting mechanism may be provided on the side of the carriage 20 and the automatic traveling vehicle 30 on which the first member 41 is fixed.

次に、第１実施形態の効果について説明する。
自動走行車３０のスリップは、台車２０に物品が搭載されていないときに発生しやすい。このような自動走行車３０のスリップは、自動走行車３０の車輪部３４と床面ＦＬとの間の摩擦力が小さいために発生すると考えられる。そこで、自動走行車３０のスリップを抑制する手段として、自動走行車３０にバラストを積むことで、自動走行車３０の車輪部３４と床面ＦＬとの間の摩擦力を増大させる方法が考えられる。しかしながら、この方法では、自動走行車３０がバラストを移動させる分も仕事をする必要があり、特に台車２０に物品が搭載されていないときの自動走行車３０のエネルギー消費が増大する。 Next, the effect of the first embodiment will be described.
Slip of the automatic traveling vehicle 30 is likely to occur when an article is not mounted on the carriage 20. It is considered that such slip of the automatic traveling vehicle 30 occurs because the frictional force between the wheel portion 34 of the automatic traveling vehicle 30 and the floor surface FL is small. Therefore, as a means for suppressing the slip of the automatic traveling vehicle 30, a method of increasing the frictional force between the wheel portion 34 of the automatic traveling vehicle 30 and the floor surface FL by loading ballast on the automatic traveling vehicle 30 can be considered. .. However, in this method, it is necessary to work as much as the automatic traveling vehicle 30 moves the ballast, and the energy consumption of the automatic traveling vehicle 30 increases especially when the trolley 20 is not loaded with an article.

これに対し、第１実施形態に係る自動搬送車１０では、台車２０と自動走行車３０との間に、第１部材４１及び第２部材４２を有する重量伝達機構４０を設けることで、台車２０の重量の一部を自動走行車３０に伝達する。台車２０の重量の一部が自動走行車３０に伝達されることで、自動走行車３０の車輪部３４から床面ＦＬにかかる荷重が大きくなる。これにより、自動走行車３０の車輪部３４と床面ＦＬとの間の摩擦力が大きくなり、台車２０に物品が搭載されていないときにも、自動走行車３０のスリップを抑制できる。また、第１実施形態に係る自動搬送車１０では、バラストを積まなくともスリップを抑制できるため、エネルギー消費の増大を抑制することができる。特に、台車２０に物品が搭載されていないときのエネルギー消費の増大を抑制することができる。従って、エネルギー消費を増大させることなく自動走行車３０のスリップを抑制可能な自動搬送車を提供することができる。 On the other hand, in the automatic guided vehicle 10 according to the first embodiment, the weight transmission mechanism 40 having the first member 41 and the second member 42 is provided between the carriage 20 and the automatic traveling vehicle 30. A part of the weight of the vehicle is transmitted to the automatic guided vehicle 30. By transmitting a part of the weight of the carriage 20 to the automatic traveling vehicle 30, the load applied to the floor surface FL from the wheel portion 34 of the automatic traveling vehicle 30 becomes large. As a result, the frictional force between the wheel portion 34 of the automatic traveling vehicle 30 and the floor surface FL becomes large, and slipping of the automatic traveling vehicle 30 can be suppressed even when an article is not mounted on the carriage 20. Further, in the automatic guided vehicle 10 according to the first embodiment, slipping can be suppressed without loading ballasts, so that an increase in energy consumption can be suppressed. In particular, it is possible to suppress an increase in energy consumption when an article is not mounted on the trolley 20. Therefore, it is possible to provide an automatic guided vehicle capable of suppressing the slip of the automatic traveling vehicle 30 without increasing energy consumption.

突出部４１ｂは、第２部材４２を誘導する。例えば、Ｘ軸方向に進む自動走行車３０がカーブを曲がるとき、第２部材４２にはＹ軸方向の力がかかる。突出部４１ｂを設けることで、突出部４１ｂにより、第２部材４２から第１部材４１にＹ軸方向の力を伝達することができる。これにより、自動走行車３０がカーブを曲がるときに、台車２０を自動走行車３０に追従させることができる。 The protrusion 41b guides the second member 42. For example, when the automatic traveling vehicle 30 traveling in the X-axis direction turns a curve, a force is applied to the second member 42 in the Y-axis direction. By providing the protruding portion 41b, the force in the Y-axis direction can be transmitted from the second member 42 to the first member 41 by the protruding portion 41b. As a result, when the self-driving car 30 turns a curve, the dolly 20 can be made to follow the self-driving car 30.

なお、第１部材４１と第２部材４２との上下方向の位置は、逆転してもよい。つまり、第１部材４１が自動走行車３０に固定され、第２部材４２が台車２０に固定されてもよい。この場合、自動走行車３０がＸ軸の正方向（前方）に進むとき、第２部材４２は、第１部材４１の傾斜面４１ａにより押圧される。この場合にも、上記と同様の原理で、第２部材４２と固定されている台車２０の重量の一部が、力Ｆ３として、第１部材４１と固定されている自動走行車３０に伝達される。 The positions of the first member 41 and the second member 42 in the vertical direction may be reversed. That is, the first member 41 may be fixed to the automatic traveling vehicle 30, and the second member 42 may be fixed to the carriage 20. In this case, when the automatic traveling vehicle 30 advances in the forward direction (forward) of the X-axis, the second member 42 is pressed by the inclined surface 41a of the first member 41. In this case as well, a part of the weight of the bogie 20 fixed to the second member 42 is transmitted as a force F3 to the automatic traveling vehicle 30 fixed to the first member 41 by the same principle as described above. To.

図３（ａ）は、第１実施形態の第１変形例に係る自動搬送車の重量伝達機構を表す模式的側面図である。
図３（ａ）に表したように、本変形例の第２部材４２は、第１部材４１の傾斜面４１ａに沿うキャタピラ状の回転体を有している。本変形例の第２部材４２は、第１部材４１の傾斜面４１ａとの接触面積が大きい。そのため、第２部材４２と傾斜面４１ａとの間の摩擦力が大きい場合は、第２部材４２にＹ軸方向の力（トルク）がかかった際に、第２部材４２から第１部材４１にトルクが伝わりやすい。また、本変形例において、上記の突出部４１ｂを設けてもよい。本変形例の第２部材４２であれば、突出部４１ｂを設けた場合に第２部材４２と突出部４１ｂとの接触面のＸ軸方向における長さが長くなるため、さらにトルクが伝わりやすい。これにより、自動走行車３０がカーブを曲がるときに、台車２０を自動走行車３０に追従させやすい。 FIG. 3A is a schematic side view showing the weight transmission mechanism of the automatic guided vehicle according to the first modification of the first embodiment.
As shown in FIG. 3A, the second member 42 of this modified example has a caterpillar-shaped rotating body along the inclined surface 41a of the first member 41. The second member 42 of this modified example has a large contact area with the inclined surface 41a of the first member 41. Therefore, when the frictional force between the second member 42 and the inclined surface 41a is large, when a force (torque) in the Y-axis direction is applied to the second member 42, the second member 42 becomes the first member 41. Torque is easily transmitted. Further, in this modification, the above-mentioned protruding portion 41b may be provided. In the case of the second member 42 of the present modification, when the protruding portion 41b is provided, the length of the contact surface between the second member 42 and the protruding portion 41b becomes longer in the X-axis direction, so that torque is more easily transmitted. As a result, when the self-driving car 30 turns a curve, the dolly 20 can easily follow the self-driving car 30.

図３（ｂ）は、第１実施形態の第２変形例に係る自動搬送車の重量伝達機構を表す模式的側面図である。
図３（ｂ）に表したように、本変形例の第２部材４２は、第１部材４１の傾斜面４１ａに沿う傾斜面４２ａを有している。本変形例の第２部材４２は、回転体を有しないため、故障しにくく、低コストである。また、本変形例の第２部材４２は、第１部材４１の傾斜面４１ａとの接触面積が大きい。そのため、第１変形例と同様、第２部材４２にトルクがかかった際に、第１部材４１にトルクが伝わりやすい。また、突出部４１ｂを設けた場合にはさらにトルクが伝わりやすい。これにより、自動走行車３０がカーブを曲がるときに、台車２０を自動走行車３０に追従させやすい。 FIG. 3B is a schematic side view showing the weight transmission mechanism of the automatic guided vehicle according to the second modification of the first embodiment.
As shown in FIG. 3B, the second member 42 of this modified example has an inclined surface 42a along the inclined surface 41a of the first member 41. Since the second member 42 of this modification does not have a rotating body, it is unlikely to break down and is low in cost. Further, the second member 42 of this modified example has a large contact area with the inclined surface 41a of the first member 41. Therefore, as in the first modification, when torque is applied to the second member 42, the torque is easily transmitted to the first member 41. Further, when the protruding portion 41b is provided, the torque is more easily transmitted. As a result, when the self-driving car 30 turns a curve, the dolly 20 can easily follow the self-driving car 30.

図４は、第１実施形態の第３変形例に係る自動搬送車の重量伝達機構を表す模式的側面図である。
図４に表したように、本変形例においては、重量伝達機構４０は、第１部材４１及び第２部材４２に加えて、他の第１部材４１Ａ及び他の第２部材４２Ａを有している。第１部材４１及び第２部材４２の構成は、上記の構成と同様である。 FIG. 4 is a schematic side view showing the weight transmission mechanism of the automatic guided vehicle according to the third modification of the first embodiment.
As shown in FIG. 4, in this modified example, the weight transmission mechanism 40 has another first member 41A and another second member 42A in addition to the first member 41 and the second member 42. There is. The configuration of the first member 41 and the second member 42 is the same as the above configuration.

他の第１部材４１Ａは、台車２０の搭載部２２の下面に固定されている。他の第１部材４１Ａは、Ｘ軸方向において、第１部材４１と離間するように設けられている。この例では、他の第１部材４１Ａは、第１部材４１よりも後方に設けられている。 The other first member 41A is fixed to the lower surface of the mounting portion 22 of the carriage 20. The other first member 41A is provided so as to be separated from the first member 41 in the X-axis direction. In this example, the other first member 41A is provided behind the first member 41.

他の第１部材４１Ａは、傾斜面４１ｃを有している。傾斜面４１ｃは、自動走行車３０の進行方向（Ｘ軸方向）及び上下方向（Ｚ軸方向）と交差する。傾斜面４１ｃの傾斜は、Ｘ軸の正方向に向かうにつれてＺ軸の正方向に向かう後方傾斜である。他の第１部材４１Ａの傾斜面４１ｃの上下方向に対する傾斜の向きは、第１部材４１の傾斜面４１ａの上下方向に対する傾斜の向きと反対である。傾斜面４１ｃの床面ＦＬに対する傾斜角度は、上記の傾斜角度θ１と同じでよい。他の第１部材４１Ａは、傾斜面４１ｃの傾斜に沿って設けられ、傾斜面４１ｃから突出し、他の第２部材４２Ａを誘導する突出部４１ｄを有する。 The other first member 41A has an inclined surface 41c. The inclined surface 41c intersects the traveling direction (X-axis direction) and the vertical direction (Z-axis direction) of the automatic traveling vehicle 30. The inclination of the inclined surface 41c is a backward inclination toward the positive direction of the Z axis as it goes toward the positive direction of the X axis. The direction of inclination of the inclined surface 41c of the other first member 41A with respect to the vertical direction is opposite to the direction of inclination of the inclined surface 41a of the first member 41 with respect to the vertical direction. The inclination angle of the inclined surface 41c with respect to the floor surface FL may be the same as the above-mentioned inclination angle θ1. The other first member 41A is provided along the inclination of the inclined surface 41c, and has a protruding portion 41d that protrudes from the inclined surface 41c and guides the other second member 42A.

他の第２部材４２Ａは、自動走行車３０の車体部３２の上面に固定されている。他の第１部材４２Ａは、Ｘ軸方向において、第２部材４２と離間するように設けられている。この例では、他の第２部材４２Ａは、第２部材４２よりも後方に設けられている。他の第２部材４２Ａは、他の第１部材４１Ａの傾斜面４１ｃに押しつけられる。 The other second member 42A is fixed to the upper surface of the vehicle body portion 32 of the automatic traveling vehicle 30. The other first member 42A is provided so as to be separated from the second member 42 in the X-axis direction. In this example, the other second member 42A is provided behind the second member 42. The other second member 42A is pressed against the inclined surface 41c of the other first member 41A.

この変形例においても、例えば、自動走行車３０がＸ軸の正方向（前方）に進むときは、第１部材４１の傾斜面４１ａが第２部材４２により押圧される。これにより、自動走行車３０が前方に進む際に、台車２０の重量の一部が自動走行車３０に伝達される。 Also in this modification, for example, when the automatic traveling vehicle 30 advances in the forward direction (forward) of the X-axis, the inclined surface 41a of the first member 41 is pressed by the second member 42. As a result, when the autonomous vehicle 30 moves forward, a part of the weight of the carriage 20 is transmitted to the autonomous vehicle 30.

さらに、この変形例においては、例えば、自動走行車３０がＸ軸の負方向（後方）に進むときは、上記と同様の原理で、他の第１部材４１Ａの傾斜面４１ｃが他の第２部材４２Ａにより押圧される。これにより、自動走行車３０が後方に進む際にも、台車２０の重量の一部が自動走行車３０に伝達される。従って、自動走行車３０が前後方向のどちらに移動する場合にも、エネルギー消費を増大させることなく自動走行車３０のスリップを抑制できる。 Further, in this modification, for example, when the autonomous vehicle 30 advances in the negative direction (rearward) of the X-axis, the inclined surface 41c of the other first member 41A is the other second by the same principle as described above. Pressed by member 42A. As a result, even when the self-driving car 30 moves backward, a part of the weight of the bogie 20 is transmitted to the self-driving car 30. Therefore, when the automatic traveling vehicle 30 moves in either the front-rear direction, the slip of the automatic traveling vehicle 30 can be suppressed without increasing the energy consumption.

また、例えば、Ｘ軸の正方向（前方）に進んでいた自動走行車３０が停止する際には、第２部材４２が他の第１部材４１Ａの傾斜面４１ｃを押圧して慣性により前方に移動しようとする台車２０を停止させる向きに力がかかる。これにより、台車２０を自動走行車３０に追従させて、停止させることができる。 Further, for example, when the automatic traveling vehicle 30 traveling in the forward direction (forward) of the X-axis stops, the second member 42 presses the inclined surface 41c of the other first member 41A and moves forward by inertia. A force is applied in the direction of stopping the dolly 20 that is about to move. As a result, the bogie 20 can be made to follow the automatic traveling vehicle 30 and stopped.

なお、他の第１部材４１Ａと他の第２部材４２Ａとの上下方向の位置は、逆転してもよい。つまり、他の第１部材４１Ａが自動走行車３０に固定され、他の第２部材４２Ａが台車２０に固定されてもよい。 The vertical positions of the other first member 41A and the other second member 42A may be reversed. That is, the other first member 41A may be fixed to the automatic traveling vehicle 30, and the other second member 42A may be fixed to the carriage 20.

また、第１部材４１及び第２部材４２を含むユニットと、他の第１部材４１Ａ及び他の第２部材４２Ａを含むユニットとの前後方向の位置は、逆転してもよい。つまり、他の第１部材４１Ａ及び他の第２部材４２Ａを含むユニットが、第１部材４１及び第２部材４２を含むユニットよりも前方に設けられてもよい。 Further, the positions of the unit including the first member 41 and the second member 42 and the unit including the other first member 41A and the other second member 42A in the front-rear direction may be reversed. That is, the unit including the other first member 41A and the other second member 42A may be provided in front of the unit including the first member 41 and the second member 42.

また、第２部材４２は、図３（ａ）に示すような、第１部材４１の傾斜面４１ａに沿うキャタピラ状の回転体を有していてもよく、他の第２部材４２Ａは、他の第１部材４１Ａの傾斜面４１ｃに沿うキャタピラ状の回転体を有していてもよい。つまり、第１部材４１及び第２部材４２を含むユニットは、図３（ａ）に示す第１部材４１及び第２部材４２を含むユニットであってもよく、他の第１部材４１Ａ及び他の第２部材４２Ａを含むユニットは、図３（ａ）に示す第１部材４１及び第２部材４２を含むユニットの前後方向の向きを逆転させたユニットであってもよい。 Further, the second member 42 may have a caterpillar-shaped rotating body along the inclined surface 41a of the first member 41 as shown in FIG. 3A, and the other second member 42A may have another. It may have a caterpillar-shaped rotating body along the inclined surface 41c of the first member 41A. That is, the unit including the first member 41 and the second member 42 may be a unit including the first member 41 and the second member 42 shown in FIG. 3A, and the other first member 41A and other members. The unit including the second member 42A may be a unit in which the directions of the unit including the first member 41 and the second member 42 shown in FIG. 3A are reversed in the front-rear direction.

また、第２部材４２は、図３（ｂ）に示すような、第１部材４１の傾斜面４１ａに沿う傾斜面４２ａを有していてもよく、他の第２部材４２Ａは、他の第１部材４１Ａの傾斜面４１ｃに傾斜面を有していてもよい。つまり、第１部材４１及び第２部材４２を含むユニットは、図３（ｂ）に示す第１部材４１及び第２部材４２を含むユニットであってもよく、他の第１部材４１Ａ及び他の第２部材４２Ａを含むユニットは、図３（ｂ）に示す第１部材４１及び第２部材４２を含むユニットの前後方向の向きを逆転させたユニットであってもよい。 Further, the second member 42 may have an inclined surface 42a along the inclined surface 41a of the first member 41 as shown in FIG. 3B, and the other second member 42A may have another second member 42A. The inclined surface 41c of the member 41A may have an inclined surface. That is, the unit including the first member 41 and the second member 42 may be the unit including the first member 41 and the second member 42 shown in FIG. 3 (b), and the other first member 41A and other members. The unit including the second member 42A may be a unit in which the directions of the unit including the first member 41 and the second member 42 shown in FIG. 3B are reversed in the front-rear direction.

図５（ａ）は、第１実施形態の第４変形例に係る自動搬送車の重量伝達機構を表す模式的側面図である。
図５（ｂ）は、図５（ａ）に示すＡ−Ａ’線による断面図である。 FIG. 5A is a schematic side view showing the weight transmission mechanism of the automatic guided vehicle according to the fourth modification of the first embodiment.
FIG. 5B is a cross-sectional view taken along the line AA'shown in FIG. 5A.

図５（ａ）及び図５（ｂ）に表したように、第２部材４２は、第１部材４１の傾斜面４１ａ及び他の第１部材４１Ａの傾斜面４１ｃに押しつけられるように設けられてもよい。この例では、第２部材４２が、図４に示す他の第２部材４２Ａの役割も兼ねている。 As shown in FIGS. 5A and 5B, the second member 42 is provided so as to be pressed against the inclined surface 41a of the first member 41 and the inclined surface 41c of the other first member 41A. May be good. In this example, the second member 42 also serves as the other second member 42A shown in FIG.

また、この例では、他の第１部材４１Ａは、Ｘ軸方向において、第１部材４１と接するように設けられている。第１部材４１、他の第１部材４１Ａ、及び第２部材４２のそれ以外の構成は、上記の構成と同様である。 Further, in this example, the other first member 41A is provided so as to be in contact with the first member 41 in the X-axis direction. The other configurations of the first member 41, the other first member 41A, and the second member 42 are the same as the above configurations.

また、この例では、自動走行車３０は、車体部３２の上面から上方（Ｚ軸の正方向）に突出するピン５０を有している。車体部３２は、例えば、ピン５０を上下動させる機構を有する。また、台車２０は、搭載部２２の下面に設けられた穴６０を有している。ピン５０は、穴６０に挿入されている。穴６０の断面形状は、例えば、Ｘ軸方向に延びる楕円形である。ピン５０及び穴６０により、台車２０と自動走行車３０とは、連結されている。また、ピン５０により、台車２０の回転を抑制し、台車２０を自動走行車３０に容易に追従させることができる。 Further, in this example, the automatic traveling vehicle 30 has a pin 50 that protrudes upward (in the positive direction of the Z axis) from the upper surface of the vehicle body portion 32. The vehicle body portion 32 has, for example, a mechanism for moving the pin 50 up and down. Further, the dolly 20 has a hole 60 provided on the lower surface of the mounting portion 22. The pin 50 is inserted into the hole 60. The cross-sectional shape of the hole 60 is, for example, an ellipse extending in the X-axis direction. The bogie 20 and the self-driving car 30 are connected by a pin 50 and a hole 60. Further, the pin 50 suppresses the rotation of the trolley 20, and the trolley 20 can be easily made to follow the automatic traveling vehicle 30.

なお、ピン５０及び穴６０は、それぞれ複数設けられてもよい。また、ピン５０と穴６０との上下方向の位置は、逆転してもよい。つまり、台車２０がピン５０を有しており、自動走行車３０が穴６０を有してもよい。 A plurality of pins 50 and holes 60 may be provided. Further, the positions of the pin 50 and the hole 60 in the vertical direction may be reversed. That is, the carriage 20 may have the pin 50, and the autonomous vehicle 30 may have the hole 60.

この変形例においても、上記と同様の原理で、自動走行車３０が前方に進むときは、第２部材４２の前方側が第１部材４１の傾斜面４１ａを押圧する。一方、自動走行車３０が後方に進むときや前方に進んでいた自動走行車３０が停止するときは、第２部材４２の後方側が他の第１部材４１Ａの傾斜面４１ｃを押圧する。従って、自動走行車３０が前後方向のどちらに移動する場合にも、エネルギー消費を増大させることなく自動走行車３０のスリップを抑制できる。また、台車２０を自動走行車３０に追従させて、停止させることができる。 In this modification as well, based on the same principle as described above, when the automatic traveling vehicle 30 moves forward, the front side of the second member 42 presses the inclined surface 41a of the first member 41. On the other hand, when the automatic traveling vehicle 30 advances backward or when the automatic traveling vehicle 30 traveling forward stops, the rear side of the second member 42 presses the inclined surface 41c of the other first member 41A. Therefore, when the automatic traveling vehicle 30 moves in either the front-rear direction, the slip of the automatic traveling vehicle 30 can be suppressed without increasing the energy consumption. Further, the carriage 20 can be made to follow the automatic traveling vehicle 30 and stopped.

（第２実施形態）
図６は、第２実施形態に係る自動搬送車を表す模式的側面図である。
図６に表したように、自動搬送車１０Ａは、台車２０と、自動走行車３０と、重量伝達機構４０Ａと、を備える。重量伝達機構４０Ａは、台車２０と自動走行車３０との間に位置する。台車２０及び自動走行車３０の構成は、上記の構成と同様である。 (Second Embodiment)
FIG. 6 is a schematic side view showing the automatic guided vehicle according to the second embodiment.
As shown in FIG. 6, the automatic guided vehicle 10A includes a carriage 20, an automatic traveling vehicle 30, and a weight transmission mechanism 40A. The weight transmission mechanism 40A is located between the bogie 20 and the self-driving car 30. The configuration of the bogie 20 and the self-driving vehicle 30 is the same as the above configuration.

この例では、自動走行車３０に設けられたピン５０及び台車２０に設けられた穴６０により、台車２０と自動走行車３０とが連結されている。ピン５０及び穴６０の構成は、上記の構成と同様である。例えば、自動走行車３０がＸ軸の正方向（前方）に進むとき、ピン５０と穴６０とが接触することで、台車２０は、前方に向かって牽引され、前方に向かって動く。 In this example, the carriage 20 and the autonomous vehicle 30 are connected by a pin 50 provided in the automatic traveling vehicle 30 and a hole 60 provided in the carriage 20. The configuration of the pin 50 and the hole 60 is the same as the above configuration. For example, when the self-driving car 30 advances in the forward direction (forward) of the X-axis, the pin 50 and the hole 60 come into contact with each other, so that the bogie 20 is pulled forward and moves forward.

重量伝達機構４０Ａは、弾性部材４６を有している。弾性部材４６は、例えば、押しばねである。弾性部材４６は、台車２０と自動走行車３０とを相互に離れる方向に押圧する。この例では、弾性部材は、ピン５０を囲むように設けられている。弾性部材は、例えば、ピン５０が設けられている側に固定される。この例では、弾性部材４６は、自動走行車３０に固定されている。弾性部材４６は、台車２０の搭載部２２の下面と自動走行車３０の車体部３２の上面とを相互に離れる方向に押圧している。弾性部材４６の数は、任意の数でよい。 The weight transmission mechanism 40A has an elastic member 46. The elastic member 46 is, for example, a push spring. The elastic member 46 presses the carriage 20 and the automatic traveling vehicle 30 in a direction away from each other. In this example, the elastic member is provided so as to surround the pin 50. The elastic member is fixed, for example, to the side where the pin 50 is provided. In this example, the elastic member 46 is fixed to the automatic traveling vehicle 30. The elastic member 46 presses the lower surface of the mounting portion 22 of the bogie 20 and the upper surface of the vehicle body portion 32 of the automatic traveling vehicle 30 in a direction away from each other. The number of elastic members 46 may be any number.

この例では、弾性部材４６によって、台車２０の重量の一部が自動走行車３０に伝達される。ピン５０が穴６０に挿入されることで、弾性部材４６は穴６０の縁（台車２０の搭載部２２の下面）に引っ掛かり、Ｚ軸の負方向（下方）に縮む。弾性部材４６の上向きの反力Ｆ４により台車２０は上方に押され、弾性部材４６の下向きの反力Ｆ５により自動走行車３０は下方に押される。上向きの反力Ｆ４の大きさと下向きの反力Ｆ５の大きさとは、同じである。つまり、台車２０は弾性部材４６を介して自動走行車３０により上方に押され、自動走行車３０は弾性部材４６を介して台車２０により下方に押される。これにより、台車２０の重量の一部が反力Ｆ５として自動走行車３０に伝達される。 In this example, a part of the weight of the carriage 20 is transmitted to the automatic traveling vehicle 30 by the elastic member 46. When the pin 50 is inserted into the hole 60, the elastic member 46 is caught by the edge of the hole 60 (the lower surface of the mounting portion 22 of the carriage 20) and contracts in the negative direction (downward) of the Z axis. The upward reaction force F4 of the elastic member 46 pushes the carriage 20 upward, and the downward reaction force F5 of the elastic member 46 pushes the automatic traveling vehicle 30 downward. The magnitude of the upward reaction force F4 and the magnitude of the downward reaction force F5 are the same. That is, the trolley 20 is pushed upward by the automatic traveling vehicle 30 via the elastic member 46, and the automatic traveling vehicle 30 is pushed downward by the trolley 20 via the elastic member 46. As a result, a part of the weight of the bogie 20 is transmitted to the automatic traveling vehicle 30 as a reaction force F5.

反力Ｆ５の大きさは、弾性部材４６の弾性力（例えば、押しばねのばね定数）に応じて変化する。弾性部材４６の弾性力を調整することで、反力Ｆ５の大きさ（自動走行車３０に伝達される台車２０の重量の大きさ）を調整することができる。 The magnitude of the reaction force F5 changes according to the elastic force of the elastic member 46 (for example, the spring constant of the push spring). By adjusting the elastic force of the elastic member 46, the magnitude of the reaction force F5 (the magnitude of the weight of the carriage 20 transmitted to the automatic traveling vehicle 30) can be adjusted.

第２実施形態に係る自動搬送車１０Ａによれば、台車２０と自動走行車３０との間に、弾性部材４６を有する重量伝達機構４０Ａを設けることで、第１実施形態に係る自動搬送車１０と同様に、台車２０の重量の一部を自動走行車３０に伝達することができる。従って、エネルギー消費を増大させることなく自動走行車３０のスリップを抑制可能な自動搬送車を提供することができる。 According to the automatic guided vehicle 10A according to the second embodiment, the automatic guided vehicle 10 according to the first embodiment is provided with a weight transmission mechanism 40A having an elastic member 46 between the carriage 20 and the automatic traveling vehicle 30. Similarly, a part of the weight of the carriage 20 can be transmitted to the automatic traveling vehicle 30. Therefore, it is possible to provide an automatic guided vehicle capable of suppressing the slip of the automatic traveling vehicle 30 without increasing energy consumption.

また、第２実施形態に係る自動搬送車１０Ａによれば、例えば、ピン５０が設けられた自動走行車３０と穴６０が設けられた台車２０とを有する搬送システムにおいて、自動走行車３０と台車２０との間に弾性部材４６を設けるだけで、容易に自動走行車３０のスリップを抑制できる。 Further, according to the automatic guided vehicle 10A according to the second embodiment, for example, in a transportation system having an automatic traveling vehicle 30 provided with a pin 50 and a trolley 20 provided with a hole 60, the automatic traveling vehicle 30 and the trolley The slip of the automatic traveling vehicle 30 can be easily suppressed only by providing the elastic member 46 between the 20 and the 20.

以上、本発明のいくつかの実施形態を例示したが、これらの実施形態は、例として提示したものであり、発明の範囲を限定することは意図していない。これら新規な実施形態は、その他の様々な形態で実施されることが可能であり、発明の要旨を逸脱しない範囲で、種々の省略、置き換え、変更などを行うことができる。これら実施形態やその変形例は、発明の範囲や要旨に含まれるとともに、特許請求の範囲に記載された発明とその均等の範囲に含まれる。また、前述の各実施形態は、相互に組み合わせて実施することができる。 Although some embodiments of the present invention have been illustrated above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, changes, etc. can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof. In addition, the above-described embodiments can be implemented in combination with each other.

１０、１０Ａ…自動搬送車、 ２０…台車、 ２２…搭載部、 ２４…車輪部、 ２６…脚部、 ３０…自動走行車、 ３２…車体部、 ３４…車輪部、 ４０、４０Ａ…重量伝達機構、 ４１…第１部材、 ４１Ａ…他の第１部材、 ４１ａ、４１ｃ…傾斜面、 ４１ｂ、４１ｄ…突出部、 ４２…第２部材、 ４２Ａ…他の第２部材、 ４２ａ…傾斜面、 ４６…弾性部材、 ５０…ピン、 ６０…穴、 Ｆ１、Ｆ２、Ｆ３…力、 Ｆ４、Ｆ５…反力、 ＦＬ…床面 10, 10A ... Automatic guided vehicle, 20 ... Bogie, 22 ... Mounting part, 24 ... Wheel part, 26 ... Leg part, 30 ... Automatic traveling vehicle, 32 ... Body part, 34 ... Wheel part, 40, 40A ... Weight transmission mechanism , 41 ... 1st member, 41A ... other 1st member, 41a, 41c ... inclined surface, 41b, 41d ... protruding part, 42 ... 2nd member, 42A ... other 2nd member, 42a ... inclined surface, 46 ... Elastic member, 50 ... pin, 60 ... hole, F1, F2, F3 ... force, F4, F5 ... reaction force, FL ... floor surface

Claims (8)

被搬送物が搭載される台車と、
前記台車の下に位置し、前記台車を動かす自動走行車と、
前記台車と前記自動走行車との間に位置し、前記台車の重量の一部を前記自動走行車に伝える重量伝達機構と、
を備え、
前記重量伝達機構は、
前記台車及び前記自動走行車の一方に固定され、前記自動走行車の進行方向及び上下方向と交差する傾斜面を有する第１部材と、
前記台車及び前記自動走行車の他方に固定され、前記傾斜面に押しつけられる第２部材と、
を有し、
前記第１部材は、前記傾斜面の傾斜角度を調整できる傾斜調整機構を有する、自動搬送車。 The dolly on which the object to be transported is mounted and
An autonomous vehicle that is located under the trolley and moves the trolley,
A weight transmission mechanism located between the bogie and the self-driving car and transmitting a part of the weight of the bogie to the self-driving car.
Equipped with a,
The weight transfer mechanism is
A first member fixed to one of the bogie and the self-driving car and having an inclined surface intersecting the traveling direction and the vertical direction of the self-driving car.
A second member fixed to the other of the bogie and the self-driving car and pressed against the inclined surface,
Have,
The first member is an automatic guided vehicle having an inclination adjusting mechanism capable of adjusting the inclination angle of the inclined surface . 前記第２部材は、回転体を有する、請求項１記載の自動搬送車。 It said second member has a rotating body, according to claim 1 automatic carrier according. 前記第１部材は、前記傾斜面の傾斜に沿って設けられ、前記傾斜面から突出し、前記第２部材を誘導する突出部を有する、請求項１又は２に記載の自動搬送車。 The automatic guided vehicle according to claim 1 or 2 , wherein the first member is provided along the inclination of the inclined surface and has a protruding portion that protrudes from the inclined surface and guides the second member. 前記重量伝達機構は、前記台車及び前記自動走行車の前記一方に固定され、前記自動走行車の進行方向及び上下方向と交差する傾斜面を有する他の第１部材を有し、
前記他の第１部材の傾斜面の上下方向に対する傾斜の向きは、前記第１部材の傾斜面の上下方向に対する傾斜の向きと反対である、請求項１〜３のいずれか１つに記載の自動搬送車。 The weight transmission mechanism has another first member fixed to the one of the bogie and the self-driving car and having an inclined surface intersecting the traveling direction and the vertical direction of the self-driving car.
The method according to any one of claims 1 to 3 , wherein the direction of inclination of the inclined surface of the other first member with respect to the vertical direction is opposite to the direction of inclination of the inclined surface of the first member with respect to the vertical direction. Automatic carrier. 台車を動かす自動走行車であって、
前記台車に押しつけられ、前記台車の重量の一部を前記自動走行車に伝える重量伝達機構を備え、
前記重量伝達機構は、前記自動走行車の進行方向及び上下方向と交差する傾斜面と、前記傾斜面の傾斜角度を調整できる傾斜調整機構と、を有し、
前記傾斜面は、前記台車に押し付けられる、自動走行車。
It is an autonomous vehicle that moves the dolly.
A weight transmission mechanism that is pressed against the bogie and transmits a part of the weight of the bogie to the self-driving car is provided.
It said weight transmission mechanism, possess an inclined surface intersecting with the traveling direction and the vertical direction of the automatic traveling vehicle, and a tilt adjustment mechanism capable of adjusting the inclination angle of the inclined surface,
The inclined surface is an automatic traveling vehicle that is pressed against the bogie .
 前記台車は、回転体を有し、
前記傾斜面は、前記回転体に押し付けられる、請求項５記載の自動走行車。 The carriage may have a rotating member,
The automatic traveling vehicle according to claim 5 , wherein the inclined surface is pressed against the rotating body . 前記重量伝達機構は、前記傾斜面の傾斜に沿って設けられ、前記傾斜面から突出し、前記台車を誘導する突出部を有する、請求項５又は６に記載の自動走行車。 Said weight transmission mechanism is provided along the inclination of the inclined surface, protrudes from the inclined surface, to have a protruding portion to induce the carriage, automatic vehicle according to claim 5 or 6. 前記重量伝達機構は、他の傾斜面を有し、
前記他の傾斜面の上下方向に対する傾斜の向きは、前記傾斜面の上下方向に対する傾斜の向きと反対であり、
前記台車は、前記傾斜面及び前記他の傾斜面の両方に押しつけられる、請求項５〜７のいずれか１つに記載の自動走行車。 The weight transfer mechanism has another inclined surface and has another inclined surface.
The direction of inclination of the other inclined surface with respect to the vertical direction is opposite to the direction of inclination of the inclined surface with respect to the vertical direction.
The automatic traveling vehicle according to any one of claims 5 to 7 , wherein the bogie is pressed against both the inclined surface and the other inclined surface.
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DE2004689A1 (en) * 1970-02-03 1971-08-19 Robert Bosch Gmbh, 7000 Stuttgart Take-along device for transport vehicles
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